CN218560957U - Lifting equipment - Google Patents

Abstract

The utility model discloses a lifting device relates to wafer box transportation technical field for solve the inside that the wire is located the belt, at the in-process of belt motion, the problem that the circuit was broken easily. Grabbing the object to be moved by using a grabbing piece; connecting a lifting device with the grabbing piece, and driving the grabbing piece to perform lifting motion; fixing the power storage part on the grabbing part; the charging piece is fixed on the lifting device; when the grabbing piece moves to the top point, the charging piece can be in contact with the electric power storage piece and charges the electric power storage piece; when the power storage part is separated from the charging part, the power storage part supplies power to the grabbing part. The utility model is used for transport wafer box.

Description

Lifting equipment

Technical Field

The utility model relates to a wafer box transportation technology field especially relates to a lifting device.

Background

Wafers are widely used in the semiconductor field as important materials for fabricating silicon semiconductor circuits. After being produced, the wafers are loaded into a wafer cassette and then transported to a storage area.

For the automation that realizes the transportation, generally can utilize the overhead traveling crane to transport the wafer box, and through setting up the jacking equipment on the overhead traveling crane, snatch the wafer box, this jacking equipment includes the motor, the belt with snatch the piece, the belt is connected between grabbing piece and motor, the output shaft of motor and the first end fixed connection of belt, the second end of belt with snatch a fixed connection, corotation and the reversal of the output shaft of motor, the belt can twine on the output shaft of motor or become the state of extending from the winding state, and with this drive snatch a and reciprocate. The grabbing piece needs to be powered up because actions such as clamping and loosening the wafer box need to be carried out on the grabbing piece.

In prior art, for supplying power to snatching the piece, generally can set up the wire in the inside of belt, supply power to snatching the piece through the wire, but because the wire is located the inside of belt, at the belt around the output shaft pivoted in-process of motor, the wire can rotate around the output shaft of motor equally, at the pivoted in-process, the wire is dragged or is rolled over easily, causes the wire rupture to the influence is to snatching a power supply.

SUMMERY OF THE UTILITY MODEL

An embodiment of the utility model provides a lifting device for solve the inside that the wire is located the belt, at the in-process of belt motion, the wire is the problem of rupture easily.

In order to achieve the above object, the embodiments of the present invention adopt the following technical solutions:

a lifting device comprises a grabbing piece, a lifting device, a power storage piece and a charging piece, wherein the grabbing piece is used for grabbing an object to be moved; the lifting device is connected with the grabbing piece and is used for driving the grabbing piece to move up and down; the electricity storage part is fixed on the grabbing part; the charging piece is fixed on the lifting device; when the grabbing piece moves to the top point, the charging piece is in contact with the power storage piece and charges the power storage piece; when the power storage part is separated from the charging part, the power storage part supplies power to the grabbing part.

The embodiment of the utility model provides a lifting device, connect grabbing piece on elevating gear, grabbing piece can do the elevating movement along with elevating gear, when grabbing piece moves to the summit, the piece that charges can charge for electric power storage component; when the electricity storage part separates with the piece that charges, the electricity storage part can be for snatching a power supply to satisfy the power consumption demand of grabbing the piece. After the electric energy that holds the electricity piece is used up to when grabbing the piece and moving to the summit, the piece that charges can charge for the electricity storage piece again, with this circulation, utilizes the electric power storage ability that holds the electricity piece, realizes the power supply to grabbing the piece, need not provide the wire connection for grabbing the piece from drive arrangement and supplies power, can not have the impaired risk of wire, can provide stable electric energy supply for grabbing the piece, thereby the stable operation of grabbing the piece is guaranteed.

In some embodiments of the present application, the power storage member includes a super capacitor, the super capacitor being fixed to the grasping member, the super capacitor being electrically connected to the grasping member.

In some embodiments of the present application, the power storage further includes a first contact plate disposed on the super capacitor and electrically connected to the super capacitor; the charging piece comprises a second contact plate, the second contact plate is fixed on the lifting device, and the second contact plate is used for being electrically connected with a power supply; when the grabbing piece moves to the top point, the first contact plate is in contact with and electrically connected with the second contact plate; when the first touch plate is separated from the second touch plate, the super capacitor supplies power to the grabbing piece.

In some embodiments of the present application, the first contact plate has a plurality of contacts thereon, the second contact plate has a plurality of contact slots thereon, the plurality of contact slots and the plurality of contacts are arranged in a one-to-one correspondence, and when the first contact plate contacts with the second contact plate, the contacts are inserted into the corresponding contact slots.

In some embodiments of the present application, the lifting device further comprises a first signal sensor and a second signal sensor, the first signal sensor being disposed on the grasping element and electrically connected to the grasping element; the second signal sensor is arranged on the lifting device and is electrically connected with the lifting device; between grabbing piece and the elevating gear, carry out information interaction through first signal sensor and second signal sensor.

In some embodiments of the present application, the lifting device comprises a drive member and a belt; the first end of belt and the output shaft fixed connection of driving piece, the second end of belt with snatch a fixed connection.

In some embodiments of this application, the belt is provided with many, the first end of many belts all with the output shaft fixed connection of driving piece, the second end of many belts all with snatch a fixed connection, many belts distribute along the axis of the output shaft of driving piece.

In some embodiments of the present application, the driving member includes a double-shaft motor, and the plurality of belts are respectively provided on two output shafts of the double-shaft motor.

In some embodiments of the present application, the lifting device further comprises a pulley fixed to the output shaft of the driving member, the first end of the belt being fixedly connected to the pulley.

In some embodiments of the present application, the lifting device further comprises a housing having a receiving cavity, the driving member being fixed in the receiving cavity.

Drawings

Fig. 1 is a first external structural view of a lifting device provided in an embodiment of the present application;

fig. 2 is an external structural view of an electricity storage member provided in an embodiment of the present application;

fig. 3 is an external structural view of a power storage device and a charging device according to an embodiment of the present disclosure;

fig. 4 is an external structural view of a first touch panel provided in an embodiment of the present application;

fig. 5 is an external structural view of a second touch panel provided in an embodiment of the present application;

fig. 6 is a first external structural view of a lifting device according to an embodiment of the present application;

fig. 7 is a second external structural view of the lifting device according to the embodiment of the present application;

fig. 8 is a third external structural view of the lifting device according to the embodiment of the present application;

fig. 9 is a fourth external structural view of the lifting device according to the embodiment of the present application;

fig. 10 is a second external structural view of a lifting device provided in an embodiment of the present application;

fig. 11 is a third external structural view of a lifting device according to an embodiment of the present application;

fig. 12 is a fourth external structural view of a lifting device according to an embodiment of the present application.

Reference numerals: 10-a lifting device; 100-a gripper; 200-a lifting device; 210-a driver; 211-a two-shaft motor; 2111-a first output shaft; 2112-a second output shaft; 220-a belt; 300-a first signal sensor; 400-a second signal sensor; 500-an electricity storage; 510-a super capacitor; 520-a first touch plate; 521-a contact; 600-a charging member; 610-a second touch pad; 611-touch groove; 700-a housing; 800-belt pulley; 900-a driven assembly; 910-a driven wheel; 920-roller.

Detailed Description

The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, are not to be construed as limiting the present invention.

The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Wafers are widely used in the semiconductor field as important materials for fabricating silicon semiconductor circuits. The wafers are produced and loaded into cassettes, which are then transported to storage.

For the conveying efficiency who improves the wafer box, generally can utilize the cooperation transportation wafer box of track and overhead traveling crane, hang the wafer box in the below of overhead traveling crane, start the overhead traveling crane, the overhead traveling crane can move on the track to transport the wafer box to storage area.

Since the wafer cassette is generally located on the ground and the overhead traveling crane is located in the air, as shown in fig. 1, the present application provides a lifting apparatus 10 fixed on the overhead traveling crane (not shown in the figure, located above the lifting device 200 in fig. 1), the lifting apparatus 10 includes a grasping member 100 and a lifting device 200, the grasping member 100 is used for grasping the object to be moved; the lifting device 200 is fixed on the overhead crane and connected with the grabbing piece 100, and the lifting device 200 is used for driving the grabbing piece 100 to perform lifting movement.

Fixing the lifting device 200 on the overhead crane, connecting the grabbing piece 100 with the lifting device 200, and driving the grabbing piece 100 to descend by using the lifting device 200 when the grabbing piece 100 needs to descend; when the grabbing piece 100 needs to be lifted, the lifting device 200 is used for driving the grabbing piece 100 to be lifted.

It is understood that the object to be moved may be any suitable object that needs to be moved, and in the application scenario of the present application, the object to be moved is a wafer box. For convenience of description, the object to be moved is described as a wafer cassette.

For example, when the gripper 100 is in the air and the gripper 100 needs to grip a wafer cassette on the ground into the air. Firstly, the lifting device 200 is controlled to drive the grabbing part 100 to descend to a proper position, for example, the lifting device can descend to a position where the grabbing part 100 can grab a wafer box, then the grabbing part 100 is controlled to grab the wafer box, then the lifting device 200 is controlled to drive the grabbing part 100 to ascend to a proper position, for example, the lifting device can ascend to a position where the grabbing part 100 cannot collide with other devices on the ground when a crown block is used for transportation, and finally the crown block is started to move on a track.

After the wafer cassette is transported to the destination, the wafer cassette placed on the gripper 100 needs to be placed on the ground (e.g., in a storage area). At this time, the lifting device 200 may be controlled to drive the grabbing member 100 to descend to a suitable position, for example, the grabbing member 100 may descend to a position where the wafer cassette can be just placed on the ground, so as to drive the wafer cassette grabbed by the grabbing member 100 to descend to a suitable position, and then the grabbing member 100 is controlled to loosen the wafer cassette, so that the wafer cassette is stably placed on the ground. With this transportation of realization to the wafer box, transport the suspension of wafer box half empty, avoid the wafer box to bump with subaerial object at the removal in-process, ensured the security of transportation.

In order to enable the grabbing member 100 to smoothly grab the wafer cassette and the lifting device 200 to smoothly drive the grabbing member 100 to lift, as shown in fig. 1, the lifting device 10 provided by the present application further includes a first signal sensor 300 and a second signal sensor 400, wherein the first signal sensor 300 is disposed on the grabbing member 100 and electrically connected to the grabbing member 100; the second signal sensor 400 is disposed on the lifting device 200 and electrically connected to the lifting device 200; information interaction is performed between the grabbing piece 100 and the lifting device 200 through the first signal sensor 300 and the second signal sensor 400.

The second signal sensor 400 is electrically connected to the lifting device 200, and when the lifting device 200 is lowered to a proper position and the grasping member 100 needs to perform a grasping or releasing operation, the second signal sensor 400 can transmit a signal to the first signal sensor 300, and since the first signal sensor 300 is electrically connected to the grasping member 100, the grasping member 100 can perform the grasping or releasing operation when receiving the signal. When the grabbing piece 100 finishes grabbing or loosening actions and the grabbing piece 100 needs to ascend, the first signal sensor 300 can transmit signals to the second signal sensor 400, and the second signal sensor 400 is electrically connected with the lifting device 200, so that the lifting device 200 can drive the grabbing piece 100 to ascend when receiving the signals. Through the information interaction between the first signal sensor 300 and the second signal sensor 400, the grabbing piece 100 can grab the wafer box smoothly, the lifting device 200 can drive the grabbing piece 100 to lift smoothly, and the wafer box can be transported smoothly.

It can be understood that the first signal sensor 300 and the second signal sensor 400 can not only realize information interaction between the gripping member 100 and the lifting device 200, but also information interaction between other components of the lifting device 10 which need information interaction.

The first signal sensor 300 and the second signal sensor 400 may both be anti-interference signal sensors, the wireless signal transmission of the anti-interference signal sensors mainly adopts a radio frequency transmission technology, and the communication between the two anti-interference signal sensors adopts a 6-bit hexadecimal addressing mode, so that mutual interference during signal transmission can be effectively avoided, and the stability of signal transmission is ensured. Of course, the first signal sensor 300 and the second signal sensor 400 may be other suitable signal sensors, and the present application is not limited thereto.

The grabbing part 100 needs to consume power when grabbing and releasing the wafer cassette and the first signal sensor 300 performs information interaction with the second signal sensor 400, and therefore, as shown in fig. 1, the lifting device 10 provided by the present application further includes a power storage part 500 and a charging part 600. The electricity storage member 500 is fixed to the grasping member 100; the charging member 600 is fixed to the elevating device 200; when the gripper 100 moves to the apex, the power storage member 500 comes into contact with the charging member 600, and the charging member 600 charges the power storage member 500; when the electric storage member 500 is separated from the charging member 600, the electric storage member 500 supplies power to the gripper 100.

When the lifting device 200 drives the grabbing piece 100 to descend, the power storage piece 500 is separated from the charging piece 600, and the power storage piece 500 can supply power to the grabbing piece 100 and the first signal sensor 300 so as to meet the power consumption requirements of the grabbing piece 100 and the first signal sensor 300. When the power of the power storage member 500 is used up and the grasping member 100 moves to the apex, the power storage member 500 can come into contact with the charging member 600 and the charging member 600 can charge the power storage member 500. With this circulation, utilize the electric power storage ability of electric power storage member 500, realize the power supply to grabber 100 and first signal sensor 300, need not provide the wire connection for grabber 100 and first signal sensor 300 from elevating gear 200 and supply power, can not have the impaired risk of wire, can provide stable power supply for grabber 100 and first signal sensor 300 to guarantee the stable operation of grabber 100, and stable information interaction between first signal sensor 300 and the second signal sensor 400.

It can be understood that, when the grasping member 100 moves to the apex, the power storage member 500 may supply power to the grasping member 100 and the first signal sensor 300, or the power source may directly supply power to the grasping member 100 and the first signal sensor 300 through the charging member 600 and the power storage member 500.

As shown in fig. 2, the power storage device 500 includes a super capacitor 510, the super capacitor 510 is fixed to the gripper 100, and the super capacitor 510 is electrically connected to the gripper 100. The electrical energy is stored by the super capacitor 510, and the gripper 100 and the first signal sensor 300 are powered when the gripper 100 and the first signal sensor 300 require power. The super capacitor 510 has the advantages of fast charging speed, long cycle service life, no pollution of raw materials of products, capability of carrying out large-current discharge and the like.

It can be appreciated that the electrical energy stored within the super capacitor 510 should be sufficient to meet the electrical energy required to raise and lower the lifting device 200 at least once to capture the part 100. Activated carbon is used as positive and negative electrodes in the super capacitor 510, the positive and negative electrodes are separated from a diaphragm by electrolyte, and the super capacitor is sealed by an aluminum shell and a rubber plug.

One super capacitor 510 can be arranged, and one super capacitor 510 can be arranged, so that the power consumption requirements of the grabbing piece 100 and the first signal sensor 300 can be met, and the cost can be reduced.

Alternatively, a plurality of supercapacitors 510 may be provided, and the plurality of supercapacitors 510 may be connected in series-parallel. A plurality of super capacitors 510 are provided, each super capacitor 510 being capable of storing electrical energy, each pair of super capacitors 510 being charged once, the super capacitors 510 being capable of providing longer electrical energy to the grabber 100 and the first signal sensor 300.

On this basis, in order to ensure normal electrical connection among the plurality of super capacitors 510, a voltage-sharing control management circuit may be configured among the plurality of super capacitors 510 to perform voltage-sharing processing on the plurality of super capacitors 510, so as to ensure that the super capacitors 510 stably supply power to the grasping member 100 and the first signal sensor 300.

In order for the charging member 600 to charge the super capacitor 510, as shown in fig. 3, the power storage member 500 further includes a first contact 520, and the first contact 520 is disposed on the super capacitor 510 and electrically connected to the super capacitor 510; the charging member 600 comprises a second contact plate 610, the second contact plate 610 is fixed on the lifting device 200, and the second contact plate 610 is used for being electrically connected with a power supply; when the grabbing piece 100 moves to the vertex, the first contact plate 520 on the grabbing piece 100 is in contact with and electrically connected with the second contact plate 610; when the first contact plate 520 is separated from the second contact plate 610, the super capacitor 510 supplies power to the gripper 100.

Electrically connecting the first contact plate 520 with the supercapacitor 510, electrically connecting the second contact plate 610 with a power source, wherein when the first contact plate 520 is in contact with the second contact plate 610, the power source can charge the supercapacitor 510 through the first contact plate 520 and the second contact plate 610; when the first touch plate 520 is separated from the second touch plate 610, the super capacitor 510 supplies power to the gripper 100. The electrical connection of the power supply and the super capacitor 510 is realized through the contact of the first contact plate 520 and the second contact plate 610, and the stable electrical connection of the super capacitor 510 and the power supply can be ensured.

In order to ensure the stability of the charging between the super capacitor 510 and the charging member 600, as shown in fig. 4, the first contact plate 520 has a plurality of contacts 521, as shown in fig. 5, the second contact plate 610 has a plurality of contact slots 611, the plurality of contact slots 611 are arranged in one-to-one correspondence with the plurality of contacts 521, and when the first contact plate 520 contacts the second contact plate 610, the contacts 521 are inserted into the corresponding contact slots 611.

When the first contact plate 520 is provided with a plurality of contacts 521 and the second contact plate 610 is provided with a plurality of contact slots 611, the contacts 521 can be inserted into the corresponding contact slots 611 when the power supply is needed to charge the supercapacitor 510, so that the power supply and the supercapacitor 510 can be electrically connected. Since the contact 521 can be inserted into the contact groove 611 when the super capacitor 510 is charged, that is, the contact 521 is snapped into the contact groove 611, it is difficult to disengage the contact 521 from the contact groove 611 in a direction parallel to the ground, so that the contact 521 can be stably inserted into the contact groove 611, thereby ensuring stable electrical connection between the power supply and the super capacitor 510.

Wherein, the contact 521 can be an elastic contact 521, and a stable electrical connection between the power supply and the super capacitor 510 can be further ensured by the more stable engagement between the elastic contact 521 and the contact slot 611.

In order to utilize the lifting device 200 to drive the grabbing member 100 to lift, as shown in fig. 6, the lifting device 200 provided by the present application includes a driving member 210 and a belt 220, the driving member 210 is fixed on a crown block (not shown in the figure, located above the driving member 210 in fig. 6), a first end of the belt 220 is fixedly connected to an output shaft of the driving member 210, and a second end of the belt 220 is fixedly connected to the grabbing member 100.

When the grabbing member 100 needs to be lifted, the output shaft of the driving member 210 can be controlled to rotate along the first direction, because the first end of the belt 220 is fixedly connected with the output shaft of the driving member 210, the belt 220 can be wound on the output shaft of the driving member 210 along with the rotation of the output shaft of the driving member 210, so that the second end of the belt 220 moves upwards, and because the second end of the belt 220 is fixedly connected with the grabbing member 100, the grabbing member 100 can also be lifted.

When the grabbing member 100 needs to be lowered, the output shaft of the driving member 210 may be controlled to rotate in the opposite direction of the first direction, and at this time, the belt 220 wound around the output shaft of the driving member 210 may be slowly extended, so that the second end of the belt 220 moves downward, and since the second end of the belt 220 is fixedly connected to the grabbing member 100, the grabbing member 100 may also be lowered. The lifting and lowering of the gripper 100 is achieved by the cooperation of the belt 220 and the drive member 210.

The driving member 210 may be a motor, or may be another suitable driving member 210 having an output shaft and having a driving function, which is not specifically limited in this application.

In addition, driving element 210 may be directly fixed to the overhead traveling crane, or as shown in fig. 7, the lifting apparatus 10 provided in the present application further includes a housing 700, where housing 700 is fixed to the overhead traveling crane, and housing 700 has a receiving cavity, where driving element 210 is fixed in the receiving cavity.

By fixing the driving element 210 in the casing 700, the casing 700 can protect the driving element 210, so as to prevent external objects from contacting the driving element 210, and ensure the normal operation of the driving element 210. And be fixed in the overhead traveling crane with shell 700 on, when need install driving piece 210 on the overhead traveling crane or dismantle from the overhead traveling crane, only need to install shell 700 on the overhead traveling crane or dismantle from the overhead traveling crane, need not directly operate driving piece 210, the installation and the dismantlement of driving piece 210 of being convenient for.

To facilitate the winding of the belt 220, as shown in fig. 8, the lifting device 10 provided herein further includes a pulley 800, fixedly coupling the pulley 800 with the output shaft of the driving member 210, and fixing the first end of the belt 220 to the pulley 800. Since the pulley 800 is fixed to the output shaft of the driving member 210, the pulley 800 can rotate with the rotation of the output shaft of the driving member 210, and since the first end of the belt 220 is fixedly connected to the pulley 800, the belt 220 can be wound around the pulley 800 or converted from a wound state to an extended state in the forward rotation or reverse rotation of the output shaft of the driving member 210. Since the size of the pulley 800 is large, when the belt 220 is wound around the pulley 800, the belt 220 is less bent when the belt 220 having the same length is wound, and the service life of the belt 220 can be prolonged.

On this basis, for the stability that improves grabbing piece 100 and go up and down, as shown in fig. 9, belt 220 is provided with many, and the first end of many belts 220 all with belt pulley 800 fixed connection, the second end of many belts 220 all with grab a 100 fixed connection, the axis that many belts 220 followed the output shaft of driving piece 210 distributes.

Since the first ends of the plurality of belts 220 are all fixedly connected to the pulley 800, the plurality of belts 220 can rotate synchronously with the rotation of the output shaft of the driving member 210. And because the plurality of belt pulleys 800 are arranged along the axis of the output shaft of the driving member 210, the second ends of the plurality of belts 220 are respectively connected to different positions on the grabbing member 100, so that the grabbing member 100 can ascend or descend under the combined action of the plurality of belts 220 in the process of synchronous movement of the plurality of belts 220, and the ascending or descending of the grabbing member 100 can be more stable.

It will be appreciated that the stability of the raising or lowering of the gripping member 100 may be adjusted by adjusting the position of the second ends of the plurality of straps 220 on the gripping member 100.

The number of the belts 220 may be two, three, or four, for example, as shown in fig. 9, three belts 220 are provided, and the three belts 220 are sequentially arranged along the axis of the output shaft of the driving member 210. Three belts 220 are connected between the gripping member 100 and the driving member 210 to realize the lifting of the gripping member 100. For ease of illustration, the following figures are illustrated with three belts 220.

On this basis, in order to further improve the lifting stability of the grasping element 100, as shown in fig. 10, the lifting apparatus 10 provided by the present application further includes a driven assembly 900, the driven assembly 900 includes a driven wheel 910 and a roller 920, the roller 920 is disposed in the accommodating cavity, an axis of the roller 920 is parallel to an axis (X direction in fig. 10) of an output shaft of the driving element 210, the driven wheel 910 is rotatably disposed in the accommodating cavity, the driven wheel 910 is sleeved on the roller 920, the number of the driven wheels 910 and the rollers 920 is the same as the number of the belts 220, and the driven wheels and the rollers are disposed in a one-to-one correspondence with the belts 220, the plurality of rollers 920 are sequentially distributed along a direction parallel to the ground (Y direction in fig. 10), so that the plurality of belts 220 are respectively wound around the corresponding driven wheels 910, and a portion of the belts 220 wound around the driven wheels 910 is located above the driven wheels 910.

Because a plurality of driven wheels 910 distribute along the Y direction, therefore the second end of belt 220 also distributes along the Y direction, because the second end of a plurality of belts 220 all with snatch piece 100 fixed connection, consequently a plurality of belts 220 can be fixed in different positions on snatch piece 100 respectively along the Y direction, through setting up a plurality of driven subassemblies 900, keeps snatch piece 100 along the stability of Y direction.

It can be understood that the length of the plurality of rollers 920 in the X direction can be specifically adjusted according to the spatial layout, so as to satisfy the requirement that the plurality of rollers 910 can normally rotate.

On this basis, in order to further improve the lifting stability of the grasping element 100, as shown in fig. 11, the driving element 210 provided by the present application includes a dual-shaft motor 211, the dual-shaft motor 211 has a first output shaft 2111 and a second output shaft 2112, the first output shaft 2111 and the second output shaft 2112 are both fixedly provided with a belt pulley 800, the first ends of the three belts 220 are respectively fixed on the belt pulley 800 of the first output shaft 2111 or the second output shaft 2112, and the second ends of the three belts 220 are respectively fixed on the grasping element 100.

Since the first output shaft 2111 and the second output shaft 2112 are distributed along the axial direction of the first output shaft 2111 (along the X direction in fig. 11), the second ends of the belts 220 are also distributed along the X direction, and since the second ends of the plurality of belts 220 are fixedly connected with the grasping element 100, the plurality of belts 220 can be respectively fixed at different positions on the grasping element 100 along the X direction, so as to maintain the stability of the grasping element 100 along the X direction.

It can be understood that the dual shaft motor 211 refers to a motor having two output shafts, which are located at both sides of the motor and are coaxially disposed.

For example, as shown in fig. 11, one belt 220 is fixed to the first output shaft 2111, and two belts 220 are fixed to the second output shaft 2112. Alternatively, two belts 220 may be fixed to the first output shaft 2111, and one belt 220 may be fixed to the second output shaft 2112, which is not particularly limited in the present application.

It can be appreciated that when the driving member 210 includes the two-shaft motor 211, as shown in fig. 12, the driven assembly 900 also needs to be disposed at a corresponding position to satisfy the distribution of the belt 220 in the Y direction. And will not be described herein.

In the description herein, particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. A lifting device, comprising:

the grabbing piece is used for grabbing the object to be moved;

the lifting device is connected with the grabbing piece and is used for driving the grabbing piece to move up and down;

the electric storage part is fixed on the grabbing part;

the charging piece is fixed on the lifting device;

when the grabbing piece moves to the top point, the charging piece is in contact with the power storage piece and charges the power storage piece; when the electricity storage part is separated from the charging part, the electricity storage part supplies power to the grabbing part.

2. The lift device of claim 1, wherein the electrical storage member comprises a supercapacitor secured to the grasping member, the supercapacitor being electrically connected to the grasping member.

3. The lift device of claim 2, wherein the electrical storage member further comprises a first contact plate disposed on the ultracapacitor and electrically connected to the ultracapacitor;

the charging piece comprises a second contact plate, the second contact plate is fixed on the lifting device, and the second contact plate is used for being electrically connected with a power supply; when the grabbing piece moves to the vertex, the first contact plate is in contact with and electrically connected with the second contact plate; when the first touch panel is separated from the second touch panel, the super capacitor supplies power to the grabbing piece.

4. The lifting device as claimed in claim 3, wherein the first contact plate has a plurality of contacts thereon, the second contact plate has a plurality of contact slots thereon, the plurality of contact slots are disposed in one-to-one correspondence with the plurality of contacts, and when the first contact plate contacts the second contact plate, the contacts are inserted into the corresponding contact slots.

5. The lift device as claimed in any one of claims 1 to 4, further comprising a first signal sensor and a second signal sensor, the first signal sensor being disposed on the gripping member and electrically connected to the gripping member; the second signal sensor is arranged on the lifting device and is electrically connected with the lifting device; and information interaction is carried out between the grabbing piece and the lifting device through the first signal sensor and the second signal sensor.

6. Lifting device according to any one of claims 1-4, characterized in that the lifting means comprise:

a drive member;

the first end of belt with the output shaft fixed connection of driving piece, the second end of belt with it fixed connection snatchs.

7. The lifting device as claimed in claim 6, wherein the belt is provided with a plurality of belts, a first end of each of the plurality of belts is fixedly connected with the output shaft of the driving member, a second end of each of the plurality of belts is fixedly connected with the grasping member, and the plurality of belts are distributed along the axis of the output shaft of the driving member.

8. The lifting apparatus as claimed in claim 7, wherein the driving member includes a double-shaft motor, and the plurality of belts are respectively provided on two output shafts of the double-shaft motor.

9. The lift device recited by claim 6 further comprising a pulley secured to the output shaft of the drive member, the first end of the belt being fixedly connected to the pulley.

10. The lift device recited by claim 6 further comprising a housing having a receiving cavity, said drive member being secured within said receiving cavity.

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