Carrying robot for stacking storage

Abstract

The invention relates to the technical field of transportation or storage devices, in particular to a carrying robot for stacking warehousing, which comprises a machine main body and a lifting mechanism arranged on the machine main body and used for lifting goods to a preset height, the lifting mechanism is provided with two supporting parts, each supporting part comprises a supporting shaft group and a belt arranged outside the supporting shaft group in a sleeving manner, each supporting shaft set is provided with a supporting end and a compensation end perpendicular to the supporting end, the supporting ends of the two supporting shaft sets are arranged in the same supporting plane and arranged in the supporting plane in a telescopic mode in the first direction, and the compensation ends are constructed to be capable of synchronously stretching out and drawing back in the second direction when the supporting ends stretch out and draw back. Therefore, the overall length of the supporting shaft group is kept unchanged. By arranging the supporting shaft set structure with the telescopic supporting end and the compensation end, the stable lifting and placing functions of goods under the condition that no tray exists are achieved, the problem that a traditional carrying robot depends on the tray is solved, and the storage cost is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of transportation or storage devices, and in particular to a handling robot for stacking and warehousing. Background Art

[0002] In the contemporary logistics practice of pursuing maximum storage space, the three-dimensional shelf system has become increasingly important due to its ability to expand storage space in the vertical dimension. This system has significantly improved the storage density and capacity of the warehouse. As a result, the internal logistics and cargo handling process face more severe challenges. In particular, the handling robot, as a key component of the automated warehousing system, has a direct impact on the efficiency and flexibility of the entire warehousing operation process.

[0003] Traditional handling robot designs are mostly based on the forklift principle, that is, using forks inserted into the bottom of the pallet to lift the goods for handling and stacking. Although this method has been mature in some applications, it also has some shortcomings: for example, the high dependence on pallets, the use of pallets not only adds additional storage costs, because each pallet itself also occupies valuable storage space, but also when handling goods that do not require pallet support, such as those with flat bottom plates or boxes, the flexibility of traditional handling robots is greatly reduced. For this reason, we propose a handling robot for stacking warehousing. Summary of the invention

[0004] The object of the present invention is to provide a handling robot for stacking and storage, so as to solve the problems raised in the above-mentioned background technology.

[0005] The present invention is achieved through the following technical solutions:

[0006] A handling robot for stacking warehousing comprises a machine body and a lifting mechanism arranged on the machine body and used for lifting goods to a predetermined height, the lifting mechanism having two supporting parts, each of the supporting parts comprising a supporting shaft group and a belt sleeved on the outside of the supporting shaft group, the supporting shaft group having a supporting end and a compensating end arranged perpendicular to the supporting end, the supporting ends of the two supporting shaft groups are arranged in the same supporting plane and are telescopically arranged in a first direction in the supporting plane, and the compensating end is constructed to be able to synchronously extend and retract along a second direction when the supporting end is extended and retracted, so that the overall length of the supporting shaft group remains unchanged.

[0007] Optionally, the support shaft group includes a first transmission shaft, a second transmission shaft and a third transmission shaft which are parallel to each other, the belt is wound between the three transmission shafts, the first transmission shaft and the second transmission shaft are arranged opposite to each other along a first direction, and the first transmission shaft and the third transmission shaft are arranged opposite to each other along a second direction, and the outer part of the belt is tightly pressed to tension the belt and maintain an L-shaped pressure shaft.

[0008] Optionally, the support shaft assembly further includes a first telescopic device and a second telescopic device;

[0009] The first telescopic device is connected between the first transmission shaft and the second transmission shaft, and the three of them constitute the supporting end; the second telescopic device is connected between the first transmission shaft and the third transmission shaft, and the three of them constitute the compensating end.

[0010] Optionally, the first telescopic device includes a first screw rod rotatably connected to the first transmission shaft and a second screw rod rotatably connected to the second transmission shaft, the first screw rod and the second screw rod are both threadedly connected with a first nut, and a first connecting rod is rotatably connected between the first nuts;

[0011] The second telescopic device includes a third screw rod rotatably connected to the first transmission shaft and a fourth screw rod rotatably connected to the third transmission shaft. The second screw rod and the fourth screw rod are both threadedly connected with second nuts, and a second connecting rod is rotatably connected between the second nuts.

[0012] Optionally, the three transmission shafts and the screw rods rotatably connected thereto are all connected in transmission via gear transmission.

[0013] Optionally, the lifting mechanism further includes a frame, the two support parts are arranged on opposite sides of the frame, and the plane where the inner side of the frame is located is the support plane.

[0014] Optionally, the frame body is provided with a first elongated sliding hole extending along the first direction, and the ends of the second transmission shaft and the second screw rod are arranged in the first sliding hole and are slidably arranged along the extension direction of the first sliding hole; the frame body is provided with a second elongated sliding hole extending along the second direction, and the ends of the third transmission shaft and the fourth screw rod are arranged in the second sliding hole and are slidably arranged along the extension direction of the second sliding hole.

[0015] Optionally, the frame is detachably fixedly connected to the machine body via a connecting bracket, the connecting bracket having a first connecting portion connected to the frame and a second connecting portion connected to the machine body, the first connecting portion being U-shaped and having limit grooves at both ends, both sides of the frame being protruding with limit protrusions that snap-fit ​​with the limit grooves, and the first connecting portion is snap-fitted to the frame and fixed by screws.

[0016] Optionally, a pair of limit rods are provided on the frame located above the supporting plane, and a mounting hole is provided on the side of the frame close to the connecting bracket. The mounting hole is a step hole set through, and one end of the limit rod is provided with an embedded end adapted to the shape of the step hole, and the first connecting part blocks the end with a larger diameter of the mounting hole after being connected to the frame.

[0017] Optionally, the machine body includes a base with running wheels installed, a linear module arranged on the base, and a controller for controlling the movement of the running wheels and the linear module. The slider of the linear module is slidable along the second direction, and the lifting mechanism is installed on the slider.

[0018] Compared with the prior art, the present invention provides a stacking storage handling robot having the following

[0019] Beneficial effects:

[0020] 1. The present invention provides a support shaft group structure with a retractable support end and a compensation end, and utilizes a belt sleeved on the outside of the support shaft group to achieve the function of stably lifting and accurately placing goods without a pallet, thereby solving the problem of traditional handling robots' dependence on pallets, reducing storage costs, and improving shelf space utilization. In particular, when dealing with narrow shelf spaces, goods can be effectively placed, thereby optimizing the efficiency and economic benefits of warehousing logistics;

[0021] 2. The present invention realizes the function of synchronous dynamic adjustment of the cargo support surface and the belt by setting a support shaft group structure for winding an L-shaped belt, thereby avoiding the wear problem caused by sliding friction between the belt and the cargo, and improving the durability of the belt and the stability of cargo handling;

[0022] 3. The present invention realizes the synchronous and precise telescopic function of the supporting end and the compensating end by setting a telescopic device combining a double-headed screw and a connecting rod, meets the requirements of the handling robot for precise control and stability in the process of lifting and lowering goods, and improves the efficiency and reliability of the stacking operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the present invention in use;

[0024] Figure 2 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0025] Figure 3 It is a one-axis side view of the lifting mechanism of the present invention including the connecting bracket;

[0026] Figure 4 Another axial side view of the lifting mechanism of the present invention including the connecting bracket;

[0027] Figure 5 For the present invention Figure 4 Schematic diagram of the split structure;

[0028] Figure 6 It is a schematic diagram of the disassembled structure of the lifting mechanism of the present invention;

[0029] Figure 7 It is a schematic diagram of a supporting structure of the present invention;

[0030] Figure 8 It is a side view of one axis of the support shaft assembly of the present invention;

[0031] Fig. 9 For the present invention Figure 8 A schematic diagram of the enlarged structure at point A;

[0032] Fig.10 Another axial side view of the support shaft assembly of the present invention.

[0033] In the figure: 1, base; 2, walking wheel; 3, linear module; 30, slider; 4, lifting mechanism; 40, supporting shaft group; 400, first transmission shaft; 401, second transmission shaft; 402, third transmission shaft; 403, pressing shaft; 40a, first screw rod; 40b, second screw rod; 40c, third screw rod; 40d, fourth screw rod; 40e, first nut; 40f, second nut; 40g, first connecting rod; 40h, second connecting rod; 41, belt; 42, frame; 420, first sliding hole; 421, second sliding hole; 422, limiting protrusion; 423, mounting hole; 43, driving gear; 44, driven gear; 5, connecting bracket; 50, first connecting part; 500, limiting groove; 51, second connecting part; 52, screw; 6, limiting rod; 60, embedded end; 7, controller; 8, motor; 9, shelf; 10, goods. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] Example: See Figures 1 to 10According to an embodiment of the present invention, a technical solution is provided: a handling robot for stacking warehousing, comprising a machine body and a lifting mechanism 4 arranged on the machine body and used to lift goods 10 to a predetermined height, the lifting mechanism 4 having two supporting parts, each supporting part comprising a supporting shaft group 40 and a belt 41 sleeved on the outside of the supporting shaft group 40, the supporting shaft group 40 having a supporting end and a compensating end arranged perpendicular to the supporting end, the supporting ends of the two supporting shaft groups 40 are arranged in the same supporting plane and are telescopically arranged in a first direction in the supporting plane, and the compensating end is constructed to be able to synchronously extend and retract along a second direction when the supporting end is extended and retracted, so that the overall length of the supporting shaft group 40 remains unchanged. In a specific implementation, the support ends of the two support shaft groups 40 are approached to each other by extending in a first direction to form a placement platform for placing the goods 10 to be transported, and the goods 10 are placed on the placement platform so that the two sides of the bottom of the goods 10 are respectively in contact with the belts 41 of the support ends of the two support shaft groups 40, and at the same time, the compensation ends of the two support shaft groups 40 are located on both sides of the goods 10 as limiting structures to limit the position of the goods 10 on the lifting mechanism 4; when the goods 10 on the lifting mechanism 4 needs to be lowered to the shelf 9, the support ends of the two support shaft groups 40 are controlled to be shortened simultaneously in the first direction (the first direction is the width or length direction of the goods 10) until the goods 10 falls from the gap between the two support ends to the shelf 9. During this period, the compensation end is synchronously extended in the second direction (i.e., the height direction of the goods 10) as the support end is shortened, so that the overall length of the support shaft group 40 remains unchanged, the belt 41 remains taut, and there is no need to use supporting facilities such as brackets and pallets during the entire transportation process, which effectively reduces the transportation and storage costs of the goods 10. In addition, since the supporting end and the compensation end of the support shaft group 40 compensate each other in a telescopic manner to achieve the lifting and lowering of the goods 10, and the telescopic direction of the compensation end during the lowering process is the second direction, even if the placement area on the shelf 9 is relatively narrow, the goods 10 can be placed smoothly, thereby improving the utilization rate of the shelf 9 space.

[0036] In this exemplary embodiment, the support shaft group 40 includes a first transmission shaft 400, a second transmission shaft 401 and a third transmission shaft 402 which are parallel to each other, and a belt 41 is wound between the three transmission shafts. The first transmission shaft 400 and the second transmission shaft 401 are arranged opposite to each other along a first direction, and the first transmission shaft 400 and the third transmission shaft 402 are arranged opposite to each other along a second direction. The outer part of the belt 41 is tightly arranged to make the belt 41 tensioned and maintain the L-shaped pressing shaft 403. It can be understood that the belt 41 is wound between the pressing shaft 403 and the three transmission shafts in an L-shaped manner, and the belt 41 can be driven to rotate by rotating the transmission shaft. When the supporting ends of the two supporting parts are shortened to lower the goods 10 to the shelf 9, the belt 41 can be driven by controlling the synchronous rotation of the first transmission shaft 400, the second transmission shaft 401 and the third transmission shaft 402. Since the belt 41 rotates accordingly with the shortening of the supporting end, no sliding friction is generated between the belt 41 and the bottom of the goods 10, which reduces the friction and wear between the two.

[0037] In this exemplary embodiment, the support shaft group 40 also includes a first telescopic device and a second telescopic device; the first telescopic device is connected between the first transmission shaft 400 and the second transmission shaft 401 and the three constitute a supporting end; the second telescopic device is connected between the first transmission shaft 400 and the third transmission shaft 402 and the three constitute a compensation end.

[0038] As a preferred embodiment, the first telescopic device includes a first screw rod 40a rotatably connected to the first transmission shaft 400 and a second screw rod 40b rotatably connected to the second transmission shaft 401, the first screw rod 40a and the second screw rod 40b are both threadedly connected with a first nut 40e, and a first connecting rod 40g is rotatably connected between the first nuts 40e; the second telescopic device includes a third screw rod 40c rotatably connected to the first transmission shaft 400 and a fourth screw rod 40d rotatably connected to the third transmission shaft 402, the second screw rod 40b and the fourth screw rod 40d are both threadedly connected with a second nut 40f, and a second connecting rod 40h is rotatably connected between the second nuts 40f. Specifically in this embodiment, the first screw rod 40a, the second screw rod 40b, the third screw rod 40c and the fourth screw rod 40d are all double-headed screw rods, and two first connecting rods 40g arranged in a cross manner are arranged between the first screw rod 40a and the second screw rod 40b, and the two ends of the two first connecting rods 40g are connected to the first screw rod 40a and the second screw rod 40b through a first nut 40e respectively; similarly, two second connecting rods 40h arranged in a cross manner are arranged between the third screw rod 40c and the fourth screw rod 40d, and the two ends of the two second connecting rods 40h are connected to the third screw rod 40c and the fourth screw rod 40d through a second nut 40f respectively. Such an arrangement can not only realize the telescopic extension of the supporting end along the first direction and the telescopic extension of the compensation end along the second direction, but also improve the stability of the connection between the first transmission shaft 400, the second transmission shaft 401 and the third transmission shaft 402. Of course, the specific structure of the first telescopic device and the second telescopic device is not limited to this. As long as the supporting end can be telescopic along the first direction and the compensation end can be telescopic along the second direction, there is no special restriction on the specific structural form of the first telescopic device and the second telescopic device.

[0039] In order to realize synchronous transmission between the transmission shaft and the screw rod, in this exemplary embodiment, the three transmission shafts and the screw rod rotatably connected thereto are all connected by gear transmission, and at least one of the three transmission shafts can be driven to rotate by the motor 8. In order not to affect the use of the belt 41, in this example, the gear on the transmission shaft is a driving gear 43 concavely arranged on the outer wall of the transmission shaft, and the gear on the screw rod is a driven gear 44 protruding from the outer wall of the screw rod, and the driving gear 43 and the driven gear 44 are meshed with each other.

[0040] In this exemplary embodiment, the lifting mechanism 4 further includes a frame 42, and two support parts are arranged on opposite sides of the frame 42, and the plane where the inner side of the frame 42 is located is the support plane. The frame 42 can provide a mounting base for some transmission shafts, screw rods and other structures of the transmission shaft group, and the two support parts can be connected to the machine body together through the frame 42, which is more convenient than assembling the two support parts to the machine body separately.

[0041] In this exemplary embodiment, the frame 42 is provided with a first long sliding hole 420 extending in a first direction, the ends of the second transmission shaft 401 and the second screw rod 40b are arranged in the first sliding hole 420 and are slidably arranged along the extension direction of the first sliding hole 420; the frame 42 is provided with a second long sliding hole 421 extending in a second direction, the ends of the third transmission shaft 402 and the fourth screw rod 40d are arranged in the second sliding hole 421 and are slidably arranged along the extension direction of the second sliding hole 421. The sliding hole serves as a guide element to ensure that the supporting end and the compensating end of the support shaft group 40 can move along a preset track, thereby realizing the lifting and lowering operation of the cargo 10 with high precision.

[0042] In this exemplary embodiment, the frame 42 is detachably fixedly connected to the machine body through the connecting bracket 5. The connecting bracket 5 has a first connecting portion 50 connected to the frame 42 and a second connecting portion 51 connected to the machine body. The second connecting portion 51 can be a plate-like structure with a hole. The first connecting portion 50 is U-shaped and has two openings at both ends with limiting grooves 500. The two sides of the frame 42 are protruding with limiting protrusions 422 that are engaged with the limiting grooves 500. The first connecting portion 50 is engaged with the frame 42 and fixed by screws 52. The setting of the connecting bracket 5 can facilitate the assembly and disassembly of the frame 42 on the machine body.

[0043] In this exemplary embodiment, a pair of limiting rods 6 are provided on the frame 42 located above the support plane, and a mounting hole 423 is provided on one side of the frame 42 close to the connecting bracket 5. The mounting hole 423 is a step hole provided through, and an embedded end 60 matching the shape of the step hole is provided at one end of the limiting rod 6. After the first connecting portion 50 is connected to the frame 42, it blocks the end with a larger diameter of the mounting hole 423. When the cargo 10 is placed on the placement platform formed by the support ends of the two support shaft groups 40, the limiting rod 6 is used to limit the cargo 10 to the middle position of the placement platform, which can improve the stability of the cargo 10 on the lifting mechanism 4 on the one hand, and also make the cargo 10 be put down when the support ends of the two support shaft groups 40 are contracted to the same extent on the other hand. In addition, by setting the mounting hole 423 as a step hole and providing an embedded end 60 matching the shape of the step hole at one end of the limiting rod 6, the installation and fixing of the limiting rod 6 can be facilitated. In addition, in order to meet the needs of transporting goods 10 of different volumes, in this example, a plurality of mounting holes 423 are provided, and by placing the limiting rods 6 in different mounting holes 423, goods 10 of different volumes can be limited.

[0044] In this exemplary embodiment, the machine body may include a base 1 with a running wheel 2 mounted on the bottom, a linear module 3 disposed on the base 1, and a controller 7 for controlling the movement of the running wheel 2 and the linear module 3. The slider 30 of the linear module 3 is slidable along the second direction, and the lifting mechanism 4 is mounted on the slider 30. It should be noted that the manner in which the linear module 3 and the controller 7 control the movement of the running wheel 2 and the linear module 3 are both prior arts and will not be described in detail herein.

[0045] Working principle: First, the motor 8 receives the command from the controller 7 and starts to rotate. As the motor 8 rotates, the transmission shaft (including the first transmission shaft 400, the second transmission shaft 401 and the third transmission shaft 402) and the screw rods connected thereto (including the first screw rod 40a, the second screw rod 40b, the third screw rod 40c and the fourth screw rod 40d) start to rotate. The screw rods (referring to the first screw rod 40a and the second screw rod 40b) are threadedly matched with the first nut 40e to make the first telescopic devices of the two support parts start to work, and the two support ends approach each other along the first direction, thereby forming a placement platform for placing the goods 10 to be transported. Since the outside of this placement platform is wrapped by a tight belt 41, the goods can be moved. 10 provides a stable support; next, the cargo 10 is placed on the formed placement platform by a mechanical arm or manually. At this time, the bottom of the cargo 10 contacts the belts 41 of the two support ends, and the compensation ends of the two support parts are located on both sides of the cargo 10, which are used as limit structures to prevent the cargo 10 from shifting and falling during transportation. Subsequently, the controller 7 instructs the machine body to carry the lifting mechanism 4 and the cargo 10 thereon to move to the designated shelf 9 position. After reaching the designated position, the controller 7 issues an instruction to make the motor 8 rotate in the opposite direction, so that the support end shortens in the first direction, that is, retracts inward. The shortening of the support end enables the cargo 10 to fall from the gap between the two support ends to the shelf 9. Finally, the cargo 10 is safely placed on the shelf 9, and the support end and the compensation end return to their starting positions, ready for the next handling operation.

[0046] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A stacking storage handling robot, comprising a machine body and a lifting mechanism (4) disposed on the machine body and used to lift goods (10) to a predetermined height, characterized in that: The lifting mechanism (4) has two supporting parts, each of which includes a supporting shaft group (40) and a belt (41) sleeved on the outside of the supporting shaft group (40), the supporting shaft group (40) having a supporting end and a compensating end arranged perpendicular to the supporting end, the supporting ends of the two supporting shaft groups (40) are arranged in the same supporting plane and are telescopically arranged in a first direction in the supporting plane, and the compensating end is constructed to be able to synchronously telescope along a second direction when the supporting end is telescoped, so that the overall length of the supporting shaft group (40) remains unchanged.

2. A stacking storage handling robot according to claim 1, characterized in that: The support shaft group (40) comprises a first transmission shaft (400), a second transmission shaft (401) and a third transmission shaft (402) which are parallel to each other; the belt (41) is wound between the three transmission shafts; the first transmission shaft (400) and the second transmission shaft (401) are arranged relative to each other along a first direction; the first transmission shaft (400) and the third transmission shaft (402) are arranged relative to each other along a second direction; the outer part of the belt (41) is tightly arranged to tension the belt (41) and maintain an L-shaped pressing shaft (403).

3. A stacking storage handling robot according to claim 2, characterized in that: The support shaft assembly (40) further comprises a first telescopic device and a second telescopic device; The first telescopic device is connected between the first transmission shaft (400) and the second transmission shaft (401), and the three constitute the supporting end; the second telescopic device is connected between the first transmission shaft (400) and the third transmission shaft (402), and the three constitute the compensating end.

4. A stacking storage handling robot according to claim 3, characterized in that: The first telescopic device comprises a first screw rod (40a) rotatably connected to the first transmission shaft (400) and a second screw rod (40b) rotatably connected to the second transmission shaft (401), the first screw rod (40a) and the second screw rod (40b) are both threadedly connected with a first nut (40e), and a first connecting rod (40g) is rotatably connected between the first nuts (40e); The second telescopic device comprises a third screw rod (40c) rotatably connected to the first transmission shaft (400) and a fourth screw rod (40d) rotatably connected to the third transmission shaft (402); the second screw rod (40b) and the fourth screw rod (40d) are both threadedly connected with a second nut (40f), and a second connecting rod (40h) is rotatably connected between the second nuts (40f).

5. A stacking storage handling robot according to claim 4, characterized in that: The three transmission shafts and the screw rods rotatably connected thereto are all connected through gear transmission.

6. A stacking storage handling robot according to claim 4 or 5, characterized in that: The lifting mechanism (4) further comprises a frame (42), the two support parts being arranged on opposite sides of the frame (42), and the plane on which the inner side of the frame (42) is located being the support plane.

7. A stacking storage handling robot according to claim 6, characterized in that: The frame body (42) is provided with a first long sliding hole (420) extending along a first direction, and the ends of the second transmission shaft (401) and the second screw rod (40b) are arranged in the first sliding hole (420) and are slidably arranged along the extension direction of the first sliding hole (420); the frame body (42) is provided with a second long sliding hole (421) extending along a second direction, and the ends of the third transmission shaft (402) and the fourth screw rod (40d) are arranged in the second sliding hole (421) and are slidably arranged along the extension direction of the second sliding hole (421).

8. The stacking storage handling robot according to claim 6, characterized in that: The frame (42) is detachably fixedly connected to the machine body via a connecting bracket (5); the connecting bracket (5) comprises a first connecting portion (50) connected to the frame (42) and a second connecting portion (51) connected to the machine body; the first connecting portion (50) is U-shaped and has two openings at both ends provided with limiting grooves (500); limiting protrusions (422) that are snap-fitted with the limiting grooves (500) are protruded from both sides of the frame (42); the first connecting portion (50) is snap-fitted with the frame (42) and fixed via screws (52).

9. A stacking storage handling robot according to claim 8, characterized in that: A pair of limiting rods (6) are arranged on the frame (42) located above the supporting plane, a mounting hole (423) is arranged on one side of the frame (42) close to the connecting bracket (5), the mounting hole (423) is a step hole arranged through, an embedded end (60) matching the shape of the step hole is arranged at one end of the limiting rod (6), and the first connecting portion (50) blocks the end of the mounting hole (423) with a larger diameter after being connected to the frame (42).

10. A stacking storage handling robot according to any one of claims 1 to 5, characterized in that: The machine body comprises a base (1) on which a running wheel (2) is mounted, a linear module (3) arranged on the base (1), and a controller (7) for controlling the movement of the running wheel (2) and the linear module (3); a slider (30) of the linear module (3) is slidable along a second direction, and the lifting mechanism (4) is mounted on the slider (30).

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