CN218802290U

CN218802290U - Lifting device and robot

Info

Publication number: CN218802290U
Application number: CN202222602244.XU
Authority: CN
Inventors: 潘彬; 陈坤; 边旭; 赵万秋
Original assignee: Shenzhen Youibot Robotics Technology Co ltd
Current assignee: Shenzhen Youibot Robotics Technology Co ltd
Priority date: 2022-09-28
Filing date: 2022-09-28
Publication date: 2023-04-07
Anticipated expiration: 2032-09-28

Abstract

The utility model is suitable for the technical field of automatic transportation, and discloses a lifting device and a robot, wherein the lifting device comprises a fixed frame, a bearing component, a connecting rod mechanism and a lifting mechanism, and the bearing component is arranged on the fixed frame through the connecting rod mechanism in a liftable way; the lifting mechanism comprises a first motor, a first transmission mechanism, a screw rod and a screw rod sleeve, and the screw rod is arranged on the fixed frame along the vertical direction; the screw rod sleeve is in spiral transmission connection with the screw rod; the first motor has a first output shaft; the first transmission mechanism is in transmission connection between the first output shaft and the screw rod sleeve and is used for driving the screw rod sleeve to move up and down relative to the screw rod under the driving of the first motor; the bearing assembly is further connected with the screw rod sleeve and used for moving up and down along with the screw rod sleeve relative to the screw rod under the driving of the first motor. The lifting device does not lift by adopting the lead screw, the lead screw sleeve moves up and down along the lead screw to drive the bearing assembly to carry out lifting motion, the height space occupied by the lifting mechanism can be reduced, and the maintenance is convenient.

Description

Lifting device and robot

Technical Field

The utility model relates to an automatic change transportation technical field, especially relate to a lifting device and robot.

Background

The Mobile Robot is a transport Vehicle equipped with a guide device such as an electromagnetic or optical device, capable of traveling along a predetermined guide path, and having various transfer functions and safety protection, and includes Autonomous Mobile Robots (AMR), automated Guided Vehicles (AGVs), and the like. The lifting device arranged on the mobile robot is moved to shuttle at the bottom of the goods shelf by the mobile robot, but the whole height of the lifting device is required to be lower than the height space of the bottom of the goods shelf due to the limitation of the height space of the bottom of the goods shelf, so that the lifting device is not influenced to get in and out of the bottom of the goods shelf, and the lifting device can lift the goods on the goods shelf at the bottom of the goods shelf.

Lifting device among the correlation technique, under equal lift height requirement, the high space that lifting mechanism that its adopted occupy is big and the structure is complicated for when carrying article on the goods shelves, because of receiving goods shelves bottom high space restriction, lifting device is at the lift in-process, and lifting mechanism easily supports the goods shelves bottom, makes lifting device be difficult to lift to its height that originally can lift, and then is difficult to carry out the operation of lifting to article on the goods shelves.

SUMMERY OF THE UTILITY MODEL

A first object of the present invention is to provide a lifting device, which aims to solve the technical problem of the lifting device in the related art that the lifting height of the lifting device is easy to be limited when entering the bottom of the goods shelf due to the large occupied space of the lifting mechanism.

In order to achieve the above purpose, the utility model provides a scheme is:

a lifting device comprises a fixed frame, a bearing component, a connecting rod mechanism and a lifting mechanism, wherein the bearing component is arranged on the fixed frame in a lifting manner through the connecting rod mechanism;

the lifting mechanism comprises a first motor, a first transmission mechanism, a screw rod and a screw rod sleeve, and the screw rod is arranged on the fixing frame along the vertical direction;

the screw rod sleeve is in spiral transmission connection with the screw rod;

the first motor has a first output shaft;

the first transmission mechanism is in transmission connection between the first output shaft and the screw rod sleeve so as to be used for driving the screw rod sleeve to move up and down relative to the screw rod under the driving of the first motor;

the bearing assembly is further connected with the screw rod sleeve and used for moving up and down along with the screw rod sleeve relative to the screw rod under the driving of the first motor.

Furthermore, the bearing assembly comprises a bearing platform and a lifting seat, and the bearing platform is arranged on the fixed frame in a lifting manner through the connecting rod mechanism;

the lifting seat is connected to one side of the horizontal direction of the bearing platform, and the lifting seat is connected with the screw rod sleeve so as to be used for driving the bearing platform to move up and down under the driving of the screw rod sleeve.

Further, elevating system still includes bearing and axial locating part, the lift seat is equipped with the mounting hole, the bearing install in the mounting hole, the lead screw cover includes the first cover body and the second cover body, the local portion of the first cover body is worn to locate in the bearing, the external diameter of the second cover body is greater than the external diameter of the first cover body, just the second cover body support the top in the axial one end of bearing, the axial locating part install in the first cover body is outer and support the top in the axial other end of bearing.

Furthermore, the lifting device also comprises two upright posts which are convexly arranged on the fixed frame at intervals and are respectively positioned at two opposite sides of the lifting seat; two the pole settings are equipped with first guide sliding part respectively, the relative both sides of lift seat are equipped with respectively with first guide sliding part sliding fit's second guide sliding part, first guide sliding part and second guide sliding part cooperation are in order to form the removal route that the guide lift seat removed.

Furthermore, the screw rod is a trapezoidal screw rod, and the first output shaft is arranged along the horizontal direction; and/or the presence of a gas and/or,

the first transmission mechanism comprises a first speed reducer, a first transmission wheel, a second transmission wheel and an annular transmission part;

the input end of the first speed reducer is connected to the first output shaft in a transmission manner, the output end of the first speed reducer is provided with a first transmission shaft, the first transmission shaft is parallel to the screw rod, and the first transmission wheel is connected to the first transmission shaft;

the annular transmission part is wound on the first transmission wheel and the second transmission wheel, so that the first transmission wheel drives the second transmission wheel to rotate;

the second transmission wheel is connected to the screw rod sleeve and used for driving the screw rod sleeve to rotate and move up and down along with the screw rod sleeve.

Further, the connecting rod mechanism comprises at least two groups of connecting rod assemblies, and the at least two groups of connecting rod assemblies are arranged at intervals along the horizontal direction; the fixed frame comprises a bottom plate, and the bearing assembly is arranged on the bottom plate in a lifting manner through the at least two groups of connecting rod assemblies;

the mount still includes two at least mount pads, two at least mount pads set up along the horizontal direction interval, the bottom plate includes two at least mounting panels that set up along the horizontal direction interval, link assembly is through corresponding the mount pad is installed in corresponding the mounting panel.

Furthermore, the connecting rod assembly comprises a first connecting rod and a second connecting rod, the top end of the first connecting rod is hinged to the bearing assembly, the bottom end of the first connecting rod is hinged to the top end of the second connecting rod, and the bottom end of the second connecting rod is hinged to the fixed frame; and/or the presence of a gas in the atmosphere,

the connecting rod mechanism further comprises a reinforcing rod, and the reinforcing rod is connected between the two adjacent groups of connecting rod assemblies.

Furthermore, a concave seat is arranged on the side wall surface of the bearing table facing the lifting seat, and two opposite side parts of the concave seat are connected with connecting shafts so as to connect the bearing table with the lifting seat;

two notches are formed in the side wall surface, facing the bearing table, of the lifting seat, and the connecting shaft penetrates through the notches;

the top ends of one group of the connecting rod assemblies are hinged to the connecting shaft, and partially extend into the notch.

Furthermore, the lifting device also comprises a rotating mechanism which is arranged on the bearing component and moves up and down along with the bearing component;

the rotating mechanism comprises a rotating part, a second motor and a second transmission mechanism, wherein the second motor is provided with a second output shaft, and the second output shaft is arranged along the horizontal direction;

the second transmission mechanism is connected between the second output shaft and the rotary part in a transmission manner, so that the rotary part is driven to rotate by the second motor.

Further, the first output shaft and the second output shaft are perpendicular to each other; and/or the presence of a gas in the atmosphere,

the second transmission mechanism comprises a second speed reducer and a transmission assembly, the input end of the second speed reducer is in transmission connection with the second output shaft, the output end of the second speed reducer is provided with a second transmission shaft, the second transmission shaft is parallel to the screw rod, and the rotary part is connected to the second transmission shaft through the transmission assembly, so that the rotary part rotates in the horizontal direction.

The utility model also provides a robot, including removing base and foretell lifting device, the mount is located remove on the base to move on the holding surface along with removing the base.

The lifting device provided by the utility model has the advantages that the bearing component is arranged on the fixed frame in a lifting way through the connecting rod mechanism, the lifting motion of the bearing component is realized to lift the article, and the connecting rod mechanism can support the bearing component in the lifting process of the bearing component, so that the lifting stability of the bearing component is improved; in addition, the first transmission mechanism is connected between the first output shaft and the screw rod sleeve, so that the horizontal space between the first motor and the screw rod is reasonably utilized, and the first transmission mechanism does not excessively occupy the height space around the lifting device, so that the height space occupied by the lifting mechanism is reduced; in addition, in the lifting process, the height of the screw rod is unchanged, namely the screw rod does not lift, the screw rod sleeve is utilized to move up and down along the screw rod so as to drive the bearing assembly to move up and down, the occupied height space can be reduced, the maintenance is convenient, the height space of the bottom of the goods shelf occupied by the lifting device is smaller under the same lifting height requirement, the limitation of the space requirement of the bottom of the goods shelf received by the lifting device can also be reduced, the lifting device can move into the bottom of the goods shelf more flexibly, the operation of lifting goods is completed, and the goods shelf can be taken out from the bottom of the goods shelf more flexibly.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a view angle of a lifting device according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of another view angle of the lifting device provided by the embodiment of the present invention;

fig. 3 is a partial structural schematic diagram of a view angle of a lifting device according to an embodiment of the present invention;

fig. 4 is a partial schematic structural diagram of another view angle of the lifting device provided by the embodiment of the present invention;

fig. 5 is a schematic view of an assembly structure of the lifting seat and the screw rod sleeve according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of the exploded structure of FIG. 5;

fig. 7 is a schematic structural view of a screw rod sleeve provided by an embodiment of the present invention;

fig. 8 is a schematic structural view of a lifting seat provided in an embodiment of the present invention;

fig. 9 is a schematic view of another assembly structure of the lifting seat and the screw rod sleeve according to the embodiment of the present invention;

fig. 10 is a schematic structural view of a vertical rod provided in an embodiment of the present invention;

fig. 11 is a schematic view of an assembly structure of a bottom plate and a mounting seat according to an embodiment of the present invention.

The reference numbers illustrate:

100. a lifting device; 110. a fixed mount; 111. a base plate; 1111. mounting a plate; 11111. a first mounting plate; 11112. a second mounting plate; 11113. a hinge; 112. a mounting seat; 1121. a first mounting seat; 1122. a second mounting seat; 120. a carrier assembly; 121. a bearing platform; 122. a lifting seat; 1221. mounting holes; 1222. a second clamping groove; 1223. a first boss; 1224. a notch; 123. a second clamp spring; 124. a second sliding guide part; 1241. a bump; 125. a first bearing seat; 126. a recess; 127. a connecting shaft; 128. a second bearing seat; 130. a link mechanism; 131. a connecting rod assembly; 1311. a first link; 1312. a second link; 1313. a first link assembly; 1314. a second linkage assembly; 132. a reinforcing bar; 133. hinging a shaft; 140. a lifting mechanism; 141. a first motor; 142. a first transmission mechanism; 1421. a first speed reducer; 1422. a first drive pulley; 1423. a second transmission wheel; 1424. an annular transmission member; 143. a screw rod; 144. a screw rod sleeve; 1441. a first sleeve body; 1442. a second sleeve body; 1443. a first clamping groove; 1444. a second boss; 145. a bearing; 146. an axial stop; 1461. a first clamp spring; 150. erecting a rod; 151. a first guide slide part; 1511. a chute; 160. a rotation mechanism; 161. a rotating member; 1611. a slewing bearing; 1612. a fixed seat; 162. a second motor; 163. a second transmission mechanism; 1631. a second speed reducer; 1632. a transmission assembly; 16321. a first gear; 16322. a second gear.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that all the directional indicators (such as upper, lower, left, right, front, and rear … …) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture, if the specific posture is changed, the directional indicator is changed accordingly.

It will also be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or be indirectly connected to the other element through intervening elements.

In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit ly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

As shown in fig. 1 to 11, the lifting device 100 provided by the embodiment of the present invention can be assembled on a mobile base of a robot, so as to shuttle to the bottom of a shelf along with the robot, and then lift an article on the shelf, so as to move the article off the shelf.

As shown in fig. 1, the lifting apparatus 100 provided in this embodiment includes a fixed frame 110, a bearing assembly 120, a link mechanism 130 and a lifting mechanism 140, wherein the bearing assembly 120 is installed on the fixed frame 110 in a liftable manner through the link mechanism 130, and the link mechanism 130 provides a supporting force during the lifting movement of the bearing assembly 120, so as to improve the lifting stability of the bearing assembly 120; the lifting mechanism 140 comprises a first motor 141, a first transmission mechanism 142, a screw rod 143 and a screw rod sleeve 144, wherein the screw rod 143 is mounted on the fixed frame 110 along the vertical direction to provide vertical movement guidance for the bearing assembly 120; the screw rod sleeve 144 is in spiral transmission connection with the screw rod 143, and the connection mode is simple; the first motor 141 is provided with a first output shaft (not marked), the first transmission mechanism 142 is in transmission connection between the first output shaft and the screw rod sleeve 144 and is used for driving the screw rod sleeve 144 to move up and down relative to the screw rod 143 under the driving of the first motor 141, and the arrangement of the first transmission mechanism 142 reasonably utilizes the horizontal space between the first motor 141 and the screw rod sleeve 144 and can also transmit the power of the first motor 141 to the screw rod sleeve 144; the carrier assembly is also connected with the screw rod sleeve 144, and is driven by the first motor 141 to move up and down along with the screw rod sleeve 144 relative to the screw rod 143.

It can be understood that, in the lifting device 100 provided in this embodiment, the bearing assembly 120 is installed on the fixing frame 110 in a lifting manner through the link mechanism 130, so that the bearing assembly 120 performs lifting movement relative to the fixing frame 110 to lift an article, and the link mechanism 130 can support the bearing assembly 120 in a lifting process of the bearing assembly 120, thereby improving the lifting stability of the bearing assembly 120; moreover, the lifting mechanism 140 comprises a first motor 141, a first transmission mechanism 142, a screw rod 143 and a screw rod sleeve 144, the lifting mechanism 140 is simple in structure, the space occupied by the lifting mechanism 140 on the whole of the lifting device 100 can be reduced, and the assembly difficulty of the lifting mechanism 140 can be reduced; moreover, the screw rod 143 is arranged on the fixing frame 110 in the vertical direction, and the screw rod sleeve 144 is in screw transmission connection with the screw rod 143, so that the screw rod sleeve 144 can more accurately drive the bearing assembly 120 connected to the screw rod sleeve 144 to perform lifting motion in the vertical direction, and the lifting stability of the bearing assembly 120 in the vertical direction is improved.

The lifting device 100 provided by this embodiment further connects the first transmission mechanism 142 between the first output shaft and the screw rod sleeve 144, so as to reasonably utilize the horizontal space between the first motor 141 and the screw rod 143, and make the first transmission mechanism 142 not occupy too much of the height space around the lifting device 100, thereby reducing the height space occupied by the lifting mechanism 140; moreover, in the lifting process, the height of the screw rod 143 is unchanged, that is, the screw rod 143 does not lift, but the screw rod sleeve 144 moves up and down along the screw rod 143 to drive the bearing component 120 to lift, which not only can reduce the occupied height space and facilitate maintenance, but also can reduce the height space of the bottom of the shelf occupied by the lifting device 100 under the same lifting height requirement, and can also reduce the limitation of the space requirement of the bottom of the shelf suffered by the lifting device 100, so that the lifting device 100 can move into the bottom of the shelf more flexibly to complete the operation of lifting articles and can come out from the bottom of the shelf more flexibly.

As shown in fig. 1 and 4, in some embodiments, the bearing assembly 120 includes a bearing platform 121 and a lifting seat 122, the bearing platform 121 is liftably mounted on the fixed frame 110 by a link mechanism 130, the bearing platform 121 is used for bearing an article, and the link mechanism 130 supports the bearing platform 121 during the lifting process of the bearing platform 121, so as to improve the lifting stability of the bearing platform 121; the lifting seat 122 is connected to one side of the horizontal direction of the bearing table 121, the space of the horizontal direction of the bearing table 121 is reasonably utilized, and the lifting seat 122 is connected with the screw rod sleeve 144 so as to be used for driving the bearing table 121 to move up and down under the driving of the screw rod sleeve 144, and the mode that the screw rod sleeve 144 drives the bearing table 121 to move up and down is simple.

As shown in fig. 1, 5, 6 and 7, in some embodiments, the lifting mechanism 140 further includes a bearing 145 and an axial limiting member 146, the lifting base 122 is provided with a mounting hole 1221, the bearing 145 is mounted in the mounting hole 1221, the bearing 145 is configured to enable the lifting base 122 not to rotate along with the screw sleeve 144, so as to improve the lifting stability of the lifting base 122, the screw sleeve 144 includes a first sleeve 1441 and a second sleeve 1442, the first sleeve 1441 is partially inserted into the bearing 145, the second sleeve 1442 has an outer diameter larger than that of the first sleeve 1441, the second sleeve 1442 abuts against one axial end of the bearing 145, and the axial limiting member 146 is mounted outside the first sleeve 1441 and abuts against the other axial end of the bearing 145, so as to limit the bearing 145 from moving axially relative to the screw sleeve 144 during the up and down movement of the screw sleeve 144, thereby improving the connection stability between the lifting base 122 and the screw sleeve 144.

As shown in fig. 6, fig. 7, and fig. 8, exemplarily, a first clamping groove 1443 is formed in the first sleeve 1441, the axial limiting member 146 includes a first clamping spring 1461, the first clamping spring 1461 is connected in the first clamping groove 1443 in a clamping manner to abut against the other axial end of the bearing 145, specifically, the inner peripheral wall of the installation hole 1221 is circumferentially provided with a second clamping groove 1222, the second clamping spring 1222 is connected in the second clamping groove 1222 in a clamping manner, the second clamping spring 123 is sleeved on the outer peripheral wall of the second sleeve 1442 and forms a gap with the second sleeve 1442, and the second clamping spring 123 and the second sleeve 1442 abut against one axial end of the bearing 145 together, so that the second clamping spring 123 and the second sleeve 1442 limit axial movement of the bearing 145 together.

As shown in fig. 6 and 9, as an embodiment, in order to improve the connection stability between the lifter base 122 and the screw housing 144, the structure of the inside of the mounting hole 1221 of the lifter base 122 may be designed without providing the bearing 145. Exemplarily, the inner peripheral wall of the installation hole 1221 horizontally extends to form a first boss 1223 along the circumferential direction, because the outer diameter of the second sleeve 1442 is greater than the outer diameter of the first sleeve 1441, the second sleeve 1442 can form a second boss 1444 abutting against the axial bottom end face of the first boss 1223, the axial limiting member 146 abuts against the axial top end face of the first boss 1223, and the first boss 1223 forms a gap with the first sleeve 1441, so that the lifting seat 122 has a connection with the axial end face of the screw rod sleeve 144, but does not contact the outer circumferential wall face of the screw rod sleeve 144, so that the lifting seat 122 can move up and down along with the screw rod sleeve 144, and the lifting seat 122 is prevented from rotating along with the screw rod sleeve 144.

As shown in fig. 4, 5, 6 and 10, in some embodiments, the lifting device 100 further includes two vertical rods 150, and the two vertical rods 150 are protruded from the fixed frame 110 at intervals and are respectively located at two opposite sides of the lifting seat 122; the two vertical rods 150 are respectively provided with a first guiding and sliding portion 151, two opposite sides of the lifting base 122 are respectively provided with a second guiding and sliding portion 124 in sliding fit with the first guiding and sliding portion 151, and the first guiding and sliding portion 151 and the second guiding and sliding portion 124 are matched to form a moving path for guiding the lifting base 122 to move, so that the lifting base 122 can perform lifting movement along the vertical direction more accurately and stably. In one embodiment, one of the first and second sliding

guides

151 and 124 is a sliding groove 1511, and the other is a protrusion 1241 slidably engaged with the sliding groove 1511. Exemplarily, the first sliding guide part 151 is a sliding groove 1511, the second sliding guide part 124 is a protrusion 1241 with self-lubricating capability, and the protrusion 1241 may be a wear-resistant plastic part made of a wear-resistant material, which can reduce the acquisition cost and reduce the precision requirement on the installation size of the protrusion 1241, improve the universality, and reduce the probability of the occurrence of the locking phenomenon of the lifting seat 122 in the lifting process under the sliding cooperation effect of the sliding groove 1511 and the protrusion 1241. More specifically, the vertical rod 150 includes a guide slide 152 connected to the fixed frame 110 in the vertical direction and a guide slide plate 153, and the guide slide plate 153 is connected to the guide slide 152 and encloses the slide groove 1511 with the guide slide 152.

As shown in fig. 1, in some embodiments, the screw rod 143 is a trapezoidal screw rod, and the self-locking capability of the trapezoidal screw rod can ensure that the bearing assembly 120 does not fall off under the condition of power failure, and the first motor 141 can adopt a motor without a braking requirement, so that the motor cost is reduced, and the installation space can be reduced.

As shown in fig. 1, as an embodiment, the first output shaft is disposed in a horizontal direction so that the first motor 141 can be installed parallel to the ground, reducing the height space occupied by the elevating mechanism 140.

As shown in fig. 1 and 3, in some embodiments, the first transmission mechanism 142 includes a first speed reducer 1421, a first transmission wheel 1422, a second transmission wheel 1423 and an annular transmission part 1424, a side wall of the lifting base 122 horizontally extends out of the first bearing base 125, and the first speed reducer 1421 is mounted on the first bearing base 125 to move along with the lifting base 122 in a lifting manner with respect to the screw rod 143; an input end of the first speed reducer 1421 is in transmission connection with a first output shaft, an output end of the first speed reducer 1421 is provided with a first transmission shaft (not labeled), the first transmission shaft is parallel to the screw rod 143, and the first transmission wheel 1422 is connected to the first transmission shaft so as to change the horizontal driving force of the first motor 141 into the vertical driving force and transmit the vertical driving force to the first transmission wheel 1422; the annular transmission part 1424 is wound around the first transmission wheel 1422 and the second transmission wheel 1423, so that the first transmission wheel 1422 drives the second transmission wheel 1423 to rotate, and in order to make the structure simple, the annular transmission part 1424 is a transmission chain or a transmission belt; the second driving wheel 1423 is connected to the screw sleeve 144 for driving the screw sleeve 144 to rotate and move up and down along with the screw sleeve 144.

It can be understood that, in the embodiment, when the lifting device 100 performs a lifting operation, the first motor 141 outputs a driving force in a horizontal direction to the first speed reducer 1421, the first speed reducer 1421 converts the driving force in the horizontal direction into a driving force in a vertical direction, and outputs the driving force to the first driving wheel 1422, so that the first driving wheel 1422 rotates, and the second driving wheel 1423 is driven to rotate by the annular driving part 1424, and further the screw sleeve 144 is driven to rotate, so that the first motor 141, the first driving mechanism 142 and the lifting base 122 lift along with the screw sleeve 144, and the carrier table 121 is driven to lift.

As shown in fig. 1 and 3, in some embodiments, the link mechanism 130 includes at least two sets of link assemblies 131, and the at least two sets of link assemblies 131 are spaced apart in a horizontal direction, so that the link mechanism 130 has a plurality of supporting points, and the plurality of link assemblies 131 jointly support the bearing assembly 120, thereby improving the lifting stability of the bearing assembly 120; for simple structure, the fixing frame 110 includes a bottom plate 111, and the bearing assembly 120 is liftably mounted on the bottom plate 111 by at least two sets of connecting rod assemblies 131.

As shown in fig. 1, 3 and 11, in some embodiments, the fixing frame 110 further includes at least two mounting seats 112, the at least two mounting seats 112 are spaced apart along a horizontal direction, the bottom plate 111 includes at least two mounting plates 1111 spaced apart along the horizontal direction, and the connecting rod assembly 131 is mounted to the corresponding mounting plate 1111 through the corresponding mounting seat 112, when the robot passes through an uneven ground surface, the mounting plates 1111 can slightly move relative to each other to disperse an external force applied to the bottom plate 111, so as to buffer the connecting rod mechanism 130 mounted on the bottom plate 111, which is beneficial to improving the lifting stability of the lifting device 100.

As shown in fig. 1 and 2, in some embodiments, the link assembly 131 includes a first link 1311 and a second link 1312, a top end of the first link 1311 is hinged to the carrier assembly 120, specifically to the carrier table 121, a bottom end of the first link 1311 is hinged to a top end of the second link 1312, and a bottom end of the second link 1312 is hinged to the fixing frame 110; and/or, the link mechanism 130 further includes a reinforcing rod 132, and the reinforcing rod 132 is connected between two adjacent groups of link assemblies 131 to improve the lifting stability of the two adjacent groups of link assemblies 131. Illustratively, the first link 1311 and the second link 1312 are hinged through the hinge shaft 133 in a simple manner.

As shown in fig. 1, 3 and 11, as an embodiment, for simple structure, there are two mounting bases 112, which are respectively a first mounting base 1121 and a second mounting base 1122, and two mounting plates 1111, which are respectively a first mounting plate 11111 and a second mounting plate 11112, and the first mounting plate 11111 and the second mounting plate 11112 are hinged by a hinge 11113, and correspondingly, two sets of link assemblies 131 are provided, which are respectively a first link assembly 1313 and a second link assembly 1314, a top end of the first link assembly 133 is hinged to the carrier table 121, a bottom end of the first link assembly 133 is hinged to the first mounting plate 11111 by the first mounting base 1121, a top end of the second link assembly 1314 is hinged to the carrier table 121, and a bottom end of the second link assembly 1314 is hinged to the second mounting plate 11112 by the second mounting base 1122.

As shown in fig. 3 to 6 and 8, more specifically, a side wall surface of the bearing table 121 facing the lifting seat 122 is provided with a recessed seat 126, and two opposite side portions of the recessed seat 126 are connected with connecting shafts 127 to facilitate connection of the lifting seat 122; the side wall surface of the lifting seat 122 facing the bearing platform 121 is provided with two notches 1224, the two notches 1224 are symmetrically arranged on two sides of the mounting hole 1221, the notches 1224 correspond to the connecting shafts 127 one to one, the connecting shafts 127 penetrate through the notches 1224, the top end of the second connecting rod assembly 1314 is hinged to the connecting shaft 127, and the top end of the second connecting rod assembly 1314 partially extends into the notches 1224, so as to assemble the bearing platform 121, the lifting seat 122 and the second connecting rod assembly 1314 close to the lifting seat 122.

As shown in fig. 1, in some embodiments, the lifting device 100 further includes a rotating mechanism 160, the rotating mechanism 160 is disposed on the carrying assembly 120 and moves up and down along with the carrying assembly 120, so that the lifting device 100 has a rotating function; the rotating mechanism 160 comprises a rotating part 161, a second motor 162 and a second transmission mechanism 163, wherein the second motor 162 is provided with a second output shaft (not shown), and the second output shaft is arranged along the horizontal direction, so that the second motor 162 can be installed in parallel with the ground, and the height space occupied by the rotating mechanism 160 is reduced; the second transmission mechanism 163 is connected between the second output shaft and the rotary member 161 in a transmission manner, a space between the second motor 162 and the rotary member 161 is reasonably used, the structural compactness is improved, and the second transmission mechanism 163 is used for driving the rotary member 161 to rotate under the driving of the second motor 162.

As shown in fig. 1 and 3, in some embodiments, to save the assembly space, the first output shaft and the second output shaft are perpendicular to each other, so that the first motor 141 and the second motor 162 can be respectively disposed at two adjacent sides of the bearing table 121.

As shown in fig. 1 and fig. 2, in some embodiments, the second transmission mechanism 163 includes a second speed reducer 1631 and a transmission assembly 1632, the bearing platform 121 is provided with a second bearing seat 128, and the second speed reducer 1631 is mounted on the second bearing seat 128 to improve the mounting stability of the second speed reducer 1631; the input end of the second speed reducer 1631 is connected to the second output shaft in a transmission manner, the output end of the second speed reducer 1631 is provided with a second transmission shaft, the second transmission shaft is parallel to the screw rod 143, so that the driving force in the horizontal direction of the second motor 162 is changed into the driving force in the vertical direction, and is conveniently transmitted to the rotary part 161, and the rotary part 161 is connected to the second transmission shaft through a transmission assembly 1632, so that the rotary part 161 rotates in the horizontal direction.

For example, to reduce the cost, the second speed reducer 1631 is a worm gear and worm speed reducer, which can increase the transmitted torque and reduce the overall installation height of the second transmission mechanism 163, thereby reducing the installation height of the rotating mechanism 160 and further saving the height space occupied by the rotating mechanism 160 in the lifting device 100. Further, the transmission assembly 1632 is a gear transmission mechanism, specifically, as shown in fig. 2, the transmission assembly 1632 includes a first gear 16321 and a second gear 16322, the rotation part 161 includes a rotation support 1611 and a fixing base 1612, the first gear 16321 is connected to the first transmission shaft to rotate under the driving of the second transmission shaft, and the second gear 16322 is engaged with the first gear 16321 to rotate under the driving of the first gear 16321; slewing bearing 1611 passes through the rotatable installation of fixing base 1612 on plummer 121, and second gear 16322 rotates to cup joint on slewing bearing 1611, and slewing bearing 1611 along vertical direction protrusion in second gear 16322 to it is rotatory under second gear 16322's drive, thereby to the article rotation, rotatory implementation mode is simple.

The present embodiment further provides a robot (not shown), which includes a movable base (not shown) and the above-mentioned lifting apparatus 100, wherein the fixed frame 110 is disposed on the movable base to move on the supporting surface along with the movable base.

The embodiment further provides a robot, which includes a mobile base and the above lifting device 100, and has a simple structure, the mobile base can drive the lifting device 100 to travel on a supporting surface (such as the ground) to shuttle to the bottom of a shelf, and meanwhile, due to the adoption of the above lifting device 100, the lifting stability of the robot when lifting an article can be provided, and the occupied height space of the whole robot is smaller.

In some embodiments, the robot further comprises an actuator (not labeled), which may be any of the following: a carrying mechanism (not labeled) for carrying the goods, and a camera shooting mechanism (not labeled) for shooting so as to execute corresponding carrying or camera shooting functions.

The above only be the preferred embodiment of the utility model discloses a not consequently restriction the utility model discloses a patent range, all are in the utility model discloses a conceive, utilize the equivalent structure transform of what the content was done in the description and the attached drawing, or direct/indirect application all is included in other relevant technical field the utility model discloses a patent protection within range.

Claims

1. A lifting device is characterized by comprising a fixed frame, a bearing component, a connecting rod mechanism and a lifting mechanism, wherein the bearing component is arranged on the fixed frame in a lifting manner through the connecting rod mechanism;

the screw rod sleeve is in spiral transmission connection with the screw rod;

the first motor has a first output shaft;

the first transmission mechanism is in transmission connection between the first output shaft and the screw rod sleeve and is used for driving the screw rod sleeve to move up and down relative to the screw rod under the driving of the first motor;

2. The lifting device as claimed in claim 1, wherein the carrier assembly comprises a carrier table and a lifting base, the carrier table being liftably mounted to the fixed frame by the link mechanism;

3. The lifting device as claimed in claim 2, wherein the lifting mechanism further includes a bearing and an axial limiting member, the lifting base has a mounting hole, the bearing is mounted in the mounting hole, the screw rod sleeve includes a first sleeve and a second sleeve, the first sleeve partially penetrates through the bearing, the second sleeve has an outer diameter larger than that of the first sleeve, the second sleeve abuts against one axial end of the bearing, and the axial limiting member is mounted outside the first sleeve and abuts against the other axial end of the bearing.

4. The lifting device as claimed in claim 3, further comprising two vertical rods protruding from the fixed frame at intervals and respectively located at two opposite sides of the lifting base; two the pole setting is equipped with first guide sliding part respectively, the relative both sides of lift seat are equipped with respectively with first guide sliding part sliding fit's second guide sliding part, first guide sliding part and second guide sliding part cooperation are in order to form the removal route that the guide lift seat removed.

5. The lifting device of claim 1, wherein the lead screw is a trapezoidal lead screw, and the first output shaft is arranged in a horizontal direction; and/or the presence of a gas in the atmosphere,

6. The lifting apparatus according to any one of claims 2 to 4, wherein the linkage mechanism comprises at least two sets of linkage assemblies, the at least two sets of linkage assemblies being spaced apart in a horizontal direction; the fixed frame comprises a bottom plate, and the bearing assembly is arranged on the bottom plate in a lifting manner through the at least two groups of connecting rod assemblies;

7. The lifting device according to claim 6, wherein the connecting rod assembly comprises a first connecting rod and a second connecting rod, the top end of the first connecting rod is hinged to the bearing assembly, the bottom end of the first connecting rod is hinged to the top end of the second connecting rod, and the bottom end of the second connecting rod is hinged to the fixing frame; and/or the presence of a gas in the atmosphere,

8. The lifting device as claimed in claim 6, wherein a recess is provided on a side wall of the platform facing the lifting base, and two opposite sides of the recess are connected with a connecting shaft to connect the platform with the lifting base;

two notches are formed in the side wall surface, facing the bearing table, of the lifting seat, and the connecting shaft penetrates through the notches; the top ends of one group of the connecting rod assemblies are hinged to the connecting shaft, and partially extend into the notch.

9. The lifting device as claimed in claim 1, further comprising a rotating mechanism disposed on the carrying assembly and configured to move up and down along with the carrying assembly;

10. The lifting device as recited in claim 9, wherein the first output shaft and the second output shaft are perpendicular to each other; and/or the presence of a gas in the atmosphere,

the second transmission mechanism comprises a second speed reducer and a transmission assembly, the input end of the second speed reducer is connected with the second output shaft in a transmission mode, the output end of the second speed reducer is provided with a second transmission shaft, the second transmission shaft is parallel to the screw rod, and the rotary part is connected to the second transmission shaft through the transmission assembly and rotates in the horizontal direction.

11. A robot comprising a mobile base and a lifting device as claimed in any one of claims 1 to 10, wherein the fixed frame is arranged on the mobile base to move on a support surface following the mobile base.