Lifting mechanism and carrying equipment

Abstract

The invention provides a lifting mechanism and carrying equipment. The lifting mechanism comprises a supporting platform, a driving device, a first lifting piece, a second lifting piece, a first connecting piece, a sun gear, a planet inner gear ring and a planet gear meshed between the sun gear and the planet inner gear ring. The first connecting piece is movably connected with one end of the first lifting piece and one end of the second lifting piece. The ends, away from the first connecting piece, of the first lifting piece and the second lifting piece are movably connected to the supporting platform and form a first connecting rod mechanism with the first connecting piece and the supporting platform. The sun gear is arranged on a driving shaft of the driving device. The sun gear rotates when the driving shaft rotates so as to drive the planet gear to rotate and rotate around the sun gear. When the planet gear rotates around the sun gear, at least one of the first lifting piece and the first connecting piece can be driven to move relative to the supporting platform, and the supporting height of the supporting platform is adjusted. According to the lifting mechanism, the transmission efficiency of the driving device and the lifting mechanism is improved.

Description

Technical Field

[0001] The present application relates to the technical field of handling equipment, and in particular to a lifting mechanism and handling equipment. Background Art

[0002] For handling equipment such as Automated Guided Vehicles (AGVs), the lifting mechanism can be said to be the core and essential mechanism of the handling equipment. It can change the height of the handling equipment by lifting itself so that the handling equipment can carry the load.

[0003] At present, the mainstream application in the lifting mechanism industry is usually the four-link lifting mechanism. Mainstream manufacturers all use the four-link lifting mechanism with the help of crank-connecting rod for driving. However, there is a range of efficiency in crank-connecting rod transmission, so this method generally has the problem of low transmission efficiency, which cannot be solved. Summary of the invention

[0004] The embodiments of the present application provide a lifting mechanism and a handling device, which can increase the output torque of a driving device, so that when the load of the handling device of the present application is the same, a driving device with smaller power can be selected to output a larger output torque, thereby improving the transmission efficiency of the driving device and the lifting mechanism.

[0005] In a first aspect, an embodiment of the present application provides a lifting mechanism. The lifting mechanism comprises:

[0006] Support platform;

[0007] A driving device, comprising a driving shaft, wherein the driving shaft is arranged at the bottom of the supporting platform;

[0008] A lifting assembly is arranged at the bottom of the supporting platform; the lifting assembly comprises a first lifting member, a second lifting member and a first connecting member, the first connecting member is movably connected to one end of the first lifting member and the second lifting member respectively; one end of the first lifting member and the second lifting member away from the first connecting member are both movably connected to the supporting platform, and the first lifting member, the second lifting member, the first connecting member and the supporting platform form a first connecting rod mechanism;

[0009] The transmission assembly comprises a sun gear, a planetary gear and a planetary inner gear ring, wherein the sun gear is arranged on the driving shaft, and the planetary gear is meshed between the sun gear and the planetary inner gear ring; wherein the sun gear is configured to rotate when the driving shaft rotates, so as to drive the planetary gear to rotate on its own and around the sun gear;

[0010] Among them, the first lifting member and the first connecting member are both movably connected to the planetary gear; the planetary gear is constructed to be able to drive at least one of the first lifting member and the first connecting member to move relative to the supporting platform and adjust the supporting height of the supporting platform when rotating around the sun gear.

[0011] The planetary gear in the embodiment of the present application will serve as the drive of the lifting assembly. Due to the arrangement of the drive shaft, sun gear, planetary gear and planetary inner ring gear, the torque transmitted from the sun gear to the planetary gear can achieve the effect of reducing speed and increasing torque. Compared with the lifting assembly in the existing lifting mechanism that adopts a non-planetary gear drive method, the embodiment of the present application can achieve the effect of reducing the speed of the drive shaft and increasing the output torque when the torque transmitted from the sun gear to the planetary gear achieves the effect of reducing speed and increasing torque. In this way, the output torque of the drive device can be increased, so that when the load is the same, the handling device of the present application can use a smaller power drive device to output a larger output torque, thereby improving the transmission efficiency of the drive device and the lifting mechanism.

[0012] In some embodiments, one end of the first lifting member connected to the first connecting member is the first connecting end, and one end of the second lifting member connected to the first connecting member is the second connecting end;

[0013] The planetary gear is configured to drive the first connection end to swing relative to the support platform while rotating in two opposite directions around the sun gear, and can also drive the second connection end to swing relative to the support platform through the first connection member, so that the support platform switches between the lowering position and the lifting position;

[0014] The second connection end has the same swing direction as the first connection end, and the support height of the support platform when it is in the lifting position is higher than the support height of the support platform when it is in the lowering position.

[0015] The present application controls the rotation direction of the planetary gear around the sun gear, so as to realize the switching of the support platform between the lowered position and the lifted position, thereby adjusting the support height of the support platform.

[0016] In some embodiments, the lifting assembly further includes a first connecting shaft, the first connecting shaft being disposed on a side of the driving shaft facing the supporting platform;

[0017] The first connecting end is rotatably connected to the first connecting shaft, the first connecting shaft is inserted into the planetary gear, and the planetary gear can rotate relative to the first connecting shaft;

[0018] The planetary gear is constructed so as to drive the first connecting shaft to rotate around the driving shaft when rotating, and drive the first connecting end to swing relative to the supporting platform through the first connecting shaft.

[0019] Since one end of the first lifting member is movably connected to the supporting platform and the first connecting end is rotatably connected to the first connecting shaft, when the planetary gear rotates in opposite directions around the sun gear, the embodiment of the present application can drive the first connecting end to swing toward or away from the supporting platform through the drive of the first connecting shaft, so as to facilitate the switching of the supporting platform between the lifting position and the lowering position.

[0020] In some embodiments, the axial direction of the first connecting shaft is parallel to the axial direction of the driving shaft, and the first connecting shaft is rotatably arranged on the driving shaft, so that the first connecting shaft can rotate around the driving shaft under the drive of the planetary gear. In this way, when the first connecting shaft rotates, it can drive the connected first connecting end to rotate at the same time, thereby realizing the swing of the first connecting end relative to the supporting platform.

[0021] In some embodiments, one end of the first connecting member adjacent to the first lifting member is connected to the first connecting shaft; the second connecting end is rotatably connected to the first connecting member;

[0022] The first connecting shaft is constructed to be able to drive the first connecting member to move towards or away from the second lifting member relative to the support platform when rotating around the driving shaft, so as to drive the second connecting end to swing relative to the support platform through the first connecting member.

[0023] With such an arrangement, when the planetary gear rotates in opposite directions around the sun gear, the first connecting shaft can be driven by the first connecting member to swing the first connecting end toward or away from the supporting platform, so that the supporting platform can switch between the lifting position and the lowering position.

[0024] In some embodiments, the lifting assembly further includes a second connecting shaft, the second connecting shaft being located on a side of the driving shaft facing the second lifting member;

[0025] One end of the first connecting member adjacent to the second lifting member is rotatably connected to the second lifting member via a second connecting shaft;

[0026] The second connecting shaft is configured to swing relative to the base of the transport device and drive the second connecting end to swing relative to the supporting platform when the first connecting member moves relative to the supporting platform toward or away from the second lifting member.

[0027] Through the setting of the second connecting shaft, when the first connecting member moves relative to the supporting platform toward or away from the second lifting member, the first connecting member can drive the second connecting end to swing toward or away from the supporting platform through the second connecting shaft, so that the supporting platform can switch between the lifting position and the lowering position.

[0028] In some embodiments, the axial direction of the second connecting shaft is parallel to the axial direction of the first connecting shaft, so that when the first connecting member moves relative to the second lifting member, it can drive the second connecting shaft to swing relative to the base in the same direction as the rotation direction of the first connecting shaft, thereby driving the second connecting end to swing in the same direction as the swing direction of the first connecting end. In this way, it can be ensured that the second connecting end and the first connecting shaft swing towards or away from the support platform at the same time, thereby realizing the switching of the support platform between the lifting position and the lowering position.

[0029] The transmission assembly includes a second connecting member, one end of which is constructed to be rotatably mounted on the base, and the other end is rotatably connected to the second connecting shaft, so that the second connecting shaft can be swingably arranged on the base, so that the second connecting shaft can swing relative to the base under the drive of the first connecting member.

[0030] In some embodiments, the transmission assembly includes at least two second connecting members, and the at least two second connecting members are distributed at both ends of the second connecting shaft;

[0031] The second lifting member and the first connecting member are arranged in the middle area of ​​the second connecting shaft.

[0032] Compared with the second connecting member being arranged at one end of the second connecting shaft, the embodiment of the present application can increase the stability of the second connecting shaft when rotating relative to the base and the rigidity of the second connecting shaft by distributing at least two second connecting members at both ends of the second connecting shaft.

[0033] Furthermore, by limiting the setting positions of the second connecting member, the second lifting member and the first connecting member on the second connecting shaft, while realizing the setting of the second lifting member and the first connecting member on the second connecting shaft, the axial movement of the second lifting member and the first connecting member on the second connecting shaft can be further restricted by the second connecting member.

[0034] In some embodiments, the transmission assembly further includes a third connecting shaft, the axial direction of the third connecting shaft is parallel to the axial direction of the driving shaft, the third connecting shaft is configured to be mounted on the base, the second connecting member is rotatably connected to the third connecting shaft, so that the second connecting member is rotatably mounted on the base via the third connecting shaft, and the second connecting member drives the second connecting shaft to swing relative to the base around the third connecting shaft. Furthermore, since the axial direction of the third connecting shaft is parallel to the axial direction of the driving shaft, when the second connecting shaft swings relative to the base around the third connecting shaft, it can also be ensured that the second connecting shaft can swing relative to the base in the same direction as the rotation direction of the first connecting shaft.

[0035] In some embodiments, the transmission assembly further comprises a third connecting member, one end of the third connecting member is rotatably connected to the driving shaft, and the other end of the third connecting member is rotatably connected to the first connecting shaft, and the first connecting member, the second connecting member and the third connecting member form a second connecting rod mechanism;

[0036] When the first connecting shaft rotates around the driving shaft, it can drive the two ends of the third connecting member and the first lifting member that are separated from each other to swing towards or away from each other relative to the supporting platform, so as to change the angle between the third connecting member and the first lifting member, and then change the height of the end of the first lifting member connected to the supporting platform on the base, so that the supporting platform can switch between the lowered position and the lifting position.

[0037] In some embodiments, the lifting mechanism further includes a shielding member, which is installed on the same side of the sun gear and the planetary gear and shields a portion of the structure of at least one of the sun gear and the planetary gear.

[0038] By shielding the shielding member, it is possible to prevent a portion of the structure of at least one of the sun gear and the planetary gear from being exposed on the outer surface of the transporting equipment, thereby improving the safety of the transporting equipment.

[0039] In some embodiments, the lifting mechanism further comprises a connecting frame and an inner gear ring bracket, and the planetary inner gear ring is arranged on the inner gear ring bracket;

[0040] One end of the connecting frame is rotatably connected to the inner gear ring bracket, and the other end is rotatably connected to the supporting platform or the second lifting member.

[0041] By providing the connecting frame, the structural stability of the first connecting rod mechanism and the second connecting rod mechanism during movement can be enhanced, so that the lifting mechanism can be stably switched between the lowering position and the lifting position.

[0042] In some embodiments, the lifting mechanism also includes a fourth connecting shaft, which is installed on the side of the support platform facing the lifting assembly, and the connecting frame and the second lifting member are both rotatably connected to the fourth connecting shaft to achieve a rotational connection between the connecting frame and the second lifting member through the fourth connecting shaft.

[0043] In some embodiments, the planetary inner gear ring has an arc-shaped meshing rack, and the planetary gear meshes with the meshing rack;

[0044] When the planetary gear rotates around the sun gear, it can roll along the meshing rack so that the planetary gear is always meshed with the planetary internal gear ring and the sun gear.

[0045] In some embodiments, the lifting mechanism includes two transmission assemblies and two lifting assemblies, the two transmission assemblies are distributed at both ends of the drive shaft in the axial direction, and the two transmission assemblies are respectively provided with a lifting assembly;

[0046] The planetary gear in the transmission assembly is movably connected with the first lifting member and the first connecting member in the corresponding lifting assembly.

[0047] In this way, when the drive shaft rotates, it can drive the two transmission components and the lifting components to move in the same direction at the same time, so that the support platform can switch between the lowered position and the lifting position with the cooperation of the two lifting components and the corresponding transmission components, so as to enhance the stability of the support platform when switching positions.

[0048] Since the movement of the two lifting components is controlled by the corresponding transmission components, and the movement of the two transmission components is independent of each other, the movement of the two lifting components is also independent of each other and no long shaft transmission is required between them. Such an arrangement can shorten the length of the first connecting shaft, the second connecting shaft, the third connecting shaft, etc., thereby reducing the rotation space of the first connecting shaft and the swing space of the second connecting shaft, so that at least in the space between the two corresponding second connecting shafts, some components of the handling equipment can be arranged on the base, which can increase the accommodation space of some components of the handling equipment and is conducive to the miniaturization of the handling equipment.

[0049] In some embodiments, the lifting mechanism further includes a fourth connecting member, which is disposed between the two lifting assemblies to connect the two lifting assemblies.

[0050] By providing the fourth connecting member, the structural stability of the lifting assembly during movement can be enhanced, so as to ensure the stability of the supporting platform during position switching.

[0051] In some embodiments, the driving device further comprises a motor and a driving assembly, wherein the driving assembly is disposed at the middle or end of the driving shaft and connected to the motor;

[0052] The driving assembly is configured to drive the driving shaft to rotate under the drive of the motor.

[0053] With such an arrangement, the drive shaft can rotate under the drive of the motor and the drive assembly, and drive the sun gear to rotate, so that the sun gear can drive the planetary gears to rotate and rotate around the sun gear (ie, revolve).

[0054] In some embodiments, the driving assembly includes a chain driving assembly or a belt driving assembly to make the structure of the lifting mechanism more diversified, so as to meet the diversified structural design of the handling equipment.

[0055] In some embodiments, the driving device further includes a reducer connected between the motor and the driving assembly.

[0056] The reducer can increase the torque of the motor, reduce the speed of the motor, reduce noise and vibration, and thus improve the service life, stability and safety of the handling equipment.

[0057] In a second aspect, an embodiment of the present application provides a transport device, which includes a chassis, a walking mechanism and a lifting mechanism as described above, wherein the walking mechanism and the lifting mechanism are both arranged on a base.

[0058] By setting the lifting mechanism in the handling equipment, the lifting mechanism changes the height of the handling equipment by its own lifting, so that the handling equipment can carry the load to a designated location, or it is convenient for the handling equipment to carry the load to a designated location and then detach from the load to continue to carry the next load. In addition, by using the planetary gear in the lifting mechanism as the drive of the lifting assembly, the output torque of the driving device can be increased, so that when the load of the handling device of the present application is the same, a driving device with a smaller power can be selected to output a larger output torque, thereby improving the transmission efficiency of the driving device and the lifting mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0060] Figure 1 A structural schematic diagram of a lifting mechanism provided in an embodiment of the present application in a lowered position at a first viewing angle;

[0061] Figure 2 A structural schematic diagram of a lifting mechanism provided in an embodiment of the present application in a lowered position at a second viewing angle;

[0062] Figure 3 A partial schematic diagram of a lifting mechanism provided by an embodiment of the present application in a lowered position at a third viewing angle;

[0063] Figure 4 A partial schematic diagram of a lifting mechanism provided by an embodiment of the present application in a lifting position at a first viewing angle;

[0064] Figure 5 A partial schematic diagram of a lifting mechanism provided by an embodiment of the present application in a lifting position at a second viewing angle;

[0065] Figure 6 for Figure 1 A partial schematic diagram of the lifting mechanism;

[0066] Figure 7 for Figure 4 A partial schematic diagram of the lifting mechanism;

[0067] Figure 8 for Figure 5 Partial schematic diagram of the lifting mechanism.

[0068] Reference numerals:

[0069] 100-lifting mechanism;

[0070] 1-support platform; 11-support surface; 12-non-support surface; 13-through hole;

[0071] 2-driving device; 21-driving shaft; 22-motor; 23-reducing machine; 24-transmission wheel;

[0072] 3-lifting assembly; 31-first lifting member; 32-second lifting member; 33-first connecting shaft; 331-limiting groove; 34-second connecting shaft; 35-first connecting member;

[0073] 4-transmission assembly; 41-sun gear; 42-planetary gear; 43-planetary inner gear ring; 431-meshing rack; 44-second connecting member; 45-third connecting member; 46-third connecting shaft;

[0074] 5- fourth connecting axis;

[0075] 6- fifth connecting shaft;

[0076] 7- fourth connecting member;

[0077] 8- shielding member;

[0078] 20-connecting frame;

[0079] 30-Inner ring gear bracket. DETAILED DESCRIPTION

[0080] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0081] The embodiment of the present application provides a transport device. The transport device may include an automatic transport vehicle such as a latent AGV having a lifting mechanism 100. The structure of the transport device is further described below using the latent AGV as an example.

[0082] Handling equipment is an industrial vehicle that loads goods automatically or manually, drives automatically along a set route or carries the load to a designated location, and then loads and unloads the load automatically or manually. For example, the load can be goods, shelves, etc.

[0083] The handling equipment comprises a chassis, a walking mechanism, a lifting mechanism 100 and a supporting plate, wherein the walking mechanism and the lifting mechanism 100 are both arranged on a base. The supporting plate is arranged on a side of the lifting mechanism 100 away from the base, and is used to support the load.

[0084] The walking mechanism can drive the base and the lifting mechanism 100 to walk, so that the transport device can automatically travel along a set route or transport the load to a designated location. For example, the walking mechanism can include a walking wheel and a walking motor 22 that drives the walking wheel to walk.

[0085] The lifting mechanism 100 is a core and essential component of the handling equipment. For the lurking automated guided vehicle (AGV), the lifting mechanism 100 can be said to be a core and essential mechanism of the lurking AGV. It can change the height of the handling equipment by its own lifting and lowering, so that the handling equipment can transport the load to the designated location, or it can facilitate the handling equipment to transport the load to the designated location and detach from the load to continue to transport the next load.

[0086] For example, taking the lurking AGV as an example, when transporting a load, the transport equipment will lurk at the bottom of the load (such as a shelf), and the lifting mechanism 100 can rise so that the support plate rests against the bottom of the load, so that when the walking mechanism moves, the transport equipment can drive the load to automatically travel along the set route or transport the load to a designated location.

[0087] Accordingly, after the transporting equipment transports the load to the designated location, the lifting mechanism 100 can be lowered to separate the support plate from the bottom of the load, so that the transporting equipment can continue to transport the next load.

[0088] At present, the mainstream application of the lifting mechanism 100 industry is the four-link lifting mechanism 100. Mainstream manufacturers all use the four-link lifting mechanism 100 with the help of a crank connecting rod for driving, but the crank connecting rod transmission has a high and low efficiency range, so this method will lead to the lifting mechanism 100 generally having a low transmission efficiency problem, which cannot be solved.

[0089] To this end, the embodiment of the present application provides a lifting mechanism 100. Through the arrangement of the lifting assembly 3, the driving shaft 21 in the driving device 2, and the sun gear 41, the planetary gear 42 and the planetary inner gear ring 43 in the transmission assembly 4 in the lifting mechanism 100, the driving shaft 21 can drive the sun gear 41 to rotate when driving. When the sun gear 41 rotates, the planetary gear 42 rotates around the sun gear 41 while driving the planetary gear 42. When the planetary gear 42 rotates around the sun gear 41, the lifting assembly 3 can be driven to rise and fall, so as to realize the lifting mechanism 100. In this way, the planetary gear 42 is used as the driving force of the lifting assembly 3, and the torque transmitted to the planetary gear 42 by the sun gear 41 can achieve the effect of reducing speed and increasing torque, that is, the effect of reducing the speed of the driving shaft 21 and increasing the output torque is achieved, so that the power of the driving device 2 required by the handling equipment is smaller when the load is the same, and the transmission efficiency of the driving device 2 and the lifting mechanism 100 can be improved.

[0090] The structure of the lifting mechanism 100 provided in the embodiment of the present application is further described below in conjunction with the drawings and embodiments.

[0091] Figures 1 to 3 The schematic diagrams of the structure of the lifting mechanism 100 at different viewing angles when the lifting mechanism 100 is in the lowered position are shown respectively.

[0092] See also Figures 1 to 3 The lifting mechanism 100 includes a support platform 1. The support platform 1 is used to support the support plate. The support platform 1 has a support surface 11 and a non-support surface 12 in the thickness direction. The support surface 11 is used to support the support plate.

[0093] See also Figure 1 and Figure 2 The lifting mechanism 100 further includes a driving device 2, which includes a driving shaft 21, and the driving shaft 21 is arranged at the bottom of the supporting platform 1. The bottom of the supporting platform 1 refers to the side of the non-supporting surface 12 away from the supporting surface 11.

[0094] The lifting mechanism 100 also includes a lifting device, which includes a lifting assembly 3. The lifting assembly 3 is arranged at the bottom of the support platform 1. The lifting assembly 3 includes a first lifting member 31, a second lifting member 32 and a first connecting member 35. The first connecting member 35 is movably connected to one end of the first lifting member 31 and the second lifting member 32 respectively. The ends of the first lifting member 31 and the second lifting member 32 that are away from the first connecting member 35 are both movably connected to the support platform 1. In addition, the first lifting member 31, the second lifting member 32, the first connecting member 35 and the support platform 1 form a first connecting rod mechanism. The first connecting rod mechanism can be a four-bar linkage mechanism. The first lifting member 31, the second lifting member 32 and the first connecting member 35 can be regarded as movable components in the first connecting rod mechanism, and the support platform 1 can be regarded as a fixed component in the first connecting rod mechanism.

[0095] See also Figure 1 and Figure 3 The lifting device further includes a transmission assembly 4, which includes a sun gear 41, a planetary gear 42 and a planetary inner gear ring 43. The sun gear 41 is disposed on the drive shaft 21, and the planetary gear 42 is meshed between the sun gear 41 and the planetary inner gear ring 43. At this time, one side of the planetary gear 42 is meshed with the sun gear 41, and the other side is meshed with the planetary inner gear ring 43. The sun gear 41 is configured to rotate when the drive shaft 21 rotates, so as to drive the planetary gear 42 to rotate and rotate around the sun gear 41.

[0096] Specifically, since one side of the planetary gear 42 is meshed with the sun gear 41, when the sun gear 41 rotates, the planetary gear 42 is driven to rotate. At the same time, since the other side of the planetary gear 42 is meshed with the planetary inner gear ring 43, under the driving force of the planetary gear 42 rotating, the planetary gear 42 will roll on the planetary inner gear ring 43 in the same direction as the rotation of the sun gear 41, so that the planetary gear 42 rotates around the sun gear 41. The rotation of the planetary gear 42 around the sun gear 41 can be understood as the revolution of the planetary gear 42.

[0097] Figure 4 and Figure 5 The schematic diagrams of the structure of the lifting mechanism 100 at different viewing angles when the lifting mechanism 100 is in the lifting position are shown respectively.

[0098] See also Figure 1 , Figure 4 and Figure 5 , the first lifting member 31 and the first connecting member 35 are both movably connected to the planetary gear 42. The planetary gear 42 is configured to drive at least one of the first lifting member 31 and the first connecting member 35 to move relative to the support platform 1 and adjust the support height of the support platform 1 when rotating around the sun gear 41. In other words, when the planetary gear 42 rotates around the sun gear 41, it can drive the first lifting member 31 or the first connecting member 35 to move relative to the support platform 1. Alternatively, when the planetary gear 42 rotates around the sun gear 41, it can drive the first lifting member 31 and the first connecting member 35 to move relative to the support platform 1 at the same time.

[0099] For a four-bar linkage, the components may include a movable component and a fixed component. In a four-bar linkage, when any movable component moves, the movement directions of the remaining components are also determined accordingly.

[0100] Since the first lifting member 31, the second lifting member 32, the first connecting member 35 and the supporting platform 1 form a first connecting rod mechanism, and the first lifting member 31, the second lifting member 32 and the first connecting member 35 are movable components in the first connecting rod mechanism, when any one of the first lifting member 31 and the first connecting member 35 moves relative to the supporting platform 1, the supporting platform 1 will also move accordingly, and the direction of movement is determined.

[0101] Therefore, when the planetary gear 42 rotates around the sun gear 41 and drives at least one of the first lifting member 31 and the first connecting member 35 to move relative to the supporting platform 1, the position of the supporting platform 1 can be changed, thereby adjusting the supporting height of the supporting platform 1 to achieve the lifting and lowering of the lifting mechanism 100.

[0102] In this way, the planetary gear 42 will serve as the drive of the lifting assembly 3. Due to the arrangement of the drive shaft 21, the sun gear 41, the planetary gear 42 and the planetary inner ring gear 43, the torque transmitted from the sun gear 41 to the planetary gear 42 can achieve the effect of reducing speed and increasing torque. Compared with the lifting assembly 3 in the existing lifting mechanism 100 that adopts a non-planetary gear 42 drive mode, when the torque transmitted from the sun gear 41 to the planetary gear 42 achieves the effect of reducing speed and increasing torque, the embodiment of the present application can achieve the effect of reducing the speed of the drive shaft 21 and increasing the output torque. In this way, the output torque of the drive device 2 can be increased, so that when the load is the same, the handling device of the present application can select a smaller power drive device 2 to output a larger output torque, thereby improving the transmission efficiency of the drive device 2 and the lifting mechanism 100.

[0103] It should be noted that the principle of "through the arrangement of the drive shaft 21, the sun gear 41, the planetary gear 42 and the planetary inner gear ring 43, the torque transmitted from the sun gear 41 to the planetary gear 42 can achieve the effect of reducing speed and increasing torque" mentioned above can be referred to the working principle of the planetary reducer 23. No further elaboration will be made in the embodiments of the present application.

[0104] See also Figure 3 The planetary inner gear ring 43 has an arc-shaped meshing rack 431, and the planetary gear 42 meshes with the meshing rack 431. When the planetary gear 42 rotates around the sun gear 41, it can roll along the meshing rack 431, so that the planetary gear 42 is always meshed with the planetary inner gear ring 43 and the sun gear 41.

[0105] It should be noted that the arc-shaped design of the meshing rack 431 can refer to the relevant design in the planetary reducer 23, and will not be repeated in this application.

[0106] See also Figure 3 The driving device 2 also includes a motor 22 and a driving component. The driving component is arranged at the middle or end of the driving shaft 21 and is connected to the motor 22. Figure 3 2 shows a structure in which the drive assembly is arranged in the middle of the drive shaft 21. In some embodiments, the drive assembly is also arranged at the end of the drive shaft 21. This will be further described below in conjunction with the number of transmission assemblies 4, and will not be repeated here.

[0107] The drive assembly is configured to drive the drive shaft 21 to rotate under the drive of the motor 22. In this configuration, the drive shaft 21 can rotate under the drive of the motor 22, and drive the sun gear 41 to rotate, so that the sun gear 41 can drive the planetary gear 42 to rotate and rotate around the sun gear 41 (i.e., revolve).

[0108] See also Figure 3The chain drive assembly may include a transmission member and two transmission wheels 24. One of the two transmission wheels 24 is connected to the output shaft of the motor 22, and the other is connected to the drive shaft 21. The transmission member is sleeved on the opposite sides of the two transmission wheels 24. Under the drive of the motor 22, the output shaft of the motor 22 will rotate and drive the connected transmission wheel 24 to rotate, and under the drive of the transmission member, the transmission wheel 24 connected to the drive shaft 21 and the drive shaft 21 will be driven to rotate.

[0109] For example, the driving assembly may be a chain driving assembly or a belt driving assembly, etc., so as to make the structure of the lifting mechanism 100 more diversified, so as to meet the design of the diversified structure of the handling equipment. When the driving assembly is a chain driving assembly, the transmission wheel 24 may be a transmission gear, and the transmission member may be a transmission chain. When the driving assembly is a belt driving assembly, the transmission wheel 24 may be a transmission pulley, and the transmission member may be a transmission belt.

[0110] In some embodiments, the driving device 2 may further include a reducer 23. The reducer 23 is connected between the motor 22 and the driving assembly. Specifically, the input end of the reducer 23 is connected to the output shaft of the motor 22, and the output end of the reducer 23 is connected to a transmission wheel 24 of the driving assembly. By setting the reducer 23, the torque of the motor 22 can be increased, the speed of the motor 22 can be reduced, and the noise and vibration can be reduced, thereby improving the service life, stability and safety of the handling equipment.

[0111] Figure 6 Shows Figure 1 A partial schematic diagram of the lifting mechanism 100, Figure 7 for Figure 4 A partial schematic diagram of the lifting mechanism 100.

[0112] See also Figure 6 and Figure 7 The end of the first lifting member 31 connected to the first connecting member 35 is the first connecting end. The end of the second lifting member 32 connected to the first connecting member 35 is the second connecting end.

[0113] The planetary gear 42 is configured to drive the first connection end to swing relative to the support platform 1 while rotating in two opposite directions around the sun gear 41, and can also drive the second connection end to swing relative to the support platform 1 through the first connection member 35, so that the support platform 1 switches between the lowered position and the lifting position. The second connection end has the same swinging direction as the first connection end. The support height of the support platform 1 in the lifting position is higher than the support height of the support platform 1 in the lowered position.

[0114] It should be understood that the drive shaft 21 can be controlled to rotate in two different directions by the drive device 2, so that the drive shaft 21 can drive the sun gear 41 to rotate in a first direction and a second direction. The first direction and the second direction can be understood as the two opposite directions mentioned above. For example, the first direction can be referred to as the W direction, and the second direction can be referred to as the V direction.

[0115] For example, see Figure 6 When the support platform 1 is in the descending position, the sun gear 41 can rotate in the first direction, and the planetary gear 42 will rotate around the sun gear 41 in the first direction and roll on the planetary inner gear ring 43. When the planetary gear 42 rotates around the sun gear 41, it will drive the first connecting end connected to it to swing in the direction away from the support platform 1, and can also drive the second connecting end to swing in the direction away from the support platform 1 through the first connecting member 35, so that the support platform 1 is switched from the descending position to the lifting position (such as Figure 7 shown).

[0116] For example, see Figure 7 When the support platform 1 is in the lifting position, the sun gear 41 can rotate in the second direction, and the planetary gear 42 will rotate around the sun gear 41 in the second direction and roll on the planetary inner gear ring 43. When the planetary gear 42 rotates around the sun gear 41, it will drive the first connecting end connected to it to swing in the direction close to the support platform 1, and can also drive the second connecting end to swing in the direction close to the support platform 1 through the first connecting member 35, so that the support platform 1 switches from the lifting position to the lowering position (such as Figure 6 shown).

[0117] Therefore, the present application can realize the switching of the support platform 1 between the lowered position and the lifted position by controlling the rotation direction of the planetary gear 42 around the sun gear 41 , thereby adjusting the support height of the support platform 1 .

[0118] Figure 8 Shows Figure 5 A partial schematic diagram of the lifting mechanism 100.

[0119] See also Figure 5 and Figure 8 In some embodiments, the lifting assembly 3 further includes a first connecting shaft 33. The first connecting shaft 33 is disposed on the side of the driving shaft 21 facing the supporting platform 1. The first connecting end is rotatably connected to the first connecting shaft 33, and the first connecting shaft 33 is inserted into the planetary gear 42, and the planetary gear 42 can rotate relative to the first connecting shaft 33, so that when the sun gear 41 rotates under the drive of the driving shaft 21, the planetary gear 42 can rotate under the drive of the sun gear 41.

[0120] The planetary gear 42 is configured to drive the first connecting shaft 33 to rotate around the drive shaft 21 when rotating around the sun gear 41, and drive the first connecting end to swing relative to the support platform 1 through the first connecting shaft 33. Since the first connecting shaft 33 is inserted into the planetary gear 42, when the planetary gear 42 rotates around the sun gear 41, the planetary gear 42 will drive the first connecting shaft 33 to rotate at the same time, and the rotation direction of the first connecting shaft 33 around the drive shaft 21 is the same as the rotation direction of the planetary gear 42 relative to the sun gear 41, and the first connecting shaft 33 and the planetary gear 42 rotate coaxially.

[0121] Since one end of the first lifting member 31 is movably connected to the supporting platform 1, and the first connecting end is rotatably connected to the first connecting shaft 33, when the planetary gear 42 rotates in opposite directions around the sun gear 41, the embodiment of the present application can swing the first connecting end toward or away from the supporting platform 1 through the drive of the first connecting shaft 33, so as to facilitate the switching of the supporting platform 1 between the lifting position and the lowering position.

[0122] For example, when the lifting mechanism 100 is in the descending position, the sun gear 41 can rotate in the first direction, and the first connecting shaft 33 will rotate in the first direction around the sun gear 41 driven by the planetary gear 42. At this time, due to the rotation of the first connecting shaft 33, the first connecting end connected thereto will be driven to swing in the direction away from the supporting platform 1, so that the supporting platform 1 is switched from the descending position to the lifting position.

[0123] For another example, when the lifting mechanism 100 is in the lifting position, when the sun gear 41 rotates in the second direction, the first connecting shaft 33 will rotate in the second direction around the sun gear 41 driven by the planetary gear 42. At this time, due to the rotation of the second connecting shaft 34, the connected first connecting end will be driven to swing toward the direction close to the supporting platform 1, so that the supporting platform 1 switches from the lifting position to the lowering position.

[0124] See also Figure 8 The axial direction of the first connecting shaft 33 is parallel to the axial direction of the driving shaft 21, and the first connecting shaft 33 is rotatably arranged on the driving shaft 21, so that the first connecting shaft 33 can rotate around the driving shaft 21 under the drive of the planetary gear 42. In this way, when the first connecting shaft 33 rotates, it can drive the connected first connecting end to rotate at the same time, so as to realize the swing of the first connecting end relative to the supporting platform 1.

[0125] See also Figure 5 and Figure 8In some embodiments, one end of the first connecting member 35 adjacent to the first lifting member 31 is connected to the first connecting shaft 33. The end of the first connecting member 35 adjacent to the first lifting member 31 can be rotatably connected or fixedly connected to the first connecting shaft 33. The second connecting end is rotatably connected to the first connecting member 35. In this way, the first connecting member 35 can be connected between the first lifting member 31 and the second lifting member 32, and the second connecting end can rotate relative to the first connecting member 35, so that the first lifting member 31, the second lifting member 32, the first connecting member 35 and the supporting platform 1 form a first connecting rod mechanism.

[0126] The first connecting shaft 33 is configured to drive the first connecting member 35 to move toward or away from the second lifting member 32 relative to the support platform 1 when rotating around the driving shaft 21, so as to drive the second connecting end to swing relative to the support platform 1 through the first connecting member 35. With such a configuration, when the planetary gear 42 rotates in two opposite directions around the sun gear 41, the first connecting shaft 33 can drive the first connecting end to swing toward or away from the support platform 1 through the drive of the first connecting member 35, so that the support platform 1 can switch between the lifting position and the lowering position.

[0127] For example, when the lifting mechanism 100 is in the descending position, the first connecting shaft 33 will rotate in the first direction around the sun gear 41 driven by the planetary gear 42, and the first connecting shaft 33 will drive the first connecting member 35 to move toward the direction close to the second lifting member 32, and drive the connected second connecting end to swing in the direction away from the support platform 1, so that the support platform 1 switches from the descending position to the lifting position.

[0128] For another example, when the lifting mechanism 100 is in the lifting position, the first connecting shaft 33 will rotate in the second direction around the sun gear 41 driven by the planetary gear 42, and the first connecting shaft 33 will drive the first connecting member 35 to move in the direction away from the second lifting member 32, and drive the connected second connecting end to swing in the direction close to the supporting platform 1, so that the supporting platform 1 switches from the lifting position to the lowering position.

[0129] See also Figure 5 and Figure 8 The first connecting shaft 33 has a limiting groove 331 at a position corresponding to the first connecting end, and the first connecting end is arranged in the corresponding limiting groove 331 when it is sleeved on the first connecting shaft 33. In this way, while realizing the rotational connection between the first connecting end and the first connecting shaft 33, the limiting groove 331 can limit the axial movement of the first connecting end along the first connecting shaft 33 when the first connecting end swings relative to the supporting platform 1, so as to avoid interference between the first connecting end and the first connecting member 35.

[0130] It should be noted that the first connecting shaft 33, the second connecting shaft 34, the third connecting shaft 46, the drive shaft 21, etc. of the embodiment of the present application can be collectively referred to as shafts. The shaft may include a shaft body and a sleeve. The sleeve is sleeved on the shaft body, and a limiting groove 331 is formed on the circumference of a sleeve. Therefore, when there are multiple limiting grooves 331 on the shaft, multiple sleeves can be sleeved on the shaft body. Taking the first connecting shaft 33 as an example, when there are multiple limiting grooves 331 on the first connecting shaft 33, at least two sleeves can be sleeved on the shaft body of the first connecting shaft 33.

[0131] Correspondingly, when the end of the first connecting member 35 adjacent to the first lifting member 31 is rotatably connected to the first connecting shaft 33, a limiting groove 331 is provided on the first connecting shaft 33 at a position corresponding to the first connecting member 35. The end of the first connecting member 35 adjacent to the first lifting member 31 is sleeved on the first connecting shaft 33 and arranged in the corresponding second limiting groove 331. In this arrangement, while the first connecting member 35 is rotatably connected to the first connecting shaft 33, the limiting groove 331 can limit the axial movement of the first connecting member 35 along the first connecting shaft 33 when the first connecting member 35 moves relative to the second lifting member 32, so as to avoid interference between the first connecting member 35 and the first connecting end.

[0132] See also Figure 6 and Figure 8 In some embodiments, the lifting assembly 3 further includes a second connecting shaft 34. The second connecting shaft 34 is disposed on the side of the driving shaft 21 facing the second lifting member 32. One end of the first connecting member 35 adjacent to the second lifting member 32 and the second connecting end are rotatably connected through the second connecting shaft 34, so that the first connecting member 35 and the second connecting end are rotatably connected through the second connecting shaft 34. Among them, one end of the first connecting member 35 adjacent to the second lifting member 32 can be rotatably connected or fixedly connected to the second connecting shaft 34.

[0133] The second connecting shaft 34 is configured to swing relative to the base and drive the second connecting end to swing relative to the supporting platform 1 when the first connecting member 35 moves relative to the supporting platform 1 toward or away from the second lifting member 32 .

[0134] It should be understood that, since one end of the first connecting member 35 adjacent to the second lifting member 32 and the second connecting end are rotatably connected via the second connecting shaft 34, when the first connecting member 35 moves toward or away from the second lifting member 32 relative to the support platform 1 driven by the first connecting shaft 33, the first connecting member 35 will drive the second connecting shaft 34 to swing relative to the base. Since one end of the second lifting member 32 is movably connected to the support platform 1, and the second connecting end is rotatably connected to the second connecting shaft 34, when the second connecting shaft 34 swings, it will drive the connected second connecting end to swing relative to the support platform 1.

[0135] Therefore, through the setting of the second connecting shaft 34, when the first connecting member 35 moves relative to the supporting platform 1 toward or away from the second lifting member 32, the first connecting member 35 can drive the second connecting end to swing toward or away from the supporting platform 1 through the second connecting shaft 34, so that the supporting platform 1 can switch between the lifting position and the lowered position.

[0136] See also Figure 6 and Figure 8 The second connecting shaft 34 has a limiting groove 331 at a position corresponding to the second connecting end, and the second connecting end is sleeved on the second connecting shaft 34 and arranged in the corresponding limiting groove 331. In this way, while the second connecting end is rotatably connected to the second connecting shaft 34, the limiting groove 331 can limit the axial movement of the second connecting end along the second connecting shaft 34 when the second lifting member 32 swings, so as to avoid the second connecting end from interfering with the first connecting member 35.

[0137] Correspondingly, when one end of the first connecting member 35 adjacent to the second lifting member 32 is rotatably connected to the second connecting shaft 34, the second connecting shaft 34 also has a limiting groove 331 at a position corresponding to the first connecting member 35, and one end of the first connecting member 35 adjacent to the second lifting member 32 is sleeved on the second connecting shaft 34 and arranged in the corresponding limiting groove 331. In this way, while the first connecting member 35 is rotatably connected to the second connecting shaft 34, the limiting groove 331 can limit the axial movement of the first connecting member 35 along the second connecting shaft 34 when the first connecting member 35 moves relative to the second lifting member 32, so as to avoid interference between the first connecting member 35 and the second connecting end.

[0138] See also Figure 8 In some embodiments, the axial direction of the second connecting shaft 34 can be parallel to the axial direction of the first connecting shaft 33, so that when the first connecting member 35 moves relative to the second lifting member 32, it can drive the second connecting shaft 34 to swing relative to the base in the same direction as the rotation direction of the first connecting shaft 33, thereby driving the second connecting end to swing in the same direction as the swing direction of the first connecting end. In this way, it can be ensured that the second connecting end and the first connecting shaft 33 swing towards or away from the support platform 1 at the same time, thereby realizing the switching of the support platform 1 between the lifting position and the lowering position.

[0139] See also Figure 8 In some embodiments, the transmission assembly 4 includes a second connecting member 44. One end of the second connecting member 44 is configured to be rotatably mounted on the base, and the other end is rotatably connected to the second connecting shaft 34, so that the second connecting shaft 34 is swingably arranged on the base, so that the second connecting shaft 34 swings relative to the base under the drive of the first connecting member 35.

[0140] It should be noted that when the second connecting shaft 34 swings relative to the base, the second connecting member 44 will also be driven to swing relative to the base at the same time.

[0141] The transmission assembly 4 may include one second connecting member 44. Alternatively, the transmission assembly 4 may include at least two second connecting members 44. The at least two second connecting members 44 are distributed at both ends of the second connecting shaft 34.

[0142] Figure 6 The figure shows that the transmission assembly 4 has two second connecting members 44, which does not limit the number of the second connecting members 44. In some embodiments, the number of the second connecting members 44 in the transmission assembly 4 can also be three, four, etc.

[0143] It should be noted that when the number of the second connecting members 44 in the transmission assembly 4 is an even number, the number of the second connecting members 44 at both ends of the second connecting shaft 34 can be equal. When the number of the second connecting members 44 in the transmission assembly 4 is an odd number, the number of the second connecting members 44 at one end of the second connecting shaft 34 can be more, and the number of the second connecting members 44 at the other end can be less.

[0144] Compared with the second connecting member 44 being arranged at one end of the second connecting shaft 34 , the embodiment of the present application arranges at least two second connecting members 44 distributed at both ends of the second connecting shaft 34 , thereby increasing the stability of the second connecting shaft 34 when rotating relative to the base and the rigidity of the second connecting shaft 34 .

[0145] When at least two second connecting members 44 are distributed at both ends of the second connecting shaft 34, the second lifting member 32 and the first connecting member 35 are arranged in the middle area of ​​the second connecting shaft 34. By limiting the arrangement positions of the second connecting member 44, the second lifting member 32 and the first connecting member 35 on the second connecting shaft 34, while realizing the arrangement of the second lifting member 32 and the first connecting member 35 on the second connecting shaft 34, the second connecting member 44 can further limit the movement of the second lifting member 32 and the first connecting member 35 in the axial direction of the second connecting shaft 34.

[0146] See also Figure 6 and Figure 8 The second connecting shaft 34 has a limiting groove 331 at a position corresponding to the second connecting member 44, and the second connecting member 44 is sleeved on the second connecting shaft 34 and arranged in the corresponding limiting groove 331. In this way, while the second connecting member 44 is rotatably connected to the second connecting shaft 34, the limiting groove 331 can limit the axial movement of the second connecting member 44 along the second connecting shaft 34 when the second connecting member 44 swings relative to the base, so as to avoid the second connecting end from interfering with the first connecting member 35.

[0147] See also Figure 6 and Figure 8In order to realize the rotational installation of the second connecting member 44 on the base, in some embodiments, the transmission assembly 4 may further include a third connecting shaft 46. The axial direction of the third connecting shaft 46 is parallel to the axial direction of the driving shaft 21. The third connecting shaft 46 is configured to be installed on the base, and the second connecting member 44 is rotationally connected with the third connecting shaft 46, so that the second connecting member 44 is rotationally installed on the base through the third connecting shaft 46, and the second connecting member 44 will drive the second connecting shaft 34 to swing relative to the base around the third connecting shaft 46. In addition, since the axial direction of the third connecting shaft 46 is parallel to the axial direction of the driving shaft 21, when the second connecting shaft 34 swings relative to the base around the third connecting shaft 46, it can also ensure that the second connecting shaft 34 can swing relative to the base in the same direction as the rotation direction of the first connecting shaft 33.

[0148] The third connecting shaft 46 has a limiting groove 331 at a position corresponding to the second connecting member 44, and one end of the second connecting member 44 adjacent to the base can be sleeved on the third connecting shaft 46 and arranged in the limiting groove 331. In this way, while the second connecting member 44 is rotatably connected to the third connecting shaft 46, the limiting groove 331 can limit the axial movement of the second connecting member 44 along the third connecting shaft 46 when the second connecting member 44 swings relative to the base, so as to avoid affecting the swing of the second connecting member 44.

[0149] See also Figure 6 and Figure 7 In some embodiments, the transmission assembly 4 may further include a third connecting member 45. One end of the third connecting member 45 is rotatably connected to the drive shaft 21, and the other end is rotatably connected to the first connecting shaft 33. For example, one end of the third connecting member 45 may be sleeved on the drive shaft 21, and the other end may be sleeved on the first connecting shaft 33, so as to realize the rotatable connection between the third connecting member 45 and the first connecting shaft 33 and the drive shaft 21.

[0150] The first connecting member 35 , the second connecting member 44 and the third connecting member 45 form a second link mechanism.

[0151] The second connecting rod mechanism also includes a base. The base can be regarded as a fixed component of the second connecting rod mechanism. The second connecting rod mechanism can also be understood as another four-link mechanism in the lifting mechanism 100.

[0152] By setting the third connecting member 45, the first connecting shaft 33 is connected to the drive shaft 21 and the first connecting shaft 33 can rotate relative to the drive shaft 21 and the sun gear 41. At the same time, the displacement of the planetary gear 42 relative to the sun gear 41 in the radial direction of the sun gear 41 can be limited, so that the planetary gear 42 is always meshed with the sun gear 41 and the planetary inner ring 43.

[0153] It should be understood that when the first connecting shaft 33 rotates around the sun gear 41, the third connecting member 45 will be driven to swing relative to the base. The third connecting member 45 and the second connecting member 44 swing in the same direction.

[0154] When the first connecting shaft 33 rotates around the driving shaft 21, it can drive the two ends of the third connecting member 45 and the first lifting member 31 that are separated from each other to swing towards or away from each other relative to the supporting platform 1, so as to change the angle between the third connecting member 45 and the first lifting member 31, and further change the height of the end of the first lifting member 31 connected to the supporting platform 1 on the base (the installation height of the first connecting end on the base), so that the supporting platform 1 can switch between the lowered position and the lifting position.

[0155] For example, see Figure 6 and Figure 7 When the support platform 1 is in the descending position, the first connecting shaft 33 rotates in the first direction around the sun gear 41 driven by the planetary gear 42, and can drive the third connecting member 45 and the two ends of the first lifting member 31 that are separated from each other to swing in the direction away from each other relative to the support platform 1. At this time, the first connecting member 35 will move toward the side close to the second lifting member 32, and drive the second connecting member 44 and the two ends of the second lifting member 32 that are separated from each other to swing in the direction away from each other relative to the support platform 1 through the second connecting shaft 34, so that the support platform 1 switches from the descending position to the lifting position.

[0156] For example, see Figure 6 and Figure 7 When the support platform 1 is in the lifting position, the first connecting shaft 33 rotates in the second direction around the sun gear 41 driven by the planetary gear 42, and can drive the third connecting member 45 and the two ends of the first lifting member 31 that are separated from each other to swing toward each other relative to the support platform 1. At this time, the first connecting member 35 will move toward the side away from the second lifting member 32, and drive the second connecting member 44 and the two ends of the second lifting member 32 that are separated from each other to swing toward each other relative to the support platform 1 through the second connecting shaft 34, so that the support platform 1 switches from the lifting position to the lowering position.

[0157] See also Figure 7 When the supporting platform 1 is in the lifting position, the angle between the first lifting member 31 and the third connecting member 45 is a1.

[0158] See also Figure 6 When the supporting platform 1 is in the lowered position, the angle between the first lifting member 31 and the third connecting member 45 is a2.

[0159] Wherein, a1>a2. With such arrangement, when the support platform 1 is in the lifting position, it can ensure that the installation height of the first connection end on the base is relatively high, so that the support platform 1 is in the lifting position. When the support platform 1 is in the lowering position, it can ensure that the installation height of the first connection end on the base is relatively low, so that the support platform 1 is in the lowering position.

[0160] Therefore, the embodiment of the present application controls the rotation of the drive shaft 21 so that when the first connecting shaft 33 rotates in opposite directions driven by the planetary gear 42, the angle between the first lifting member 31 and the third connecting member 45 will change between a1 and a2, thereby enabling the support platform 1 to switch between the lifting position and the lowering position.

[0161] The angle between the second lifting member 32 and the second connecting member 44 is always equal to the angle between the first lifting member 31 and the second connecting member 44. This arrangement ensures that when the support platform 1 is in any position, the installation height of the first connecting end on the base is always equal to the installation height of the second connecting end on the base, so as to ensure that the support platform 1 is in a horizontal plane and enhance the stability of the support platform 1 structure.

[0162] See also Figure 5 The first lifting member 31, the first connecting member 35 and the planetary gear 42 are arranged at different positions in the axial direction of the first connecting shaft 33. Moreover, the planetary gear 42 is located at a position opposite to the first connecting shaft 33 and the sun gear 41 to ensure that the planetary gear 42 is meshed with the sun gear 41.

[0163] See also Figure 7 When the transmission assembly 4 includes a third connecting member 45 and the planetary gear 42 is located on the first connecting shaft 33, the end of the first connecting shaft 33 can penetrate and extend out of the planetary gear 42. At this time, the third connecting member 45 can be arranged at the end of the first connecting shaft 33 and at a side of the planetary gear 42 away from the first connecting shaft 33. In this way, through the arrangement of the third connecting member 45, the upward movement of the planetary gear 42 along the axial direction of the first connecting shaft 33 can be further restricted to ensure the meshing effect of the planetary gear 42 and the sun gear 41.

[0164] Alternatively, when the transmission assembly 4 includes a third connecting member 45 and the planetary gear 42 is located on the first connecting shaft 33, the end of the first connecting shaft 33 may also be inserted into the interior of the planetary gear 42 and not extend out of the planetary gear 42. In this case, the third connecting member 45 may be provided at the end of the first connecting shaft 33 and at the side of the planetary gear 42 facing the first connecting shaft 33.

[0165] Alternatively, the transmission assembly 4 may also include at least two third connecting members 45. In this case, the at least two third connecting members 45 may be distributed at both ends of the first connecting shaft 33.

[0166] Figure 6 The figure shows that the transmission assembly 4 has two third connecting members 45, which does not limit the number of the third connecting members 45. In some embodiments, the number of the third connecting members 45 in the transmission assembly 4 can also be three, four, etc. The arrangement of the two third connecting members 45 on the first connecting shaft 33 can refer to the relevant description of the second connecting member 44, which will not be repeated here.

[0167] Compared with the third connecting member 45 being arranged at one end of the first connecting shaft 33, the embodiment of the present application can increase the stability of the first connecting shaft 33 when rotating relative to the sun gear 41 and the rigidity of the first connecting shaft 33 by distributing at least two third connecting members 45 at both ends of the first connecting shaft 33.

[0168] When at least two third connecting members 45 are distributed at both ends of the first connecting shaft 33, the first lifting member 31 and the first connecting member 35 are arranged in the middle area of ​​the first connecting shaft 33. In this way, while the first lifting member 31 and the first connecting member 35 are arranged on the first connecting shaft 33, the movement of the first lifting member 31 and the first connecting member 35 in the axial direction of the first connecting shaft 33 can be further restricted by the third connecting members 45 at both ends.

[0169] See also Figure 5 and Figure 8 The first connecting shaft 33 has a seventh limiting groove 331 at a position corresponding to the third connecting member 45. When the third connecting member 45 is sleeved on the first connecting shaft 33, it can also be arranged in the corresponding limiting groove 331. The driving shaft 21 has an eighth limiting groove 331 at a position corresponding to the third connecting member 45. When the third connecting member 45 is sleeved on the driving shaft 21, it can also be arranged in the corresponding limiting groove 331. With such a configuration, while realizing the rotational connection between the third connecting member 45 and the first connecting shaft 33 and the driving shaft 21, the limiting groove 331 can limit the axial movement of the third connecting member 45 along the first connecting shaft 33 and the driving shaft 21 when the third connecting member 45 swings relative to the supporting platform 1, so as to avoid the third connecting member 45 from interfering with the first lifting member 31 on the first connecting shaft 33 and other structures on the driving shaft 21.

[0170] See also Figure 4 In some embodiments, the lifting mechanism 100 may further include a shielding member 8. Exemplarily, the shielding member 8 may be any structure that can play a shielding role, such as a shielding plate. The shielding member 8 is installed on the same side of the sun gear 41 and the planetary gear 42, and shields a part of the structure of at least one of the sun gear 41 and the planetary gear 42. Through the shielding of the shielding member 8, it is possible to prevent a part of the structure of at least one of the sun gear 41 and the planetary gear 42 from being exposed on the outer surface of the handling equipment, so as to improve the safety of the handling equipment.

[0171] The number of shielding members 8 may be one or more. For example, Figure 4 Two shielding members 8 are shown, one of which is fixed to the third connecting member 45, and the other shielding member 8 is fixed to the inner gear ring bracket 30 of the lifting mechanism 100. The inner gear ring bracket 30 is used to fix the planetary inner gear ring 43. The two shielding members 8 can jointly shield the sun gear 41 and the planetary gear 42 to further improve the safety of the handling equipment.

[0172] The shielding member 8 can be fixed to the third connecting member 45 or the inner gear ring bracket 30 by means of fasteners, clamping, bonding, etc. For example, the fasteners can be screws, bolts, etc.

[0173] See also Figure 1 and Figure 2 In some embodiments, the lifting mechanism 100 may further include a connecting frame 20 and an inner gear bracket 30, and the planetary inner gear 43 is disposed on the inner gear bracket 30. For example, the planetary inner gear 43 may be fixedly mounted on the inner gear bracket 30 by fasteners, clamping, etc., so that the positions of the planetary inner gear 43 and the inner gear bracket 30 are relatively fixed, so as to ensure the meshing effect of the sun gear 41, the planetary inner gear 43 and the sun gear 41.

[0174] One end of the connecting frame 20 is rotatably connected to the inner gear ring bracket 30, and the other end is rotatably connected to the support platform 1 or the second lifting member 32. For example, one end of the connecting frame 20 can be rotatably connected to the inner gear ring bracket 30 by a hinge, and the other end of the connecting frame 20 can also be rotatably connected to the support platform 1 or the second lifting member 32 by a hinge.

[0175] By disposing the connecting frame 20, the structural stability of the first link mechanism and the second link mechanism during movement can be enhanced, so that the lifting mechanism 100 can be stably switched between the lowering position and the lifting position.

[0176] See also Figure 6 and Figure 8 The lifting mechanism 100 may further include a fourth connecting shaft 5, which is installed on the side of the support platform 1 facing the lifting mechanism 100 (non-support surface 12). The connecting frame 20 and the second lifting member 32 are both rotatably connected to the fourth connecting shaft 5, so that the connecting frame 20 and the second lifting member 32 are rotatably connected through the fourth connecting shaft 5. In addition, the second lifting member 32 and the support platform 1 can also be movably connected through the fourth connecting shaft 5.

[0177] For example, the ends of the connecting frame 20 and the second lifting member 32 close to each other can be sleeved on the fourth connecting shaft 5, so that the connecting frame 20 and the second lifting member 32 are both connected to the rotation of the fourth connecting shaft 5. At this time, the rotation connection between the connecting frame 20 and the second lifting member 32 and the fourth connecting shaft 5 can be understood as a hinge.

[0178] It should be noted that the lifting mechanism 100 may further include a fifth connecting shaft 6, which is mounted on the side of the support platform 1 facing the lifting assembly 3 (non-support surface 12). The first lifting member 31 is rotatably connected to the fifth connecting shaft 6 to achieve a movable connection between the first lifting member 31 and the support platform 1.

[0179] In some embodiments, the lifting mechanism 100 may include a transmission assembly 4 and a lifting assembly 3. Since a through hole 13 is usually provided in the middle of the support platform 1, the lifting assembly 3 may be provided on the diagonal line of the support platform 1 to ensure the stability of the support platform 1 when the position is switched. At this time, the driving assembly may be provided at the end of the driving shaft 21.

[0180] See also Figure 3 In other embodiments, the lifting mechanism 100 may also include two transmission assemblies 4 and two lifting assemblies 3. That is to say, the lifting mechanism 100 may include two lifting devices. At this time, the two transmission assemblies 4 may be distributed at both ends of the drive shaft 21 in the axial direction, and the two transmission assemblies 4 are respectively provided with a lifting assembly 3. The planetary gear 42 in the transmission assembly 4 is movably connected with the first lifting member 31 and the first connecting member 35 in the corresponding lifting assembly 3. In this way, when the drive shaft 21 rotates, it can drive the two transmission assemblies 4 and the lifting assembly 3 to move in the same direction at the same time, so that the support platform 1 can switch between the lowering position and the lifting position under the cooperation of the two lifting assemblies 3 and the corresponding transmission assembly 4, so as to enhance the stability of the support platform 1 when the position is switched.

[0181] Moreover, compared with the lifting mechanism 100 including one transmission assembly 4 and one lifting assembly 3, when the lifting mechanism 100 includes two transmission assemblies 4 and two lifting assemblies 3, the transmission assembly 4 and the lifting assembly 3 can be arranged on both side edges of the base, so that some components of the handling equipment can be arranged between the two transmission assemblies 4 on the base. In this way, while the size of the lifting mechanism 100 and the handling equipment is not changed, some components of the handling equipment can be placed between the two lifting devices when they are arranged on the base. For example, the driving device 2, controller, power supply and other components of the handling equipment can be placed between the two transmission assemblies 4 when they are arranged on the base.

[0182] In addition, since the movements of the two lifting assemblies 3 are controlled by the corresponding transmission assemblies 4, and the movements of the two transmission assemblies 4 are independent of each other, the movements of the two lifting assemblies 3 are also independent of each other and no long shaft transmission is required between them. Such an arrangement can shorten the length of the first connecting shaft 33, the second connecting shaft 34, the third connecting shaft 46, etc., thereby reducing the rotation space of the first connecting shaft 33 and the swing space of the second connecting shaft 34, so that at least some components of the handling equipment can be arranged in the space between the corresponding two second connecting shafts 34, which can increase the accommodation space of some components of the handling equipment and is conducive to the miniaturization of the handling equipment.

[0183] See also Figure 7 In some embodiments, the lifting mechanism 100 may further include a fourth connecting member 7. The fourth connecting member 7 is disposed between the two lifting assemblies 3 to connect the two lifting assemblies 3. By providing the fourth connecting member 7, the structural stability of the lifting assembly 3 during movement can be enhanced, so that the support platform 1 can be stable when switching positions.

[0184] When the lifting mechanism 100 includes a fourth connecting member 7, the fourth connecting member 7 can be disposed between the second lifting members 32 of the two lifting assemblies 3 to connect the two second lifting members 32. Alternatively, the fourth connecting member 7 can also be disposed between the first lifting members 31 of the two lifting assemblies 3 to connect the two first lifting members 31.

[0185] See also Figure 7 The lifting mechanism 100 may further include two fourth connecting members 7 , one of which may be disposed between the two first lifting members 31 to connect the two first lifting members 31 , and the other may be disposed between the two second lifting members 32 to connect the two second lifting members 32 .

[0186] In summary, the handling equipment of the embodiment of the present application is provided with a lifting mechanism 100, so that when the load is the same, the handling device of the present application can select a smaller power driving device 2 to output a larger output torque, thereby improving the transmission efficiency of the driving device 2 and the lifting mechanism 100.

[0187] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0188] In the description of the present application, it should be understood that the terms "include" and "have" and any variations thereof used herein are intended to cover non-exclusive inclusions. For example, a process, method, display structure, product or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products or apparatuses.

[0189] The term "and / or" used in this application is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0190] Unless otherwise expressly specified and limited, the terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or integrated; it can be directly connected or indirectly connected through an intermediate medium, which can enable the internal connectivity of two elements or the interaction relationship between the two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In addition, the terms "first", "second", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features.

[0191] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A lifting mechanism, characterized in that: include: Support platform (1); A driving device (2), comprising a driving shaft (21), wherein the driving shaft (21) is arranged at the bottom of the supporting platform (1); A lifting assembly (3) is arranged at the bottom of the support platform (1); the lifting assembly (3) comprises a first lifting member (31), a second lifting member (32) and a first connecting member (35), wherein the first connecting member (35) is movably connected to one end of the first lifting member (31) and the second lifting member (32) respectively; one end of the first lifting member (31) and the second lifting member (32) facing away from the first connecting member (35) are both movably connected to the support platform (1), and the first lifting member (31), the second lifting member (32), the first connecting member (35) and the support platform (1) form a first connecting rod mechanism, and the first connecting rod mechanism is a four-link mechanism; A transmission assembly (4), comprising a sun gear (41), a planetary gear (42) and a planetary inner gear ring (43), wherein the sun gear (41) is arranged on the drive shaft (21), and the planetary gear (42) is meshed between the sun gear (41) and the planetary inner gear ring (43); wherein the sun gear (41) is configured to rotate when the drive shaft (21) rotates, so as to drive the planetary gear (42) to rotate and roll on the planetary inner gear ring (43) in the same direction as the rotation of the sun gear (41), so that the planetary gear (42) rotates around the sun gear (41); The first lifting member (31) and the first connecting member (35) are both movably connected to the planetary gear (42); the planetary gear (42) is constructed so as to be able to drive at least one of the first lifting member (31) and the first connecting member (35) to move relative to the support platform (1) and adjust the support height of the support platform (1) when rotating around the sun gear (41).

2. The lifting mechanism according to claim 1, characterized in that: One end of the first lifting member (31) connected to the first connecting member (35) is a first connecting end, and one end of the second lifting member (32) connected to the first connecting member (35) is a second connecting end; The planetary gear (42) is configured to, when rotating around the sun gear (41) in two opposite directions, drive the first connection end to swing relative to the support platform (1), and can also drive the second connection end to swing relative to the support platform (1) through the first connection member (35), so that the support platform (1) switches between a lowered position and a lifted position; the second connection end and the first connection end have the same swinging direction; The supporting height of the supporting platform (1) when it is in the lifting position is higher than the supporting height of the supporting platform (1) when it is in the lowering position.

3. The lifting mechanism according to claim 2, characterized in that: The lifting assembly (3) further comprises a first connecting shaft (33), wherein the first connecting shaft (33) is arranged on a side of the driving shaft (21) facing the supporting platform (1); The first connecting end is rotatably connected to the first connecting shaft (33), the first connecting shaft (33) is inserted into the planetary gear (42), and the planetary gear (42) can rotate relative to the first connecting shaft (33); The planetary gear (42) is configured to drive the first connecting shaft (33) to rotate around the driving shaft (21) when rotating, and to drive the first connecting end to swing relative to the supporting platform (1) through the first connecting shaft (33).

4. The lifting mechanism according to claim 3, characterized in that: The axial direction of the first connecting shaft (33) is parallel to the axial direction of the driving shaft (21), and the first connecting shaft (33) is rotatably arranged on the driving shaft (21).

5. The lifting mechanism according to claim 4, characterized in that: One end of the first connecting member (35) adjacent to the first lifting member (31) is connected to the first connecting shaft (33); the second connecting end is rotatably connected to the first connecting member (35); The first connecting shaft (33) is constructed so that when it rotates around the driving shaft (21), it can also drive the first connecting member (35) to move relative to the supporting platform (1) in a direction closer to or away from the second lifting member (32), so as to drive the second connecting end to swing relative to the supporting platform (1) through the first connecting member (35).

6. The lifting mechanism according to claim 5, characterized in that: The lifting assembly (3) further comprises a second connecting shaft (34), wherein the second connecting shaft (34) is located on a side of the driving shaft (21) facing the second lifting member (32); One end of the first connecting member (35) adjacent to the second lifting member (32) and the second connecting end are rotatably connected via the second connecting shaft (34); The second connecting shaft (34) is constructed so that when the first connecting member (35) moves relative to the supporting platform (1) in a direction approaching or away from the second lifting member (32), it can swing relative to the base of the transport equipment and drive the second lifting member (32) to swing relative to the supporting platform (1).

7. The lifting mechanism according to claim 5, characterized in that: The axial direction of the second connecting shaft (34) is parallel to the axial direction of the first connecting shaft (33).

8. The lifting mechanism according to claim 7, characterized in that: The transmission assembly (4) comprises a second connecting member (44), one end of which is configured to be rotatably mounted on a base, and the other end of which is rotatably connected to the second connecting shaft (34).

9. The lifting mechanism according to claim 8, characterized in that: The transmission assembly (4) comprises at least two second connecting members (44), and the at least two second connecting members (44) are distributed at both ends of the second connecting shaft (34); The second lifting member (32) and the first connecting member (35) are arranged in a middle area of ​​the second connecting shaft (34).

10. The lifting mechanism according to claim 9, characterized in that: The transmission assembly (4) also includes a third connecting shaft (46), the axial direction of the third connecting shaft (46) is parallel to the axial direction of the second connecting shaft (34), the third connecting shaft (46) is constructed to be installed on the base, and the second connecting member (44) is rotatably connected to the third connecting shaft (46).

11. The lifting mechanism according to claim 8, characterized in that: The transmission assembly (4) further comprises a third connecting member (45), one end of the third connecting member (45) being rotatably connected to the driving shaft (21), and the other end of the third connecting member (45) being rotatably connected to the first connecting shaft (33), and the first connecting member (35), the second connecting member (44) and the third connecting member (45) forming a second connecting rod mechanism; When the first connecting shaft (33) rotates around the driving shaft (21), it can drive the third connecting member (45) and the two ends of the first lifting member (31) that are separated from each other to swing in a direction toward or away from each other relative to the supporting platform (1).

12. The lifting mechanism according to any one of claims 1 to 11, characterized in that: The invention also comprises a shielding member (8), which is installed on the same side of the sun gear (41) and the planetary gear (42) and shields a part of the structure of at least one of the sun gear (41) and the planetary gear (42).

13. The lifting mechanism according to any one of claims 1 to 11, characterized in that: It also includes a connecting frame (20) and an inner gear ring support (30), wherein the planetary inner gear ring (43) is arranged on the inner gear ring support (30); One end of the connecting frame (20) is rotatably connected to the inner gear ring bracket (30), and the other end is rotatably connected to the supporting platform (1) or the second lifting member (32).

14. The lifting mechanism according to claim 13, characterized in that: It also includes a fourth connecting shaft (5), which is installed on the side of the support platform (1) facing the lifting assembly (3), and the connecting frame (20) and the second lifting member (32) are both rotatably connected to the fourth connecting shaft (5).

15. The lifting mechanism according to any one of claims 1 to 11, characterized in that: The planetary inner gear ring (43) has an arc-shaped meshing rack (431), and the planetary gear (42) meshes with the meshing rack (431); When the planetary gear (42) rotates around the sun gear (41), it can roll along the meshing rack (431).

16. The lifting mechanism according to any one of claims 1 to 11, characterized in that: It comprises two transmission assemblies (4) and two lifting assemblies (3), wherein the two transmission assemblies (4) are distributed at two ends of the drive shaft (21) in the axial direction, and each of the two transmission assemblies (4) is provided with a corresponding lifting assembly (3); The planetary gear (42) in the transmission assembly (4) is movably connected to the first lifting member (31) and the first connecting member (35) in the corresponding lifting assembly (3).

17. The lifting mechanism according to claim 16, characterized in that: It also comprises a fourth connecting member (7), wherein the fourth connecting member (7) is arranged between the two lifting assemblies (3) to connect the two lifting assemblies (3).

18. The lifting mechanism according to any one of claims 1 to 11, characterized in that: The driving device (2) further comprises a motor (22) and a driving assembly, wherein the driving assembly is arranged at the middle or end of the driving shaft (21) and is connected to the motor (22); The driving assembly is configured to be able to drive the driving shaft (21) to rotate under the drive of the motor (22).

19. The lifting mechanism according to claim 18, characterized in that: The drive assembly comprises a chain drive assembly or a belt drive assembly.

20. The lifting mechanism according to claim 18, characterized in that: The driving device (2) further comprises a reducer (23), wherein the reducer (23) is connected between the motor (22) and the driving assembly.

21. A handling device, characterized in that: It comprises a base, a walking mechanism and a lifting mechanism as described in any one of claims 1 to 20, wherein the walking mechanism and the lifting mechanism are both arranged on the base.

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