Lifting device and transfer robot

Abstract

The invention discloses a lifting device and a transfer robot. The lifting device comprises a guide rail, a movable part, a sensor and a locking mechanism, the movable part is movably arranged on the guide rail, the sensor is used for detecting abnormal movement of the movable part and sending abnormal movement signals, the locking mechanism comprises a ratchet strip, ratchets and an electric cylinder, the electric cylinder is arranged on the movable part, the ratchet strip is arranged on the guide rail, the ratchets are arranged on the electric cylinder, and the ratchet strip is arranged on the guide rail. The electric cylinder is electrically connected with the sensor, and the electric cylinder is configured to drive the ratchet to be matched with the ratchet strip so as to lock the movable part when the sensor detects a motion abnormal signal. According to the lifting device, the locking mechanism is controlled through the sensor, when the movable part slides and falls due to various reasons (such as chain or belt breakage), the change of the movable part can be sensed, the sensor autonomously senses the sliding and falling action of the movable part, the locking mechanism is controlled in time through the electric cylinder to lock the movable part, and therefore the safety of people and equipment is protected; and automatic response is achieved in the whole process, and higher reliability is achieved.

Description

Technical Field

[0001] The present application relates to the field of logistics and warehousing technology, and more specifically, to a lifting device and a handling robot. Background Art

[0002] The lifting device in the related art includes a mounting platform, a transport platform and a power device. The mounting platform includes a guide rail, the transport platform is movably arranged on the guide rail, and the power device drives the transport platform to rise and fall along the guide rail by a chain or a belt. However, during use, if the chain or the belt breaks, the transport platform falls under the action of gravity, causing a production accident. Summary of the invention

[0003] Embodiments of the present application provide a lifting device and a transport robot.

[0004] The lifting device of the embodiment of the present application includes:

[0005] guide;

[0006] A movable part, movably arranged on the guide rail;

[0007] A sensor, used for detecting abnormal movement of the movable part and sending an abnormal movement signal;

[0008] The locking mechanism includes a ratchet, a ratchet and an electric cylinder, wherein the electric cylinder is arranged on the movable part, the ratchet is arranged on the guide rail, the ratchet is arranged on the electric cylinder, the electric cylinder is electrically connected to the sensor, and the electric cylinder is configured to drive the ratchet to cooperate with the ratchet to lock the movable part when the sensor detects the abnormal motion signal.

[0009] The lifting device provided in the present application controls the locking mechanism through a sensor. When the movable part slips due to various reasons (such as chain or belt breakage), the sensor can sense the changes in the movable part. The sensor can autonomously sense the sliding movement of the movable part and promptly control the locking mechanism through the electric cylinder to lock the movable part to prevent further falling, thereby protecting the safety of people and equipment. The device responds automatically throughout the process without manual operation and has higher reliability.

[0010] In some embodiments, the electric cylinder includes a main body and a telescopic shaft, the main body is arranged on the movable part, and the ratchet is arranged on the telescopic shaft. When the sensor detects the abnormal motion signal, the electric cylinder drives the telescopic shaft to extend, so that the ratchet engages with the ratchet bar, thereby locking the movable part.

[0011] In this way, it is convenient for the electric cylinder to control the ratchet and at the same time, it is convenient for the ratchet to cooperate with the ratchet bar.

[0012] In some embodiments, the locking mechanism further includes a support member, wherein the support member is fixed on the telescopic shaft, and the support member is connected to the ratchet.

[0013] In this way, providing the support member facilitates the connection between the ratchet and the telescopic shaft.

[0014] In some embodiments, the ratchet includes a mating end and a connecting end, the connecting end is threadedly connected to the support member, and the mating end can be engaged with the ratchet bar.

[0015] In this way, the connection between the ratchet and the telescopic shaft is facilitated.

[0016] In some embodiments, the cross-sectional shape of the mating end is rectangular, trapezoidal or triangular.

[0017] In this way, the cross-sectional shape of the mating end can be flexibly selected according to actual needs.

[0018] In some embodiments, the spine has a plurality of notches evenly distributed along the length direction, and the shape of the notches matches the cross-sectional shape of the mating end.

[0019] In this way, the movable part can be locked at multiple locations, which is beneficial to improving the response speed of the locking mechanism and enhancing reliability.

[0020] In some embodiments, the shape of the notch is rectangular, trapezoidal or triangular.

[0021] In this way, the shape of the notch can be flexibly selected according to actual needs.

[0022] In some embodiments, the notch includes an inclined first plane and a horizontal second plane, the top of the ratchet is provided with an inclined third plane, and the bottom is provided with a horizontal fourth plane, and when the mating end is mated with the ratchet strip, the first plane is in contact with the third plane, and the second plane is in contact with the fourth plane.

[0023] In this way, the mating end fits tightly with the notch, which increases the contact area between the mating end and the notch, avoids stress concentration causing the mating end to break, and is beneficial to improving the reliability of the locking mechanism.

[0024] In some embodiments, the guide rail is formed with a guide groove along the length direction, the movable portion includes a guide wheel, and the movable portion is arranged on the guide rail through the cooperation of the guide wheel and the guide groove.

[0025] In this way, the movable part can be stably lifted and lowered along the guide structure to avoid shaking and collision during lifting.

[0026] In some embodiments, the guide wheel includes an axle and a rotating wheel, the axle is installed on the movable part, and the rotating wheel is rotatably arranged on the axle. The guide wheel is configured so that when the movable part is raised or lowered, the rotating wheel rolls in the guide groove, and the side of the rotating wheel presses against the guide rail.

[0027] Thus, compared with traditional guide mechanisms such as linear guides, the guide portion of the present application can simplify the requirements of the guide mechanism on assembly accuracy and reduce the difficulty of assembly.

[0028] In some embodiments, the sensor is an acceleration sensor, and the sensor is mounted on the movable part.

[0029] Thus, the use of an acceleration sensor is helpful to lock the movable part more timely.

[0030] In some embodiments, the locking mechanism further includes a controller, which communicates with the sensor and is configured to control the locking mechanism to lock the movable part when the acceleration is greater than a preset value.

[0031] In this way, the controller controls the locking mechanism to lock the movable part, which helps to reduce the control difficulty.

[0032] In some embodiments, the controller sends an unlocking signal after receiving an external unlocking command, and the electric cylinder is configured to drive the ratchet to release the engagement with the ratchet bar when receiving the unlocking signal, thereby unlocking the movable part.

[0033] In this way, the locking mechanism can be controlled to unlock through the controller, which helps to reduce the control difficulty.

[0034] In some embodiments, the number of the guide rails is two, the number of the locking mechanisms is two groups, and the two groups of locking mechanisms are respectively provided corresponding to the two guide rails.

[0035] In this way, the two sets of guide rails and locking mechanisms are conducive to increasing the load-bearing capacity and improving reliability.

[0036] In some embodiments, the lifting device also includes a base plate and a power mechanism, the guide rail and the power mechanism are both arranged on the base plate, the power mechanism includes a motor, a driving sprocket, a driven sprocket and a chain, the motor is installed on the base plate, the motor has an output shaft, the driving sprocket is sleeved on the output shaft, the driven sprocket is rotatably arranged on the guide rail away from one end of the movable part, the two ends of the chain are fixed on the movable part and form a ring-shaped engagement on the outside of the driving sprocket and the driven sprocket, and the motor is configured to drive the driving sprocket to rotate and drive the chain, thereby pulling the movable part to slide along the guide rail.

[0037] In this way, chain transmission is utilized, with high transmission efficiency, strong load-bearing capacity and no slippage.

[0038] In some embodiments, the abnormal movement is abnormal movement of the movable part caused by the chain breaking, and the abnormal movement signal is a chain breaking signal.

[0039] In this way, the movable part can be locked in time when the chain breaks.

[0040] A handling robot according to another embodiment of the present application includes the lifting device described in any one of the above items, including:

[0041] A robot body, wherein the guide rail is vertically arranged on the robot body;

[0042] The transport platform is connected to the movable part and moves along the guide rail along with the movable part.

[0043] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0045] Figure 1 It is a structural schematic diagram of a lifting device according to an embodiment of the present application;

[0046] Figure 2 It is a schematic diagram of the structure of a handling robot according to an embodiment of the present application;

[0047] Figure 3 is a schematic structural diagram of a support member and a ratchet of a lifting device according to an embodiment of the present application;

[0048] Figure 4 It is a schematic structural diagram of a ratchet bar of a lifting device according to an embodiment of the present application;

[0049] Figure 5 is a schematic structural diagram of a ratchet of a lifting device according to an embodiment of the present application;

[0050] Figure 6 is a cross-sectional view of a guide wheel of a lifting device according to an embodiment of the present application;

[0051] Figure 7 is a schematic structural diagram of a guide wheel of a lifting device according to an embodiment of the present application;

[0052] Figure 8 is a cross-sectional view of a guide wheel of a lifting device according to an embodiment of the present application;

[0053] Fig. 9 It is a front view of the lifting device according to the embodiment of the present application.

[0054] Description of main component symbols: handling robot 1000, lifting device 100, guide rail 10, guide groove 11, movable part 20, guide wheel 21, axle 211, rotating wheel 212, bearing 213, sleeve 214, mounting bracket 215, fixing plate 2151, supporting plate 2152, axle hole 2153, outer rotating wheel 216, sensor 30, locking mechanism 40, ratchet 41, first plane 411, second plane 412 , ratchet 42, third plane 421, fourth plane 422, second screw hole 423, electric cylinder 43, main body 431, telescopic shaft 432, first screw hole 433, support member 44, first end 441, first through hole 442, second end 443, second through hole 444, power mechanism 50, motor 51, output shaft 511, driving sprocket 52, driven sprocket 53, chain 54, robot body 200, carrying platform 300. DETAILED DESCRIPTION

[0055] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention. In the description of the present invention, it is necessary to understand that the orientation or position relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc. is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0056] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium. It can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0057] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0058] The disclosure herein provides many different embodiments or examples for realizing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and settings of specific examples are described herein. Of course, they are merely examples, and the purpose is not to limit the present invention. In addition, the present invention may repeat reference numerals and / or reference letters in different examples, and such repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present invention provides various specific examples of processes and materials, but those of ordinary skill in the art may appreciate the application of other processes and / or the use of other materials.

[0059] The lifting device in the related art includes a mounting platform, a transport platform and a power device. The mounting platform includes a guide rail, the transport platform is movably arranged on the guide rail, and the power device drives the transport platform to rise and fall along the guide rail by a chain or a belt. However, during use, if the chain or the belt breaks, the transport platform falls under the action of gravity, causing a production accident.

[0060] See also Figure 1 The embodiment of the present application provides a handling robot 1000, including a lifting device 100, a robot body 200 and a handling platform 300. The lifting device 100 includes a guide rail 10, a movable part 20, a sensor 30 and a locking mechanism 40. The guide rail 10 is vertically arranged on the robot body 200. The handling platform 300 is connected to the movable part 20 and moves along the guide rail 10 with the movable part 20. The movable part 20 is movably arranged on the guide rail 10. The sensor 30 is used to detect abnormal movement of the movable part 20 and send an abnormal movement signal. The locking mechanism 40 includes a ratchet 41, a ratchet 42 and an electric cylinder 43. The electric cylinder 43 is arranged on the movable part 20. The ratchet 41 is arranged on the guide rail 10. The ratchet 42 is arranged on the electric cylinder 43. The electric cylinder 43 is electrically connected to the sensor 30. The electric cylinder 43 is configured to drive the ratchet 42 to cooperate with the ratchet 41 to lock the movable part 20 when the sensor 30 detects an abnormal movement signal.

[0061] The lifting device 100 provided in the present application controls the locking mechanism 40 through the sensor 30. When the movable part 20 slides due to various reasons (such as chain or belt breakage), the sensor 30 can sense the changes in the movable part 20, and the sensor 30 can autonomously sense the sliding movement of the movable part 20, and timely control the locking mechanism 40 through the electric cylinder 43 to lock the movable part 20 to prevent further falling, thereby protecting the safety of people and equipment, and automatically responding throughout the process, without the need for manual operation, and having higher reliability.

[0062] For details, please refer to Figure 1 and Figure 2 In the embodiment of the present application, a transport platform 300 is installed on the movable part 20, and the movable part 20 is movably arranged on the guide rail 10 up and down, so as to realize the picking, placing and transportation of goods on the shelf.

[0063] The sensor 30 is used to sense changes in the movable portion 20 , such as movement state, movement direction, speed or acceleration.

[0064] The locking mechanism 40 locks the movable part 20 by fixing the movable part 20 on the guide rail 10 .

[0065] The electric cylinder 43, also known as an electric cylinder or an electric actuator, has a function similar to that of a pneumatic cylinder but is more convenient to operate. The electric cylinder 43 can convert the rotational motion of the servo motor 51 into linear motion and has the capabilities of precise torque control and precise position control of the servo motor.

[0066] In other embodiments, other linear drives may be used instead of the electric cylinder 43, such as a pneumatic cylinder, a hydraulic cylinder, a linear motor, a screw structure, etc.

[0067] It should be noted that the stroke of the electric cylinder 43 should not be too large to avoid the telescopic shaft 432 hitting the ratchet 41 when extending, causing damage to the ratchet 41. At the same time, the stroke of the electric cylinder 43 should not be too small to avoid incomplete engagement of the ratchet 42 and the ratchet 41, resulting in insufficient load-bearing capacity, causing damage to the locking mechanism 40, and ultimately causing the movable part 20 to continue to fall.

[0068] In some embodiments, the electric cylinder 43 includes a main body 431 and a telescopic shaft 432. The main body 431 is arranged on the movable part 20, and the ratchet 42 is arranged on the telescopic shaft 432. When the sensor 30 detects an abnormal motion signal, the electric cylinder 43 drives the telescopic shaft 432 to extend, so that the ratchet 42 is engaged with the ratchet bar 41, thereby locking the movable part 20.

[0069] In this way, the electric cylinder 43 can control the ratchet 42 easily, and the ratchet 42 of the ratchet bar 41 can cooperate easily.

[0070] In the embodiment of the present application, the main body 431 of the electric cylinder 43 is arranged on the movable part 20 so that the telescopic direction of the telescopic shaft 432 is perpendicular to the guide rail 10. When the movable part 20 falls, the electric cylinder 43 controls the telescopic shaft 432 to extend so that the ratchet 42 cooperates with the ratchet bar 41 from the front.

[0071] In other embodiments, the main body 431 of the electric cylinder 43 is arranged on the movable part 20 so that the telescopic direction of the telescopic shaft 432 is parallel to the guide rail 10. When the movable part 20 falls, the electric cylinder 43 controls the telescopic shaft 432 to extend so that the ratchet 42 is pushed in from the side so that the ratchet 42 engages with the ratchet bar 41.

[0072] See also Figure 1 and Figure 3 In some embodiments, the locking mechanism 40 further includes a support member 44 , which is fixed on the telescopic shaft 432 , and the support member 44 is connected to the ratchet 42 .

[0073] In this way, the support member 44 is provided to facilitate the connection between the ratchet 42 and the telescopic shaft 432 .

[0074] Specifically, a first screw hole 433 is formed on the end face of the telescopic shaft 432, and the support member 44 includes a first end 441 and a second end 443 opposite to each other. The first end 441 is formed with a first through hole 442, and the second end 443 is formed with a second through hole 444. The support member 44 is fixed on the telescopic shaft 432 by a first fixing member passing through the first through hole 442 and then fixed in the first screw hole 433.

[0075] The support member 44 is in the shape of a long groove, the first through hole 442 is arranged on the side wall located at the first end 441, the second through hole 444 is arranged on the side wall located at the second end 443, the first fixing member passes through the first through hole 442 from the inside of the support member 44 and is fixed on the first screw hole 433 of the telescopic shaft 432, and the first fixing member passes through the second through hole 444 from the inside of the support member 44 and is fixed on the second screw hole 423 of the ratchet 42.

[0076] In some embodiments, the ratchet 42 includes a mating end and a connecting end. The connecting end is threadedly connected to the support member 44 , and the mating end can be engaged with the ratchet strip 41 .

[0077] In this way, the connection between the ratchet 42 and the telescopic shaft 432 is facilitated.

[0078] Specifically, the ratchet 42 includes a mating end that cooperates with the ratchet bar 41 and a connecting end away from the mating end, and a second screw hole 423 is formed at the connecting end. The ratchet 42 passes through the second through hole 444 through a second fixing member and is fixed in the second screw hole 423 to be fixed on the support member 44.

[0079] Furthermore, there are even two second screw holes 423 on the connecting end of the ratchet 42. Correspondingly, the number of the second through holes 444 and the second fixing members is also two. The two second fixing members respectively pass through the two second through holes 444 and are respectively fixed on the two second screw holes 423 to achieve the fixation of the support member 44 and the ratchet 42.

[0080] In some embodiments, the support member 44 and the ratchet 42 may also be an integral structure formed by integral processing.

[0081] In the embodiment of the present application, the first fixing member and the second fixing member are both screws. In other embodiments, the first fixing member and the second fixing member may also be rivets, pins and other parts with connecting functions.

[0082] In certain embodiments, the cross-sectional shape of the mating end includes, but is not limited to, a rectangle, a trapezoid, or a triangle.

[0083] In this way, the cross-sectional shape of the mating end can be flexibly selected according to actual needs.

[0084] Optionally, the cross-sectional shape of the mating end includes but is not limited to a rectangle, a trapezoid, a triangle or other shapes, and the specific shape needs to be selected according to actual needs. In the embodiment of the present application, the cross-sectional shape of the mating end is a triangle.

[0085] See also Figure 1 and Figure 4 In some embodiments, a plurality of notches are evenly distributed along the length direction of the spine 41, and the shape of the notches matches the cross-sectional shape of the mating end.

[0086] In this way, the movable portion 20 can be locked at multiple locations, which is beneficial to improving the response speed of the locking mechanism 40 and enhancing reliability.

[0087] Specifically, when the locking mechanism 40 locks the movable part 20 , the ratchet 42 is meshed with the ratchet bar 41 , that is, the ratchet 42 is inserted into any notch on the ratchet bar 41 .

[0088] In certain embodiments, the shape of the notch includes, but is not limited to, a rectangle, a trapezoid, or a triangle.

[0089] In this way, the shape of the notch can be flexibly selected according to actual needs.

[0090] Optionally, the shape of the notch includes but is not limited to a rectangle, a trapezoid, a triangle or other shapes, and the specific shape needs to be selected according to actual needs. In the embodiment of the present application, the shape of the notch is a triangle.

[0091] See also Figure 3 and Figure 4In some embodiments, the notch includes an inclined first plane 411 and a horizontal second plane 412, an inclined third plane 421 is provided at the top of the ratchet 42, and a horizontal fourth plane 422 is provided at the bottom. When the mating end is mated with the ratchet strip 41, the first plane 411 is in contact with the third plane 421, and the second plane 412 is in contact with the fourth plane 422.

[0092] In this way, the mating end fits tightly with the notch, which increases the contact area between the mating end and the notch, avoids stress concentration causing the mating end to break, and is beneficial to improving the reliability of the locking mechanism 40.

[0093] Specifically, in the embodiment of the present application, the shape of the notch is a triangle, and one end of the first plane 411 is connected to one end of the second plane 412 .

[0094] See also Figures 1 to 5 In some embodiments, the guide rail 10 is formed with a guide groove 11 along the length direction, and the movable part 20 includes a guide wheel 21 . The movable part 20 is arranged on the guide rail 10 through the cooperation between the guide wheel 21 and the guide groove 11 .

[0095] In this way, the movable part 20 can be stably lifted and lowered along the guide structure to avoid shaking and collision during lifting and lowering.

[0096] Specifically, in the embodiment of the present application, the guide groove 11 is arranged along the direction of the lifting and lowering of the movable part 20, and the guide groove 11 is arranged on both guide rails 10. Correspondingly, a guide wheel 21 is provided on both sides of the movable part 20. The movable part 20 can slide up and down and lift and lower through the cooperation of the guide wheel 21 and the guide groove 11.

[0097] In other embodiments, other structures may be used to limit the moving direction of the movable portion 20 and provide a guide.

[0098] Furthermore, there are two ratchet bars 41, and the guide groove 11 is formed between the two ratchet bars 41. In this way, the ratchet bar 41 can be used for multiple purposes, which is conducive to simplifying the structure and reducing the cost.

[0099] Specifically, in the embodiment of the present application, two spines 41 are arranged in parallel and enclosed with the surface of the guide rail 10 to form a U-shaped guide groove 11. The width of the guide groove 11 is slightly wider than the width of the guide wheel 21, so that a gap is formed between the guide wheel 21 and the spines 41 on both sides, thereby avoiding friction between the guide wheel 21 and the spines 41, thereby preventing damage to the guide wheel 21 or the spines 41, and also preventing friction resistance from causing the movable part 20 to move unsmoothly during the lifting process.

[0100] In some embodiments, two ratchet bars 41 may also be arranged on the mounting plate, the two ratchet bars 41 are connected to the guide rail 10 through the mounting plate, and the two ratchet bars 41 and the mounting plate enclose a U-shaped guide groove 11. Such an arrangement facilitates the installation and replacement of the ratchet bars 41.

[0101] In some embodiments, each locking mechanism 40 may also be provided with two ratchet teeth 42 , and the two ratchet teeth 42 are provided corresponding to the two ratchet bars 41 . When the locking mechanism 40 locks the movable part 20 , the two ratchet teeth 42 are respectively engaged with the two ratchet bars 41 .

[0102] In some embodiments, the locking mechanism 40 may also be provided with wide ratchet teeth 42 , that is, when the locking mechanism 40 locks the movable portion 20 , one ratchet tooth 42 may engage with two ratchet strips 41 at the same time.

[0103] See also Figures 6 to 8 In some embodiments, the guide wheel 21 includes an axle 211 and a rotating wheel 212. The axle 211 is installed on the movable part 20, and the rotating wheel 212 is rotatably set on the axle 211. The guide wheel 21 is configured so that when the movable part 20 is raised or lowered, the rotating wheel 212 rolls in the guide groove 11, and the side of the rotating wheel 212 presses against the guide rail 10.

[0104] Thus, compared with traditional guide mechanisms such as the linear guide rail 10 , the guide portion of the present application can simplify the requirements of the guide mechanism on assembly accuracy and reduce the difficulty of assembly.

[0105] Specifically, in the embodiment of the present application, a mounting bracket 215 is installed on the movable part 20, and the mounting bracket 215 includes a fixing plate 2151 and two oppositely arranged support plates 2152, and the two oppositely arranged support plates 2152 are both provided with a wheel axle hole 2153, the wheel axle 211 is strung in the two wheel axle holes 2153, and fixing devices are provided at both ends of the wheel axle 211 to prevent the wheel axle 211 from being separated from the wheel axle hole 2153.

[0106] Furthermore, the rotating wheel 212 is disposed between the two supporting plates 2152 , and when the axle 211 passes through the two axle holes 2153 , it also passes through the rotating wheel 212 located between the two supporting plates 2152 , so that the rotating wheel 212 is rotatably disposed on the axle 211 .

[0107] Further, such as Figure 8 As shown, the outer periphery of the rotating wheel 212 of the guide wheel 21 has an outer rotating wheel 216 made of polyurethane / rubber or the like, the purpose of which is to avoid rigid cooperation with the guide groove 11, thereby reducing movement friction during lifting and lowering and making the movement smoother.

[0108] See also Figure 8In some embodiments, the guide wheel 21 further includes a bearing 213 , and the rotating wheel 212 is mounted on the axle 211 via the bearing 213 .

[0109] Thus, the bearing 213 is provided to avoid direct friction between the guide wheel 21 and the axle 211, which is beneficial to improving the service life of the guide wheel 21 and the axle 211.

[0110] Specifically, the bearing 213 includes an inner ring and an outer ring. In the embodiment of the present application, the inner ring of the bearing 213 is sleeved on the axle 211, and the runner 212 is sleeved on the outer ring of the bearing 213. Optionally, the inner ring of the bearing 213 and the axle 211 are interference fit, and the runner 212 and the outer ring of the bearing 213 are also interference fit.

[0111] Optionally, the bearing 213 may be a ball bearing 213 , a roller bearing 213 , or a radial thrust bearing 213 .

[0112] In some embodiments, the guide wheel 21 further includes a sleeve 214 , which is disposed on the wheel axle 211 , and one end face of the sleeve 214 abuts against the inner ring of the bearing 213 . There are two sleeves 214 , which are disposed on both sides of the bearing 213 .

[0113] In this way, the shaft sleeve 214 can place the guide wheel 21 in the middle position of the guide mechanism.

[0114] Specifically, in the embodiment of the present application, two sleeves 214 are equal in size and are respectively sleeved on both sides of the bearing 213, so as to fix the bearing 213 in the middle of the axle 211. It should be noted that the thickness of the sleeve 214 should be less than or equal to the thickness of the inner ring of the bearing 213 as much as possible, and avoid the sleeve 214 from squeezing the roller or outer ring of the bearing 213 when abutting against the inner ring of the bearing 213, so that the bearing 213 cannot rotate normally.

[0115] In some embodiments, the sensor 30 is an acceleration sensor 30 , and the sensor 30 is mounted on the movable part 20 .

[0116] In this way, using the acceleration sensor 30 is helpful to lock the movable part 20 more timely.

[0117] Specifically, the acceleration sensor 30 is a device that can measure the acceleration of an object and convert it into a measurable signal. Acceleration is a physical quantity that describes how fast an object's speed changes, and its direction is the same as the direction of the speed change. When the movable part 20 falls, when it just has a tendency to fall, because it already has the acceleration of falling, the acceleration sensor 30 can immediately sense it and respond in time, generating an electrical signal to transmit to the controller, so that the movable part 20 can be effectively dropped, and at this time the speed of the movable part 20 is relatively low, and the locking mechanism 40 can also more easily achieve the locking of the movable part 20, and the excessive speed of the movable part 20 will not cause a violent collision between the ratchet 42 and the ratchet bar 41, resulting in damage to the ratchet 42 or the ratchet bar 41.

[0118] In some embodiments, the locking mechanism 40 further includes a controller, which communicates with the sensor 30 and is configured to control the locking mechanism 40 to lock the movable part 20 when the acceleration is greater than a preset value.

[0119] In this way, the controller controls the locking mechanism 40 to lock the movable part 20, which helps to reduce the control difficulty.

[0120] In some embodiments, the controller sends an unlocking signal after receiving an external unlocking command, and the electric cylinder 43 is configured to drive the ratchet 42 to release the engagement with the ratchet bar 41 when receiving the unlocking signal, thereby unlocking the movable part 20 .

[0121] In this way, the locking mechanism 40 can be controlled to be unlocked through the controller, which helps to reduce the control difficulty.

[0122] Specifically, in the embodiment of the present application, the controller is electrically connected to the sensor 30 , and the controller is used to control the locking mechanism 40 to lock the movable part 20 according to the signal.

[0123] In some embodiments, the number of guide rails 10 is two, the number of locking mechanisms 40 is two groups, and the two groups of locking mechanisms 40 are respectively provided corresponding to the two guide rails 10 .

[0124] In this way, the two sets of guide rails 10 and the locking mechanism 40 are helpful to increase the load-bearing capacity and improve the reliability.

[0125] Specifically, in the embodiment of the present application, two guide rails 10 are arranged opposite to each other, the movable part 20 is arranged between the two guide rails 10, and both ends of the movable part 20 are movably connected to the two guide rails 10. Further, two locking mechanisms 40 are arranged at both ends of the movable part 20, respectively.

[0126] See also Fig. 9In some embodiments, the lifting device 100 also includes a base plate and a power mechanism 50. The guide rail 10 and the power mechanism 50 are both arranged on the base plate. The power mechanism 50 includes a motor 51, a driving sprocket 52, a driven sprocket 53 and a chain 54. The motor 51 is installed on the base plate. The motor 51 has an output shaft 511. The driving sprocket 52 is sleeved on the output shaft 511. The driven sprocket 53 is rotatably arranged at one end of the guide rail 10 away from the movable part. Both ends of the chain 54 are fixed on the movable part 20 and form a ring-shaped meshing on the outer sides of the driving sprocket 52 and the driven sprocket 53. The motor 51 is configured to drive the driving sprocket 52 to rotate and drive the chain 54, thereby pulling the movable part 20 to slide along the guide rail 10.

[0127] In this way, the transmission is carried out by the chain 54, with high transmission efficiency, strong load-bearing capacity and no slipping.

[0128] Specifically, in the embodiment of the present application, a first connection end is provided at the top of the movable part 20, and a second connection end is provided at the bottom of the movable part 20. After one end of the chain 54 is connected to the first connection end, it extends to the top of the guide rail 10 and meshes with the outer side of the driven sprocket 53 provided at the top of the guide rail 10, then extends to the bottom of the guide rail 10 and meshes with the outer side of the driving sprocket 52 provided at the bottom of the guide rail 10, then extends to the top of the guide rail 10 again and connects to the second connection end. In this way, when the motor 51 rotates, the driving sprocket 52 rotates to drive the chain 54 to move, and the movable part 20 can be moved under the drive of the chain 54. Switching the rotation direction of the motor 51 can change the moving direction of the movable part 20.

[0129] In some embodiments, the abnormal motion is the abnormal motion of the movable part 20 caused by the breakage of the chain 54, and the abnormal motion signal is a chain breakage signal.

[0130] In this way, when the chain 54 breaks, the movable part 20 can be locked in time.

[0131] In the embodiment of the present application, when the lifting device 100 is in normal operation, if the chain 54 suddenly breaks, the movable part 20 cannot maintain normal speed movement under the action of the power mechanism 50, and the movable part 20 will perform free fall movement under the action of gravity; at this time, the acceleration sensor 30 captures the acceleration change of the movable part 20, which will generate a chain break signal and feed it back to the controller. After receiving the signal, the controller sends an instruction to the electric cylinder 43 to control the extended shaft to drive the ratchet 42 to move forward, so that the third plane 421 and the fourth plane 422 on the ratchet 42 will respectively contact and cooperate with the first plane 411 and the second plane 412 on the ratchet bar 41, so as to realize the meshing of the ratchet 42 and the ratchet bar 41. At this time, the movable part 20 is locked to avoid further falling, thereby ensuring the safety of people and equipment.

[0132] In the description of this specification, the description with reference to the terms "certain embodiments", "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0133] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, unless otherwise clearly and specifically defined.

[0134] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application. The scope of the present application is defined by the claims and their equivalents.

Claims

1. A lifting device, characterized in that: include: guide; A movable part, movably arranged on the guide rail; A sensor, used for detecting abnormal movement of the movable part and sending an abnormal movement signal; The locking mechanism includes a ratchet, a ratchet and an electric cylinder, wherein the electric cylinder is arranged on the movable part, the ratchet is arranged on the guide rail, the ratchet is arranged on the electric cylinder, the electric cylinder is electrically connected to the sensor, and the electric cylinder is configured to drive the ratchet to cooperate with the ratchet to lock the movable part when the sensor detects the abnormal motion signal.

2. The lifting device according to claim 1, characterized in that: The electric cylinder includes a body and a telescopic shaft, the body is arranged on the movable part, and the ratchet is arranged on the telescopic shaft. When the sensor detects the abnormal motion signal, the electric cylinder drives the telescopic shaft to extend, so that the ratchet engages with the ratchet bar, thereby locking the movable part.

3. The lifting device according to claim 2, characterized in that: The locking mechanism also includes a support member, which is fixed on the telescopic shaft and connected to the ratchet.

4. The lifting device according to claim 3, characterized in that: The ratchet comprises a mating end and a connecting end, the connecting end is threadedly connected to the support member, and the mating end can be engaged with the ratchet bar.

5. The lifting device according to claim 4, characterized in that: The cross-sectional shape of the mating end is rectangular, trapezoidal or triangular.

6. The lifting device according to claim 4, characterized in that: The spine strip is evenly distributed with a plurality of notches along the length direction, and the shape of the notches matches the cross-sectional shape of the matching end.

7. The lifting device according to claim 6, characterized in that: The shape of the notch is rectangular, trapezoidal or triangular.

8. The lifting device according to claim 6, characterized in that: The notch includes an inclined first plane and a horizontal second plane, the top of the ratchet is provided with an inclined third plane, and the bottom is provided with a horizontal fourth plane. When the mating end is mated with the ratchet bar, the first plane fits with the third plane, and the second plane fits with the fourth plane.

9. The lifting device according to claim 1, characterized in that: The guide rail is formed with a guide groove along the length direction, the movable part comprises a guide wheel, and the movable part is arranged on the guide rail through the cooperation of the guide wheel and the guide groove.

10. The lifting device according to claim 9, characterized in that: The guide wheel includes an axle and a rotating wheel, the axle is installed on the movable part, and the rotating wheel is rotatably arranged on the axle. The guide wheel is configured so that when the movable part is raised or lowered, the rotating wheel rolls in the guide groove, and the side surface of the rotating wheel presses against the guide rail.

11. The lifting device according to claim 1, characterized in that: The sensor is an acceleration sensor, and the sensor is installed on the movable part.

12. The lifting device according to claim 11, characterized in that: The locking mechanism further includes a controller, which communicates with the sensor and is configured to control the locking mechanism to lock the movable part when the acceleration is greater than a preset value.

13. The lifting device according to claim 12, characterized in that: The controller sends out an unlocking signal after receiving an external unlocking instruction. The electric cylinder is configured to drive the ratchet to release the engagement with the ratchet bar when receiving the unlocking signal, thereby unlocking the movable part.

14. The lifting device according to claim 1, characterized in that: The number of the guide rails is two, the number of the locking mechanisms is two groups, and the two groups of locking mechanisms are respectively arranged corresponding to the two guide rails.

15. The lifting device according to claim 1, characterized in that: The lifting device also includes a base plate and a power mechanism, the guide rail and the power mechanism are both arranged on the base plate, the power mechanism includes a motor, a driving sprocket, a driven sprocket and a chain, the motor is installed on the base plate, the motor has an output shaft, the driving sprocket is sleeved on the output shaft, the driven sprocket is rotatably arranged on the guide rail away from the end of the movable part, the two ends of the chain are fixed on the movable part and form an annular meshing on the outer sides of the driving sprocket and the driven sprocket, the motor is configured to drive the driving sprocket to rotate and drive the chain, thereby pulling the movable part to slide along the guide rail.

16. The lifting device according to claim 15, characterized in that: The abnormal movement is the abnormal movement of the movable part caused by the chain breaking, and the abnormal movement signal is a chain breaking signal.

17. A transport robot, comprising the lifting device according to any one of claims 1 to 16, comprising: A robot body, wherein the guide rail is vertically arranged on the robot body; The transport platform is connected to the movable part and moves along the guide rail along with the movable part.

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