Lifting device and handling robot

Abstract

Embodiments of the present disclosure provide a lifting device and a handling robot, which relate to the field of intelligent warehousing equipment and are used to reduce the cost and difficulty of transportation handling robots. The lifting device includes a folded support assembly, a locking mechanism, and a transmission mechanism. The support assembly includes a first support and a second support. The first support is installed on a mobile chassis, and the upper end of the first support is hinged to the lower end of the second support through a hinged mechanism; when the support assembly is in the unfolded state, the lower end of the second support is docked with the upper end of the first support; the locking mechanism is used to lock the lower end of the second support and the upper end of the first support when the support assembly is in the unfolded state; the transmission mechanism is installed on the support assembly, and when the support assembly is in the unfolded state, the transmission mechanism is used to drive a handling device to lift along the first support and the second support. Embodiments of the present disclosure also provide a handling robot, which includes the above-mentioned lifting device.

Description

[0001] This application is a divisional application of the invention patent application with the application number 202011632640.6, the application date of December 31, 2020, and the invention creation name of "Lifting Device and Handling Robot" submitted to the China National Patent Office. Technical Field

[0002] The present disclosure belongs to the field of intelligent warehousing equipment, and particularly relates to a lifting device and a handling robot. Background Art

[0003] In the field of intelligent warehousing, handling robots are often used to replace manual labor to perform the handling operations of goods, so as to improve the handling efficiency. The handling robot generally includes a mobile chassis, a lifting device, a handling device, and a storage shelf. Among them, the lifting device is installed on the mobile chassis, the handling device and the storage shelf are installed on the lifting device, the goods are placed on the handling device, and the lifting device drives the handling device to perform lifting motion to lift the goods.

[0004] In the related art, the lifting device generally includes a bracket assembly and a transmission mechanism. The transmission mechanism is installed on the bracket assembly, the handling device is connected to the transmission mechanism, and the transmission mechanism drives the handling device to perform lifting actions along the bracket assembly.

[0005] However, generally, the height of the bracket assembly is 4 - 6m, so that the height space occupied by the lifting device is relatively large, resulting in low space utilization rate of the packaging wooden box for transporting the handling robot and increasing the transportation cost of the handling robot. At the same time, the height of the lifting device is greater than the allowable height of a general freight elevator, and the freight elevator cannot be used to transport the handling robot, increasing the transportation difficulty of the handling robot. Summary of the Invention

[0006] In view of this, on the one hand, the embodiments of the present disclosure provide a lifting device, aiming to reduce the height during transportation, improve the space utilization rate of the packaging wooden box, and make the handling robot suitable for the height of a general freight elevator, so as to reduce the transportation cost and transportation difficulty of the handling robot.

[0007] The lifting device provided by the embodiments of the present disclosure includes a folded bracket assembly, a locking mechanism, and a transmission mechanism. The bracket assembly includes a first bracket and a second bracket. The first bracket is installed on the mobile chassis, and the upper end of the first bracket is hinged to the lower end of the second bracket through a hinge mechanism. When the bracket assembly is in the unfolded state, the lower end of the second bracket is docked with the upper end of the first bracket. The locking mechanism is used to lock the lower end of the second bracket and the upper end of the first bracket when the bracket assembly is in the unfolded state. The transmission mechanism is installed on the bracket assembly. When the bracket assembly is in the unfolded state, the transmission mechanism is used to drive the handling device to lift along the first bracket and the second bracket.

[0008] The lifting device provided by the embodiments of the present disclosure, when working normally, the bracket assembly is in the unfolded state, the lower end of the second bracket is docked with the upper end of the first bracket, the transmission mechanism drives the handling device to lift along the first bracket and the second bracket, and the locking mechanism locks the lower end of the second bracket and the upper end of the first bracket to improve the stiffness and stability of the bracket assembly. When transporting the handling robot, the bracket assembly is in the folded state, the locking mechanism is opened, and the second bracket can rotate relative to the first bracket to realize the folding of the bracket assembly. The lifting device provided by the embodiments of the present disclosure reduces the height of the bracket assembly during transportation, thereby reducing the height of the handling robot during transportation, improving the space utilization rate of the packaging wooden box, and reducing the transportation cost of the handling robot. And it enables the handling robot to be suitable for the height of general freight elevators, and the general freight elevator can be used to transport the handling robot during transportation, reducing the transportation difficulty of the handling robot.

[0009] On the other hand, an embodiment of the present disclosure provides a handling robot, including a mobile chassis, a handling device, a storage shelf, and the above-mentioned lifting device. The lifting device is installed on the mobile chassis, and the handling device and the storage shelf are installed on the lifting device.

[0010] The handling robot provided by the embodiments of the present disclosure, due to including the above-mentioned lifting device, also has the advantages of the above-mentioned handling device. For details, please refer to the above description and will not be elaborated here. Description of the Drawings

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present disclosure. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0012] Figure 1 It is a schematic structural diagram of the handling robot (the mobile chassis is not shown) provided by the embodiments of the present disclosure;

[0013] Figure 2 It is Figure 1 a schematic structural diagram of a lifting device in

[0014] Figure 3 It is Figure 2 a schematic structural diagram of the bracket assembly in the unfolded state in

[0015] Figure 4 It is Figure 3 an exploded structural diagram of the hinge mechanism in

[0016] Figure 5 It is Figure 2 a schematic structural diagram of the bracket assembly in the folded state inFigure 1 ;

[0017] Figure 6 is Figure 5 an enlarged view of area A in

[0018] Figure 7 is Figure 5 an enlarged view of area B in

[0019] Figure 8 is Figure 5 an enlarged view of area C in

[0020] Figure 9 is Figure 2 a schematic structural view of the bracket assembly in the folded state in Figure 2 ;

[0021] Figure 10 is Figure 9 an enlarged view of area D in

[0022] Figure 11 is Figure 9 an enlarged view of area E in

[0023] Figure 12 a schematic cross-sectional structural view of the first bracket;

[0024] Figure 13 is Figure 3 a schematic front view structural view of the bracket assembly in

[0025] Figure 14 is Figure 13 a sectional view taken along the line F-F in

[0026] Figures 15a to 15d is Figure 1 a schematic diagram of the change process of the lifting device from the deployed state to the folded state in

[0027] Figure 16 is Figure 1 a schematic structural view of another lifting device in

[0028] Explanation of reference numerals:

[0029] 100 - lifting device;

[0030] 10 - bracket assembly;

[0031] 11 - first bracket; 111 - first receiving groove;

[0032] 112 - first receiving channel; 12 - second bracket;

[0033] 121 - second receiving groove; 122 - second receiving channel;

[0034] 123 - Window;

[0035] 20 - Hinge mechanism;

[0036] 21 - First hinge; 211 - First mounting hole;

[0037] 22 - Second hinge; 221 - Second mounting hole;

[0038] 23 - Pin shaft; 24 - First bushing;

[0039] 25 - Second bushing; 26 - Annular washer;

[0040] 27 - Retaining ring for shaft; 28 - Support wheel;

[0041] 30 - Locking mechanism;

[0042] 31 - First locking part; 311 - Sliding groove;

[0043] 312 - Through hole; 313 - First side wall;

[0044] 314 - First side of the first L-shaped structure;

[0045] 315 - Second side of the first L-shaped structure;

[0046] 32 - Locking block; 321 - First guiding inclined surface;

[0047] 33 - Compression spring; 34 - Second locking part;

[0048] 341 - Locking hook; 342 - Opening;

[0049] 343 - Second guiding inclined surface; 344 - First side of the second L-shaped structure;

[0050] 345 - Second side of the second L-shaped structure; 35 - Bolt;

[0051] 40 - Transmission mechanism;

[0052] 41 - First support seat; 42 - Second support seat;

[0053] 421 - Guide rail; 422 - Base;

[0054] 423 - Groove; 43 - Transmission belt;

[0055] 44 - First guide wheel; 45 - Second guide wheel;

[0056] 46 - Pull-type gas spring; 47 - Gear;

[0057] 48 - First rack; 49 - Second rack;

[0058] 50 - The first tensioning mechanism;

[0059] 51 - The third support base; 511 - The first moving groove;

[0060] 512 - The first threaded through - hole; 52 - The first tensioning wheel;

[0061] 521 - The first rotating shaft; 53 - The first adjusting bolt;

[0062] 60 - The second tensioning mechanism;

[0063] 61 - The fourth support base; 611 - The second moving groove;

[0064] 612 - The second threaded through - hole; 62 - The second tensioning wheel;

[0065] 621 - The second rotating shaft; 63 - The second adjusting bolt;

[0066] 200 - The handling device;

[0067] 300 - The storage rack. Detailed implementation manners

[0068] In the related art, usually, the height of the bracket assembly of the lifting device is 4 - 6m, so that the height space occupied by the lifting device is relatively large, resulting in a low space utilization rate of the packing wooden box of the transportation and handling robot and increasing the transportation cost of the handling robot; at the same time, the height of the lifting device is greater than the allowable height of a general freight elevator, and the freight elevator cannot be used to transport the handling robot, increasing the transportation difficulty of the handling robot.

[0069] In the lifting device provided by the embodiments of the present disclosure, the first bracket and the second bracket are hinged through a hinge mechanism. When transporting the transportation and handling robot, the first bracket and the second bracket rotate to fold the bracket assembly, so as to reduce the height of the bracket assembly, improve the space utilization rate of the packing wooden box, and reduce the transportation cost of the handling robot; at the same time, the handling robot is adapted to the height of a general freight elevator, and the general freight elevator can be used to transport the handling robot, reducing the transportation difficulty of the handling robot.

[0070] To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure. Apparently, the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present disclosure without creative efforts shall fall within the protection scope of the present disclosure.

[0071] Reference Figure 1, the transfer robot provided by the embodiments of the present disclosure includes a mobile chassis (not shown in the drawings), a lifting device 100, a handling device 200, and a storage rack 300. The lifting device 100 is installed on the mobile chassis, and the handling device 200 and the storage rack 300 are installed on the lifting device 100.

[0072] The mobile chassis is used to implement the moving function of the transfer robot and to carry other structures of the transfer robot arranged on the mobile chassis, such as the lifting device 100, etc. The mobile chassis drives the lifting device 100, the handling device 200, and the storage rack 300 to carry goods. The lifting device 100 has a lifting function. The lifting device 100 can lift to a specified height in response to a signal that the handling device 200 needs a lifting action, and drive the handling device 200 to lift the goods. The handling device 200 is used to carry and handle goods. The storage rack 300 is used to temporarily store goods.

[0073] When handling goods, the mobile chassis drives the lifting device 100, the handling device 200, and the storage rack 300 to move to a specified location; the lifting device 100 receives a signal that the handling device 200 needs to perform a lifting action, and drives the handling device 200 to lift to a specified height so that the handling device 200 faces the goods; the handling device 200 picks up the goods and sends the goods to the storage rack 300 for temporary storage. The mobile chassis drives the lifting device 100, the handling device 200, the storage rack 300, and the goods to move to another specified location again; the handling device 200 picks up the goods on the storage rack 300; the lifting device 100 receives a signal that the handling device 200 needs to perform a lifting action again, and drives the handling device 200 and the goods to lift to another specified height; the handling device 200 sends out the goods to complete the handling of the goods. The transfer robot provided by the embodiments of the present disclosure can replace manual labor to perform the handling operation of goods and improve the handling efficiency.

[0074] Reference Figure 2 , the lifting device 100 includes a bracket assembly 10, a hinged mechanism 20, a locking mechanism 30, and a transmission mechanism 40.

[0075] The support assembly 10 provides support and guidance for the handling device 200. The support assembly 10 has a folding function, that is, the support assembly 10 has an unfolded state and a folded state. When the handling robot is working normally, the support assembly 10 is in the unfolded state, and the lifting device 100 drives the handling device 200 to perform lifting actions. When transporting the handling robot, the handling device 200 descends to the bottom of the lifting device 100, that is, the handling device 200 is located at the part of the support assembly 10 close to the mobile chassis, or it can be said that the handling device 200 is located at the lower part or the bottom of the support assembly 10, and the support assembly 10 is in the folded state to reduce the height of the support assembly 10, thereby improving the space utilization rate of the packaging wooden box and reducing the transportation cost of the handling robot; at the same time, the handling robot is made suitable for the height of a general cargo elevator, and the general cargo elevator can be used to transport the handling robot, reducing the transportation difficulty of the handling robot.

[0076] In some embodiments of the present disclosure, the number of the support assemblies 10 can be one or more, which is not limited herein. Exemplarily, referring to Figure 2 , in the embodiments of the present disclosure, there are two support assemblies 10, and the two support assemblies 10 are arranged opposite to and parallel to each other. The handling device 200 is slidably connected to the two support assemblies 10 respectively, and the two support assemblies 10 simultaneously play a role in supporting and guiding the handling device 200, improving the smoothness of the lifting movement of the handling device 200.

[0077] Referring to Figure 3 , the support assembly 10 includes a first support 11 and a second support 12. The first support 11 is installed on the mobile chassis, and the upper end of the first support 11 is hinged to the lower end of the second support 12 through a hinge mechanism 20. When the handling robot is working normally, the support assembly 10 is in the unfolded state, that is, the lower end of the second support 12 is docked with the upper end of the first support 11, so that the handling device 200 can perform lifting actions along the docked first support 11 and second support 12. When transporting the handling robot, the support assembly 10 is in the folded state, that is, the second support 12 and the first support 11 rotate to reduce the height of the support assembly 10, improve the space utilization rate of the packaging wooden box, and reduce the transportation cost of the handling robot; at the same time, the handling robot is made suitable for the height of a general cargo elevator, and the general cargo elevator can be used to transport the handling robot, reducing the transportation difficulty of the handling robot.

[0078] It should be noted that the lower end of the first support 11 refers to, for example, Figure 3 the bottom end of the first support 11 in Figure 3 , and the upper end of the first support 11 refers to, for example, Figure 3 the top end of the first support 11 in Figure 3 ; the lower end of the second support 12 refers to, for example,

[0079] For the convenience of processing, assembly and adjustment, the first bracket 11 and the second bracket 12 can be profiles. In this embodiment, the profile is a long straight columnar structure with a certain cross-sectional shape. Such a design can reduce the weight of the bracket assembly 10 while meeting the strength requirements of the intermediate components 10. When the bracket assembly 10 is in the unfolded state, the lower end of the second bracket 12 is docked with the upper end of the first bracket 11, so that the handling device 200 can move up and down along the docked first bracket 11 and second bracket 12. Exemplarily, the cross-sections of the first bracket 11 and the second bracket 12 are the same, which further facilitates the processing, assembly and adjustment of the first bracket 11 and the second bracket 12, and also facilitates the docking of the first bracket 11 and the second bracket 12 when the bracket assembly 10 is in the unfolded state, thereby improving the smoothness of the lifting movement of the handling device 200.

[0080] Reference Figure 12 FIG. is a schematic structural view of the cross-section of the first bracket 11. The first bracket 11 is internally provided with a first receiving groove 111 and a first receiving channel 112. The first receiving groove 111 is arranged along the extending direction of the first bracket 11. In this embodiment, the extending direction of the first bracket 11 is the vertical direction or the direction perpendicular to the moving chassis. The first receiving channel 112 penetrates through the first bracket 11 and is arranged along the extending direction of the first bracket 11. The first receiving groove 111 and the first receiving channel 112 provide a running channel and protection for the transmission mechanism 40.

[0081] Similarly, the second bracket 12 is internally provided with a second receiving groove 121 and a second receiving channel 122. The second receiving groove 121 is arranged along the extending direction of the second bracket 12. In this embodiment, the extending direction of the second bracket 12 is the vertical direction or the direction perpendicular to the moving chassis. The second receiving channel 122 penetrates through the second bracket 12 and is arranged along the extending direction of the second bracket 12. When the bracket assembly 10 is in the unfolded state, the second receiving groove 121 is docked with the first receiving groove 111, and the second receiving channel 122 is docked with the first receiving channel 112. The second receiving groove 121 and the second receiving channel 122 provide a running channel and protection for the transmission mechanism 40.

[0082] The hinging mechanism 20 is used for hinging the first bracket 11 and the second bracket 12. Reference Figure 4 , Figure 5 and Figure 6, the hinge mechanism 20 includes a first hinge member 21, a second hinge member 22, and a pin shaft 23. The first end of the first hinge member 21 is fixedly connected to the upper end of the first bracket 11. The first end of the second hinge member 22 is fixedly connected to the lower end of the second bracket 12. The pin shaft 23 is rotatably connected to the second end of the second hinge member 22 and the second end of the first hinge member 21 respectively. During the unfolding and folding of the bracket assembly 10, the second hinge member 22 and the first hinge member 21 rotate around the pin shaft 23 to enable relative rotation between the second bracket 12 and the first bracket 11.

[0083] It should be noted that the first end of the first hinge member 21 is the end of the first hinge member 21 close to the first bracket 11 as shown in Figure 6 , and the second end of the first hinge member 21 is the end of the first hinge member 21 close to the pin shaft 23 as shown in Figure 6 ; the first end of the second hinge member 22 is the end of the second hinge member 22 close to the second bracket 12 as shown in Figure 6 , and the second end of the second hinge member 22 is the end of the second hinge member 22 close to the pin shaft 23 as shown in Figure 6 .

[0084] Referring to Figure 4 , in the embodiments of the present disclosure, the hinge mechanism 20 further includes a first bushing 24 and a second bushing 25. The first hinge member 21 is provided with a first mounting hole 211, and the first bushing 24 is inserted into the first mounting hole 211. The second hinge member 22 is provided with a second mounting hole 221, and the second bushing 25 is inserted into the second mounting hole 221. The pin shaft 23 is pivotally mounted on the first bushing 24 and the second bushing 25, that is, the pin shaft 23 is installed in the first bushing 24 and the second bushing 25, and the pin shaft 23 can rotate relative to the first bushing 24 and the second bushing 25, so that the first bracket 11 and the second bracket 12 are rotatably connected through the pin shaft 23.

[0085] The hinge mechanism 20 further includes an annular washer 26. The annular washer 26 is located between the first hinge member 21 and the second hinge member 22. The annular washer 26 is coaxially arranged with the first bushing 24 and the second bushing 25. The pin shaft 23 is pivotally mounted on the first bushing 24, the annular washer 26, and the second bushing 25. One end of the pin shaft 23 passing through the first bushing 24, the annular washer 26, and the second bushing 25 is axially limited by a shaft retaining ring 27 to prevent the pin shaft 23 from falling off.

[0086] In other embodiments of the present disclosure, both ends of the pin shaft 23 can be rotatably connected to the first hinge member 21 and the second hinge member 22 through bearings respectively.

[0087] The locking mechanism 30 is used to lock the lower end of the second bracket 12 and the upper end of the first bracket 11 when the bracket assembly 10 is in the unfolded state. Referring to Figure 6 and Figure 10, the locking mechanism 30 includes a first locking member 31, a locking block 32, a compression spring 33 and a second locking member 34. The first locking member 31 is of a first L-shaped structure. The first side 314 of the first L-shaped structure is connected to the upper end of the first bracket 11. A sliding groove 311 is provided on the second side 315 of the first L-shaped structure. A through hole 312 is provided on the first side wall 313 of the sliding groove 311. The extending direction of the through hole 312 and the extending direction of the sliding groove 311 are both perpendicular to the extending direction of the first bracket 11. The locking block 32 is slidably installed in the sliding groove 311 and is threadedly connected to a bolt 35 passing through the through hole 312. The compression spring 33 is sleeved on the bolt 35, and both ends of the compression spring 33 abut against the first side 313 and the locking block 32 respectively.

[0088] When the bolt 35 is pulled in a direction away from the first bracket 11, the locking block 32 slides in the sliding groove 311 in a direction away from the first bracket 11, and the locking block 32 and the first side wall 313 compress the compression spring 33; when the bolt 35 is released, the compression spring 33 applies a restoring force to the locking block 32, and the locking block 32 slides in the sliding groove 311 in a direction towards the first bracket 11, so that the locking block 32 can automatically reset.

[0089] The second locking member 34 is of a second L-shaped structure. The first side 344 of the second L-shaped structure is connected to the lower end of the second bracket 12. A locking hook 341 is provided on the end face of the second side 345 of the second L-shaped structure facing the first locking member 31. The locking hook 341 and the end face of the second side 345 of the second L-shaped structure facing the first locking member 31 form an opening 342.

[0090] When the handling robot is working normally, the bracket assembly 10 is in an unfolded state, that is, the upper end of the first bracket 11 is docked with the lower end of the second bracket 12, and the second locking member 34 is docked with the first locking member 31. That is to say, the second side 315 of the first L-shaped structure is docked with the second side 355 of the second L-shaped structure. At this time, the bolt 35 is released, and the compressed compression spring 33 applies a thrust to the locking block 32 due to the restoring action. The locking block 32 slides in the sliding groove 311 in a direction towards the first bracket 11 and inserts into the opening 342 to lock the first locking member 31 and the second locking member 34, and further lock the upper end of the first bracket 11 and the lower end of the second bracket 12, improving the stiffness and stability of the first bracket 11 and the second bracket 12 in the unfolded state, thereby improving the smoothness of the lifting movement of the handling device 200.

[0091] When transporting the handling robot, pull the bolt 35 in a direction away from the first bracket 11. The locking block 32 slides along the sliding groove 311 in a direction away from the first bracket 11. The locking block 32 and the first side wall 313 compress the compression spring 33. The locking block 32 disengages from the locking hook 341 at the opening 342. The second bracket 12 can rotate relative to the first bracket 11 to fold the bracket assembly 10, thereby reducing the height of the bracket assembly 10, improving the space utilization rate of the packaging wooden box, and at the same time making the handling robot suitable for the height of a general freight elevator, reducing the transportation cost and transportation difficulty of the handling robot.

[0092] It should be noted that the first side wall 313 refers to, for example, Figure 6 and Figure 10 the side wall of the sliding groove 311 away from the first bracket 11 in Figure 10 ; the first side 314 of the first L-shaped structure refers to, for example, Figure 10 the vertically arranged side of the first L-shaped structure in Figure 10 ; the second side 315 of the first L-shaped structure refers to, for example, Figure 10 the side perpendicular to the first side 314 of the first L-shaped structure in

[0093] Reference Figure 6 and Figure 10 , in the embodiment of the present disclosure, the end face of the locking block 32 facing the first bracket 11 is provided with a first guiding inclined surface 321. Correspondingly, the end face of the locking hook 341 away from the second bracket 12 is provided with a second guiding inclined surface 343. When the bracket assembly 10 is in the unfolded state, the second guiding inclined surface 343 is slidably engaged with the first guiding inclined surface 321 to guide the locking block 32 to insert into the opening 342.

[0094] When the bracket assembly 10 is deployed, the second bracket 12 rotates relative to the first bracket 11, and the second locking member 34 approaches the first locking member 31, that is, the second side 345 of the second L-shaped structure approaches the second side 315 of the first L-shaped structure, and the second guide slope 343 of the locking hook 341 contacts the first guide slope 321 of the locking block 32. Due to the gravity of the second bracket 12 and the deployment force applied to the second bracket 12, the second guide slope 343 moves toward the sliding groove 311 and applies a thrust to the first guide slope 321, so that the locking block 32 slides along the sliding groove 311 in a direction away from the first bracket 11, and the locking block 32 and the first side wall 313 compress the compression spring 33. When the lower end of the second bracket 12 is docked with the upper end of the first bracket 11, the locking hook 341 is located in the sliding groove 311, and the locking block 32 slides to be opposite to the opening 342. The compressed compression spring 33 applies a thrust to the locking block 32 due to the restoring action, and the locking block 32 is inserted into the opening 342 to achieve automatic locking of the first bracket 11 and the second bracket 12 when the bracket assembly 10 is in the unfolded state, thereby improving the convenience of the locking operation.

[0095] In other embodiments of the present disclosure, the locking mechanism 30 may be a bolt and nut fastening mechanism. For example, in the unfolded state, the first bracket 11 and the second bracket 12 are detachably connected at their joints by bolts and nuts. When the bracket assembly 10 is unfolded, the first bracket 11 and the second bracket 12 are butted against each other, and the bolts and nuts are manually tightened to fasten the first bracket 11 and the second bracket 12; before the bracket assembly 10 is folded, the bolts and nuts that are fastened are manually removed to facilitate the rotation of the second bracket 12 relative to the first bracket 11.

[0096] The lifting device 100 further includes a transmission mechanism 40 for transmitting power. In the disclosed embodiment, the transmission mechanism 40 is mounted on the support assembly 10, and the transmission mechanism 40 drives the transport device 200 to perform lifting and lowering actions along the first support 11 and the second support 12 in the unfolded state.

[0097] Exemplarily, in the disclosed embodiment, the transmission mechanism 40 is a belt transmission mechanism. Figure 8 , Figure 9 , Figure 10 and Figure 11, the transmission mechanism 40 includes a first support base 41, a driving gear, a second support base 42, a driven gear, and a transmission belt 43. The first support base 41 is connected to the upper end of the second bracket 12, and the driving gear is rotatably connected within the first support base 41 and can rotate about its own axis. The second support base 42 is connected to the lower end of the first bracket 11, and the driven gear is rotatably connected within the second support base 42 and can rotate about its own axis. The transmission belt 43 surrounds the driving gear and the driven gear. When the driving gear rotates, it drives the transmission belt 43 to move, and the transmission belt 43 drives the driven gear to rotate, so as to realize the movement of the transmission belt 43 along the first bracket 11 and the second bracket 12, thereby driving the handling device 200 to perform a lifting action.

[0098] To protect the transmission belt 43 and provide a running channel for the transmission belt 43, the transmission belt 43 passes through the first accommodation channel 112 of the first bracket 11 and the second accommodation channel 122 of the second bracket 12, surrounds the driving gear, and surrounds the driven gear along the second accommodation groove 121 of the second bracket 12 and the first accommodation groove 111 of the first bracket 11.

[0099] When the bracket assembly 10 is folded, an excessive tensile force will be applied to the transmission belt 43, thereby affecting the transmission accuracy of the transmission belt 43 and even damaging the transmission belt 43, affecting the reliability of the lifting device 100. To solve the above technical problems, in the embodiments of the present disclosure, the transmission mechanism 40 further includes a base 422. The base 422 is fixedly installed on the first bracket 11 and is close to the mobile chassis. The first bracket 11 is connected to the mobile chassis through the base 422. The second support base 42 is slidably connected to the base 422, and the second support base 42 is detachably connected to the mobile chassis.

[0100] Reference Figure 5 and Figure 9 , when the bracket assembly 10 is folded, first disconnect the connection between the second support base 42 and the mobile chassis, and rotate the second bracket 12 relative to the first bracket 11, that is, the second bracket 12 rotates in the direction a shown in Figure 5 and Figure 9 . The driving gear generates a tensile force on the transmission belt 43, and the transmission belt 43 further generates a tensile force on the driven gear, so that the second support base 42 moves upward relative to the base 422, avoiding applying an excessive tensile force to the transmission belt 43, ensuring the transmission accuracy of the transmission belt 43, preventing the transmission belt 43 from being damaged, and ensuring the reliability of the lifting device 100.

[0101] When the support assembly 10 is deployed, the second support 12 rotates in the opposite direction relative to the first support 11, that is, the second support 12 rotates in the direction opposite to the direction a. The driving gear exerts a thrust on the transmission belt 43, and the transmission belt 43 further pushes the driven gear and the second support base 42, or manually pushes the second support base 42 to make the second support base 42 slide downward relative to the base 422. Then connect the second support base 42 to the mobile chassis to improve the stability of the first support 11 and facilitate the lifting action of the handling device 200.

[0102] To improve the smoothness of the relative sliding between the base 422 and the second support base 42, a guiding structure is provided between the base 422 and the second support base 42. Exemplarily, referring to Figure 11 , in the embodiment of the present disclosure, the second support base 42 is provided with a guide rail 421, and the base 422 is provided with a groove 423 that cooperates with the guide rail 421. The extending direction of the groove 423 is the same as the extending direction of the first support 11. In other embodiments of the present disclosure, the second support base 42 is provided with a groove 423, and the base 422 is provided with a guide rail 421 that cooperates with the groove 423. The extending direction of the guide rail 421 is the same as the extending direction of the first support 11.

[0103] Referring to Figure 7 and Figure 11 , in the embodiment of the present disclosure, the lifting device 100 further includes a tensile elastic member, and the tensile elastic member refers to an elastic member that bears a tensile force during the working process. One end of the tensile elastic member is connected to the second support base 42, and the other end of the tensile elastic member is connected to the mobile chassis. When the support assembly 10 is folded, the second support base 42 moves upward relative to the base 422, and the second support base 42 stretches the tensile elastic member. Then the tensile elastic member exerts a reverse tensile force on the second support base 42 due to the recovery effect, thereby pulling the driven gear to tension the transmission belt 43 and prevent the transmission belt 43 from skipping teeth with the driven gear, ensuring the transmission accuracy of the transmission mechanism 40 when the support assembly 10 is in the deployed state.

[0104] At the same time, since the second support base 42 stretches the tensile elastic member when the support assembly 10 is in the folded state, the tensile elastic member exerts a reverse tensile force on the second support base 42 and the driven gear. When the support assembly 10 is deployed, the second support 12 rotates in the direction opposite to the direction a. Due to the reverse tensile force, the second support base 42 automatically slides downward relative to the base 422 without manual operation. For example, after the transportation of the handling robot is completed, when the support assembly 10 is deployed, a crane can be used to drive the second support 12 to rotate in the direction opposite to the direction a, and the second support base 42 and the driven gear can be automatically reset, thereby improving the convenience of deploying the support assembly 10.

[0105] In the embodiments of the present disclosure, the tensile elastic member is a pneumatic tension spring 46. One end of the pneumatic tension spring 46 is connected to the second support seat 42, and the other end of the pneumatic tension spring 46 is connected to the moving chassis. In other embodiments of the present disclosure, the tensile elastic member is a tension spring. One end of the tension spring is connected to the second support seat 42, and the other end of the tension spring is connected to the moving chassis.

[0106] Reference Figure 10 , in the embodiments of the present disclosure, the hinge mechanism 20 further includes a support wheel 28. The support wheel 28 is connected to the pin shaft 23 of the hinge mechanism 20. When the bracket assembly 10 is in a folded state, the outer circumferential surface of the support wheel 28 contacts the toothless surface of the transmission belt 43. During the folding process, the support wheel 28 provides a supporting effect on the transmission belt 43. When the bracket assembly 10 is unfolded, the transmission belt 43 can be quickly reset, preventing the transmission belt 43 from being misaligned, and thus ensuring the smoothness of the lifting of the handling device 200.

[0107] Reference Figure 9 and Figure 10 , in the embodiments of the present disclosure, the lifting device 100 includes a middle tensioning mechanism. The middle tensioning mechanism is arranged at the docking position of the first bracket 11 and the second bracket 12. The middle tensioning mechanism contacts the transmission belt 43. The middle tensioning mechanism is used to tension the transmission belt 43 when the bracket assembly 10 is in a folded state, preventing the transmission belt 43 from loosening during the folding process and causing the transmission belt 43 to skip teeth, thereby affecting the transmission accuracy of the transmission belt 43 when the bracket assembly 10 is in an unfolded state.

[0108] Reference Figure 10 , the middle tensioning mechanism includes a first guide wheel 44 and a second guide wheel 45. The first guide wheel 44 is rotatably connected to the upper end of the first bracket 11. The outer circumference of the first guide wheel 44 contacts the toothed surface of the transmission belt 43. The second guide wheel 45 is rotatably connected to the lower end of the second bracket 12. The outer circumference of the second guide wheel 45 contacts the toothed surface of the transmission belt 43. When the bracket assembly 10 is folded, the first guide wheel 44 and the second guide wheel 45 play a role in tensioning and supporting the transmission belt 43, preventing the transmission belt 43 from loosening during the folding process and causing the transmission belt 43 to skip teeth, thereby affecting the transmission accuracy of the transmission belt 43 when the bracket assembly 10 is in an unfolded state.

[0109] Reference Figure 5 、 Figure 9 and Figure 14 , in the embodiments of the present disclosure, the lifting device 100 further includes a top tensioning mechanism. The top tensioning mechanism is connected to the upper end of the second bracket 12. The top tensioning mechanism contacts the transmission belt 43. The top tensioning mechanism is used to tension the transmission belt 43 when the bracket assembly 10 is in a folded state.

[0110] Exemplarily, in the embodiments of the present disclosure, the top tensioning mechanism includes a first tensioning mechanism 50 and a second tensioning mechanism 60. Both the first tensioning mechanism 50 and the second tensioning mechanism 60 are disposed at the upper end of the second bracket 12. The first tensioning mechanism 50 tensions the transmission belt 43 in the second receiving groove 121, and the second tensioning mechanism 60 tensions the transmission belt 43 in the second receiving channel 122, that is, tensions the transmission belts 43 on both sides of the driving gear, preventing the transmission belt 43 from skipping teeth with the driving gear, and further ensuring the transmission accuracy of the transmission mechanism 40.

[0111] Reference Figure 13 and Figure 14 , the first tensioning mechanism 50 includes two third support seats 51, a first tensioning wheel 52, and two first adjusting bolts 53. The two third support seats 51 are respectively connected to both sides of the second receiving groove 121. Both the two third support seats 51 are provided with first moving grooves 511. The extending direction of the first moving grooves 511 is perpendicular to the extending direction of the second receiving groove 121. Two first threaded through holes 512 are provided on the side wall of the first moving groove 511 away from the second receiving groove 121. The outer circumferential surface of the first tensioning wheel 52 contacts the transmission belt 43 in the second receiving groove 121. The first tensioning wheel 52 has a first rotating shaft 521. Both ends of the first rotating shaft 521 are slidably connected in the first moving grooves 511. The two first adjusting bolts 53 are respectively threadedly connected to the two first threaded through holes 512, and the two first adjusting bolts 53 respectively abut against both ends of the first rotating shaft 521.

[0112] In the embodiments of the present disclosure, the first tensioning wheel 52 tensions the transmission belt 43 in the second receiving groove 121, preventing the transmission belt 43 from loosening and causing the transmission belt 43 to skip teeth when the bracket assembly 10 is folded, thereby affecting the transmission accuracy of the transmission belt 43 when the bracket assembly 10 is unfolded. Moreover, by adjusting the depth of the first adjusting bolt 53 extending into the first moving groove 511, the position of the first rotating shaft 521 can be adjusted, thereby adjusting the relative position between the first tensioning wheel 52 and the transmission belt 43 to achieve the adjustment of the tension degree of the transmission belt 43.

[0113] Reference Figure 13 and Figure 14, the second tensioning mechanism 60 includes two fourth support seats 61, a second tensioning wheel 62, and two second adjusting bolts 63. The second bracket 12 is provided with a window 123 that penetrates through to the second accommodation channel 122. The two fourth support seats 61 are respectively connected to both sides of the window 123. Both of the two fourth support seats 61 are provided with second moving grooves 611, and the extending direction of the second moving grooves 611 is perpendicular to the extending direction of the second accommodation groove 121. Two second threaded through holes 612 are provided on the side wall of the second moving groove 611 away from the second accommodation groove 121. The outer circumferential surface of the second tensioning wheel 62 contacts the transmission belt 43 in the second accommodation channel 122. The second tensioning wheel 62 has a second rotating shaft 621, and both ends of the second rotating shaft 621 are respectively slidably connected in the second moving grooves 611. The two second adjusting bolts 63 are respectively threadedly connected to the two second threaded through holes 612, and the two second adjusting bolts 63 respectively abut against both ends of the second rotating shaft 621.

[0114] In the embodiment of the present disclosure, the second tensioning wheel 62 tensions the transmission belt 43 in the second accommodation channel 122, preventing the transmission belt 43 from loosening when the bracket assembly 10 is folded, which may cause the transmission belt 43 to skip teeth, thereby affecting the transmission accuracy of the transmission belt 43 when the bracket assembly 10 is unfolded. The position of the second rotating shaft 621 can be adjusted by adjusting the depth of the second adjusting bolt 63 extending into the second moving groove 611, thereby adjusting the relative position between the second tensioning wheel 62 and the transmission belt 43 to achieve the adjustment of the tension degree of the transmission belt 43.

[0115] For the convenience of understanding the technical solution of the embodiment of the present disclosure, the folding and unfolding processes of the lifting device 100 provided by the embodiment of the present disclosure will be specifically described below.

[0116] Refer to Figure 15a 、 Figure 15b 、 Figure 15c and Figure 15d , which are schematic diagrams of the change process of the lifting device 100 from the unfolded state to the folded state in the embodiment of the present disclosure.

[0117] First, pull the bolt 35 of the locking mechanism 30 in the direction away from the first bracket 11. The bolt 35 pulls the locking block 32 to slide in the sliding groove 311 in the direction away from the first bracket 11. The locking block 32 and the first side wall 313 compress the compression spring 33, and the locking block 32 is withdrawn from the opening 342 of the locking hook 341. Disconnect the connection between the second support seat 42 and the moving chassis. Pull the upper end of the second bracket 12 in the direction a by a crane or manually, so that the lower end of the second bracket 12 and the second hinge member 22 rotate relative to the first hinge member 21 and the upper end of the first bracket 11 under the action of the pin shaft 23.

[0118] The driving gear exerts a pulling force on the transmission belt 43. The toothed surfaces of the transmission belt 43 in the first accommodating channel 112 and the second accommodating channel 122 are in contact with the first guide wheel 44 and the second guide wheel 45 of the middle tensioning mechanism. The first guide wheel 44 and the second guide wheel 45 rotate and support the rotating belt 43. The toothless surfaces of the transmission belt 43 in the first accommodating groove 111 and the second accommodating groove 121 are in contact with the supporting wheel 28, and the supporting wheel 28 supports the transmission belt 43. The transmission belt 43 exerts a pulling force on the driven gear, so that the second supporting seat 42 moves upward relative to the base 422. The second supporting seat 42 stretches the tension elastic member, and the tension elastic member exerts a reverse pulling force on the second supporting seat 42 to pull the driven gear to tension the transmission belt 43. The second bracket 12 continues to rotate until, as Figure 15d shown, the second bracket 12 is flush with the first bracket 11, realizing the folding of the lifting device 100.

[0119] Refer to Figure 15d 、 Figure 15c 、 Figure 15b and Figure 15a , that is, refer to in reverse Figures 15a to 15d , which is a schematic diagram of the change process of the lifting device 100 from the folded state to the unfolded state in the embodiments of the present disclosure.

[0120] Pull the upper end of the second bracket 12 in the direction opposite to the direction a by a crane or manually, so that the lower end of the second bracket 12 and the second hinge member 22 rotate reversely relative to the first hinge member 21 and the upper end of the first bracket 11 under the action of the pin shaft 23. Due to the reverse pulling force exerted by the tension elastic member on the second supporting seat 42 and the driven gear, as well as the force exerted by the crane and manually, the second supporting seat 42 automatically slides downward relative to the base 422, and the driven gear pulls the transmission belt 43 to move downward below the first bracket 11. The toothless surface of the transmission belt 43 is separated from the supporting wheel 28. The transmission belt 43 passes through the first accommodating channel 112 of the first bracket 11 and the second accommodating channel 122 of the second bracket 12, surrounds the driving gear, and surrounds the driven gear along the second accommodating groove 121 of the second bracket 12 and the first accommodating groove 111 of the first bracket 11.

[0121] During the rotation of the second support 12 relative to the first support 11, the second locking member 34 approaches the first locking member 31, that is, the second side 345 of the second L-shaped structure approaches the second side 315 of the first L-shaped structure, and the second guiding slope 343 of the locking hook 341 contacts the first guiding slope 321 of the locking block 32. Due to the gravity of the second support 12 and the unfolding force applied to the second support 12, the second guiding slope 343 moves towards the sliding groove 311 and applies a thrust to the first guiding slope 321, causing the locking block 32 to slide along the sliding groove 311 in a direction away from the first support 11, and the locking block 32 and the first side wall 313 compress the compression spring 33. When the lower end of the second support 12 is docked with the upper end of the first support 11, the locking hook 341 is located in the sliding groove 311. When the locking block 32 slides to face the opening 342, the compression spring 33 applies a restoring force to the locking block 32, and the locking block 32 is inserted into the opening 342, and the first support 11 and the second support 12 are automatically locked, connecting the second support seat 42 and the mobile chassis to realize the unfolding of the lifting device 100.

[0122] Reference Figure 16 , the present disclosure also provides another lifting device, including a support assembly 10, a hinge mechanism 20, a locking mechanism 30, and a transmission mechanism 40. The support assembly 10 includes a first support 11 and a second support 12. The first support 11 is installed on the mobile chassis, and the upper end of the first support 11 is hinged to the lower end of the second support 12 through the hinge mechanism 20; when the support assembly 10 is in the unfolded state, the lower end of the second support 12 is docked with the upper end of the first support 11. The locking mechanism 30 is used to lock the lower end of the second support 12 and the upper end of the first support 11 when the support assembly 10 is in the unfolded state. The transmission mechanism 40 is installed on the support assembly 10, and when the support assembly 10 is in the unfolded state, the transmission mechanism 40 is used to drive the handling device 200 to lift along the first support 11 and the second support 12.

[0123] In another embodiment of the present disclosure, the support assembly 10, the hinge mechanism 20, and the locking mechanism 30 are referred to the above embodiments of the present disclosure. Compared with the lifting device 100 provided by the above embodiments of the present disclosure, the difference is that in another embodiment of the present disclosure, the transmission mechanism is a gear-rack transmission mechanism.

[0124] Reference Figure 16, the transmission mechanism includes a first rack 48, a second rack 49 and a gear 47. The first rack 48 is installed on the first bracket 11 and is arranged along the extending direction of the first bracket 11. The second rack 49 is installed on the second bracket 12 and is arranged along the extending direction of the second bracket 12. The tooth profile of the second rack 49 is the same as that of the first rack 48. When the bracket assembly 10 is in the unfolded state, the second rack 49 is docked with the first rack 48. The gear 47 is rotatably connected to the handling device 200, and the gear 47 can rotate around its own axis. The gear 47 meshes with the first rack 48 and / or the second rack 49.

[0125] When the handling robot including the above-mentioned lifting device is working properly, the bracket assembly 10 is unfolded, that is, the lower end of the second bracket 12 is docked with the upper end of the first bracket 11, the second rack 49 is docked with the first rack 48, and the gear 47 can drive the handling device 200 to perform lifting actions along the first rack 48 and / or the second rack 49. When transporting the handling robot including the above-mentioned lifting device, the handling device 200 is lowered to the bottom of the first bracket 11, and the bracket assembly 10 is folded, that is, the second bracket 12 and the first bracket 11 rotate, and the second rack 49 is separated from the first rack 48 to reduce the height of the bracket assembly 10, improve the space utilization rate of the packaging wooden box, and reduce the transportation cost of the handling robot; at the same time, make the handling robot suitable for the height of general freight elevators, and be able to use general freight elevators to transport the handling robot, reducing the transportation difficulty of the handling robot.

[0126] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, and are not intended to limit them; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A lifting device, characterized in that, Comprising: A collapsible support assembly, the support assembly including a first support and a second support, the first support being mounted on a mobile chassis, and the upper end of the first support being hinged to the lower end of the second support by a hinge mechanism; when the support assembly is in the deployed state, the lower end of the second support is docked with the upper end of the first support; A locking mechanism for locking the lower end of the second support and the upper end of the first support when the support assembly is in the deployed state; A transmission mechanism mounted on the support assembly, and when the support assembly is in the deployed state, the transmission mechanism is used to drive a handling device to lift along the first support and the second support; The transmission mechanism includes: A first support seat connected to the upper end of the second support; A driving gear rotatably connected within the first support seat, the driving gear being rotatable about its own axis; A base fixedly mounted on the first support and close to the mobile chassis, and the first support is connected to the mobile chassis through the base; A second support seat slidably connected to the base, and the second support seat is detachably connected to the mobile chassis; A driven gear rotatably connected within the second support seat, the driven gear being rotatable about its own axis; A transmission belt surrounding the driving gear and the driven gear; The lifting device further includes a tension elastic member, one end of the tension elastic member is connected to the second support seat, and the other end of the tension elastic member is connected to the mobile chassis; The lifting device includes a middle tensioning mechanism disposed at the docking portion of the first support and the second support, the middle tensioning mechanism is in contact with the transmission belt, and the middle tensioning mechanism is used to tension the transmission belt when the support assembly is in the folded state; The middle tensioning mechanism includes: A first guide wheel rotatably connected to the upper end of the first support, and the outer circumference of the first guide wheel is in contact with the toothed surface of the transmission belt; A second guide wheel rotatably connected to the lower end of the second support, and the outer circumference of the second guide wheel is in contact with the toothed surface of the transmission belt.

2. The lifting device according to claim 1, wherein The hinge mechanism includes: A first hinge member, the first end of the first hinge member being fixedly connected to the upper end of the first support; A second hinge member, the first end of the second hinge member being fixedly connected to the lower end of the second support; A pin shaft respectively rotatably connected to the second end of the second hinge member and the second end of the first hinge member.

3. The lifting device according to claim 2, wherein The hinge mechanism further includes: A first bushing, the first hinge member is provided with a first mounting hole, and the first bushing is inserted through the first mounting hole; A second bushing, the second hinge member is provided with a second mounting hole, and the second bushing is inserted through the second mounting hole, and the pin shaft is pivotally mounted on the first bushing and the second bushing.

4. The lifting device according to claim 1, characterized in that, The locking mechanism includes: A first locking member, which is connected to the upper end of the first bracket. The first locking member is provided with a sliding groove. A through hole is provided on the first side wall of the sliding groove. The extending direction of the through hole and the extending direction of the sliding groove are both perpendicular to the extending direction of the first bracket; A locking block, which is slidably installed in the sliding groove and is threadedly connected to a bolt passing through the through hole; A compression spring, which is sleeved on the bolt. The two ends of the compression spring are respectively abutted against the first side wall and the locking block; A second locking member, which is connected to the lower end of the second bracket. The second locking member is provided with a locking hook. The locking hook has an opening. When the bracket assembly is in the unfolded state, the second locking member is docked with the first locking member, and the locking block is inserted into the opening.

5. The lifting device according to claim 4, characterized in that The first locking member is of a first L-shaped structure. The first side of the first L-shaped structure is connected to the upper end of the first bracket, and the sliding groove is arranged on the second side of the first L-shaped structure; the second locking member is of a second L-shaped structure. The first side of the second L-shaped structure is connected to the lower end of the second bracket, and the locking hook is arranged on the second side of the second L-shaped structure. When the bracket assembly is in the unfolded state, the second side of the first L-shaped structure is docked with the second side of the second L-shaped structure.

6. The lifting device according to claim 4, characterized in that, The end face of the locking block facing the first bracket is set as a first guiding inclined surface; The end face of the locking hook away from the second bracket is set as a second guiding inclined surface. When the bracket assembly is in the unfolded state, the second guiding inclined surface is in sliding fit with the first guiding inclined surface to guide the locking block to be inserted into the opening.

7. The lifting device according to claim 1, characterized in that, The second support seat is provided with a guide rail, and the base is provided with a groove matching with the guide rail. The extending direction of the groove is the same as the extending direction of the first bracket; or The second support seat is provided with a groove, and the base is provided with a guide rail matching with the groove. The extending direction of the guide rail is the same as the extending direction of the first bracket.

8. The lifting device according to claim 1, wherein, The tensile elastic member is a tensile gas spring. One end of the tensile gas spring is connected to the second support seat, and the other end of the tensile gas spring is connected to the moving chassis.

9. The lifting device according to claim 1, wherein The tensile elastic member is a tension spring. One end of the tension spring is connected to the second support seat, and the other end of the tension spring is connected to the moving chassis.

10. The lifting device according to claim 1, wherein, The hinge mechanism of the bracket assembly further includes: A support wheel, which is connected to the pin shaft of the hinge mechanism. When the bracket assembly is in the folded state, the outer circumferential surface of the support wheel contacts the toothless surface of the transmission belt.

11. The lifting device according to claim 1, characterized in that, Inside the first bracket, there is: A first receiving groove, which is arranged along the extending direction of the first bracket; A first receiving channel, which penetrates through the first bracket. The first receiving channel is arranged along the extending direction of the first bracket; Inside the second bracket, there is: A second receiving groove, which is arranged along the extending direction of the second bracket; A second receiving channel, which penetrates through the second bracket. The second receiving channel is arranged along the extending direction of the second bracket; Wherein, the transmission belt passes through the first accommodation channel and the second accommodation channel to surround the driving gear, and surrounds the driven gear along the second accommodation groove and the first accommodation groove; when the bracket assembly is in the unfolded state, the second accommodation groove is docked with the first accommodation groove, and the second accommodation channel is docked with the first accommodation channel.

12. The lifting device according to claim 11, wherein The lifting device includes a top tensioning mechanism, the top tensioning mechanism is connected to the upper end of the second bracket, the top tensioning mechanism contacts the transmission belt, and the top tensioning mechanism is used to tension the transmission belt when the bracket assembly is in the folded state.

13. The lifting device according to claim 12, characterized in that, The top tensioning mechanism includes a first tensioning mechanism, and the first tensioning mechanism includes: Two third support seats, the two third support seats are respectively connected to both sides of the second accommodation groove, both of the two third support seats are provided with first moving grooves, the extending direction of the first moving groove is perpendicular to the extending direction of the second accommodation groove, and two first threaded through holes are provided on the side wall of the first moving groove away from the second accommodation groove; A first tensioning wheel, the outer circumferential surface of the first tensioning wheel contacts the transmission belt, the first tensioning wheel has a first rotating shaft, and both ends of the first rotating shaft are respectively slidably connected in the first moving groove; Two first adjusting bolts, the two first adjusting bolts are respectively threadedly connected to the two first threaded through holes, and the two first adjusting bolts respectively abut against both ends of the first rotating shaft.

14. The lifting device according to claim 12, wherein The top tensioning mechanism includes a second tensioning mechanism, and the second tensioning mechanism includes: Two fourth support seats, the second bracket is provided with a window, the window penetrates to the second accommodation channel, the two fourth support seats are respectively connected to both sides of the window, both of the two fourth support seats are provided with second moving grooves, the extending direction of the second moving groove is perpendicular to the extending direction of the second accommodation groove, and two second threaded through holes are provided on the side wall of the second moving groove away from the second accommodation groove; A second tensioning wheel, the outer circumferential surface of the second tensioning wheel contacts the transmission belt, the second tensioning wheel has a second rotating shaft, and both ends of the second rotating shaft are respectively slidably connected in the second moving groove; Two second adjusting bolts, the two second adjusting bolts are respectively threadedly connected to the two second threaded through holes, and the two second adjusting bolts respectively abut against both ends of the second rotating shaft.

15. The lifting device according to any one of claims 1-6, characterized in that, The transmission mechanism includes: A first rack, the first rack is installed on the first bracket, and the first rack is arranged along the extending direction of the first bracket; A second rack, the second rack is installed on the second bracket, the second rack is arranged along the extending direction of the second bracket, the tooth profile of the second rack is the same as that of the first rack, and when the bracket assembly is in the unfolded state, the second rack is docked with the first rack; A gear, the gear is rotationally connected to the handling device, the gear can rotate around its own axis, and the gear meshes with the first rack and / or the second rack.

16. A handling robot, characterized in that, It includes a mobile chassis, a handling device, a storage rack, and a lifting device as described in any one of claims 1-15. The lifting device is installed on the mobile chassis, and the handling device and the storage rack are installed on the lifting device.

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