Internally inclined pull-out lifting slider mechanism and mechanical handling equipment with the lifting mechanism

Abstract

The present invention discloses an inner inclined pull-out lifting slider mechanism and a mechanical handling device having the lifting mechanism. The inner inclined pull-out lifting slider mechanism comprises a frame and a lifting assembly arranged on the frame, and the lifting assembly comprises: a lifting slider, on which a lifting shaft hole penetrating from left to right and a lifting inclined hole penetrating from front to back are opened, and the lifting inclined holes are arranged obliquely; a ball screw, which is transversely inserted into the lifting shaft hole; a ball sleeve, which is arranged in the lifting shaft hole and threadedly assembled on the ball screw; and two lifting shafts, which are respectively arranged on the front and rear sides of the ball sleeve and movably embedded in the lifting inclined holes. The inner inclined pull-out lifting slider mechanism provided by the present invention has a lifting slider in rolling line contact with the lifting shaft, high transmission efficiency, no change in pressure angle, and uniform force; and novel design, compact structure, stable operation, small size, large load capacity, reduced maintenance and servicing times of the mechanical mechanism, high working efficiency, and long service life.

Description

Technical Field

[0001] The invention relates to a lifting mechanism, in particular to an inner oblique pulling and lifting sliding block mechanism and mechanical handling equipment with the lifting mechanism. Background Art

[0002] In the current warehousing and logistics field, mechanical handling equipment is widely used and has various forms, including shuttles, stackers, RGV, etc. As the main functional unit of mechanical handling equipment, the lifting mechanism plays a particularly important role. At present, the lifting mechanisms in the industry mainly include hydraulic, cam, small lift, crank rocker / slider mechanism, etc.

[0003] The lifting mechanism of the hydraulic system is composed of a hydraulic cylinder, a hydraulic pump, a reversing valve, a relief valve and a motor. Hydraulics can easily achieve heavy loads. However, the existing hydraulic cylinders have been standardized, and they need to be customized for small spaces, which increases costs. In addition, there is a risk of oil leakage in the hydraulic system, which is not suitable for specific application scenarios, and the hydraulic maintenance cycle is very short. In addition, the transmission efficiency of the hydraulic system is 50%-60%, and the self-locking of the hydraulic mechanism is mainly to maintain pressure, which places high demands on the hydraulic cylinder.

[0004] The lifting mechanism of the small lift is a mechanical mechanism using a T-type screw, ball screw, worm gear and brake motor. However, the existing elevators have been standardized, and customization is required for the problem of small space, and the vertical space is difficult to reduce, and there are still the following defects: First, the worm gear is equipped with a trapezoidal screw, and the transmission efficiency is generally between 10% and 30%, and the working system cannot be about 20% within 10 minutes. The elevator of this structure has a strong self-locking property and is suitable for low speed, low frequency and heavy load; second, the worm gear is equipped with a ball screw, and the transmission efficiency is generally between 20% and 40%, and the working system cannot be about 30% within 10 minutes. The self-locking property of the elevator of this structure is very poor and is generally equipped with a brake motor with a brake, which is suitable for applications with high positioning accuracy, high speed, high frequency and heavy load; third, the spiral bevel gear is equipped with a ball screw, and the transmission efficiency is generally between 80% and 95%, and the working system can reach 90% within 10 minutes, but the elevator of this structure has no self-locking, and must be equipped with a brake motor with a brake when used, which is suitable for applications with high positioning accuracy, high speed, high frequency and small load.

[0005] The lifting mechanism of the cam structure is composed of three basic components: cam, follower and frame. The high-pair mechanism is used in conjunction with the motor for rotary reciprocating linear motion. The main defects are as follows: First, the cam has a high-pair contact point or line pressure, the point and line contact are easy to wear, the pressure angle changes, and the follower is unevenly stressed; second, the cam profile is difficult to process and the cost is high; third, the stroke is not large; and in terms of transmission efficiency, there is friction loss between the follower and the cam, friction loss of the follower linear motion guide, and loss of the bearing. The self-locking of this structure must be equipped with a brake motor with a brake.

[0006] The jacking mechanism of the crank rocker / slider structure is composed of a crank and a rocker hinged four-bar / slider mechanism and a motor, which is used for rotary reciprocating linear motion. However, the crank rocker / slider mechanism occupies a large space. When this mechanism is used, it must be equipped with a brake motor with a brake, which has high production costs and occupies a large space. Summary of the invention

[0007] The technical problem solved by the present invention is: in view of the above-mentioned defects in the prior art, an inner inclined pull-out lifting slider mechanism and a mechanical handling equipment with the lifting mechanism are proposed, which have small size, large load capacity, stable structure, low production cost and high transmission efficiency.

[0008] To achieve the above object, the present invention adopts the following technical solutions:

[0009] The first aspect of the present invention is to provide an inner inclined pull-out lifting slider mechanism, comprising a frame and a lifting assembly arranged on the frame, wherein the lifting assembly comprises:

[0010] A lifting slide block is provided with a lifting shaft hole extending leftward and rightward and a lifting inclined hole extending frontward and rearward, wherein the lifting inclined holes are arranged in an inclined manner;

[0011] A ball screw rod is transversely arranged in the lifting shaft hole;

[0012] a ball bushing, which is disposed in the lifting shaft hole and threadedly assembled on the ball screw; and

[0013] Two lifting shafts, which are respectively arranged on the front and rear sides of the ball bushing and movably embedded in the lifting inclined hole;

[0014] Wherein, during the rotation process, the ball screw drives the ball sleeve and the two lifting shafts thereon to slide left and right along the lifting shaft hole and the lifting inclined hole respectively, and simultaneously drives the lifting slider to move up and down.

[0015] Furthermore, on the inner inclined pull-out lifting slider mechanism, the lifting assembly also includes:

[0016] A bearing seat is arranged on the frame, and a bearing is arranged on the top of the bearing seat to support the ball screw.

[0017] Furthermore, on the inner inclined pull-out lifting slider mechanism, the lifting assembly also includes:

[0018] A lifting nut is fixedly sleeved on the ball bearing sleeve, and its front and rear side walls are respectively welded to the lifting shaft.

[0019] Furthermore, on the inner inclined pull-out lifting slider mechanism, the lifting assembly also includes:

[0020] At least one limiting guide column is vertically arranged on the frame and connected to the lifting slide block through a slide block.

[0021] Further preferably, on the inner inclined pull-out lifting slider mechanism, the lifting assembly further comprises:

[0022] The two lifting cover plates are respectively arranged on the front and rear side walls of the lifting slide block, and are respectively connected to the limiting guide pillars arranged on the outer sides thereof through the slide blocks.

[0023] Furthermore, on the inner inclined pull-out lifting slider mechanism, the inclination angle of the lifting inclined hole is 5-85°.

[0024] Furthermore, on the inner inclined pull-out lifting slider mechanism, the vertical height of the lifting shaft hole is equal to the vertical height of the lifting inclined hole.

[0025] The second aspect of the present invention is to provide a mechanical handling device having an inner inclined pull-out lifting slider mechanism, comprising:

[0026] At least one lifting assembly as hereinbefore described; and

[0027] At least one driving motor is drivingly connected to the ball screw.

[0028] Furthermore, in the mechanical handling equipment, there are four lifting assemblies, which are respectively arranged at the four corners of the frame and are arranged in pairs with shaft connection.

[0029] Furthermore, on the mechanical handling equipment, the driving motor is connected to the ball screw gear through a reducer.

[0030] Furthermore, in the mechanical handling equipment, the mechanical handling equipment is a shuttle car, an AGV and an RGV car, etc.

[0031] The present invention adopts the above technical solution, which has the following technical effects compared with the prior art:

[0032] (1) The lifting slider is in rolling line contact with the lifting shaft, with high transmission efficiency and no change in pressure angle. The lifting inclined holes on both sides of the lifting slider are symmetrically arranged, and the force is evenly distributed;

[0033] (2) The lifting components are novel in design, compact in structure, stable in operation, small in size, and heavy in load, which reduces the number of mechanical maintenance and upkeep, and have high working efficiency and long service life;

[0034] (3) The components of the lifting assembly are simple and compact, which greatly reduces the overall mold processing cost, and is easy to assemble and maintain, with low production costs;

[0035] (4) The transmission structure of the roller screw and the ball bushing is adopted, and the transmission efficiency reaches 50%-70%. The ball bushing and the lifting shaft are directly connected through the lifting nut, which reduces the kinetic energy loss;

[0036] (5) The drive motor and the roller screw are driven by gears. By controlling the start or shut down of the drive motor, the transmission of the roller screw and the ball bushing is synchronously controlled, thereby limiting and locking the lifting slider;

[0037] (6) This lifting assembly is suitable for intelligent mechanical handling equipment such as AGV and RGV with small vertical lifting stroke, small space occupation and heavy load. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a structural schematic diagram of a mechanical handling device with an inner inclined pulling and lifting slider mechanism of the present invention;

[0039] Figure 2 It is a cross-sectional structural schematic diagram of a mechanism with an inner inclined pull-out jacking slider of the present invention;

[0040] Figure 3 It is a schematic diagram of the overall structure of a mechanism with an inner inclined pull-out and lifting slider of the present invention;

[0041] Wherein, each figure is marked as:

[0042] 10-frame; 20-drive motor, 21-reducer, 22-transmission wheel; 30-lifting assembly, 31-ball screw, 32-bearing seat, 33-bearing, 34-lifting slider, 341-lifting shaft hole, 342-lifting inclined hole, 35-ball bushing, 36-lifting nut, 37-lifting shaft, 38-limiting guide column, 39-cover plate. DETAILED DESCRIPTION

[0043] The present invention is described in detail and specifically by specific examples below to provide a better understanding of the present invention, but the following examples do not limit the scope of the present invention.

[0044] See also Figure 1 As shown, this embodiment provides an inner inclined pull-out lifting slider mechanism, which is suitable for intelligent mechanical handling equipment of AGV and RGV with small vertical lifting stroke, small space occupancy and heavy load. It includes a frame 10 and a lifting assembly 30 arranged on the frame 10, and a loading platform (not shown in the figure) is arranged on the lifting assembly 30. The loading platform can be automatically raised or lowered by the lifting assembly 30 to meet the existing warehousing and logistics needs.

[0045] See also Figure 2 , Figure 3 As shown, the lifting assembly 30 includes: a lifting slider 34, on which a lifting shaft hole 341 extending left and right and a lifting inclined hole 342 extending front and back are provided, and the lifting inclined hole 342 is arranged in an inclined manner; a ball screw 31, which is transversely inserted into the lifting shaft hole 341; a ball sleeve 35, which is arranged in the lifting shaft hole 341 and threadedly assembled on the ball screw 31; and two lifting shafts 37, which are respectively arranged on the front and rear sides of the ball sleeve 35 and movably embedded in the lifting inclined hole 342, and the lifting shaft 37 adopts a bearing structure, wherein the inner ring is fixedly connected to the ball sleeve 35, and the outer ring is connected to the lifting inclined hole 342 in rolling contact. The lifting assembly is novel in design, compact in structure, stable in operation, small in size, heavy in load, reduces the number of times of maintenance and servicing of the mechanical mechanism, has high working efficiency and long service life.

[0046] Please continue reading Figure 2 As shown, the ball screw 31 on the jacking assembly is driven by the driving motor 20. During the rotation process, the ball screw 31 drives the ball sleeve 35 and the two jacking shafts 37 thereon to slide left and right along the jacking shaft hole 341 and the jacking inclined hole 342 respectively, and synchronously drives the jacking slider 34 to move up and down through the contact transmission mode of the jacking shaft 37 obliquely pulling the jacking inclined hole 342, thereby synchronously driving the loading platform on the jacking slider 34 to move up and down. In addition, the driving motor 20 and the roller screw 31 are driven by gears, and the transmission of the roller screw 31 and the ball sleeve 35 can be synchronously controlled by controlling the start or shut down of the driving motor 20, so as to limit and lock the jacking slider 34 to move up and down, thereby preventing the jacking slider 34 from sliding in the non-working state and causing the cargo on the loading platform to fall and cause danger.

[0047] As a preferred embodiment, please refer to Figure 2As shown, the lifting assembly 30 further includes: a bearing seat 32, which is arranged on the frame 10, and a bearing 33 is arranged on the top of the bearing seat 32 to support the ball screw 31. Specifically, there are two bearing seats 32, which are respectively arranged on the left and right sides of the lifting slider 34, and the bearing 33 is embedded in the mounting hole at the upper end of the bearing seat 32. Both ends of the ball screw 31 extend out of the lifting slider 34 and pass through the bearing 33. The bearing seat 32 plays a role in stabilizing and supporting the ball screw 31, thereby improving the stability of the operation of the lifting assembly.

[0048] As a preferred embodiment, please refer to Figure 2 As shown, the lifting assembly 30 further includes: a lifting nut 36, which is fixedly sleeved on the ball bearing sleeve 35, and its front and rear side walls are respectively welded to the lifting shaft 37. The lifting nut 36 is a copper nut, and the lifting nut 36 is fixedly sleeved on the ball bearing sleeve, and the transmission efficiency reaches 50%-70%, reducing the kinetic energy loss.

[0049] As a preferred embodiment, please refer to Figure 3 As shown, the lifting assembly 30 also includes: at least one limiting guide column 38, which is vertically arranged on the frame 10 and connected to the lifting slider 34 through a slider. The limiting guide column 38 is arranged at a peripheral position of the lifting slider 34, and is used to limit the horizontal movement of the lifting slider 34, and at the same time plays a vertical guiding role. The lifting slider 34 is prevented from moving due to the pulling force in the horizontal direction during the movement of the ball sleeve 35, so that the horizontal pulling force on the lifting slider 34 is converted into a pulling force in the vertical direction through the lifting inclined hole 342, and then the lifting slider 34 is moved up and down along the limiting guide column 38.

[0050] As a preferred embodiment, please refer to Figure 3 As shown, the lifting assembly 30 further includes: two lifting cover plates 39, which are respectively arranged on the front and rear side walls of the lifting slider 34, and are respectively connected to the limiting guide pillars 38 arranged on the outside thereof through the slider. The lifting cover plates 39 are fixedly installed on the front and rear side walls of the lifting slider 34 by bolts, or are fixed by welding, and are used to connect the limiting guide pillars 38 and the lifting slider 34. At the same time, the lifting cover plates 39 can completely cover the lifting inclined holes 342 on both sides, play a sealing role, and prevent dust from falling into the lifting inclined holes 342.

[0051] See also Figure 2 , Figure 3As shown, the components on the lifting assembly 30, including the ball screw 31, the bearing seat 32, the lifting slider 34, the ball bushing 35, the lifting nut 36, the lifting shaft 37, the limit guide column 38, and the lifting cover plate 39, have a simple and compact structure, which greatly reduces the overall mold processing cost, is easy to assemble and maintain, and has a low production cost.

[0052] As a preferred embodiment, please refer to Figure 2 As shown, the lifting speed and accuracy of the lifting assembly 30 are related to the inclination angle of the lifting inclined hole 342. When driven by a driving motor 20 with the same speed, within the same time, when the inclination angle of the lifting inclined hole 342 with the horizontal direction is smaller, the transmission efficiency of the rolling line contact between the lifting shaft and the lifting slider is high, the rising or falling height of the lifting slide is smaller, the lifting control is more accurate, and the required torque is small; when the inclination angle of the lifting inclined hole 342 with the horizontal direction is larger, the transmission efficiency of the rolling line contact between the lifting shaft and the lifting slider is low, the rising or falling height of the lifting slide is larger, and the required torque is large.

[0053] In practical applications, different inclination angles of the jacking inclined hole 342 can be designed according to the implementation requirements and for different use conditions and mechanical handling equipment. Specifically, the inclination angle of the jacking inclined hole 342 is 5-85°; preferably, the inclination angle of the jacking inclined hole 342 is 15-75°; preferably, the inclination angle of the jacking inclined hole 342 is 25-65°; further preferably, the inclination angle of the jacking inclined hole 342 is 30-65°; more preferably, the inclination angle of the jacking inclined hole 342 is 35-65°; more preferably, the inclination angle of the jacking inclined hole 342 is 40-45°.

[0054] As a preferred embodiment, please refer to Figure 2 As shown, the lifting shaft hole 341 is connected to the lifting inclined hole 342, and the shapes thereof are both designed as arc-shaped slots. The vertical height of the lifting shaft hole 341 is equal to the vertical height of the lifting inclined hole 342, so as to meet the up and down movement of the lifting slider, and simultaneously meet the up and down movement of the ball screw 31 in the lifting shaft hole 341 and the lifting shaft 37 in the lifting inclined hole 342.

[0055] In addition, based on the above-mentioned inwardly inclined pull-out lifting slider mechanism, the present invention also provides a mechanical handling equipment with an inwardly inclined pull-out lifting slider mechanism, which is an AGV and RGV trolley with a small vertical lifting stroke, small space occupancy, and heavy load capacity.

[0056] Please continue reading Figure 1As shown, the mechanical handling equipment with an inner inclined pull-out lifting slider mechanism includes: at least one lifting assembly 30 as described in the above embodiment; and at least one driving motor 20, which is transmission-connected to the ball screw 31, and the ball screw 31 is driven by the driving motor 20 to rotate, driving the ball bushing 35 and the two lifting shafts 37 thereon to slide left and right along the lifting shaft hole 341 and the lifting inclined hole 342 respectively, and synchronously driving the lifting slider 34 to move up and down.

[0057] As a preferred embodiment, please continue to refer to Figure 1 As shown, there are four jacking assemblies 30, which are arranged at the four corners of the frame 10, and are arranged in pairs. The ball screws 31 of the two jacking assemblies 30 in each group are connected by a coupling, and a transmission wheel 22 is arranged on them. A driving motor 20 can synchronously drive each group of jacking assemblies 30 to move up and down synchronously through a chain and a transmission wheel 22.

[0058] As a preferred embodiment, please continue to refer to Figure 1 As shown, the driving motor 20 is connected to the ball screw 31 through a gear transmission via a reducer 21, and the reducer 21 drives the ball screw 31 to rotate through a chain and a transmission wheel 22, thereby realizing the lifting action. The arrangement of the reducer 21 realizes the precise control of the lifting action.

[0059] The specific embodiments of the present invention are described in detail above, but they are only examples, and the present invention is not limited to the specific embodiments described above. For those skilled in the art, any equivalent modifications and substitutions made to the present invention are also within the scope of the present invention. Therefore, the equalization changes and modifications made without departing from the spirit and scope of the present invention should be included in the scope of the present invention.

Claims

1. An internally inclined pull-out lifting slider mechanism, comprising a frame (10) and a lifting assembly (30) arranged on the frame (10), characterized in that: The lifting assembly (30) comprises: A lifting slide block (34) is provided with a lifting shaft hole (341) extending from left to right and a lifting inclined hole (342) extending from front to back, wherein the lifting inclined hole (342) is arranged in an inclined manner; A ball screw (31) is transversely inserted into the lifting shaft hole (341); a bearing seat (32) disposed on the frame (10), with a bearing (33) disposed on the top end thereof to support the ball screw (31); a ball bearing sleeve (35), which is disposed in the lifting shaft hole (341) and is threadedly assembled on the ball screw (31); and Two lifting shafts (37) are respectively arranged on the front and rear sides of the ball sleeve (35) and are movably embedded in the lifting inclined hole (342); At least one limiting guide column (38) is vertically arranged on the frame (10) and connected to the lifting slide block (34) via a slide block; In the process of rotation, the ball screw (31) drives the ball sleeve (35) and the two lifting shafts (37) thereon to slide left and right along the lifting shaft hole (341) and the lifting inclined hole (342), respectively, and simultaneously drives the lifting slider (34) to move up and down.

2. The inner inclined pull-out lifting slider mechanism according to claim 1 is characterized in that: The lifting assembly (30) further comprises: A lifting nut (36) is fixedly sleeved on the ball bearing sleeve (35), and its front and rear side walls are respectively welded to the lifting shaft (37).

3. The inner inclined pull-out lifting slider mechanism according to claim 1 is characterized in that: The lifting assembly (30) further comprises: Two lifting cover plates (39) are respectively arranged on the front and rear side walls of the lifting slide block (34), and are respectively connected to the limiting guide pillars (38) arranged on the outer sides thereof through the slide blocks.

4. The inner inclined pull-out lifting slider mechanism according to claim 1 is characterized in that: The inclined angle of the lifting inclined hole (342) is 5-85°.

5. The inner inclined pull-out lifting slider mechanism according to claim 1 is characterized in that: The vertical height of the lifting shaft hole (341) is equal to the vertical height of the lifting inclined hole (342).

6. A mechanical handling device having an inner inclined pull-out lifting slider mechanism as claimed in any one of claims 1 to 5, characterized in that: include: At least one lifting assembly (30); and At least one driving motor (20) is drivingly connected to the ball screw (31).

7. The mechanical handling equipment according to claim 6, characterized in that: There are four jacking assemblies (30), which are respectively arranged at the four corners of the frame (10) and are arranged in pairs with shaft connection.

8. The mechanical handling device according to claim 6, characterized in that: The driving motor (20) is connected to the ball screw (31) through a gear transmission via a reducer (21).

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