CN218320525U

CN218320525U - Lifting device and lifting type mobile robot

Info

Publication number: CN218320525U
Application number: CN202221548338.7U
Authority: CN
Inventors: 谢樟儒; 张伃昇; 温琪钲; 李志程; 吴炯翔; 颜圣力; 高振庭; 张豫成; 赵真
Original assignee: Futaijing Precision Electronics Yantai Co Ltd; Hon Hai Precision Industry Co Ltd
Current assignee: Futaijing Precision Electronics Yantai Co Ltd; Hon Hai Precision Industry Co Ltd
Priority date: 2022-06-20
Filing date: 2022-06-20
Publication date: 2023-01-17
Anticipated expiration: 2032-06-20
Also published as: TWM635277U

Abstract

The application provides a lifting device and a lifting type mobile robot, wherein the lifting device comprises a support plate; the lifting assembly is connected with the carrier plate and comprises a lifting sleeve and a moving column, one end of the moving column is sleeved in the lifting sleeve in a lifting manner, and the other end of the moving column is connected with the carrier plate; the driving piece is in transmission connection with the moving column and is used for driving the moving column to drive the carrier plate to ascend or descend; with driving piece communication connection's last detection piece and next detection piece, go up the protruding sleeve one side of lifting of locating of detection piece for detect the bottom position of removing the post, lift sleeve one side is located to next detection piece, is used for listening to remove the capital face and lifts the distance between the sleeve top surface. The application provides a lifting device and formula of lifting mobile robot can freely move in a flexible way and go up and down, through superior detection piece and next detection piece, automatic control lifting device's rising and decline need not to survey the inside condition of robot, are applicable to the delivery and the handling process of intelligent mill.

Description

Lifting device and lifting type mobile robot

Technical Field

The application relates to the technical field of lifting equipment, in particular to a lifting device and a lifting type mobile robot.

Background

At present, in the production process, different parts need to be used for processing and treatment, and after the assembly is completed, the parts, products and other materials are generally distributed to a certain area for storage.

Because the continuous development of delivery automation technology, each mill also needs to be carried out automatic delivery service urgently, adopts elevating gear to realize the transport of materials such as spare part, product or goods in the intelligent factory to use manpower sparingly and cost. In a conventional lifting device, after a carrier plate rises to a highest point or falls to a lowest point, the carrier plate stops rising or falling manually, so that a buffer force generated by movement impacts components, the service life of the components is shortened, and the like, or detection is required from an external space of the device, so that the detection accuracy is not high.

SUMMERY OF THE UTILITY MODEL

In view of this, the present application provides a lifting device and a lifting mobile robot, which place an object to be delivered above the lifting mobile robot, and then automatically detect and control the rising and falling conditions of the object to be delivered through the lifting device, and simultaneously, transport the object to be delivered to a target area by matching with the moving function of the lifting mobile robot.

The embodiment of the application provides a lifting device, includes:

a carrier plate;

the lifting assembly is connected with the carrier plate and comprises a lifting sleeve and a moving column, one end of the moving column is sleeved in the lifting sleeve in a lifting manner, and the other end of the moving column is connected with the carrier plate;

the driving piece is in transmission connection with the moving column and is used for driving the moving column to drive the carrier plate to ascend or descend;

the upper detection piece is convexly arranged on one side of the lifting sleeve, is in communication connection with the driving piece and detects the position of the bottom end of the movable column;

the lower detection piece is arranged on one side of the lifting sleeve and is in communication connection with the driving piece, and the lower detection piece is used for detecting the distance between the top surface of the movable column and the top surface of the lifting sleeve.

In a possible embodiment, the lifting assembly further comprises a fixing base, and the lifting sleeve is detachably connected with the fixing base.

In a possible embodiment, the lifting device further comprises a transmission assembly, wherein the transmission assembly is arranged on one side of the lifting assembly and connected with the driving member to drive the moving column to ascend or descend.

In a possible embodiment, the transmission assembly includes a guiding base, a guiding column, a connecting plate, and a lifting plate, one end of the guiding base is connected to the driving member in a transmission manner, the other end of the guiding base is fixedly connected to the guiding column, one side of the guiding column far away from the guiding base is connected to the lifting plate, and the connecting plate is connected to the lifting plate and the moving column.

In a possible embodiment, one end of the connecting plate is provided with a clamping hole, and the moving column is detachably connected with the connecting plate through the clamping hole.

In a possible implementation manner, a first rotating wheel is arranged at one end of the guide column, a second rotating wheel is arranged in the guide base, the driving piece drives the second rotating wheel to rotate, and the first rotating wheel is meshed with the second rotating wheel.

In a possible implementation manner, a containing hole is formed in the guide column, a guide part is arranged in the containing hole, and one end of the guide part is connected with the first rotating wheel.

In a possible embodiment, the inner wall of the receiving hole is provided with a guide groove, and the outer peripheral side of the guide member is provided with a projection that ascends or descends along the guide groove when the guide post rotates.

In a possible embodiment, the inner wall of the accommodating hole is provided with an internal thread, the outer periphery of the guide moving piece is correspondingly provided with an external thread, and the guide moving piece is in threaded connection with the guide moving column.

The embodiment of the application still provides a formula of lifting mobile robot, including mobilizable automobile body and above arbitrary one elevating gear, elevating gear installs on the automobile body.

Compared with the prior art, the lifting device and the lifting mobile robot provided by the application have the advantages that the lifting component is arranged on one side of the transmission component, the transmission component is connected with the driving component in a transmission manner through the driving component, and then the transmission component drives the lifting component to ascend or descend, so that the lifting or descending of the carrier plate is linked. And an upper detection piece and a lower detection piece are arranged to automatically and accurately control the ascending and descending conditions of the carrier plate, and the ascending and descending conditions do not need to be detected from the outside of the vehicle body. Meanwhile, the lifting device is designed to lift the carrier plate together by the lifting disc and the moving rod, so that the good balance of the lifting device is kept.

Drawings

Fig. 1 is a schematic structural view of a lifting device disposed in a vehicle body according to an embodiment of the present application.

Fig. 2 is a schematic structural view of the lifting device in fig. 1.

Fig. 3 is a schematic structural view of the lifting device in fig. 1 when the lifting device rises to the highest point.

Fig. 4 is a schematic cross-sectional view of the lifting device in fig. 1.

Fig. 5 is a schematic partial structure view of the guiding column in fig. 1 according to an embodiment.

Fig. 6 is a schematic partial structure view of another embodiment of the guiding column in fig. 1.

Fig. 7 is a schematic structural diagram of a lifting type mobile robot according to an embodiment of the present application.

Description of the main elements

Lifting device 100

Carrier plate 10

Lifting assembly 20

Lifting sleeve 21

Mounting hole 211

Moving column 22

First moving part 221

Second moving part 222

Extension 223

Supporting part 224

Fixed seat 23

Stabilizing block 24

Driving member 30

Second rotating wheel 31

Upper detecting member 40

Lower detecting member 50

Transmission assembly 60

Guide base 61

Guide post 62

First rotating wheel 621

Guide 622

Receiving hole 623

Guide groove 624

Internal thread 625

Connecting plate 63

Engaging hole 631

Lifting plate 64

Lifting type mobile robot 200

Vehicle body 201

First height H1

Second height H2

The following detailed description will further illustrate the present application in conjunction with the above-described figures.

Detailed Description

The following description will refer to the accompanying drawings to more fully describe the present disclosure. There is shown in the drawings exemplary embodiments of the present application. This application may, however, be embodied in many different forms and should not be construed as limited to the exemplary embodiments set forth herein. These exemplary embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. Like reference numerals designate identical or similar components.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Further, as used herein, "comprises" and/or "comprising" and/or "having," integers, steps, operations, components, and/or components, but does not preclude the presence or addition of one or more other features, regions, integers, steps, operations, components, and/or groups thereof.

Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. Furthermore, unless otherwise defined herein, terms such as those defined in commonly used dictionaries should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and the present application and will not be interpreted in an idealized or overly formal sense.

The following description of exemplary embodiments refers to the accompanying drawings. It should be noted that the components depicted in the referenced drawings are not necessarily shown to scale; and the same or similar components will be given the same or similar reference numerals or similar terms.

Embodiments of the present application will now be described in further detail with reference to the accompanying drawings.

As shown in fig. 1 to 6, an embodiment of the present application provides a lifting device 100 capable of automatically controlling a lifting condition, which is mainly used in an intelligent factory, where the intelligent factory may be an assembly factory, an electronic factory, and the like, and mainly realizes the lifting and lowering of goods, components, products, and other materials.

Referring to fig. 1 to 3, the lifting device 100 includes a carrier plate 10, a lifting assembly 20, a driving member 30, an upper detecting member 40, a lower detecting member 50 and a transmission assembly 60. The lifting assembly 20 is connected to the carrier plate 10, the lifting assembly 20 includes a lifting sleeve 21 and a moving column 22, one end of the moving column 22 is liftably sleeved in the lifting sleeve 21, and the other end is connected to the carrier plate 10. The driving member 30 is in transmission connection with the moving column 22, and the driving member 30 is used for driving the moving column 22 to drive the carrier plate 10 to ascend or descend. Go up detection piece 40 protruding locate lift sleeve 21 one side, go up detection piece 40 with driving piece 30 communication connection, it detects to go up detection piece 40 the bottom position of removal post 22. The lower detecting element 50 is disposed at one side of the lifting sleeve 21 and spaced from the upper detecting element 40, the lower detecting element 50 is in communication with the driving element 30, and the lower detecting element 50 is configured to detect a distance between the top surface of the movable column 22 and the top surface of the lifting sleeve 21. The transmission assembly 60 is disposed at one side of the lifting assembly 20 and connected to the driving member 30 to drive the moving column 22 to ascend or descend.

Specifically, the lifting assembly 20 further includes a fixing base 23. The fixed seat 23 is detachably connected with the lifting sleeve 21, and a lifting channel is formed in the lifting sleeve 21. The lifting channel extends in the height direction of the lifting sleeve 21 and the height of the lifting channel is smaller than the height of the lifting sleeve 21. One end of the moving column 22 is movably disposed in the lifting channel, so that the moving column 22 is liftably sleeved in the lifting sleeve 21, the other end of the moving column 22 is connected to the carrier plate 10, and the carrier plate 10 and the moving column 22 move synchronously. It is understood that the moving column 22 can be connected to the carrier plate 10 by using a screw nut, or can be connected to the carrier plate by using other methods such as welding, bonding, etc., and the connection method is not limited in this application.

Further, the moving column 22 includes a first moving portion 221 and a second moving portion 222. In this embodiment, the first moving portion 221 and the second moving portion 222 are integrally formed, so as to ensure the stable lifting movement of the moving column 22 in the lifting sleeve 21. One end of the first moving part 221 is inserted into the lift sleeve 21, and the other end is connected to the second moving part 222, the second moving part 222 includes an extending part 223 and a supporting part 224, the extending part 223 is connected to the first moving part 221, and extends upwards from the first moving part 221 and is connected to the supporting part 224. The carrier plate 10 is fixedly connected to the supporting portion 224.

Specifically, referring to fig. 3 and 4, the driving assembly 60 includes a guiding base 61, a guiding column 62, a connecting plate 63 and a lifting plate 64. One end of the guiding base 61 is connected with the driving member 30 in a transmission manner, the other end of the guiding base is connected with the guiding column 62, one side of the guiding column 62, which is far away from the guiding base 61, is connected with the lifting disc 64, and the connecting plate 63 is connected with the lifting disc 64 and the moving column 22. Furthermore, one end of the connecting plate 63 is provided with a locking hole 631, and one end of the moving column 22 is detachably connected to the connecting plate 63 through the locking hole 631. In this embodiment, a screw is inserted into the engaging hole 631 to connect the connecting plate 63 and the support portion 224 of the moving post 22. It is understood that the connection between the connection plate 63 and the moving column 22 can be accomplished by using connection means other than screws, etc., and the present application is not limited thereto. Carrier plate 10 is connected to moving column 22 by connecting plate 63.

In this embodiment, the number of the lifting assemblies 20 is two, two lifting assemblies 20 are respectively disposed at two opposite sides of the transmission assembly 60, and a connection plate 63 is further connected to the top surface of the lifting plate 64, and the lifting plate 64 is connected to the moving pillars 22 of the two lifting assemblies 20 through the connection plate 63. Therefore, during the lifting of the lifting plate 64, the moving columns 22 of the two lifting assemblies 20 are lifted and lowered along with the lifting plate 64 due to the connecting plate 63. The number of the lifting assemblies 20 can also be 3 or more than 3, and the lifting assemblies 20 are respectively arranged on the outer peripheral side of the transmission assembly 60, and the number of the engaging holes 631 on the connecting plate 63 is matched with the number of the lifting assemblies 20, so that the moving posts 22 of the lifting assemblies 20 are connected with the lifting plate 64 through the engaging holes 631 of the connecting plate 63, and the lifting plate 64 is lifted and lowered while the lifting plates 20 are driven to lift and lower.

Further, it is equipped with first rotation wheel 621 to lead to move post 62 one end, it rotates wheel 31 to lead to be equipped with the second in the base 61, driving piece 30 drive the second rotates wheel 31 and rotates, first rotation wheel 621 with the second rotates wheel 31 and meshes mutually. The guide moving column 62 is provided with an accommodating hole 623, the accommodating hole 623 is provided with a guide member 622, the accommodating hole 623 extends along the height direction of the guide moving column 62 and penetrates through the guide moving column 62, so that one end of the guide member 622 is arranged in the accommodating hole 623, and the other end of the guide member 622 is connected with the first rotating wheel 621.

In the present embodiment, referring to fig. 5, the inner wall of the receiving hole 623 is provided with a guide groove 624, and the outer periphery of the guide member 622 is provided with a protrusion (not shown), and the protrusion ascends or descends along the guide groove 624 under the rotation of the guide post 62. The number of the protrusions can be set according to practical situations, as long as one or more protrusions can be lifted or lowered along the guide groove 624 when the guide post 62 rotates. The guiding member 622 moves up and down to drive the lifting plate 64 to move up and down, and meanwhile, since the connecting plate 63 is connected between the lifting plate 64 and the lifting members 20, the lifting members 20 also move up and down along with the lifting plate 64, thereby completing the lifting of the carrier plate 10.

In another embodiment, referring to fig. 6, the inner wall of the receiving hole 623 is provided with an internal thread 625, the outer side wall of the guide 622 is correspondingly provided with an external thread (not shown), and the guide 622 and the guide post 62 are in threaded connection, so that the guide 622 ascends or descends when the guide post 62 rotates.

It can be understood that the driving member 30 converts the driving force of the driving member 30 into the lifting force of the guiding member 622 perpendicular to the guiding base 61 through the rotational connection of the first rotating wheel 621 and the second rotating wheel 31, and since the lifting disc 64 is connected to the moving column 22 through the connecting plate 63, the lifting of the guiding member 622 drives the lifting disc 64 to lift the moving column 22, thereby avoiding the problem of jamming during the lifting process.

Referring to fig. 2 to 4, a mounting hole 211 is formed in a side of the lifting sleeve 21 close to the driving member 30, the upper detection member 40 is partially disposed in the mounting hole 211 and is protruded on the lifting sleeve 21, when the lifting sleeve 21 and the moving column 22 are detected to be staggered, that is, when the upper detection member 40 detects the bottom end position of the moving column 22, the upper detection member 40 controls the driving member 30 to stop driving the second rotating wheel 31 to rotate, so as to stop the moving column 22 from ascending.

A stabilizing block 24 is further disposed on one side of the lifting sleeve 21 close to the movable column 22, the stabilizing block 24 is fixed outside the lifting sleeve 21, and the lower detecting element 50 is disposed, wherein the lower detecting element 50 is used for detecting a distance between the top surface of the movable column 22 and the top surface of the lifting sleeve 21. It is understood that when the lower detecting member 50 detects that the distance between the movable column 22 and the top surface of the lifting sleeve 21 is within a predetermined range during the descending process of the movable column 22, the lower detecting member 50 controls the driving member 30 to stop the descending process of the movable column 22.

Further, the height of the upper detecting element 40 from the guiding base 61 is a first height H1, the height of the lower detecting element 50 from the guiding base 61 is a second height H2, and the first height H1 is smaller than the second height H2. In this embodiment, the upper detecting member 40 detects the bottom end position of the movable column 22 by using the electrostatic capacity approaching principle, that is, when the lifting sleeve 21 and the movable column 22 are staggered, the electrostatic capacity detected by the upper detecting member 40 changes, so as to trigger the upper detecting member 40. The lower detecting member 50 is a general contact proximity switch for detecting a distance between the moving column 22 and the guiding base 61, and when detecting that the distance between the moving column 22 and the guiding base 61 is within a set range, the lower detecting member 50 is triggered. In other embodiments, the upper position detecting element 40 and the lower position detecting element 50 can adopt other detecting methods, as long as the upper position detecting element 40 can stop the lifting plate 64 from continuously lifting when the lifting plate 64 is lifted to the highest point, and the lower position detecting element 50 can stop the lifting plate 64 from continuously descending when the lifting plate 64 is lowered to the lowest point. The upper detection piece 40 and the lower detection piece 50 automatically control the lifting condition of the lifting disc 64, and the problem that the moving buffer force caused by manual control of lifting impacts parts is solved.

In the present embodiment, the driving member 30 is a motor for driving the transmission assembly 60 to ascend or descend so as to link the moving column 22 in the lifting assembly 20 to ascend or descend the carrier plate 10, and in other embodiments, the driving member 30 may be another driving member such as an air cylinder, which is not limited herein.

Referring to fig. 7, an embodiment of the present application further provides a lifting mobile robot 200, where the lifting mobile robot 200 further includes a movable vehicle body 201 and a lifting device 100, and the lifting device 100 is installed in the vehicle body 201. In this manner, the lift type mobile robot 200 is used to accomplish the distribution of materials in a factory, i.e., from one location to another or from one warehouse to another. It is understood that the lifting device 100 may be used in a robot capable of autonomous movement or a handling device capable of autonomous movement, so as to achieve the handling of materials, and the application scenario of the lifting device 100 is not limited in this application.

According to the actual distribution requirements and the size of the vehicle body 201, 2 or more lifting devices 100 can be arranged in the vehicle body 201, and 2 or more lifting devices 100 can be arranged in parallel or in other arrangement forms in the vehicle body 201 to lift the carrier plate 10 together, so that the material distribution services meeting different requirements can be met.

As shown in the lifting apparatus 100 of fig. 1 to 6, the lifting assemblies 20 are disposed on both sides of the transmission assembly 60, the transmission assembly 60 is connected to the transmission assembly 60 by the driving member 30, and then the transmission assembly 60 drives the two lifting assemblies 20 to ascend or descend, so as to link the ascending or descending of the carrier plate 10. The upper detecting element 40 is disposed to automatically control the ascending condition of the carrier plate 10, and the lower detecting element 50 automatically controls the descending condition of the carrier plate 10, so that the ascending condition and the descending condition of the carrier plate 10 can be quickly and accurately controlled to ascend to the highest point position and descend to the lowest point position without detecting the ascending condition and the descending condition from the outside of the vehicle body 201. Meanwhile, the lifting device 100 is designed to lift the carrier plate 10 by the lifting disc 64 and the moving column 22, so that the good balance of the lifting device 100 is kept, and the lifting device is suitable for intelligent engineering or other distribution services.

Hereinbefore, specific embodiments of the present application are described with reference to the drawings. However, those skilled in the art will appreciate that various modifications and substitutions can be made to the specific embodiments of the present application without departing from the spirit and scope of the application. Such modifications and substitutions are intended to be within the scope of the present application.

Claims

1. The utility model provides a lifting device, includes the support plate, its characterized in that still includes:

2. The lift device of claim 1, wherein the lift assembly further comprises a mounting block, and the lift sleeve is removably coupled to the mounting block.

3. The lifting device as claimed in claim 1, further comprising a transmission assembly disposed at one side of the lifting assembly and connected to the driving member for driving the moving column to ascend or descend.

4. The lifting device as claimed in claim 3, wherein the transmission assembly includes a guiding base, a guiding column, a connecting plate and a lifting plate, one end of the guiding base is connected to the driving member in a transmission manner, the other end of the guiding base is fixedly connected to the guiding column, one side of the guiding column away from the guiding base is connected to the lifting plate, and the connecting plate is connected to the lifting plate and the moving column.

5. The lifting device as claimed in claim 4, wherein the connecting plate has a latching hole at one end thereof, and the moving post is detachably connected to the connecting plate through the latching hole.

6. The lifting device as claimed in claim 4, wherein a first rotating wheel is provided at one end of the guiding column, a second rotating wheel is provided in the guiding base, the driving member drives the second rotating wheel to rotate, and the first rotating wheel is engaged with the second rotating wheel.

7. The lifting device as claimed in claim 6, wherein the guiding column has a receiving hole therein, a guiding member is disposed in the receiving hole, and one end of the guiding member is connected to the first rotating wheel.

8. The lifting device according to claim 7, wherein the inner wall of the receiving hole is provided with a guide groove, and the outer peripheral side of the guide member is provided with a projection which ascends or descends along the guide groove when the guide post rotates.

9. The lifting device as claimed in claim 7, wherein the inner wall of the receiving hole is provided with an internal thread, the outer circumference of the guide member is correspondingly provided with an external thread, and the guide member is screwed with the guide post.

10. A lift-type mobile robot comprising a movable vehicle body, characterized by further comprising the lifting device of any one of claims 1 to 9, said lifting device being mounted on said vehicle body.