Lifting device

Abstract

The lifting device is connected to a guide rail and comprises a base, a rotating assembly, a grabbing assembly and a lifting assembly, the base can slide along the guide of the guide rail, the rotating assembly is provided with a fixed end and a rotating end, the fixed end of the rotating assembly is connected to the base, and the rotating end of the rotating assembly can rotate relative to the fixed end of the rotating assembly. The grabbing assembly comprises a support and at least two grabbing pieces used for grabbing materials, the support is connected to the rotating end of the rotating assembly and can rotate around the central axis of the support relative to the rotating end of the rotating assembly, the grabbing pieces are both connected to the support, and the lifting assembly is connected to the base and the support. The support is driven to ascend and descend in the direction perpendicular to the guide rails. The problem that the material carrying efficiency is low due to the fact that the material taking device arranged at the left end of the lifting mechanism can only grab or take a single material at a time can be effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of lifting devices, and in particular to a lifting device. Background Art

[0002] With the intelligent development of material handling machinery, lifting robots suitable for short-distance transportation have come into being.

[0003] For example, the Chinese invention patent with publication number: CN116692470B is named: Bidirectional fixed-point transport device based on visual recognition, including a lifting mechanism, a picking device, a rotating mechanism, a trolley mechanism and an identification module; the picking device is arranged on the left side of the lifting mechanism, the rotating mechanism is arranged on the lower right end of the lifting mechanism, the trolley mechanism is arranged on the lower end of the rotating mechanism, and the identification module is arranged on the lower left end of the lifting mechanism. This device eliminates the design problem of redundant grasping mechanisms, avoids complex connections and motion interference caused by multiple mechanisms, and saves maintenance time and costs. However, when in use, the picking device arranged at the left end of the lifting mechanism can only grab or pick up a single material at a time, which makes the material handling efficiency low.

[0004] Therefore, there is an urgent need for a lifting device to solve the problem in the prior art that the picking device arranged at the left end of the lifting mechanism can only grab or pick up a single material at a time, resulting in low material handling efficiency. Summary of the invention

[0005] The purpose of the present invention is to overcome the above technical deficiencies and to propose a lifting device to solve the technical problem in the prior art that the picking device arranged at the left end of the lifting mechanism can only grab or pick up a single material at a time, resulting in low material handling efficiency.

[0006] In order to achieve the above technical objectives, the present invention adopts the following technical solutions: The present invention provides a lifting device connected to a guide rail, comprising: A base capable of sliding along the guide rail; A swivel assembly having a fixed end and a rotating end, wherein the fixed end of the swivel assembly is connected to the base, and the rotating end of the swivel assembly can rotate relative to the fixed end; A grabbing assembly, comprising a bracket and at least two grabbing members for grabbing materials, wherein the bracket is connected to a rotating end of the rotating assembly and can rotate around a central axis of the bracket relative to the rotating end of the rotating assembly, and at least two grabbing members are connected to the bracket; and The lifting assembly is connected to the base and the bracket, and is used to drive the bracket to lift and lower in a direction perpendicular to the guide rail.

[0007] In some embodiments, the base includes a horizontal support, the fixed end of the rotating assembly is connected to the horizontal support, the lifting device also includes a moving assembly, the moving assembly includes at least one first slide and two first moving parts, the first slide is arranged on one side of the horizontal support, and has a fixed end and a sliding sleeve end, the fixed end of the first slide is connected to the horizontal support, and the sliding sleeve end is slidably mounted on the guide rail, two first moving parts are arranged at intervals on the other side of the horizontal support, and are both connected to the horizontal support, for driving the horizontal support to slide along the guide rail.

[0008] In some embodiments, the base also includes a vertical support, which is arranged perpendicular to the horizontal support and connected to the horizontal support. The rotating assembly includes a fixed column, a connecting column, two rotating columns and a guide column. The fixed column and the vertical support are parallel to each other and arranged at intervals, and are connected to the middle of the horizontal support. The connecting column is arranged at the farthest end of the fixed column away from the horizontal support, and one end of the connecting column is connected to the fixed column and the other end is connected to the vertical support. The two rotating columns are arranged at intervals along the guide of the fixed column, and one ends of the two connecting columns are respectively rotatably mounted on the two ends of the fixed column. The guide column and the fixed column are parallel to each other and arranged at intervals, and the two ends of the guide column are respectively connected to the other ends of the two connecting columns, and the bracket is slidably connected to the guide column along the guide of the guide column.

[0009] In some embodiments, the moving assembly further includes a second moving member, which is connected to one end of the guide column and in contact with the ground, and is used to drive the guide column and the bracket to rotate around the axis of the fixed column.

[0010] In some embodiments, the moving assembly further includes a fixed gear and a first driving gear, wherein the fixed gear is sleeved on the fixed column and fixedly connected to one of the rotating columns, and the first driving gear is rotatably connected to the horizontal support and can mesh with the fixed gear.

[0011] In some embodiments, the lifting assembly includes a first fixed seat and a first driving member, the first fixed seat is connected to the farthest end of the guide column away from the horizontal support, the first driving member has a fixed end and a telescopic end, the fixed end of the first driving member is connected to the first fixed seat, and the telescopic end is connected to the bracket, which is used to drive the bracket to slide along the guide of the guide column.

[0012] In some embodiments, a sliding hole is opened at the center of the bracket, and the bracket is slidably mounted on the guide column through the sliding hole. The grabbing assembly also includes a connecting sleeve, a second slide and a second driving member. The connecting sleeve is slidably mounted on the guide column and built into the sliding hole, and the connecting sleeve is connected to the telescopic end of the first driving member. The second slide has a fixed end and a sliding sleeve end. The fixed end of the second slide is connected to the connecting sleeve, and the sliding sleeve end is slidably mounted on the guide column. The second driving member has a fixed end and a movable end. The fixed end of the second driving member is connected to the connecting sleeve, and the movable end is connected to the bracket, which is used to drive the bracket to rotate relative to the connecting sleeve.

[0013] In some embodiments, the second driving member includes a fixed gear sleeve, a second driving gear and a first driving motor. The fixed gear sleeve is sleeved on the connecting sleeve and connected to the bracket, and the inner hole of the fixed gear sleeve is coaxially arranged with the sliding hole. The second driving gear is rotatably connected to the connecting sleeve and can engage with the fixed gear sleeve. The fixed end of the first driving motor is connected to the connecting sleeve, and the output shaft is connected to the second driving gear, which is used to drive the bracket to rotate around its axis relative to the connecting sleeve.

[0014] In some embodiments, the bracket is in a "human" shape, the number of the grabbing members in the grabbing assembly is three, the three grabbing members are symmetrically distributed along the center point of the bracket, the grabbing members include a second fixed seat, two grabbing parts, a third driving gear, a transmission gear and a second driving motor, the second fixed seat is connected to the bracket, the two grabbing parts are arranged opposite to each other, and both can rotate relative to the second fixed seat, the third driving gear is connected to one of the grabbing parts, and can rotate relative to the second fixed seat, the transmission gear is connected to the other grabbing part, and can rotate relative to the second fixed seat, and the transmission gear can mesh with the third driving gear, the fixed end of the second driving motor is connected to the second fixed seat, and the output shaft is connected to the third driving gear, which is used to drive the two grabbing parts to rotate closer to or away from each other.

[0015] In some embodiments, the grabbing assembly also includes three negative pressure suction parts, and the negative pressure suction parts are arranged one by one corresponding to the second fixed seat. The negative pressure suction part has a fixed end and a suction end. The suction end of the negative pressure suction part is arranged relative to the material, and its fixed end is arranged between the two grabbing parts and connected to the second fixed seat.

[0016] Compared with the prior art, the beneficial effects of the lifting device provided by the present invention include: a rotating assembly is arranged on the base, at least two grabbing members are connected to the rotating assembly via a bracket, and the bracket can rotate relative to the rotating assembly, and the rotating assembly is connected to the base via a lifting assembly, so that at least two grabbing members on the bracket can be lifted and lowered and rotated twice relative to the base, and the base can slide along the guide rail. Compared with the prior art, by rotatingly connecting at least two grabbing members to the bracket, and rotatingly connecting the bracket to the base, the two grabbing members can grab at least two materials at the same time, and at the same time, the lifting and lowering of at least two grabbing members and the bracket relative to the base can be realized through the lifting assembly, which is used to cooperate in realizing the lifting function when grabbing or releasing materials, and can increase the number of materials grabbed by the lifting device at a single time, improve the production efficiency of grabbing materials, and can solve the technical problem of low material handling efficiency in the prior art because the picking device arranged at the left end of the lifting mechanism can only grab or pick up a single material at a time. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional structural schematic diagram of a lifting device connected to a guide rail provided by an embodiment of the present invention; Figure 2 It is a three-dimensional structural schematic diagram of another perspective of a lifting device connected to a guide rail provided by an embodiment of the present invention; Figure 3 It is a schematic diagram of a three-dimensional structure in which a grab assembly provided by an embodiment of the present invention is connected to a guide column; Figure 4 is along Figure 3 The enlarged schematic diagram of point A in the middle; Figure 5 is along Figure 3 The enlarged schematic diagram of point B in the middle; Figure 6 It is a schematic diagram of a three-dimensional structure in which a grabbing member is connected to a bracket provided in an embodiment of the present invention.

[0018] Description of reference numerals: Guide rail 1; base 2; horizontal support 21; vertical support 22; rotating assembly 3; fixed column 31; connecting column 32; rotating column 33; guide column 34; grabbing assembly 4; bracket 41; grabbing member 42; second fixed seat 421; grabbing part 422; connecting rod 4221; abutment block 4222; third driving gear 423; transmission gear 424; second driving motor 425; connecting sleeve 43; second slide 44 second driving member 45; fixed gear sleeve 451; second driving gear 452; first driving motor 453; negative pressure suction part 46; lifting assembly 5; first fixed seat 51; first driving member 52; winding machine 521; connecting rope 522; visual recognition assembly 6; moving assembly 7; first slide 71; first moving member 72; second moving member 73; fixed gear 74; first driving gear 75. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0020] In order to solve the technical problem that the material handling efficiency is low because the picking device arranged at the left end of the lifting mechanism can only grab or pick up a single material at a time, the present invention provides a lifting device, which can realize at least two grabbing members 42 by rotatably connecting at least two grabbing members 42 with the bracket 41, and the bracket 41 is rotatably connected to the base 2, so that the two grabbing members 42 can grab at least two materials at the same time, and at the same time, the lifting and lowering of at least two grabbing members 42 and the bracket 41 relative to the base 2 can be realized through the lifting component 5, which is used to cooperate with the lifting function when grabbing or releasing materials, and can increase the number of materials grabbed by the lifting device at a time, and improve the production efficiency of grabbing materials.

[0021] It should be noted that the lifting device described in the present invention is used for but not limited to the technical field of lifting devices, etc. For the convenience of explanation, in the present invention, only the application of the lifting device in the technical field of lifting devices is taken as an example for explanation, and the principles of applying the lifting device to other types of equipment are substantially the same as those applied to the technical field of lifting devices, and are not described one by one here.

[0022] See also Figures 1 to 6 , Figure 1 , Figure 2It is a structural schematic diagram of a lifting device in an embodiment of the present invention. The lifting device is connected to a guide rail 1, and includes: a base 2, a rotating assembly 3, a grabbing assembly 4 and a lifting assembly 5. The base 2 can slide along the guide of the guide rail 1. The rotating assembly 3 has a fixed end and a rotating end. The fixed end of the rotating assembly 3 is connected to the base 2, and the rotating end of the rotating assembly 3 can rotate relative to its fixed end. The grabbing assembly 4 includes a bracket 41 and at least two grabbing members 42 for grabbing materials. The bracket 41 is connected to the rotating end of the rotating assembly 3 and can rotate around the central axis of the bracket 41 relative to the rotating end of the rotating assembly 3. At least two grabbing members 42 are connected to the bracket 41. The lifting assembly 5 is connected to the base 2 and the bracket 41, and is used to drive the bracket 41 to rise and fall in a direction perpendicular to the guide rail 1.

[0023] In this device, a rotating assembly 3 is provided on the base 2, at least two grabbing members 42 are connected to the rotating assembly 3 via a bracket 41, and the bracket 41 can rotate relative to the rotating assembly 3, and the rotating assembly 3 is connected to the base 2 via a lifting assembly 5, so that at least two grabbing members 42 on the bracket 41 can be lifted and lowered and rotated at a secondary level relative to the base 2, and the base 2 can slide along the guide of the guide rail 1.

[0024] Compared with the prior art, by rotatably connecting at least two grabbing members 42 to the bracket 41, and rotatably connecting the bracket 41 to the base 2, the two grabbing members 42 can grab at least two materials at the same time, and at the same time, the lifting assembly 5 can realize the lifting and lowering of at least two grabbing members 42 and the bracket 41 relative to the base 2, which is used to cooperate in realizing the lifting function when grabbing or releasing materials. It can increase the number of materials that the lifting device can grab at a single time, improve the production efficiency of grabbing materials, and solve the technical problem of low material handling efficiency in the prior art because the picking device arranged at the left end of the lifting mechanism can only grab or pick up a single material at a time.

[0025] Furthermore, the guide rail 1 is arranged in the construction site to guide the device to perform reciprocating motion in a specified direction and play a guiding role. Here, the guide rail 1 is a common and easy-to-purchase equipment on the market. It is a conventional setting known to technical personnel in this field and will not be described in detail.

[0026] Furthermore, the device also includes a visual recognition component 6, which is connected to a rotating column 33 near the horizontal support 21 and is used to identify the material to be grasped. The visual recognition component 6 here belongs to a conventional setting well known to those skilled in the art. You can refer to the Chinese invention patent with publication number: CN116692470B, entitled: Bidirectional fixed-point transport device based on visual recognition, which will not be described in detail here.

[0027] In this embodiment, Figure 1 , Figure 2As shown, the base 2 includes a horizontal support 21 and a vertical support 22, the lifting device also includes a moving assembly 7, the moving assembly 7 includes at least one first slide 71 and two first moving members 72, a second moving member 73, a fixed gear 74 and a first driving gear 75, the rotating assembly 3 includes a fixed column 31, a connecting column 32, two rotating columns 33 and a guide column 34, the lifting assembly 5 includes a first fixed seat 51 and a first driving member 52, the grabbing assembly 4 also includes a connecting sleeve 43, a second slide 44 and a second driving member 45, and three negative pressure suction parts 46, the second driving member 45 includes a fixed gear sleeve 451, a second driving gear 452 and a first driving motor 453, and the grabbing member 42 includes a second fixed seat 421, two grabbing parts 422, a third driving gear 423, a transmission gear 424 and a second driving motor 425.

[0028] Among them, the fixed end of the rotating component 3 is connected to the horizontal support 21, the first slide 71 is arranged on one side of the horizontal support 21, and has a fixed end and a sliding sleeve end, the fixed end of the first slide 71 is connected to the horizontal support 21, and the sliding sleeve end is slidably mounted on the guide rail 1, and the two first moving parts 72 are arranged at intervals on the other side of the horizontal support 21, and are both connected to the horizontal support 21, for driving the horizontal support 21 to slide along the guide rail 1.

[0029] The sliding connection between the horizontal support 21 and the guide rail 1 is achieved by the sliding sleeve between the sliding sleeve end and the guide rail 1. Here, the first slide 71 and the second slide 44 are slides constructed of aluminum profile pulleys that are common and easy to purchase on the market. The guide rail 1 can be clamped between the pulleys on both sides. This is a conventional setting known to technicians in this field and will not be described in detail.

[0030] Furthermore, the two first movable members 72 serve as driving forces and can generate friction with the ground to push the horizontal support 21 to slide. Specifically, the first movable member 72 here is composed of a translation driving wheel and a motor. The translation driving wheel and the motor here are common and easy-to-purchase equipment on the market. They are conventional settings known to technicians in this field and will not be elaborated on.

[0031] In one embodiment, if Figure 1 , Figure 2As shown, the vertical support 22 is arranged perpendicular to the horizontal support 21 and connected to the horizontal support 21, the fixed column 31 and the vertical support 22 are parallel to each other and arranged at intervals, and are connected to the middle of the horizontal support 21, the connecting column 32 is arranged at the farthest end of the fixed column 31 away from the horizontal support 21, and one end of the connecting column 32 is connected to the fixed column 31 and the other end is connected to the vertical support, the two rotating columns 33 are arranged at intervals along the guide of the fixed column 31, and one ends of the two connecting columns 32 are respectively rotatably sleeved on the two ends of the fixed column 31, the guide column 34 and the fixed column 31 are parallel to each other and arranged at intervals, and the two ends of the guide column 34 are respectively connected to the other ends of the two connecting columns 32, and the bracket 41 is connected to the guide column 34 along the guide sliding of the guide column 34.

[0032] The vertical support 22 , the fixed column 31 , the connecting column 32 , the two rotating columns 33 and the guide column 34 form a stable support structure for supporting the rotation of the bracket 41 , at least two grabbing members 42 and the material relative to the horizontal base 2 .

[0033] Furthermore, a rotating column 33 is sleeved on the top end of the fixed column 31 and is rotatably connected to the connecting column 32, and another rotating column 33 is sleeved on the bottom end of the fixed column 31 and is rotatably connected to the horizontal support 21, which will not be described in detail here.

[0034] In one embodiment, if Figure 1 As shown, the second moving member 73 is connected to one end of the guide column 34 and contacts the ground, and is used to drive the guide column 34 and the bracket 41 to rotate around the axis of the fixed column 31.

[0035] The second moving member 73 is used to drive the connecting column 32, the two rotating columns 33 and the guide column 34 to rotate relative to the fixed column 31, and at the same time supports the guide column 34 to prevent the entire device from tilting after grabbing the material.

[0036] Furthermore, the second movable member 73 serves as a driving force and can generate friction with the ground to push the horizontal support 21 to slide. Specifically, the second movable member 73 here is composed of a translation driving wheel and a motor. The translation driving wheel and the motor here are common and easy-to-purchase equipment on the market. They are conventional settings known to technicians in this field and will not be elaborated on.

[0037] In one embodiment, if Figure 2 As shown, the fixed gear 74 is sleeved on the fixed column 31 and fixedly connected to a rotating column 33 . The first driving gear 75 is rotatably connected to the horizontal support 21 and can mesh with the fixed gear 74 .

[0038] The connecting column 32 and the fixing column 31 are connected to each other through the fixing gear 74 and the first driving gear 75 , which can improve the stability of the connecting column 32 , the guide column 34 and the bracket 41 when they rotate relative to the fixing column 31 .

[0039] In this embodiment, Figure 2 As shown, the first fixed seat 51 is connected to the farthest end of the guide column 34 away from the horizontal support 21, and the first driving member 52 has a fixed end and a telescopic end. The fixed end of the first driving member 52 is connected to the first fixed seat 51, and the telescopic end is connected to the bracket 41, which is used to drive the bracket 41 to slide along the guide of the guide column 34.

[0040] The bracket 41 is driven by the first driving member 52 to achieve lifting and lowering relative to the guide column 34 .

[0041] Furthermore, the first driving member 52 here includes a winder 521 and a connecting rope 522. The fixed end of the winder 521 is connected to the first fixed seat 51, one end of the connecting rope 522 is connected to the bracket 41, and the other end is wound around the rotating end of the winder 521. The rotating end of the winder 521 rotates relative to the fixed end, which can realize the extension or shortening of the connecting rope 522, thereby driving the bracket 41 to move up and down along the guide of the fixed column 31. The winder 521 and the connecting rope 522 here are both common and easy-to-purchase equipment on the market, which belong to conventional settings well known to technicians in this field and will not be described in detail.

[0042] In one embodiment, if Figures 3 to 6 As shown, a sliding hole is opened at the center of the bracket 41, and the bracket 41 is slidably mounted on the guide column 34 through the sliding hole. The grabbing assembly 4 also includes a connecting sleeve 43, a second slide 44 and a second driving member 45. The connecting sleeve 43 is slidably mounted on the guide column 34 and built into the sliding hole, and the connecting sleeve 43 is connected to the telescopic end of the first driving member 52. The second slide 44 has a fixed end and a sliding sleeve end. The fixed end of the second slide 44 is connected to the connecting sleeve 43, and the sliding sleeve end is slidably mounted on the guide column 34. The second driving member 45 has a fixed end and a movable end. The fixed end of the second driving member 45 is connected to the connecting sleeve 43, and the movable end is connected to the bracket 41, and is used to drive the bracket 41 to rotate relative to the connecting sleeve 43.

[0043] The bracket 41 is connected to the guide column 34 via the connecting sleeve 43 to achieve lifting, wherein the connecting sleeve 43 forms a sliding connection with the guide column 34 via the second slide 44 to improve the sliding stability.

[0044] At the same time, driven by the second driving member 45 , the bracket 41 can also rotate relative to the guide column 34 to cooperate with at least two grasping members 42 to grasp multiple materials.

[0045] In one embodiment, if Figure 4As shown, the fixed gear sleeve 451 is sleeved on the connecting sleeve 43 and connected to the bracket 41, and the inner hole of the fixed gear sleeve 451 is coaxially arranged with the sliding hole, the second driving gear 452 is rotatably connected to the connecting sleeve 43 and can engage with the fixed gear sleeve 451, the fixed end of the first driving motor 453 is connected to the connecting sleeve 43, and the output shaft is connected to the second driving gear 452, which is used to drive the bracket 41 to rotate around its axis relative to the connecting sleeve 43.

[0046] The first driving motor 453 drives the fixed gear sleeve 451 to mesh with the second driving gear 452 , so that the bracket 41 can rotate relative to the connecting sleeve 43 .

[0047] Furthermore, the first drive motor 453 and the second drive motor 425 are both common and easily purchased devices on the market, and are conventional settings well known to those skilled in the art, and will not be described in detail.

[0048] In one embodiment, if Figures 3 to 5 As shown, the bracket 41 is in a "human" shape, the number of the grabbing members 42 in the grabbing assembly 4 is three, the three grabbing members 42 are symmetrically distributed along the center point of the bracket 41, the second fixed seat 421 is connected to the bracket 41, the two grabbing parts 422 are arranged opposite to each other, and both can rotate relative to the second fixed seat 421, the third driving gear 423 is connected to one grabbing part 422, and can rotate relative to the second fixed seat 421, the transmission gear 424 is connected to the other grabbing part 422, and can rotate relative to the second fixed seat 421, and the transmission gear 424 can mesh with the third driving gear 423, the fixed end of the second driving motor 425 is connected to the second fixed seat 421, and the output shaft is connected to the third driving gear 423, which is used to drive the two grabbing parts 422 to rotate closer to or away from each other.

[0049] The three grabbing members 42 are symmetrically distributed along the center point of the bracket 41 , so that the bracket 41 can grab multiple materials after rotation.

[0050] Furthermore, under the drive of the second drive motor 425 , the third drive gear 423 is continuously meshed with the transmission gear 424 , so that the two gripping parts 422 coaxially arranged with the third drive gear 423 and the transmission gear 424 can rotate toward or away from each other.

[0051] In one embodiment, if Figure 6 As shown, the grabbing portion 422 includes a connecting rod 4221 and an abutment block 4222. The two connecting rods 4221 are rotatably connected to the second fixed seat 421 respectively. The two abutment blocks 4222 are arranged opposite to each other and are respectively connected to the two connecting rods 4221. Semi-arc grooves are respectively opened on the opposite sides of the two abutment blocks 4222. The two semi-arc grooves are combined to form a clamping groove. The clamping groove is circular and can fit the circumferential side wall of the cylindrical material.

[0052] In one embodiment, if Figure 5 , Figure 6 As shown, the negative pressure suction part 46 is arranged in a one-to-one correspondence with the second fixed seat 421, and the negative pressure suction part 46 has a fixed end and a suction end. The suction end of the negative pressure suction part 46 is arranged relative to the material, and its fixed end is arranged between the two gripping parts 422 and connected to the second fixed seat 421.

[0053] The negative pressure suction portion 46 is disposed between the two gripping portions 422 . The negative pressure adsorption force generated by the negative pressure suction can improve the stability of the gripping component 4 when gripping materials.

[0054] Furthermore, the negative pressure suction part 46 here is a negative pressure suction cup structure that is common and easy to purchase on the market. It is a conventional setting well known to those skilled in the art and will not be described in detail here.

[0055] In order to better understand the present invention, the following Figures 1 to 6 The technical solution of the present invention is described in detail: A rotating assembly 3 is provided on the base 2, at least two grabbing members 42 are connected to the rotating assembly 3 via a bracket 41, and the bracket 41 can rotate relative to the rotating assembly 3, and the rotating assembly 3 is connected to the base 2 via a lifting assembly 5, so that at least two grabbing members 42 on the bracket 41 can be lifted and lowered and rotated at a secondary level relative to the base 2, and the base 2 can slide along the guide rail 1. Compared with the prior art, by rotationally connecting at least two grabbing members 42 to the bracket 41, and rotationally connecting the bracket 41 to the base 2, the two grabbing members 42 can grab at least two materials at the same time, and at the same time, the lifting assembly 5 can realize the lifting and lowering of at least two grabbing members 42 and the bracket 41 relative to the base 2, which is used to cooperate to realize the lifting function when grabbing or releasing materials, which can increase the number of materials grabbed by the lifting device at a single time and improve the production efficiency of grabbing materials.

[0056] The specific working process of the present invention is that when it is necessary to grab a material, the bracket 41 and the grabbing part 422 are arranged on one side of the horizontal support 21, and the first moving member 72 and the second moving member 73 can cooperate to guide the horizontal support 21 to slide along the guide rail 1. Then, when the device moves to the vicinity of the material, the first moving member 72 stops moving, and the second moving member 73 works and drives the bracket 41 and the grabbing part 422 to rotate around the axis of the fixed column 31, and rotate to the top of the material to be grabbed, and then, driven by the second driving motor 425, the two grabbing parts 422 rotate close to each other and clamp the material. At the same time, the first driving member 52 drives the bracket 41, the grabbing part 422 and the material to move downward, so that the negative pressure suction part 46 generates a negative pressure adsorption force and clamps the material. Finally, the second moving member 73 continues to work and moves the bracket 41 to the top of the next material to be grabbed. Driven by the first driving motor 453, the bracket 41 and the next adjacent grabbing part 422 rotate relative to the fixed column 31. Driven by the second driving motor 425, the two grabbing parts 422 rotate close to each other and clamp the next material to be grabbed. The above steps are repeated in sequence, and three materials can be grabbed in sequence.

[0057] Furthermore, after grabbing the material, the first moving member 72 and the second moving member 73 are driven again, and the first moving member 72 and the second moving member 73 drive the device and the material to move to the designated stacking area, and then the first driving member 52 drives the bracket 41, the grabbing part 422 and the material to move downward, and then driven by the second driving motor 425, the two grabbing parts 422 rotate away from each other and release the material, and finally driven by the first driving motor 453, the bracket 41 and the next adjacent grabbing part 422 rotate relative to the fixed column 31, and driven by the second driving motor 425, the two grabbing parts 422 rotate away from each other and release the material, and the materials are stacked in sequence.

[0058] Through the above structure, the device can solve the technical problem in the prior art that the material handling efficiency is low because the picking device arranged at the left end of the lifting mechanism can only grab or pick up a single material at a time.

[0059] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A lifting device connected to a guide rail, characterized in that: include: A base capable of sliding along the guide rail; A swivel assembly having a fixed end and a rotating end, wherein the fixed end of the swivel assembly is connected to the base, and the rotating end of the swivel assembly can rotate relative to the fixed end; A grabbing assembly, comprising a bracket and at least two grabbing members for grabbing materials, wherein the bracket is connected to the rotating end of the rotating assembly and can rotate around the central axis of the bracket relative to the rotating end of the rotating assembly, and at least two grabbing members are connected to the bracket; as well as The lifting assembly is connected to the base and the bracket, and is used to drive the bracket to lift and lower in a direction perpendicular to the guide rail.

2. The lifting device according to claim 1, characterized in that: The base includes a horizontal support, and the fixed end of the rotating component is connected to the horizontal support. The lifting device also includes a moving component, and the moving component includes at least one first slide and two first moving parts. The first slide is arranged on one side of the horizontal support and has a fixed end and a sliding sleeve end. The fixed end of the first slide is connected to the horizontal support, and the sliding sleeve end is slidably sleeved on the guide rail. Two first moving parts are arranged at the other side of the horizontal support at intervals, and are both connected to the horizontal support, and are used to drive the horizontal support to slide along the guide rail.

3. The lifting device according to claim 2, characterized in that: The base also includes a vertical support, which is arranged perpendicular to the horizontal support and connected to the horizontal support. The swivel assembly includes a fixed column, a connecting column, two rotating columns and a guide column. The fixed column and the vertical support are parallel to each other and arranged at intervals, and are connected to the middle part of the horizontal support. The connecting column is arranged at the farthest end of the fixed column away from the horizontal support, and one end of the connecting column is connected to the fixed column and the other end is connected to the vertical support. The two rotating columns are arranged at intervals along the guide of the fixed column, and one ends of the two connecting columns are respectively rotatably sleeved on the two ends of the fixed column. The guide column and the fixed column are parallel to each other and arranged at intervals, and the two ends of the guide column are respectively connected to the other ends of the two connecting columns, and the bracket is slidably connected to the guide column along the guide of the guide column.

4. The lifting device according to claim 3, characterized in that: The moving assembly also includes a second moving member, which is connected to one end of the guide column and contacts the ground, and is used to drive the guide column and the bracket to rotate around the axis of the fixed column.

5. The lifting device according to claim 4, characterized in that The moving assembly also includes a fixed gear and a first driving gear. The fixed gear is sleeved on the fixed column and fixedly connected to one of the rotating columns. The first driving gear is rotatably connected to the horizontal support and can mesh with the fixed gear.

6. The lifting device according to claim 3, characterized in that: The lifting assembly includes a first fixed seat and a first driving member, the first fixed seat is connected to the farthest end of the guide column away from the horizontal support, the first driving member has a fixed end and a telescopic end, the fixed end of the first driving member is connected to the first fixed seat, and the telescopic end is connected to the bracket, which is used to drive the bracket to slide along the guide of the guide column.

7. The lifting device according to claim 6, characterized in that A sliding hole is provided at the center of the bracket, and the bracket is slidably mounted on the guide column through the sliding hole. The grabbing assembly also includes a connecting sleeve, a second slide and a second driving member. The connecting sleeve is slidably mounted on the guide column and built into the sliding hole, and the connecting sleeve is connected to the telescopic end of the first driving member. The second slide has a fixed end and a sliding sleeve end. The fixed end of the second slide is connected to the connecting sleeve, and the sliding sleeve end is slidably mounted on the guide column. The second driving member has a fixed end and a movable end. The fixed end of the second driving member is connected to the connecting sleeve, and the movable end is connected to the bracket, so as to drive the bracket to rotate relative to the connecting sleeve.

8. The lifting device according to claim 7, characterized in that The second driving member includes a fixed gear sleeve, a second driving gear and a first driving motor. The fixed gear sleeve is sleeved on the connecting sleeve and connected to the bracket, and the inner hole of the fixed gear sleeve is coaxially arranged with the sliding hole. The second driving gear is rotatably connected to the connecting sleeve and can mesh with the fixed gear sleeve. The fixed end of the first driving motor is connected to the connecting sleeve, and the output shaft is connected to the second driving gear, which is used to drive the bracket to rotate around its axis relative to the connecting sleeve.

9. The lifting device according to claim 1, characterized in that: The bracket is in a "human" shape, and the number of the grabbing members in the grabbing assembly is three, and the three grabbing members are symmetrically distributed along the center point of the bracket. The grabbing member includes a second fixed seat, two grabbing parts, a third driving gear, a transmission gear and a second driving motor. The second fixed seat is connected to the bracket, and the two grabbing parts are arranged opposite to each other and can rotate relative to the second fixed seat. The third driving gear is connected to one of the grabbing parts and can rotate relative to the second fixed seat. The transmission gear is connected to the other grabbing part and can rotate relative to the second fixed seat, and the transmission gear can mesh with the third driving gear. The fixed end of the second driving motor is connected to the second fixed seat, and the output shaft is connected to the third driving gear, which is used to drive the two grabbing parts to rotate closer to or away from each other.

10. The lifting device according to claim 9, characterized in that The grabbing assembly also includes three negative pressure suction parts, which are arranged one by one corresponding to the second fixed seat. The negative pressure suction part has a fixed end and a suction end. The suction end of the negative pressure suction part is arranged relative to the material, and its fixed end is arranged between the two grabbing parts and connected to the second fixed seat.

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