CN221459749U - Lifting device and robot - Google Patents

Abstract

The embodiment of the application provides a lifting device and a robot, wherein the lifting device comprises a movable chassis, a bearing mechanism and a lifting mechanism; the bearing mechanism moves along the horizontal direction under the drive of the movable chassis, and comprises a first bearing mechanism and a second bearing mechanism; the first support mechanism and the second support mechanism both comprise a vertical frame and a support piece, the vertical frame comprises a first support and a second support, the first support is respectively provided with a first sliding part and a second sliding part, one side surface of the second support is provided with a third sliding part, and the support piece is provided with a first sliding matching part, a second sliding matching part and a third sliding matching part which are respectively matched with the first sliding part, the second sliding part and the third sliding part; the bearing piece of the first bearing mechanism and the bearing piece of the second bearing mechanism comprise first bearing parts which are arranged on the same side, and the first bearing parts are arranged on one side close to the first bracket; the lifting mechanism is arranged on the vertical frame and used for driving the bearing piece to move along a third direction.

Description

Lifting device and robot

Technical Field

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

Background

With the rapid development of economies and technology, there is an increasing demand for materials handling, and handling equipment has become essentially an essential tool.

The existing handling equipment is mainly completed by a handling robot, and in order to meet the requirements of more specific fields, auxiliary devices, such as lifting devices, are installed on the handling robot so as to be capable of carrying and stacking high-altitude materials. However, the existing lifting device cannot meet the requirement of large load.

Disclosure of utility model

The embodiment of the application aims to provide a lifting device and a robot, which are used for solving the problem that the existing lifting device cannot meet the requirement of a large load. The specific technical scheme is as follows:

An embodiment of a first aspect of the present application provides a lifting device comprising a mobile chassis, a support mechanism, and a lifting mechanism; the bearing mechanism is arranged on the movable chassis and driven by the movable chassis to move along the horizontal direction, and comprises a first bearing mechanism and a second bearing mechanism which are arranged at intervals along the first direction; the first bearing mechanism and the second bearing mechanism both comprise a vertical frame and a bearing piece, the vertical frame comprises a first bracket and a second bracket which are arranged at intervals along a second direction, the second direction is coplanar and perpendicular to the first direction, a first sliding part and a second sliding part which extend along a third direction are respectively arranged on two adjacent side surfaces of the first bracket, the third direction is perpendicular to the first direction and the second direction, a third sliding part which extends along the third direction is arranged on one side surface of the second bracket, and the bearing piece is provided with a first sliding fit part, a second sliding fit part and a third sliding fit part which are respectively matched with the first sliding part, the second sliding part and the third sliding part, so that the bearing piece is connected with the vertical frame in a sliding manner; the bearing parts of the first bearing mechanism and the second bearing mechanism comprise first bearing parts which are arranged on the same side, the first bearing parts are arranged on one side close to the first bracket, and the first bearing parts are used for bearing materials; the lifting mechanism is arranged on the vertical frame and used for driving the bearing piece to move along the third direction.

In some embodiments, the bearing member of the first bearing mechanism and the bearing member of the second bearing mechanism further include a second bearing portion disposed on the same side, and the second bearing portion is disposed on a side close to the second bracket.

In some embodiments, the first bearing portion is a groove formed in the bearing member, and a first limiting member is disposed on an outer side of the bearing member along the first direction, and at least a portion of the first limiting member is higher than a bottom surface of the groove, so as to limit movement of the material in the first direction.

In some embodiments, the first limiting member includes a first portion and a second portion disposed along the second direction on two sides of the first portion, the first portion is parallel to the first direction, the second portion is perpendicular to the first direction, and the second portion is fixedly connected with the supporting member.

In some embodiments, one of the first sliding portion, the second sliding portion, the third sliding portion, and the first sliding fit portion, the second sliding fit portion, and the third sliding fit portion is a sliding rail, and the other is a sliding block.

In some embodiments, the lifting mechanism comprises a lifting gear motor, a lifting coupling, a lifting screw and a screw nut, wherein an output shaft of the lifting gear motor is connected to the lifting screw through the lifting coupling so as to drive the lifting screw to rotate, the screw nut is in threaded connection with the lifting screw, and the supporting piece is connected to the screw nut.

In some embodiments, the screw nut comprises a head and a rod portion connected to each other, the diameter of the head is larger than that of the rod portion, the support member comprises a connecting portion, the connecting portion is provided with an opening, the connecting portion is sleeved on the rod portion and abuts against the head portion, and the connecting portion is fixedly connected with the head portion.

In some embodiments, an elastic member is disposed between the connecting portion and the head portion, and the elastic member and the connecting portion have a profile modeling structure.

In some embodiments, the elastic member is made of polyurethane, silica gel or rubber.

In some embodiments, a weighing sensor is disposed between the elastic member and the connecting portion, and the weighing sensor is sleeved on the rod portion.

In some embodiments, the mobile chassis includes a straight-going mechanism, and a first traversing mechanism and a second traversing mechanism disposed above the straight-going mechanism, where the first traversing mechanism is configured to drive the first support mechanism to move along the first direction, the second traversing mechanism is configured to drive the second support mechanism to move along the first direction, and the straight-going mechanism is configured to drive the first traversing mechanism and the second traversing mechanism to move along the second direction.

In some embodiments, the straight-moving mechanism comprises a mounting frame, a first speed reducing motor, a first screw rod, a first nut sleeved on the first screw rod, a first guide rail arranged on two sides of the first screw rod, a second speed reducing motor, a second screw rod, a second nut sleeved on the second screw rod, and a second guide rail arranged on two sides of the second screw rod, wherein the first speed reducing motor, the first screw rod, the first nut sleeved on the first screw rod, the first guide rail arranged on two sides of the first screw rod, and the second speed reducing motor, the second screw rod, the second nut sleeved on the second screw rod, and the second guide rail arranged on two sides of the second screw rod are arranged on the mounting frame; the first guide rail is provided with a first sliding block, the first lead screw and the first guide rail are arranged along the second direction, the first traversing mechanism is connected with the first nut and the first sliding block, and the first gear motor drives the first nut to move along the second direction and drives the first traversing mechanism to synchronously move; the second guide rail is provided with a second sliding block, the second lead screw is arranged along the second direction, the second traversing mechanism is connected with the second nut and the second sliding block, and the second gear motor drives the second nut to move along the second direction and drives the second traversing mechanism to synchronously move.

In some embodiments, the first traversing mechanism includes a third gear motor, a third screw rod and a third nut sleeved on the third screw rod, a third guide rail arranged on two sides of the third gear motor, a third sliding block is arranged on the third guide rail, the first supporting mechanism is connected with the third nut and the third sliding block, and the third gear motor drives the third nut to move along the first direction and drives the first supporting mechanism to synchronously move; the second transverse moving mechanism comprises a fourth gear motor, a fourth screw rod and a fourth nut sleeved on the fourth screw rod, fourth guide rails arranged on two sides of the fourth gear motor, a fourth sliding block is arranged on the fourth guide rails, the second bearing mechanism is connected with the fourth nut and the fourth sliding block, and the fourth gear motor drives the fourth nut to move along the first direction and drives the second bearing mechanism to synchronously move.

In some embodiments, two second limiting members are disposed in the groove at intervals along the second direction, the two second limiting members are disposed opposite to each other, and the distance between the two second limiting members gradually decreases from top to bottom.

An embodiment of the second aspect of the application provides a robot comprising a lifting device as described above.

In the embodiment of the application, the movable chassis can drive the bearing mechanism to move in the horizontal direction, so that the movable range of the bearing mechanism is wider. The bearing mechanism comprises a first bearing mechanism and a second bearing mechanism, two ends of the material are arranged on a first bearing part of the first bearing mechanism and a first bearing part of the second bearing mechanism, and bearing of the bearing mechanism on the material is achieved. Two adjacent sides of first support are equipped with first sliding part and the second sliding part that extend along the third direction respectively, one of them side of second support is equipped with the third sliding part that extends along the third direction, the bearing piece have respectively with first sliding part, second sliding part and third sliding part complex first sliding fit portion, second sliding fit portion and third sliding fit portion, first sliding part, second sliding part and third sliding fit portion extend along the third direction for the bearing piece can slide along the third direction, consequently, through above-mentioned setting, the bearing piece can be followed first direction, second direction and third direction motion, the range of motion is bigger, consequently can be applicable to in more application scenarios. The first bearing part is arranged on one side close to the first bracket, and the first sliding part and the second sliding part which are arranged on different sides of the first bracket are arranged on the first bracket, so that the connecting area of the bearing part and the first bracket is larger, and the bearing part can bear larger stress, thus the larger load demand of the first bearing part can be met.

Of course, it is not necessary for any one product to practice the application to achieve all of the advantages set forth above at the same time.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings for a person having ordinary skill in the art.

FIG. 1a is a schematic diagram of a lifting device according to an embodiment of the present application;

FIG. 1B is an enlarged view of FIG. 1a at B;

FIG. 2 is a schematic view of a first supporting mechanism of a lifting device according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a material carrying device according to an embodiment of the present application;

FIG. 4 is a side view of the lifting device shown in FIG. 3;

FIG. 5 is a schematic view of a support member of a lifting device according to an embodiment of the present application;

FIG. 6 is a schematic view of a middle stand of a lifting device according to an embodiment of the present application;

FIG. 7a is a schematic view of a first support mechanism of another lifting device according to an embodiment of the present application;

FIG. 7b is an enlarged view of FIG. 7a at C;

FIG. 8 is a side view of another lifting device according to an embodiment of the present application;

FIG. 9 is a schematic diagram of another lifting device according to an embodiment of the present application, which cooperates with a first traversing mechanism and a second traversing mechanism;

FIG. 10 is a schematic view of another lifting device for carrying material according to an embodiment of the present application;

FIG. 11 is a schematic view of a straight traveling mechanism in a lifting device according to an embodiment of the present application;

Fig. 12 is a schematic view of screw transmission in a straight traveling mechanism of a lifting device according to an embodiment of the present application;

FIG. 13 is a schematic view of a first traversing mechanism in a lifting device according to an embodiment of the present application;

FIG. 14 is a schematic view of a first traversing mechanism and a straight mechanism in a lifting device according to an embodiment of the present application;

Fig. 15 is a schematic view of screw transmission in a first traversing mechanism of a lifting device according to an embodiment of the present application.

Reference numerals:

A mobile chassis 10; a straight traveling mechanism 11; a mounting frame 111; a first gear motor 112; a first coupling 1121; first bearing housing 1122; a first lead screw 113; a first nut 114; a first adapter block 1141; a first rail 115; a first slider 1151; a second gear motor 116; a second lead screw 117; a second nut 118; a second guide rail 119; a second slider 1191; a first traversing mechanism 12; a third gear motor 121; a third coupling 1211; a third lead screw 122; a third bearing block 1221; a third nut 123; a third adapter block 1231; a third rail 124; a third slider 1241; a second traversing mechanism 13; a fourth gear motor 131; a fourth lead screw 132; a fourth nut 133; a fourth guide rail 134; a fourth slide block 1341; a support mechanism 20; a first support mechanism 21; a second support mechanism 22; a stand 221; a first rack 2211; a first slide 2213; a second slide 2214; a second rack 2212; a third slide 2215; a connection plate 2216; a stiffener 2217; a first mounting plate 2218; a second mounting plate 2219; a support 222; a material sensor 2220; travel switch 2220a; a first sliding engagement portion 2221; a second sliding fit portion 2222; a third sliding fit portion 2223; a connection portion 2224; an opening 22241; a first carrying portion 223; a second limiter 2231; a second carrying portion 224; a first stopper 225; a first portion 2251; a second portion 2252; a lifting mechanism 30; a lifting gear motor 31; a lifting coupling 32; a lifting screw 33; a lead screw nut 34; a head 341; a stem 342; an elastic member 40; a load cell 50; a walking base 60; a road wheel 61; a material A; a first direction X; a second direction Y; and a third direction Z.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. Based on the embodiments of the present application, all other embodiments obtained by the person skilled in the art based on the present application are included in the scope of protection of the present application.

Embodiments of the first aspect of the present application provide a lifting device, as shown in fig. 1a, comprising a mobile chassis 10, a support mechanism 20 and a lifting mechanism 30; the bearing mechanism 20 is arranged on the mobile chassis 10 and is driven by the mobile chassis 10 to move along the horizontal direction, and the bearing mechanism 20 comprises a first bearing mechanism 21 and a second bearing mechanism 22 which are arranged at intervals along the first direction X; the first support mechanism 21 and the second support mechanism 22 each comprise a stand 221 and a support 222, the stand 221 comprises a first support 2211 and a second support 2212 which are arranged at intervals along a second direction Y, the second direction Y is coplanar and perpendicular to the first direction X, two adjacent side surfaces of the first support 2211 are respectively provided with a first sliding part 2213 and a second sliding part 2214 which extend along a third direction Z, the third direction Z is perpendicular to the first direction X and the second direction Y, one side surface of the second support 2212 is provided with a third sliding part 2215 which extends along the third direction Z, and the support 222 is provided with a first sliding matching part 2221, a second sliding matching part 2222 and a third sliding matching part 2223 which are respectively matched with the first sliding part 2213, the second sliding part 2214 and the third sliding part 2215 so that the support 222 is connected to the stand 221 in a sliding way; the supporting member 222 of the first supporting mechanism 21 and the supporting member 222 of the second supporting mechanism 22 include a first bearing portion 223 disposed on the same side, the first bearing portion 223 is disposed on a side close to the first support 2211, as shown in fig. 2, and the first bearing portion 223 is used for supporting the material a; as shown in fig. 1a, the lifting mechanism 30 is disposed on the stand 221, and is used for driving the support 222 to move along the third direction Z.

In the embodiment of the present application, as shown in fig. 1a, 2 and 3, the moving chassis 10 can drive the supporting mechanism 20 to move in the horizontal direction, so that the moving range of the supporting mechanism 20 is wider. The bearing mechanism 20 comprises a first bearing mechanism 21 and a second bearing mechanism 22, and two ends of the material A are arranged on a first bearing part 223 of the first bearing mechanism 21 and the second bearing mechanism 22, so that the bearing mechanism 20 bears the material A. The first sliding portion 2213 and the second sliding portion 2214 extending along the third direction Z are respectively disposed on two adjacent side surfaces of the first support 2211, the third sliding portion 2215 extending along the third direction Z is disposed on one side surface of the second support 2212, the supporting member 222 has a first sliding fit portion 2221, a second sliding fit portion 2222 and a third sliding fit portion 2223 respectively matched with the first sliding portion 2213, the second sliding portion 2214 and the third sliding portion 2215, the first sliding portion 2213, the second sliding portion 2214 and the third sliding fit portion 2223 extend along the third direction Z, so that the supporting member 222 can slide along the third direction Z, through the above arrangement, the supporting member 222 can move along the first direction X, the second direction Y and the third direction Z, the moving range is larger, and the lifting device can be suitable for more application scenes. Moreover, since the first bracket 2211 includes the first sliding portion 2213 and the second sliding portion 2214 with different sides, the first bearing portion 223 is disposed on a side close to the first bracket 2211, so that the connection area between the bearing member 222 and the first bracket 2211 is larger, and can bear larger stress, so that the larger load requirement of the first bearing portion 223 can be satisfied.

Specifically, a first mounting plate 2218 is connected to the top end between the first and second brackets 2211 and 2212, so that the first and second brackets 2211 and 2212 are more stable when the supporter 222 slides on the stand 221.

In some embodiments of the present application, as shown in fig. 1a, the supporting member 222 of the first supporting mechanism 21 and the supporting member 222 of the second supporting mechanism 22 further include a second bearing portion 224 disposed on the same side, and the second bearing portion 224 is disposed on a side close to the second rack 2212.

In the embodiment of the present application, the supporting member 222 of the first supporting mechanism 21 and the supporting member 222 of the second supporting mechanism 22 further include a second bearing portion 224 disposed on the same side, so that the lifting device adds one supporting position to be able to bear more materials a. And the second bearing portion 224 is disposed near the second rack 2212, and the second bearing portion 224 can bear less loaded materials. For the lifting device, the lifting device comprises a first bearing part 223 for bearing a larger load and a second bearing part 224 for bearing a smaller load, the first bearing part 223 can be used for lifting full-roll materials, and the second bearing part 224 can be used for lifting empty-roll materials, so that the use requirement of the lifting device is better met.

In some embodiments of the present application, as shown in fig. 3 and 4, the first bearing portion 223 is a groove disposed on the supporting member 222, and a first limiting member 225 is disposed on an outer side of the supporting member 222 along the first direction X, and at least a portion of the first limiting member 225 is higher than a bottom surface of the groove to limit the movement of the material a along the first direction X.

In the embodiment of the present application, as shown in fig. 3 and 4, the first bearing portion 223 is a groove, and the material a is placed in the groove, so that the moving process of the material a is more stable. The first limiting member 225 is disposed on the outer side of the supporting member 222, and at least a portion of the first limiting member 225 is higher than the bottom surface of the groove, that is, when the material a is disposed on the first carrying portion 223, the first limiting member 225 is disposed on the outer sides of two ends of the material a along the first direction X, so that when the supporting member 222 moves, the first limiting member 225 can resist two ends of the material a, thereby preventing the material a from moving, and making lifting or moving the material a more stable.

Specifically, as shown in fig. 1b and fig. 3, the supporting member 222 is provided with a material sensor 2220, the material sensor 2220 is a push type sensor, the push type sensor includes a travel switch 2220a, at least part of the travel switch 2220a is higher than the bottom surface of the groove, when the material a is placed in the groove, the material a presses the travel switch 2220a, so that the material sensor 2220 can detect whether the material a exists on the groove, so as to determine whether to move and lift.

In some embodiments of the present application, as shown in fig. 5, the first limiting member 225 includes a first portion 2251 and second portions 2252 disposed on two sides of the first portion 2251 along the second direction Y, the first portion 2251 is parallel to the first direction X, the second portion 2252 is perpendicular to the first direction X, and the second portion 2252 is fixedly connected to the support 222.

In the embodiment of the present application, as shown in fig. 3 and 5, the second portion 2252 is disposed at two sides of the first portion 2251, the second portion 2252 is connected to the supporting member 222, and the second portion 2252 is perpendicular to the first direction X, so that a gap is left between the first portion 2251 and the supporting member 222, and when the size of the material along the first direction X is greater than the size between the two supporting members 222, the material a will not interfere with the first limiting member 225 when the material a is placed again.

In some embodiments of the present application, as shown in fig. 1a, one of the first sliding portion 2213, the second sliding portion 2214, the third sliding portion 2215, and the first sliding mating portion 2221, the second sliding mating portion 2222, and the third sliding mating portion 2223 is a sliding rail, and the other is a sliding block.

In the embodiment of the application, the sliding rail plays a role in guiding and supporting, and the formula mode of the sliding rail and the sliding block can ensure the stability in the movement process. The first sliding portion 2213, the second sliding portion 2214, and the third sliding portion 2215 may be sliders, and the first sliding portion 2221, the second sliding portion 2222, and the third sliding portion 2223 may be slide rails, or the first sliding portion 2213, the second sliding portion 2214, and the third sliding portion 2215 may be slide rails, and the first sliding portion 2221, the second sliding portion 2222, and the third sliding portion 2223 may be sliders, which are not limited in this aspect of the application. As shown in fig. 1a, only the first sliding portion 2213, the second sliding portion 2214, and the third sliding portion 2215 are illustrated as sliding rails, and the first sliding engagement portion 2221, the second sliding engagement portion 2222, and the third sliding engagement portion 2223 are illustrated as sliding blocks.

In some embodiments of the present application, as shown in fig. 6 and 7a, the lifting mechanism 30 includes a lifting gear motor 31, a lifting coupler 32, a lifting screw 33, and a screw nut 34, wherein an output shaft of the lifting gear motor 31 is connected to the lifting screw 33 through the lifting coupler 32 to drive the lifting screw 33 to rotate, the screw nut 34 is screwed to the lifting screw 33, and the supporter 222 is connected to the screw nut 34.

In the embodiment of the present application, as shown in fig. 6 and 7a, the supporting member 222 is slidably connected to the lifting screw 33 through a nut, and the lifting gear motor 31 drives the lifting screw 33 to rotate, so that the screw nut 34 drives the supporting member 222 to slide on the lifting screw 33, and further lifting movement of the supporting member 222 on the lifting screw 33 is realized.

Specifically, as shown in fig. 6 and 7a, the first support 2211 and the second support 2212 are provided with a connection plate 2216, and the lifting gear motor 31 is disposed on the connection plate 2216. More specifically, the connection plate 2216 is provided with the reinforcing ribs 2217 at both sides in the third direction Z.

In some embodiments of the present application, as shown in fig. 5, 7a and 7b, the lead screw nut 34 includes a head 341 and a rod 342 connected to each other, the diameter of the head 341 is larger than that of the rod 342, the supporting member 222 includes a connecting portion 2224, the connecting portion 2224 has an opening 22241, the supporting member 222 is sleeved on the rod 342 through the opening 22241 and abuts against the head 341, and the connecting portion 2224 is fixedly connected with the head 341.

In the embodiment of the present application, the supporting member 222 is sleeved on the rod portion 342 of the screw nut 34 through the opening 22241 of the connecting portion 2224, and the connecting portion 2224 is fixedly connected with the head portion 341, so that the connecting portion 2224 is connected with both the rod portion 342 and the head portion 341 of the screw nut 34, the connection area between the connecting portion 2224 and the screw nut 34 is increased, and the connection strength is further improved.

In some embodiments of the present application, as shown in fig. 5, 7a and 7b, an elastic member 40 is disposed between the connection portion 2224 and the head portion 341, and the elastic member 40 and the connection portion 2224 have a profile structure.

In the embodiment of the application, the elastic member 40 is disposed between the connection portion 2224 of the support member 222 and the head portion 341 of the screw nut 34, so as to eliminate machining errors and installation errors between the support member 222 and the screw nut 34, and avoid lifting and clamping stagnation caused by the machining errors and the installation errors. The elastic member 40 and the connection portion 2224 have a profile structure such that the elastic member 40 and the connection portion 2224 are more tightly fitted with the rod portion 342.

In some embodiments of the present application, the elastic member 40 is made of polyurethane, silicone or rubber.

In the embodiment of the application, polyurethane as an elastic member has the characteristics of wide hardness range, high tensile strength/elongation, good damping effect, excellent wear resistance and low-temperature elasticity and the like. Both the silica gel and the rubber have certain elastic deformation capability, and have better elastic deformation capability in a wider temperature range.

In some embodiments of the present application, as shown in fig. 7a and 7b, a load cell 50 is disposed between the elastic member 40 and the connecting portion 2224, and the load cell 50 is sleeved on the rod portion 342.

In the embodiment of the present application, as shown in fig. 3, 7a and 7b, a weighing sensor 50 is disposed between the elastic member 40 and the connection portion 2224, and the weight of the material a can be detected by the weighing sensor 50, so that the lifting device has a weighing function, and the intellectualization of the lifting device is improved.

In some embodiments of the present application, as shown in fig. 1a, 8, 9 and 10, the mobile chassis 10 includes a straight traveling mechanism 11, and a first traversing mechanism 12 and a second traversing mechanism 13 disposed above the straight traveling mechanism 11, the first traversing mechanism 12 is configured to drive the first supporting mechanism 21 to move along a first direction X, the second traversing mechanism 13 is configured to drive the second supporting mechanism 22 to move along the first direction X, and the straight traveling mechanism 11 is configured to drive the first traversing mechanism 12 and the second traversing mechanism 13 to move along a second direction Y.

In the embodiment of the application, the first traversing mechanism 12 and the second traversing mechanism 13 can respectively drive the first supporting mechanism 21 and the second supporting mechanism 22 to move along the first direction X, so that the distance between the first supporting mechanism 21 and the second supporting mechanism 22 can be adjusted by respectively controlling the first traversing mechanism 12 and the second traversing mechanism 13, and the lifting device can be suitable for materials a with different sizes.

Specifically, as shown in fig. 10, a walking base 60 is further disposed below the straight-moving mechanism 11, the walking base 60 includes a walking wheel 61, and the walking wheel 61 can drive the lifting device to move integrally, so that the lifting device is convenient to move, and when the material a is too much or has a large weight and is inconvenient to move, the lifting device can be made to be close to the material a by moving the lifting device, so that the installation of the material a is smoothly completed.

In some embodiments of the present application, as shown in fig. 1a and 11, the straight running mechanism 11 includes a mounting frame 111, a first gear motor 112, a first screw 113, a first nut 114 sleeved on the first screw 113, a first guide rail 115 arranged on two sides of the first screw 113, a second gear motor 116, a second screw 117, a second nut 118 sleeved on the second screw 117, and a second guide rail 119 arranged on two sides of the second screw 117, wherein the first gear motor 112, the first screw 113, the first nut 114, the first guide rail 115, the second gear motor 116, the second screw 117, the second nut 118 and the second guide rail 119 are arranged on the mounting frame 111; the first guide rail 115 is provided with a first sliding block 1151, the first lead screw 113 and the first guide rail 115 are arranged along a second direction Y, the first traversing mechanism 12 is connected with the first nut 114 and the first sliding block 1151, and the first gear motor 112 drives the first nut 114 to move along the second direction Y and drives the first traversing mechanism 12 to synchronously move; the second guide rail 119 is provided with a second sliding block 1191, the second lead screw 117 and the second guide rail 119 are arranged along a second direction Y, the second traversing mechanism 13 is connected with a second nut 118 and the second sliding block 1191, and the second gear motor 116 drives the second nut 118 to move along the second direction Y and drives the second traversing mechanism 13 to synchronously move.

In the embodiment of the present application, as shown in fig. 1a and 11, the first gear motor 112 drives the first nut 114 to move along the second direction Y, so as to drive the first traversing mechanism 12 to move synchronously, the second gear motor 116 drives the second nut 118 to move along the second direction Y, and drives the second traversing mechanism 13 to move synchronously, and meanwhile, the first gear motor 112 and the second gear motor 116 are driven, so that the first traversing mechanism 12 and the second traversing mechanism 13 can move synchronously, and further, the position adjustment of the first traversing mechanism 12 and the second traversing mechanism 13 in the second direction Y is realized. And the first traversing mechanism 12 is slidably connected to the first guide rail 115 through the first sliding block 1151, the second traversing mechanism 13 is slidably connected to the second guide rail 119 through the second sliding block 1191, the first guide rail 115 and the second guide rail 119 respectively play a guiding role on the first traversing mechanism 12 and the second traversing mechanism 13, and the first traversing mechanism 12 and the second traversing mechanism 13 are prevented from shifting in the moving process, so that the first traversing mechanism 12 and the second traversing mechanism 13 are more stable in the moving process. In addition, the screw rod transmission mode is simple in structure and convenient to operate, and has good adaptability to the transmission requirements of high strength and high rigidity.

Specifically, as shown in fig. 11, the first sliding blocks 1151 corresponding to each first guide rail 115 may be two blocks, so as to further improve the stability of the movement of the first traversing mechanism 12. Similarly, the number of the second sliding blocks 1191 corresponding to each second guide rail 119 may be two, so as to further improve the stability of the movement of the second traversing mechanism 13.

More specifically, as shown in fig. 11 and 12, an output shaft of the first gear motor 112 is connected to the first screw 113 through a first coupling 1121, two ends of the first screw 113 are respectively provided with a first bearing seat 1122, a first adapter block 1141 is sleeved on the first nut 114, and the first traversing mechanism 12 is connected to the first nut 114 through the first adapter block 1141. Similarly, an output shaft of the second gear motor 116 is connected with a second screw rod 117 through a second coupling (not shown), two ends of the second screw rod 117 are respectively provided with a second bearing (not shown), a second nut 118 is sleeved with a second transfer block (not shown), and the second traversing mechanism 13 is connected with the second nut 118 through the second transfer block.

In some embodiments of the present application, as shown in fig. 1a, fig. 13 and fig. 14, the first traversing mechanism 12 includes a third gear motor 121, a third screw rod 122 and a third nut 123 sleeved on the third screw rod 122, a third guide rail 124 disposed on two sides of the third gear motor 121, a third sliding block 1241 is disposed on the third guide rail 124, the first supporting mechanism 21 is connected with the third nut 123 and the third sliding block 1241, and the third gear motor 121 drives the third nut 123 to move along the first direction X and drives the first supporting mechanism 21 to move synchronously; the second traversing mechanism 13 includes a fourth gear motor 131, a fourth screw rod 132, a fourth nut 133 sleeved on the fourth screw rod 132, a fourth guide rail 134 disposed on two sides of the fourth gear motor 131, a fourth sliding block 1341 disposed on the fourth guide rail 134, and the second supporting mechanism 22 connected to the fourth nut 133 and the fourth sliding block 1341, where the fourth gear motor 131 drives the fourth nut 133 to move along the first direction X and drives the second supporting mechanism 22 to move synchronously.

In the embodiment of the present application, the third gear motor 121 and the fourth gear motor 131 provide power for the third screw rod 122 and the fourth screw rod 132, the third gear motor 121 drives the third screw rod 122 to rotate so as to realize movement of the third nut 123 along the third screw rod 122, and the third nut 123 can drive the first bearing mechanism 21 to move along the third screw rod 122 because the first bearing mechanism 21 is connected to the third nut 123; similarly, the fourth gear motor 131 drives the fourth screw rod 132 to rotate, so as to move the fourth nut 133 along the fourth screw rod 132, and the fourth nut 133 can drive the first bearing mechanism 21 to move along the third screw rod 122 because the second bearing mechanism 22 is connected to the fourth nut 133; the first speed reducing motor 112 and the second speed reducing motor 116 are controlled to further adjust the distance between the first supporting mechanism 21 and the second supporting mechanism 22, so that the lifting device provided by the embodiment of the application can adapt to materials A with different sizes, and has strong universality.

Specifically, as shown in fig. 2, 6 and 14, the lower ends of the first and second brackets 2211 and 2212 are connected to a second mounting plate 2219, and the second mounting plate 2219 is connected to a third nut 123.

More specifically, as shown in fig. 15, an output shaft of the third gear motor 121 is connected to the third screw rod 122 through a third coupling 1211, two ends of the third screw rod 122 are respectively provided with a third bearing seat 1221, a third adapter block 1231 is sleeved on the third nut 123, and the third traversing mechanism is connected to the third nut 123 through the third adapter block 1231.

As shown in fig. 14, the third sliding blocks 1241 corresponding to each third guide rail 124 may be two, so as to further improve the stability of the movement of the first supporting mechanism 21. Similarly, the number of the fourth sliding blocks 1341 corresponding to each fourth guide rail 134 may be two, so as to further improve the stability of the movement of the second supporting mechanism 22.

In some embodiments of the present application, as shown in fig. 2, two second limiting members 2231 are disposed in the groove at intervals along the second direction Y, the two second limiting members 2231 are disposed opposite to each other, and the distance between the two second limiting members 2231 gradually decreases from top to bottom.

In the embodiment of the present application, as shown in fig. 2 and 3, two second limiting members 2231 are disposed at intervals along the second direction Y, and the material a is disposed between the two second limiting members 2231, so that the end portions of the two materials a can be prevented from moving along the second direction Y, and the stability of the material a is further improved. The distance between the two second limiting members 2231 becomes gradually smaller from top to bottom, and when the material a is put between the two second limiting members 2231 from top to bottom, interference with the second limiting members 2231 is not generated.

Embodiments of the second aspect of the present application provide a robot comprising the above lifting device.

In the embodiment of the present application, the robot includes the lifting device, wherein the moving chassis 10 can drive the supporting mechanism 20 to move in the horizontal direction, so that the moving range of the supporting mechanism 20 is wider. The bearing mechanism 20 comprises a first bearing mechanism 21 and a second bearing mechanism 22, and two ends of a material are arranged on a first bearing part 223 of the first bearing mechanism 21 and the second bearing mechanism 22, so that the bearing mechanism 20 bears the material. The first slide portion 2213 and the second slide portion 2214 extending along the third direction Z are respectively disposed on two adjacent side surfaces of the first support 2211, the third slide portion 2215 extending along the third direction Z is disposed on one side surface of the second support 2212, the support 222 has the first slide engaging portion 2221, the second slide engaging portion 2222 and the third slide engaging portion 2223 engaged with the first slide portion 2213, the second slide portion 2214 and the third slide engaging portion 2215, respectively, and the first slide portion 2213, the second slide portion 2214 and the third slide engaging portion 2223 extend along the third direction Z, so that the support 222 can slide along the third direction Z, and therefore, through the above arrangement, the support 222 can move along the first direction X, the second direction Y and the third direction Z, the movable range is larger, and thus can be suitable for more application scenes. The first bearing portion 223 is disposed on a side close to the first support 2211, and the first support 2211 includes the first sliding portion 2213 and the second sliding portion 2214 with different sides, so that the connection area between the bearing member 222 and the first support 2211 is larger, and the bearing member can bear larger stress, so as to meet the heavy load requirement of the robot.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims (15)

1. A lifting device, comprising:

A mobile chassis (10);

The bearing mechanism (20) is arranged on the movable chassis (10) and driven by the movable chassis (10) to move along the horizontal direction, and the bearing mechanism (20) comprises a first bearing mechanism (21) and a second bearing mechanism (22) which are arranged at intervals along the first direction (X);

The first bearing mechanism (21) and the second bearing mechanism (22) both comprise a vertical frame (221) and a bearing piece (222), the vertical frame (221) comprises a first support (2211) and a second support (2212) which are arranged at intervals along a second direction (Y), the second direction (Y) is coplanar and perpendicular to the first direction (X), two adjacent side surfaces of the first support (2211) are respectively provided with a first sliding part (2213) and a second sliding part (2214) which extend along a third direction (Z), the third direction (Z) is perpendicular to the first direction (X) and the second direction (Y), one side surface of the second support (2212) is provided with a third sliding part (2215) which extends along the third direction (Z), and the bearing piece (222) is provided with a first sliding part (2213), a second sliding part (2214) and a third sliding part (2222) which are respectively matched with the first sliding part (2213), the second sliding part (2214) and the third sliding part (2225), and the bearing piece (2222) are respectively matched with the first sliding part (2213) and the third sliding part (2222);

The bearing piece (222) of the first bearing mechanism (21) and the bearing piece (222) of the second bearing mechanism (22) comprise first bearing parts (223) which are arranged on the same side, the first bearing parts (223) are arranged on one side close to the first bracket (2211), and the first bearing parts (223) are used for bearing materials (A);

The lifting mechanism (30) is arranged on the vertical frame (221) and used for driving the bearing piece (222) to move along the third direction (Z).

2. The lifting device according to claim 1, characterized in that the support (222) of the first support means (21), the support (222) of the second support means (22) further comprise a second carrier part (224) arranged on the same side, the second carrier part (224) being arranged on the side close to the second support (2212).

3. The lifting device according to claim 1, wherein the first bearing portion (223) is a groove formed in the supporting member (222), and a first limiting member (225) is disposed on an outer side of the supporting member (222) along the first direction (X), and at least a portion of the first limiting member (225) is higher than a bottom surface of the groove, so as to limit the movement of the material (a) along the first direction (X).

4. A lifting device according to claim 3, wherein the first limiting member (225) comprises a first portion (2251) and a second portion (2252) arranged on both sides of the first portion (2251) in the second direction (Y), the first portion (2251) being parallel to the first direction (X), the second portion (2252) being perpendicular to the first direction (X), and the second portion (2252) being fixedly connected to the support member (222).

5. The lifting device according to claim 1, wherein one of the first slide portion (2213), the second slide portion (2214), the third slide portion (2215), and the first slide mating portion (2221), the second slide mating portion (2222), and the third slide mating portion (2223) is a slide rail, and the other is a slide block.

6. Lifting device according to any one of claims 1-5, characterized in that the lifting mechanism (30) comprises a lifting gear motor (31), a lifting coupling (32), a lifting screw (33) and a screw nut (34), the output shaft of the lifting gear motor (31) is connected to the lifting screw (33) through the lifting coupling (32) to drive the lifting screw (33) to rotate, the screw nut (34) is screwed to the lifting screw (33), and the bearing (222) is connected to the screw nut (34).

7. Lifting device according to claim 6, characterized in that the screw nut (34) comprises a head (341) and a shaft (342) connected to each other, the diameter of the head (341) being larger than the diameter of the shaft (342), the support (222) comprises a connecting part (2224), the connecting part (2224) has an opening (22241), is sleeved on the shaft (342) through the opening (22241) and abuts against the head (341), and the connecting part (2224) is fixedly connected with the head (341).

8. Lifting device according to claim 7, characterized in that an elastic element (40) is arranged between the connection part (2224) and the head part (341), the elastic element (40) and the connection part (2224) having a profiling structure.

9. Lifting device according to claim 8, characterized in that the elastic element (40) is made of polyurethane, silicone or rubber.

10. The lifting device according to claim 8, wherein a load cell (50) is disposed between the elastic member (40) and the connecting portion (2224), and the load cell (50) is sleeved on the rod portion (342).

11. Lifting device according to any one of claims 1-5, wherein the mobile chassis (10) comprises a straight running mechanism (11) and a first traversing mechanism (12) and a second traversing mechanism (13) arranged above the straight running mechanism (11), the first traversing mechanism (12) being adapted to drive the first support mechanism (21) to move in the first direction (X), the second traversing mechanism (13) being adapted to drive the second support mechanism (22) to move in the first direction (X), the straight running mechanism (11) being adapted to drive the first traversing mechanism (12) and the second traversing mechanism (13) to move in the second direction (Y).

12. The lifting device according to claim 11, wherein the straight traveling mechanism (11) comprises a mounting frame (111), a first speed reducing motor (112) arranged on the mounting frame (111), a first screw (113), a first nut (114) sleeved on the first screw (113) and first guide rails (115) arranged on two sides of the first screw (113), a second speed reducing motor (116) arranged on the mounting frame (111), a second screw (117), a second nut (118) sleeved on the second screw (117) and second guide rails (119) arranged on two sides of the second screw (117);

The first guide rail (115) is provided with a first sliding block (1151), the first lead screw (113) and the first guide rail (115) are arranged along the second direction (Y), the first traversing mechanism (12) is connected with the first nut (114) and the first sliding block (1151), and the first gear motor (112) drives the first nut (114) to move along the second direction (Y) and drives the first traversing mechanism (12) to synchronously move;

Be equipped with second sliding block (1191) on second guide rail (119), second lead screw (117) second guide rail (119) are followed second direction (Y) sets up, second sideslip mechanism (13) with second nut (118) with second sliding block (1191) are connected, second gear motor (116) drive second nut (118) are followed second direction (Y) motion, and drive second sideslip mechanism (13) synchronous motion.

13. The lifting device according to claim 11, wherein the first traversing mechanism (12) comprises a third gear motor (121), a third screw rod (122) and a third nut (123) sleeved on the third screw rod (122), third guide rails (124) arranged on two sides of the third gear motor (121), third sliding blocks (1241) are arranged on the third guide rails (124), the first supporting mechanism (21) is connected with the third nut (123) and the third sliding blocks (1241), and the third gear motor (121) drives the third nut (123) to move along the first direction (X) and drives the first supporting mechanism (21) to synchronously move;

The second transverse moving mechanism (13) comprises a fourth gear motor (131), a fourth screw rod (132) and a fourth nut (133) sleeved on the fourth screw rod (132), a fourth guide rail (134) arranged on two sides of the fourth gear motor (131), a fourth sliding block (1341) arranged on the fourth guide rail (134), the second bearing mechanism (22) is connected with the fourth nut (133) and the fourth sliding block (1341), and the fourth gear motor (131) drives the fourth nut (133) to move along the first direction (X) and drive the second bearing mechanism (22) to synchronously move.

14. A lifting device according to claim 3 or 4, characterized in that two second limiting members (2231) are arranged in the groove at intervals along the second direction (Y), the two second limiting members (2231) are arranged opposite to each other, and the distance between the two second limiting members (2231) gradually decreases from top to bottom.

15. A robot comprising a lifting device according to any one of claims 1-14.