TWI746118B - Lifting mechanism and operating method thereof - Google Patents

Abstract

A lifting mechanism includes a platform, a sensor, a fixed portion, a movable portion, a first stopper and a second stopper. The platform has a first side and a second side opposite to each other. The sensor is disposed on the platform. The fixed portion is disposed on the first side of the platform. The movable portion is disposed on the second side of the platform liftably along a track. The first stopper is disposed in the fixed portion. The second stopper is disposed in the movable portion. The sensor senses between an initial position and a lifting position with the platform. The lifting mechanism of the present invention can passively change the position of the sensor without additional power source.

Description

Lifting mechanism and its operation method

The present invention relates to a lifting mechanism and an operating method thereof, and particularly relates to a lifting mechanism and an operating method thereof.

Generally speaking, various sensors can be installed in their proper positions according to different usage scenarios and requirements, and even the position of the sensors can be dynamically changed according to changes in the context and requirements. Currently, the active sensor lifting mechanism needs to be driven by a power source, such as motor/oil pressure/air pressure/magnetic force, etc. When the power source cannot be installed, the organization cannot function. Furthermore, with a power source, a physical control loop is needed to control the power source. However, the control loop occupies the available space of the system and also needs to be connected to other control systems, which in turn causes the entire system to add more possible failure points. In addition, the active sensor lifting mechanism also needs to be integrated with the operation of the entire software system, thus increasing maintenance items on the system software side, and increasing the chance of software errors.

The "background art" paragraph is only used to illustrate the understanding of the present invention, so the content disclosed in the "background art" paragraph may contain some known technologies that do not constitute those skilled in the art. The content disclosed in the “background art” paragraph does not represent the content or the problem to be solved by one or more embodiments of the present invention, and has been known or recognized by those skilled in the art before the application of the present invention.

The invention provides a lifting mechanism, which can passively change the position of the sensor without adding an additional power source.

The present invention also provides an operating method of a lifting mechanism for operating the above-mentioned lifting mechanism, thereby passively changing the position of the sensor.

The other objectives and advantages of the present invention can be further understood from the technical features disclosed in the present invention.

In order to achieve one or part or all of the above objects or other objects, an embodiment of the present invention provides a lifting mechanism, which includes a platform, a sensor, a fixed part, a movable part, and a first stopper. And a second stopper. The platform has a first side and a second side opposite to each other. The sensor is set on the platform. The fixing part is arranged on the first side of the platform. The movable part is vertically arranged on the second side of the platform along a track. The first stopper is arranged in the fixed part. The second stopper is arranged in the movable part. When the first stopper interferes with the first side of the platform and the second stopper does not interfere with the second side of the platform, the platform is located at an initial position. When the first stopper does not interfere with the first side of the platform and the second stopper interferes with the second side of the platform, the platform moves to a raised position relative to the fixed portion along the track along with the movable portion. The sensor follows the platform to sense between the initial position and the rising position.

In an embodiment of the present invention, the above-mentioned lifting mechanism further includes at least one adjusting member, which is disposed on the platform and connected to the sensor for adjusting at least one angle of the sensor.

In an embodiment of the present invention, the aforementioned at least one angle includes a horizontal angle or a pitch angle.

In an embodiment of the present invention, the above-mentioned lifting mechanism further includes: a positioning member disposed in the fixing part and located on the first stop member.

In an embodiment of the present invention, when the movable part is positioned relative to the fixed part, there is a magnetic attraction between the positioning member and the first side of the platform, so that the platform is stably connected to the positioning member, and the second A stopper interferes with the first side of the platform.

In an embodiment of the present invention, the above-mentioned lifting mechanism further includes a positioning member disposed in the movable part and located on the second stopper.

In an embodiment of the present invention, when the movable part is positioned relative to the fixed part, there is a magnetic attraction between the positioning member and the second side of the platform, so that the platform is stably connected to the positioning member and the second side The two stoppers interfere with the second side of the platform.

In an embodiment of the present invention, when the movable part moves from position to another position along the track relative to the fixed part, the platform will move from a raised position relative to the fixed part along the track through the magnetic adsorption of the positioning member. Move to the initial position.

In an embodiment of the present invention, the aforementioned track includes a linear track or a curved track.

In an embodiment of the present invention, when the movable portion is located at a third position relative to the fixed portion, the first stopper interferes with the first side of the platform, and the second stopper interferes with the second side of the platform, and The platform is in the initial position.

In order to achieve one or part or all of the above objectives or other objectives, an embodiment of the present invention provides an operating method of a lifting mechanism. The lifting mechanism includes a platform, a sensor, a fixed part, a movable part, a first stopper and a second stopper. The platform has a first side and a second side opposite to each other. The sensor is set on the platform. The fixed part is arranged on the first side of the platform, and the movable part is arranged on the second side of the platform in a liftable manner along a rail. The first stopper is arranged in the fixed part, and the second stopper is arranged in the movable part. The operating method of the lifting mechanism includes the following steps. The first stopper interferes with the first side of the platform, and the second stopper does not interfere with the second side of the platform, and the platform is located at an initial position. The movable part is driven so that the first stopper does not interfere with the first side of the platform, the second stopper interferes with the second side of the platform, and the platform moves to a raised position relative to the fixed part along the track. The sensor follows the platform to sense between the initial position and the rising position.

Based on the above, the embodiments of the present invention have at least one of the following advantages or effects. In the design of the lifting mechanism of the present invention, the sensor is arranged on the platform, and the platform can move between the initial position and the rising position with the movable part relative to the fixed part. Therefore, the sensor provided on the platform can also perform sensing between the initial position and the rising position of the platform. In short, the lifting mechanism of the present invention can passively change the position of the sensor without an additional power source.

In order to make the above-mentioned features and advantages of the present invention more comprehensible, the following specific embodiments are described in detail in conjunction with the accompanying drawings.

The foregoing and other technical content, features, and effects of the present invention will be clearly presented in the following detailed description of a preferred embodiment with reference to the drawings. The directional terms mentioned in the following embodiments, for example: up, down, left, right, front or back, etc., are only directions for referring to the attached drawings. Therefore, the directional terms used are used to illustrate but not to limit the present invention.

Fig. 1A is a schematic diagram of a lifting mechanism according to an embodiment of the present invention. FIG. 1B is a schematic diagram when the movable part of the lifting mechanism of 1A is at a position relative to the fixed part, and the platform is at an initial position. Fig. 1C is a schematic diagram when the movable part of the lifting mechanism of 1A is at a position relative to the fixed part, and the platform is at a raised position. Fig. 1D is a schematic diagram when the movable part of the lifting mechanism of 1A is at a position relative to the fixed part, and the platform is at a final position.

Please refer to FIG. 1A. In this embodiment, the lifting mechanism 100 includes a platform 110, a sensor 120, a fixed portion 130, a movable portion 140, a first stopper 150, and a second stopper. 160. The platform 110 has a first side 112 and a second side 114 opposite to each other. The sensor 120 is arranged on the platform 110, the fixed part 130 is arranged on the first side 112 of the platform 110, and the movable part 140 is arranged on the second side 114 of the platform 110 in a liftable manner along a track T. The first stopper 150 is disposed in the fixed part 130, and the second stopper 160 is disposed in the movable part 140.

In detail, in this embodiment, the fixed portion 130 of the lifting mechanism 110 is a fixed member, and the movable portion 140 is a member that can move relative to the fixed portion 130. The movable part 140 of this embodiment is arranged on the second side 114 of the platform 110, so when the movable part 140 moves relative to the fixed part 130, the platform 110 can be driven to move together. Here, the sensor 120 is disposed on the platform 110, so the sensor 120 can also be passively changed position. Therefore, the platform 110 of this embodiment can be regarded as a moving platform, and the sensor 120 or other components that need to be moved to a specific position can be installed on the platform 110. Here, the sensor 120 is, for example, a Time of Flight (TOF) camera, but it is not limited thereto.

Furthermore, the track T in this embodiment can be, for example, a straight track or a curved track, but it is not limited to this. That is to say, the track T in this embodiment is not necessarily a straight line, but can also be a curve, but it is limited to a one-dimensional direction. In this embodiment, the movable part 140 can drive the platform 110 to move along the track T together. The first stop 150 can determine the position where the platform 110 stops relative to the fixed portion 130 when the platform 110 moves along the track T. The second stopper 160 will move along with the movable part 140 to push the platform 110 against external forces, move the platform 110 along the track T, and maintain the position of the platform 110 relative to the movable part 140. It is worth mentioning that the positions of the first stopper 150 and the second stopper 160 can be adjusted according to the requirements of the sensor 120.

In addition, please refer to FIG. 1A again. The lifting mechanism 100 of this embodiment further includes at least one adjusting member 170, which is disposed on the platform 110 and connected to the sensor 120 for adjusting at least one angle of the sensor 120 to increase the sensor. The sensing angle of the sensor 120. Here, the angle includes a horizontal angle or a pitch angle, but is not limited to this.

In addition, in order to avoid unpredictable external force interference, the lifting mechanism 100 of this embodiment further includes a positioning member 180 disposed in the fixing portion 130 and located on the first stop member 150. The positioning member 180 can provide a maintaining force. When the first stopper 150 interferes with the first side 112 of the platform 110, the platform 110 can continuously and stably contact the positioning member 180 to avoid separation due to abnormal conditions. For example, the situation is vibration, shaking or other external forces. Specifically, the first stopper 150 interfering with the first side 112 of the platform 110 can be understood to mean that the first stopper 150 affects the balance or take-off and landing of the platform 110 by abutting against the first side 112 of the platform 110 by the positioning element 180 . Similarly, the lifting mechanism 100 further includes a positioning member 190 disposed in the movable portion 140 and located on the second stop member 160. The positioning member 190 can provide a maintaining force. When the second stopper 160 interferes with the second side 114 of the platform 110, the platform 110 can continuously and stably contact the positioning member 190 to avoid separation due to abnormal conditions. Similarly, the second stopper 160 interfering with the second side 114 of the platform 110 can be understood as the second stopper 160 affects the balance or take-off and landing of the platform 110 by abutting the positioning element 190 against the second side 114 of the platform 110. It is worth mentioning that the positioning member 180 and the positioning member 190 and the first side 112 and the second side 114 of the platform 110 can be designed through magnetism, suction, pressure or other mechanisms, so that the platform 110 can be continuously and stably designed. Contact the positioning member 180 and the positioning member 190. The positioning member 180 and the positioning member 190 can resist the impact of a certain range of external force without causing the platform 110 and the positioning member 180 and the positioning member 190 to shift or leave the stop position, which can avoid affecting the installation on the platform 110. On the sensor 120.

In operation, please refer to FIG. 1A again. First, the first stopper 150 is made to interfere with the first side 112 of the platform 110, and the second stopper 160 does not interfere with the second side 114 of the platform 110, and the platform 110 is positioned at An initial position P1. That is, when the first side 112 of the platform 110 is blocked by the first stopper 150 and the second stopper 160 is separated from the second side 114 of the platform 110, the platform 110 is located at the initial position P1. At this time, the movable portion 140 is located at the position L1 relative to the fixed portion 130, and there is, for example, a magnetic attraction between the positioning member 180 and the first side 112 of the platform 110, so that the platform 110 is stably connected to the positioning member 180, so that The first stop 150 interferes with the first side 112 of the platform 110. In other words, in this state, the movable part 140 does not affect the position of the platform 110.

Next, referring to FIG. 1B, the movable portion 140 is driven to move in the direction D (for example, upward) relative to the fixed portion 130 to be located at a position L3. At this time, the first stopper 150 interferes with the first side 112 of the platform 110, and the second stopper 160 interferes with the second side 114 of the platform 110, and the platform 110 is still located at the initial position P1.

Afterwards, referring to FIG. 1C, the driving movable portion 140 moves relative to the fixed portion 130 in the direction D (such as upwards) to a position L2, so that the first stopper 150 does not interfere with the first side 112 of the platform 110, and the second stopper The piece 160 interferes with the second side 114 of the platform 110, and the platform 110 moves to the rising position P2 with respect to the fixed part 130 along the track T with the movable part 140. When the movable portion 140 is located at the position L2 relative to the fixed portion 130, there is a magnetic attraction between the positioning member 190 and the second side 114 of the platform 110, for example, so that the platform 110 is stably connected to the positioning member 190, and the second side 114 The two stoppers 160 interfere with the second side 114 of the platform 110. That is, when the first stopper 150 does not interfere with the first side 112 of the platform 110 and the second stopper 160 interferes with the second side 114 of the platform 110, the platform 110 can be opposed to each other along the track T as the movable part 140 The fixed part 130 moves to the rising position P2. In short, in this state, the platform 110 is pushed by the second stopper 160 to change its position along with the movement of the movable part 140. At this time, the fixing portion 130 will not affect the position of the platform 110.

Finally, referring to FIG. 1D, the movable portion 140 is continuously driven to move relative to the fixed portion 130 in the direction D (such as upwards) to a position L4, so that the first stopper 150 does not interfere with the first side 112 of the platform 110, and the first stopper 150 does not interfere with the first side 112 of the platform 110. The two stoppers 160 interfere with the second side 114 of the platform 110, and the platform 110 is located at a final position P3. At this time, the movable part 140 stops at the extreme position (ie, the position L4), and the platform 110 and the movable part 140 remain relatively static, while the fixed part 130 still does not affect the position of the platform 110.

After that, please refer to FIGS. 1C and 1D at the same time, or, in FIGS. 1D and 1B, the movable part 140 can be driven to move to the position L2 or to the position L3 in the opposite direction D (such as downward) relative to the fixed part 130. The platform 110 is caused to move from the final position P3 to the ascending position P2 or to the initial position P1 along the track T relative to the fixed part 130 by the magnetic adsorption of the positioning member 190.

Since the sensor 120 of this embodiment is disposed on the platform 110, the platform 110 can move between the initial position P1, the rising position P2, and the final position P3 along with the movable part 140 relative to the fixed part 130. Therefore, the sensor 120 disposed on the platform 110 can also perform sensing between the initial position P1, the rising position P2, and the final position P3 along with the platform 110. In short, the sensor 120 of the lifting mechanism 100 of this embodiment can be used to sense between the initial position P1, the rising position P2, and the final position P3 with the platform 110, and it can be passively changed without additional power source. The location of the sensor 120.

Fig. 2A is a perspective schematic view of a forklift according to an embodiment of the present invention. FIG. 2B is an enlarged schematic diagram of area A in FIG. 2A. 2C is a schematic top view of the horizontal field of view range of the sensor of the forklift of FIG. 2A. 2D and 2E are schematic side views of the pitch view range of the sensor when the forks of the forklift of FIG. 2A are in different positions, respectively.

In terms of application, please refer to FIGS. 2A and 2B at the same time. The lifting mechanism 100 of this embodiment can be applied to, for example, a forklift 10, where the fixed part 130 is, for example, the body of the forklift 10, and the movable part 140 is, for example, the forklift 10. Forks. Here, three adjustment members 170 are schematically illustrated, the sensor 120 is two pitch angle adjustment members, and the other is a horizontal angle adjustment member, but it is not limited to this.

Furthermore, since the sensor 120 is installed on the side of the vehicle body of the forklift 10, the sensing angle and the sensing range of the sensor 120 can be adjusted through the adjusting member 170. As shown in FIG. 2C, the sensor 120 can provide a horizontal field of view H, in which, based on the arrow in the middle, the field of view angle can be turned up to about 30 degrees, and the field of view angle can be turned down to about 30 degrees, the horizontal The field of view H is, for example, 60 degrees, but it is not limited to this. In addition to the horizontal field of view H, the sensor 120 can also provide a pitch field of view E through the adjustment of the adjusting member 170. In one embodiment, as shown in FIG. 2D, when the platform 110 is at the initial position P1 and the movable part 140 (for example, the fork of the forklift 10) is at the position L1, it means that the fork drops and the sensor 120 stops at Above the fork, the sensor 120 is dominated by the arrow in the middle, which can be rotated upwards for a viewing angle of about 22.5 degrees, and downwards can be rotated for a viewing angle of about 22.5 degrees. Therefore, the pitch view range E is 45 degrees, but not Limited by this. In another embodiment, as shown in FIG. 2E, when the platform 110 is at the final position P3 and the movable part 140 (for example, the fork of the forklift 10) is at the position L4, it means that the fork rises and the sensor 120 stops. Below the fork, the sensor 120 can be rotated upwards for a viewing angle of approximately 22.5 degrees, and downwards can be rotated for a viewing angle of approximately 22.5 degrees, based on the arrow in the middle. Therefore, the pitching field of view E is, for example, 45 degrees, but Not limited to this. In addition, in one embodiment, the adjusting member 170 can also be linked with the stop position of the lifting through the linkage mechanism, thereby having different levels and elevation angle adjustment values to meet more complicated use situations.

Since the sensor 120 of this embodiment operates passively and is dependent on the original mechanism, it does not require an additional power source. The original power source of the movable part 140 is also towed by the transmission shaft/rope/steel cable/or any transmission mechanism, so that the sensor 120 has a larger installation space to choose. Furthermore, through the design of the additional transmission mechanism, the lifting method of the sensor 120 is not limited to the same vertical direction as the gravity, and may be horizontal, oblique, or even curved. In addition, since no additional power source is required, there is no need for an active control loop.

In summary, the embodiments of the present invention have at least one of the following advantages or effects. The embodiments of the present invention have at least one of the following advantages or effects. In the design of the lifting mechanism of the present invention, the sensor is arranged on the platform, and the platform can move between the initial position and the rising position with the movable part relative to the fixed part. Therefore, the sensor provided on the platform can also perform sensing between the initial position and the rising position of the platform. In short, the lifting mechanism of the present invention can passively change the position of the sensor without an additional power source.

The above are only preferred embodiments of the present invention, and should not be used to limit the scope of implementation of the present invention, that is, all simple equivalent changes and modifications made in accordance with the claims of the present invention and the content of the description of the invention will still be used. It belongs to the scope covered by the patent of the present invention. In addition, any embodiment or claim of the present invention does not have to achieve all the objectives or advantages or features disclosed in the present invention. In addition, the abstract part and the title of the invention are only used to assist in the search of patent files, and are not used to limit the scope of rights of the present invention. In addition, the terms "first" and "second" mentioned in this specification or the scope of the patent application are only used to name the element (element) or to distinguish different embodiments or ranges, and are not used to limit the number of elements. Upper or lower limit.

10: Forklift 100: Lifting mechanism 110: platform 112: first side 114: second side 120: Sensor 130: fixed part 140: Activities Department 150: first stop 160: second stop 170: adjustment piece 180, 190: positioning parts A: area D: direction E: Pitch field of view H: Horizontal field of view L1, L2, L3, L4: position P1: initial position P2: Ascending position P3: Final position T: track

Fig. 1A is a schematic diagram of a lifting mechanism according to an embodiment of the present invention. FIG. 1B is a schematic diagram when the movable part of the lifting mechanism of 1A is at a position relative to the fixed part, and the platform is at an initial position. Fig. 1C is a schematic diagram when the movable part of the lifting mechanism of 1A is at a position relative to the fixed part, and the platform is at a raised position. Fig. 1D is a schematic diagram when the movable part of the lifting mechanism of 1A is at a position relative to the fixed part, and the platform is at a final position. Fig. 2A is a perspective schematic view of a forklift according to an embodiment of the present invention. FIG. 2B is an enlarged schematic diagram of area A in FIG. 2A. 2C is a schematic top view of the horizontal field of view range of the sensor of the forklift of FIG. 2A. 2D and 2E are schematic side views of the pitch view range of the sensor when the forks of the forklift of FIG. 2A are in different positions, respectively.

100: Lifting mechanism

110: platform

112: first side

114: second side

120: Sensor

130: fixed part

140: Activities Department

150: first stop

160: second stop

170: adjustment piece

180, 190: positioning parts

L1: location

P1: initial position

T: track

Claims (11)

A lifting mechanism, including: A platform having a first side and a second side opposite to each other; A sensor is set on the platform; A fixing part arranged on the first side of the platform; A movable part arranged on the second side of the platform in a liftable manner along a track; A first stopper arranged in the fixing part; and A second stopper is arranged in the movable part, wherein When the first stopper interferes with the first side of the platform and the second stopper does not interfere with the second side of the platform, the platform is at an initial position, and when the first stopper does not interfere with the platform The first side of the first side and the second stopper interfere with the second side of the platform, the platform moves to a raised position relative to the fixed portion as the movable portion follows the track, and the sensor follows The platform performs sensing between the initial position and the rising position. The lifting mechanism according to claim 1, further comprising: At least one adjusting component is arranged on the platform and connected to the sensor for adjusting at least one angle of the sensor. The lifting mechanism according to claim 2, wherein the at least one angle includes a horizontal angle or a pitch angle. The lifting mechanism according to claim 1, further comprising: A positioning piece is arranged in the fixing part and located on the first stop piece. The lifting mechanism according to claim 4, wherein when the movable part is at a position relative to the fixed part, there is a magnetic attraction between the positioning member and the first side of the platform, so that the platform is stably connected On the positioning member, so that the first stop member interferes with the first side of the platform. The lifting mechanism according to claim 1, further comprising: A positioning piece is arranged in the movable part and located on the second stop piece. The lifting mechanism according to claim 6, wherein when the movable part is at a position relative to the fixed part, there is a magnetic attraction between the positioning member and the second side of the platform, so that the platform is stably connected On the positioning member, so that the second stopper interferes with the second side of the platform. The lifting mechanism according to claim 7, wherein when the movable part moves from one position to another position along the track relative to the fixed part, the platform moves along the movable part through the magnetic adsorption of the positioning member The track moves from the rising position to the initial position relative to the fixed part. The lifting mechanism according to claim 1, wherein the track includes a straight track or a curved track. The lifting mechanism according to claim 1, wherein when the movable part is located at a third position relative to the fixed part, the first stopper interferes with the first side of the platform, and the second stopper interferes The second side of the platform, and the platform is located at the initial position. An operating method of a lifting mechanism. The lifting mechanism includes a platform, a sensor, a fixed part, a movable part, a first stopper, and a second stopper. The platform has a first stop opposite to each other. Side and a second side, the sensor is arranged on the platform, the fixed part is arranged on the first side of the platform, and the movable part is arranged on the second side of the platform so as to be liftable along a track, The first stopper is arranged in the fixed part, and the second stopper is arranged in the movable part. The operation method of the lifting mechanism includes: Making the first stopper interfere with the first side of the platform, while the second stopper does not interfere with the second side of the platform, and the platform is located at an initial position; and The movable part is driven so that the first stopper does not interfere with the first side of the platform, the second stopper interferes with the second side of the platform, and the platform moves relative to the platform along the track The fixed part moves to an ascending position, and the sensor follows the platform to sense between the initial position and the ascending position.

Images