Lifting mechanism

Abstract

The invention relates to the technical field of lifting mechanisms, and provides a lifting mechanism which is characterized in that a frame is provided with a sliding channel in the vertical direction; the lift car is arranged in the sliding channel and slides relative to the frame in the vertical direction. The two suspension arms are symmetrically arranged on the two opposite sides of the lift car in the first horizontal direction, the suspension arms are hinged to the lift car, the axial direction of a hinge shaft is parallel to the first horizontal direction, and in the second horizontal direction, the midpoints of the suspension arms are connected with the lift car through the hinge shaft; the transmission assemblies are symmetrically fixed to the two opposite ends, in the second horizontal direction, of the suspension arm and used for driving the lift car to move in the vertical direction. The first horizontal direction is perpendicular to the second horizontal direction. Thus, the swing arm can swing relative to the lift car, when the lift car inclines, the swing arm can still keep horizontal, the stress conditions of the transmission assemblies connected with the same suspension arm are kept the same, and concentrated stress is avoided.

Description

Technical Field

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

[0002] Since the battery of a heavy truck needs to be replaced above it, the car body of the battery-changing robot needs to transport the fully charged battery to a high position, and then the robotic arm in the car body grabs the battery and extends it from the discharge port to directly above the heavy truck for battery installation.

[0003] When the robotic arm holds the battery and extends out of the car body, the overall center of gravity of the car body and the battery will shift to the side of the discharge port, and the car body will also tilt to that side. This causes the weight of the car body and the battery to be almost concentrated on the connecting chain near the discharge port side, and the connecting chain on the other side is hardly stressed. When the driving member pulls the car body to move through the connecting chain under the condition of uneven force on the connecting chain, jamming will occur. Moreover, since the same-side connecting chain is concentratedly stressed every time the center of gravity shifts, it will also cause the connecting chain on that side to break.

[0004] Therefore, there is an urgent need for a lifting mechanism to solve the above technical problems. Summary of the Invention

[0005] The purpose of the present invention is to provide a lifting mechanism that can keep the car body balanced during the transportation and unloading of the battery, so that the force on each connecting chain is balanced.

[0006] To achieve this purpose, the present invention adopts the following technical solutions:

[0007] A lifting mechanism, comprising:

[0008] A frame, wherein a sliding channel is arranged on the frame in the vertical direction;

[0009] A car body, which is arranged in the sliding channel and slides relative to the frame in the vertical direction;

[0010] Two lifting arms, which are symmetrically arranged on opposite sides of the car body in the first horizontal direction. The lifting arms are hinged to the car body, and the axial direction of the hinge axis is parallel to the first horizontal direction. In the second horizontal direction, the midpoint of the lifting arm and the car body are connected through the hinge axis;

[0011] A transmission assembly, which is symmetrically fixed to opposite ends of the lifting arm in the second horizontal direction and is used to drive the car body to move in the vertical direction;

[0012] The first horizontal direction is perpendicular to the second horizontal direction.

[0013] As a preferred technical solution of the above-mentioned lifting mechanism, the transmission assembly includes a plurality of connecting chains, and the driving assembly is connected to the boom through the plurality of connecting chains.

[0014] As a preferred technical solution of the above-mentioned lifting mechanism, the transmission assembly further includes a counterweight. The counterweight can slide relative to the frame in the vertical direction. One end of each of the plurality of connecting chains is fixed to the counterweight, and the other end is fixed to the boom. The output end of the driving assembly is in transmission connection with the middle section of the connecting chain. The counterweight makes the car tend to move upward in the vertical direction.

[0015] As a preferred technical solution of the above-mentioned lifting mechanism, the driving assembly and the counterweight are respectively arranged on opposite sides of the car in the first horizontal direction.

[0016] As a preferred technical solution of the above-mentioned lifting mechanism, a fracture sensor is arranged at the connection position between the connecting chain and the boom.

[0017] As a preferred technical solution of the above-mentioned lifting mechanism, it further includes a guiding assembly. The guiding assembly includes a plurality of guiding columns. The guiding columns are relatively fixed to the frame. The connecting chain changes the direction of the applied force through the guiding columns, so that the connecting chain acts on the boom in the vertical direction.

[0018] As a preferred technical solution of the above-mentioned lifting mechanism, the guiding assembly further includes a housing. The housing is fixed to the top of the frame. The guiding columns are arranged in the housing and the axial two ends of the guiding columns are hinged to the opposite sides of the housing. The connecting chain changes direction through the guiding columns in the housing.

[0019] As a preferred technical solution of the above-mentioned lifting mechanism, the driving assembly includes a motor and a transfer case. The transfer case includes an input end and a plurality of output ends. The output end of the motor is in transmission connection with the input end of the transfer case. Each output end of the transfer case is in transmission connection with at least the middle section of one of the connecting chains.

[0020] As a preferred technical solution of the above-mentioned lifting mechanism, the rotational speed of the output end of the transfer case is less than the rotational speed of the input end of the transfer case.

[0021] As a preferred technical solution of the above lifting mechanism, the driving assembly further includes a speed reduction mechanism. The speed reduction mechanism includes a mounting seat, a transmission chain, and a transmission shaft. The mounting seat is relatively fixed to the frame. The transmission shaft is rotatably connected to the mounting seat. One end of the transmission shaft is in transmission connection with the connecting chain. A first meshing gear is coaxially fixed to the other end of the transmission shaft. A second meshing gear is provided at the output end of the transfer case. The first meshing gear and the second meshing gear are in transmission through the transmission chain, and the angular velocity of the first meshing gear is less than that of the second meshing gear.

[0022] Advantages of the present invention:

[0023] The present application provides a lifting mechanism, including a frame, a car, a boom driving assembly, and a transmission assembly. Among them, the frame is provided with a sliding channel in the vertical direction; the car is arranged in the sliding channel and slides relative to the frame in the vertical direction; there are two booms, symmetrically arranged on opposite sides of the car in the first horizontal direction. The boom is hinged to the car, and the axial direction of the hinge shaft is parallel to the first horizontal direction. In the second horizontal direction, the midpoint of the boom and the car are connected by the hinge shaft.

[0024] Specifically, the frame includes a top and a plurality of struts. The struts are arranged in the vertical direction. The plurality of struts are fixed to the peripheral side of the top. The plurality of struts and the top enclose a sliding channel. The car is used for loading goods and moves relative to the frame in the vertical direction within the sliding channel. In this embodiment, the projection of the top of the frame in the vertical direction is rectangular. There are four struts, and the four columns are respectively fixed to the four top corners of the top. The formed sliding channel is hexagonal prism-shaped. The projection of the car in the vertical direction is also rectangular, and the two adjacent sides of the rectangle are respectively parallel to the first horizontal direction and the second horizontal direction. The two booms are symmetrically arranged on opposite sides of the car in the first horizontal direction. The length direction of the boom is parallel to the second horizontal direction. In the second horizontal direction, the midpoint of the boom is hinged to the car through a hinge shaft, and the axial direction of the hinge shaft is parallel to the first horizontal direction.

[0025] In this way, the boom can rotate relative to the car around the hinge shaft. When the overall center of gravity of the car and the goods shifts towards the discharge port side, the car shows a tendency to tilt. However, since the two sides of the boom in the first horizontal direction are connected by the transmission assembly, the boom can rotate relative to the car around the hinge shaft. The gravity of the car and the goods acts on the boom through the hinge shaft. The hinge shaft is located at the midpoint of the boom. In this way, the gravity of the car and the goods can still be evenly distributed to the transmission assemblies on both sides in the first horizontal direction. In this way, the force conditions of the transmission assemblies connected to the same boom are kept the same, avoiding concentrated force. Description of the Drawings

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the content of the embodiments of the present invention and these drawings.

[0027] Figure 1 It is a schematic structural diagram of a lifting mechanism provided by an embodiment of the present invention;

[0028] Figure 2 It is a front view of the lifting mechanism provided by an embodiment of the present invention;

[0029] Figure 3 It is a rear view of the lifting mechanism provided by an embodiment of the present invention;

[0030] Figure 4 It is a side view of the lifting mechanism provided by an embodiment of the present invention;

[0031] Figure 5 It is an assembly schematic diagram of a car and a jib provided by an embodiment of the present invention.

[0032] In the figure:

[0033] X, vertical direction; Y, first horizontal direction; Z, second horizontal direction;

[0034] 10, frame; 11, top; 12, pillar;

[0035] 20, car;

[0036] 30, jib; 31, hinge shaft;

[0037] 40, drive assembly; 41, motor; 42, transfer case; 421, second meshing gear; 43, reduction mechanism; 431, mounting seat; 432, drive chain; 433, first meshing gear;

[0038] 51, counterweight; 52, connecting chain;

[0039] 60, guiding assembly; 61, guiding column; 62, housing;

[0040] 70, base; 80, fracture sensor. Detailed implementation manners

[0041] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only for explaining the present invention, rather than limiting the present invention. In addition, it should be noted that for the convenience of description, only the parts related to the present invention are shown in the drawings, rather than all the structures.

[0042] In the description of the present invention, unless otherwise clearly defined and limited, the terms "connected", "connected to", and "fixed" shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] In the present invention, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features therebetween. Moreover, the first feature being "above", "over", and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "under", and "beneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature.

[0044] In the description of this embodiment, the orientation or positional relationships such as "above", "below", "right", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of description and simplifying the operation, 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 should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for distinction in description and have no special meanings.

[0045] Such as Figures 1 to 5As shown in the figure, the present application provides a lifting mechanism, including a frame 10, a car 20, a boom 30, a driving component 40 and a transmission component. Among them, the frame 10 is provided with a sliding channel along the vertical direction X; the car 20 is arranged in the sliding channel and slides relative to the frame 10 along the vertical direction X; there are two booms 30, symmetrically arranged on the opposite sides of the car 20 in the first horizontal direction Y, the boom 30 is hinged to the car 20, the axial direction of the hinge shaft 31 is parallel to the first horizontal direction Y, and in the second horizontal direction Z, the midpoint of the boom 30 and the car 20 are connected by the hinge shaft 31; the transmission components are symmetrically fixed to the opposite ends of the boom 30 in the second horizontal direction Z, and are used to drive the car 20 to move in the vertical direction X; the first horizontal direction Y is perpendicular to the second horizontal direction Z.

[0046] Specifically, the frame 10 includes a top 11 and a plurality of struts 12. The struts 12 are arranged along the vertical direction X. The plurality of struts 12 are fixed to the peripheral side of the top 11. The plurality of struts 12 and the top 11 enclose a sliding channel. The car 20 is used to load goods and moves relative to the frame 10 along the vertical direction X within the sliding channel. In this embodiment, the projection of the top 11 of the frame 10 in the vertical direction X is rectangular. There are four struts 12, and the four columns are respectively fixed to the four top corners of the top 11. The formed sliding channel is hexagonal prism-shaped. The projection of the car 20 in the vertical direction X is also rectangular, and the two adjacent sides of the rectangle are respectively parallel to the first horizontal direction Y and the second horizontal direction Z. The two booms 30 are symmetrically arranged on the opposite sides of the car 20 in the first horizontal direction Y. The length direction of the boom 30 is parallel to the second horizontal direction Z, and in the second horizontal direction Z, the midpoint of the boom 30 and the car 20 are hinged by the hinge shaft 31, and the axial direction of the hinge shaft 31 is parallel to the first horizontal direction Y.

[0047] In this way, the boom 30 can rotate relative to the car 20 around the hinge shaft 31. When the overall center of gravity of the car 20 and the goods shifts to the side of the discharge port, the car 20 has a tendency to tilt. However, since the two sides of the boom 30 in the first horizontal direction Y are connected by the transmission components, the boom 30 can rotate relative to the car 20 around the hinge shaft 31. The gravity of the car 20 and the goods acts on the boom 30 through the hinge shaft 31. The hinge shaft 31 is located at the midpoint of the boom 30. In this way, the gravity of the car 20 and the goods can still be evenly distributed on the transmission components on both sides in the first horizontal direction Y. In this way, the force conditions of the transmission components connected to the same boom 30 are the same, avoiding concentrated force.

[0048] Optionally, the lifting mechanism further includes a base 70, and both the frame 10 and the driving component 40 are fixed to the upper end surface of the base 70. In this way, the base 70 can keep the relative fixation between the frame 10 and the driving component 40, and directly installing the driving component 40 on the base 70 can reduce the load of the frame 10.

[0049] Specifically, the transmission assembly includes multiple connecting chains 52, and the driving assembly 40 is connected to the boom 30 through the multiple connecting chains 52.

[0050] Optionally, the transmission assembly further includes a counterweight 51. The counterweight 51 can slide relative to the frame 10 in the vertical direction X. One end of each of the multiple connecting chains 52 is fixed to the counterweight 51, and the other end is fixed to the boom 30. The output end of the driving assembly 40 is drivingly connected to the middle section of the connecting chain 52. The counterweight 51 gives the car 20 a tendency to move upward in the vertical direction X. In this way, the counterweight 51 balances the weight of the car 20 and the goods, and is mainly responsible for the lifting of the car 20 and the goods. The driving assembly 40 plays an auxiliary adjustment role, which can reduce the requirement of the lifting mechanism for the output torque of the driving assembly 40.

[0051] Optionally, the driving assembly 40 and the counterweight 51 are respectively arranged on opposite sides of the car 20 in the first horizontal direction Y.

[0052] Optionally, a fracture sensor 80 is arranged at the connection position between the connecting chain 52 and the boom 30.

[0053] It should be noted that the fracture sensor 80 is a prior art, and its specific structure and working principle will not be elaborated here.

[0054] Optionally, the lifting mechanism further includes a guiding assembly 60. The guiding assembly 60 includes a number of guiding columns 61. The guiding columns 61 are relatively fixed to the frame 10. The connecting chain 52 changes the direction of the applied force through the guiding columns 61, so that the connecting chain 52 acts on the boom 30 in the vertical direction X. In this way, the component force of the connecting chain 52 in other directions can be reduced, so that the acting forces of the counterweight 51 and the driving assembly 40 are all used to drive the car 20 and the goods in the vertical direction X.

[0055] Optionally, the guiding assembly 60 further includes a housing 62. The housing 62 is fixed to the top 11 of the frame 10. The guiding columns 61 are arranged inside the housing 62, and the axial two ends of the guiding columns 61 are hinged to the opposite sides of the housing 62. The connecting chain 52 changes its direction through the guiding columns 61 inside the housing 62. In this way, the rotational arrangement of the guiding columns 61 can reduce the friction between the connecting chain 52 and the guiding columns 61, and the housing 62 can limit the range of the axial movement of the connecting chain 52 along the guiding columns 61, so that the connecting chain 52 always overlaps with the guiding columns 61.

[0056] Optionally, the driving assembly 40 includes a motor 41 and a power take-off box 42. The power take-off box 42 includes an input end and multiple output ends. The output end of the motor 41 is drivingly connected to the input end of the power take-off box 42. Each output end of the power take-off box 42 is drivingly connected to at least the middle section of one connecting chain 52.

[0057] Optionally, the rotation speed of the output end of the transfer case 42 is lower than the rotation speed of the input end of the transfer case 42 .

[0058] In this embodiment, the transfer case 42 comprises a one-to-two transfer case, including an input end and two output ends, and the two output ends are symmetrically arranged on opposite sides of the input end in the first horizontal direction Y.

[0059] Optionally, the driving assembly 40 further includes a speed reduction mechanism 43, which includes a mounting seat 431, a transmission chain 432 and a transmission shaft. The mounting seat 431 is relatively fixed to the frame 10, and the transmission shaft is rotationally connected to the mounting seat 431. One end of the transmission shaft is transmission-connected to the connecting chain 52, and the other end of the transmission shaft is coaxially fixed with a first meshing gear 433. The output end of the transfer case 42 is provided with a second meshing gear 421. The first meshing gear 433 and the second meshing gear 421 are driven by the transmission chain 432, and the angular velocity of the first meshing gear 433 is less than the angular velocity of the second meshing gear 421. In this way, after the transfer case 42 reduces the output speed of the motor 41 once, the speed reduction mechanism 43 can reduce it again.

[0060] In addition, the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. Lifting mechanism, characterized in that, Comprising: A frame (10), the frame (10) is provided with a sliding channel along the vertical direction (X); A car (20), the car (20) is arranged in the sliding channel and slides relative to the frame (10) along the vertical direction (X); Two lifting arms (30), symmetrically arranged on opposite sides of the car (20) in the first horizontal direction (Y), the lifting arms (30) are hinged to the car (20), the axial direction of the hinge shaft (31) is parallel to the first horizontal direction (Y), in the second horizontal direction (Z), the midpoint of the lifting arm (30) and the car (20) are connected through the hinge shaft (31); A transmission assembly, the transmission assembly is symmetrically fixed to opposite ends of the lifting arm (30) in the second horizontal direction (Z) for driving the car (20) to move in the vertical direction (X); The first horizontal direction (Y) is perpendicular to the second horizontal direction (Z).

2. The lifting mechanism according to claim 1, wherein, The transmission assembly includes a plurality of connecting chains (52), and the driving assembly (40) is connected to the lifting arm (30) through the plurality of connecting chains (52).

3. The lifting mechanism according to claim 2, characterized in that The transmission assembly further includes a counterweight (51), the counterweight (51) can slide relative to the frame (10) along the vertical direction (X), one end of each of the plurality of connecting chains (52) is fixed to the counterweight (51), the other end is fixed to the lifting arm (30), and the output end of the driving assembly (40) is in transmission connection with the middle section of the connecting chain (52), and the counterweight (51) makes the car (20) have a tendency to move upward along the vertical direction (X).

4. The lifting mechanism according to claim 3, characterized in that, The driving assembly (40) and the counterweight (51) are respectively arranged on opposite sides of the car (20) in the first horizontal direction (Y).

5. The lifting mechanism according to claim 3, characterized in that, A fracture sensor (80) is arranged at the connection position of the connecting chain (52) and the lifting arm (30).

6. The lifting mechanism according to claim 3, wherein Further included is a guiding assembly (60), the guiding assembly (60) includes a plurality of guiding columns (61), the guiding columns (61) are relatively fixed to the frame (10), and the connecting chain (52) changes the force application direction through the guiding columns (61) so that the connecting chain (52) acts on the lifting arm (30) along the vertical direction (X).

7. The lifting mechanism according to claim 6, wherein The guiding assembly (60) further includes a housing (62), the housing (62) is fixed to the top (11) of the frame (10), the guiding columns (61) are arranged in the housing (62) and the axial ends of the guiding columns (61) are hinged to opposite sides of the housing (62), and the connecting chain (52) changes direction through the guiding columns (61) inside the housing (62).

8. The lifting mechanism according to claim 3, characterized in that, The driving assembly (40) includes a motor (41) and a transfer case (42), the transfer case (42) includes an input end and a plurality of output ends, the output end of the motor (41) is in transmission connection with the input end of the transfer case (42), and each output end of the transfer case (42) is in transmission connection with at least the middle section of one connecting chain (52).

9. The lifting mechanism according to claim 8, wherein The rotational speed of the output end of the transfer case (42) is less than the rotational speed of the input end of the transfer case (42).

10. The lifting mechanism according to claim 9, characterized in that, The drive assembly (40) further includes a speed reduction mechanism (43). The speed reduction mechanism (43) includes a mounting base (431), a transmission chain (432), and a transmission shaft. The mounting base (431) is relatively fixed to the frame (10). The transmission shaft is rotatably connected to the mounting base (431). One end of the transmission shaft is in transmission connection with the connecting chain (52). A first meshing gear (433) is coaxially fixed to the other end of the transmission shaft. A second meshing gear (421) is provided at the output end of the transfer case (42). The first meshing gear (433) and the second meshing gear (421) are in transmission through the transmission chain (432), and the angular velocity of the first meshing gear (433) is less than the angular velocity of the second meshing gear (421).

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