Self-locking mechanism, jacking device and robot

Abstract

The invention relates to the technical field of self-locking protection devices, and discloses a self-locking mechanism, a jacking device and a robot, the self-locking mechanism comprises a limiting seat and a sliding assembly, the sliding assembly is used for being fixedly connected to a sliding part, and the limiting seat is used for being fixedly connected to a fixed part; a plurality of limiting parts are arranged on the limiting seat; the sliding assembly comprises a sliding seat and a limiting piece, the sliding seat is used for being fixedly connected with the sliding part, the limiting piece is movably arranged on the sliding seat, and the limiting piece is provided with a clamping end matched with the limiting part in a self-locking mode; the limiting piece is used for moving relative to the sliding seat when sliding towards a first direction along with the sliding seat, so that the clamping end is sequentially matched with different limiting parts along the first direction; and the clamping end is used for being clamped with the limiting part towards the second direction when being matched with any limiting part so as to limit the sliding seat to slide towards the second direction relative to the limiting seat. By means of the mode, self-locking protection can be achieved, meanwhile, cost is reduced, and the service life is prolonged.

Description

Technical Field

[0001] The present application relates to the technical field of self-locking protection devices, and particularly relates to a self-locking mechanism, a jacking device and a robot. Background Art

[0002] Some current mechanical devices, such as lifting mechanisms, etc., generally achieve this through a brake built into the drive motor. In the case of power failure, overload of the drive motor, or the triggering of a safety sensor, etc., the brake operates to quickly stop the drive motor and maintain it in the current state to avoid dangerous situations.

[0003] Since the brake built into the drive motor has a complex structure and achieves self-locking through friction braking, its wear life is limited, which makes such a self-locking method costly and has a short service life. Summary of the Invention

[0004] In view of the above problems, the embodiments of the present application provide a self-locking mechanism, a jacking device and a robot, which can achieve self-locking protection while reducing costs and extending the service life.

[0005] According to the first aspect of the embodiments of the present application, a self-locking mechanism is provided, which is applied to a mechanical device having a sliding mechanism. The sliding mechanism includes a fixed part and a sliding part slidably connected to the fixed part. The self-locking mechanism includes: a limit seat and a sliding assembly. The sliding assembly is used for fixedly connecting to the sliding part to slide along a first direction with the sliding part. The first direction includes opposite first and second directions. The limit seat is used for fixedly connecting to the fixed part; a plurality of limit parts are arranged in sequence along the first direction on the limit seat; the sliding assembly includes: a sliding seat and a limiting member. The sliding seat is used for fixedly connecting to the sliding part. The limiting member is movably arranged on the sliding seat. The limiting member has a clamping end that self-locks and cooperates with the limit part. The limiting member is used for moving relative to the sliding seat when sliding in the first direction along the first direction, so that the clamping end sequentially cooperates with different limit parts along the first direction; the clamping end is used for forming a clamping connection with the limit part in the second direction when cooperating with any one of the limit parts to limit the sliding seat from sliding in the second direction relative to the limit seat.

[0006] In an optional manner, the limit part is a card slot opened on the limit seat, and the card slot has a slot opening facing the sliding seat; the limiting member is slidably arranged on the sliding seat along a second direction, and a first elastic member is connected between the limiting member and the sliding seat, wherein the second direction is perpendicular to the first direction; the first elastic member is used for driving the clamping end to slide and snap into the card slot when the clamping end moves to a position opposite to the slot opening; a slope is arranged on one side of the clamping end facing the first direction. The slope is used for forming a line contact and frictional cooperation with the edge of the slot opening when the clamping end snaps into the card slot and the sliding seat slides in the first direction, so that the clamping end overcomes the elastic force of the first elastic member and slides out of the card slot along the second direction.

[0007] In an alternative manner, the end of the limit seat facing the first direction is the first end, and an abutting portion is provided at the first end. The abutting portion is used to abut against the clamping end when the sliding seat slides to the first end, so that the limiting member moves away from the limiting portion to a predetermined position; the sliding assembly further includes an elastic locking member, which is movably arranged on the sliding seat. The elastic locking member is used to move relative to the sliding seat and connect with the limiting member after the limiting member moves to the predetermined position, so as to lock the limiting member in the predetermined position.

[0008] In an alternative manner, the end of the limit seat facing the second direction is the second end, and an unlocking portion is provided at the second end. The unlocking portion is used to abut against the elastic locking member when the sliding seat slides to the second end, so that the elastic locking member moves relative to the sliding seat and releases the locking of the limiting member.

[0009] In an alternative manner, the limiting portion is a card slot opened on the limit seat, and the card slot has a notch facing the sliding seat; the limiting member is slidably arranged on the sliding seat along the second direction, and a first elastic member is connected between the limiting member and the sliding seat, wherein the second direction is perpendicular to the first direction; the first elastic member is used to drive the clamping end to slide and engage with the card slot when the clamping end moves to a position opposite to the notch; a slope is provided on one side of the clamping end facing the first direction. The slope is used to form a line contact and frictional fit with the edge of the notch when the clamping end engages with the card slot and the sliding seat slides in the first direction, so that the clamping end overcomes the elastic force of the first elastic member and slides out of the card slot along the second direction; the abutting portion is used to frictionally cooperate with the slope when the sliding seat slides to the first end, so that the limiting member slides along the second direction to the side away from the limiting portion to a predetermined position; a locking portion is provided on one side of the limiting member facing the first direction; the elastic locking member includes a sliding member, a locking member and a second elastic member. The sliding member is slidably connected to the sliding seat along the first direction, the locking member is fixedly connected to the sliding member, and the second elastic member is connected between the sliding member and the sliding seat; the second elastic member is used to drive the locking member to slide in the second direction through the sliding member when the limiting member slides to the predetermined position, so that the locking member engages with the locking portion, and the limiting member is restricted at the predetermined position; the sliding member is used to abut against the unlocking portion and slide relative to the sliding seat in the first direction when sliding to the second end with the sliding seat, so that the locking member releases the locking of the limiting member, and the limiting member slides back along the second direction toward the limiting portion under the elastic force of the first elastic member.

[0010] In an alternative embodiment, the second elastic member is configured to be compressed under the inertia of the sliding seat when the limiting member is locked in a predetermined position by the locking member and the sliding speed of the sliding seat in the second direction is greater than or equal to a predetermined speed, so that the sliding member slides relative to the sliding seat in the first direction, the locking member releases the locking of the limiting member, and the limiting member slides in the second direction toward the limiting portion under the elastic force of the first elastic member and engages with the limiting portion, thereby restricting the sliding seat from continuing to slide in the second direction.

[0011] In an alternative embodiment, a sliding hole is formed in the sliding seat in the second direction; the limiting member includes a sliding rod and a limiting component. One end of the sliding rod forms a clamping end, and the other end of the sliding rod opposite to the clamping end is a connecting end. The connecting end passes through the sliding hole and is fixedly connected to the limiting component. The limiting component is used to abut against the outer wall of the sliding seat to limit the sliding stroke of the sliding rod.

[0012] In an alternative embodiment, a protrusion is provided on the inner wall of the sliding hole at the end facing the limiting component. A first plane is provided on the inner circumference of the protrusion, and a second plane is provided on the sliding rod. The first plane is used for frictional engagement with the second plane in the second direction to limit the rotation of the sliding rod; a stepped structure is provided on the sliding rod, and the stepped structure is located between the clamping end and the protrusion. The first elastic member abuts between the stepped structure and the protrusion; a locking hole communicating with the sliding hole is further formed in the sliding seat in the first direction. The locking hole communicates with the sliding hole at the position where the protrusion is located, and the locking hole is located on the side of the sliding hole in the first direction; the locking portion is a hole provided on the side of the stepped structure facing away from the clamping end. The locking member can be slidably inserted into the locking hole, and the locking member is used to slide in the second direction and engage with the hole when the hole slides to the communication position of the sliding hole and the locking hole under the elastic force of the second elastic member.

[0013] In an alternative embodiment, sliding grooves are formed on both sides of the sliding seat in the third direction. The third direction is perpendicular to both the first direction and the second direction, and the sliding grooves extend in the first direction; the sliding member includes an abutting plate body provided on the side of the sliding seat facing the second direction, a first sliding plate body extending from both ends of the abutting plate body in the first direction and slidably disposed in the sliding groove on one side, and a second sliding plate body extending from the other end of the abutting plate body in the first direction and slidably disposed in the sliding groove on the other side; the second elastic member abuts between the abutting plate body and the sliding seat; the locking member includes a connecting portion and a clamping portion. The connecting portion is provided on the side of the sliding seat facing the first direction, and the connecting portion is connected between the first sliding plate body and the second sliding plate body. The clamping portion is fixed to the side of the connecting portion facing the second direction, and at least a part of the clamping portion can be slidably inserted into the locking hole.

[0014] According to the second aspect of the embodiments of the present application, a jacking device is provided, which includes a driving member, a sliding mechanism, a scissor mechanism, and the self-locking mechanism in any one of the above; the sliding mechanism includes a fixed part and a sliding part, the sliding part is slidably connected to the fixed part, and the sliding part is also fixedly connected to the sliding end of the scissor mechanism; the driving member is arranged on the fixed part, and the driving end of the driving member is connected to the sliding part to drive the scissor mechanism to lift through the sliding part; the limiting member is fixedly connected to the fixed part, and the sliding component is fixedly connected to the sliding part.

[0015] In an alternative manner, the scissor mechanism includes a scissor fork and a connecting shaft. The scissor fork includes a first connecting rod and a second connecting rod that intersect with each other. The first connecting rod and the second connecting rod are connected to each other through the connecting shaft at the intersection point; the connecting shaft is fixedly connected to the first connecting rod and rotatably connected to the second connecting rod; a torsion elastic member is connected between the connecting shaft and the second connecting rod, and the torsion elastic member is used to provide an elastic force for the second connecting rod to move upward to the rising state.

[0016] According to the third aspect of the embodiments of the present application, a robot is provided, which includes the above-mentioned jacking device.

[0017] The self-locking mechanism provided by the embodiments of the present application can provide self-locking protection for mechanical devices with a sliding mechanism. Specifically, the limiting seat is connected to the fixed part of the sliding mechanism, and the sliding seat is connected to the sliding part of the sliding mechanism. During the process of the sliding part sliding relative to the fixed part in the first direction, the limiting member on the sliding seat can make its clamping end cooperate with different limiting parts on the limiting seat in turn by moving relative to the sliding seat, so that the sliding part can slide normally in the first direction to perform related operations. Moreover, when the clamping end cooperates with any one of the limiting parts, it is mutually clamped with the limiting part in the second direction, that is, at this time, the limiting member cannot slide relative to the limiting seat in the second direction, thereby realizing the self-locking protection of the mechanical device. For the jacking device, it can realize the self-locking protection during the rising process.

[0018] The above description is only an overview of the technical solutions of the present application. In order to be able to understand the technical means of the present application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of the present application more obvious and understandable, the specific embodiments of the present application are specifically listed below. Description of the Drawings

[0019] By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present application. And throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0020] Figure 1 is a three-dimensional view of the jacking device provided by the embodiments of the present application;

[0021] Figure 2 A perspective view of the self-locking mechanism provided by the embodiment of the present application;

[0022] Figure 3 An exploded view of the self-locking mechanism provided by the embodiment of the present application from one perspective;

[0023] Figure 4 An exploded view of the self-locking mechanism provided by the embodiment of the present application from another perspective;

[0024] Figures 5a to 5c Cross-sectional views of the self-locking mechanism provided by the embodiment of the present application in three states during the sliding process of the sliding component relative to the limit seat in the first direction;

[0025] Figure 6a Cross-sectional view of the self-locking mechanism provided by another embodiment of the present application in the self-locked state;

[0026] Figures 6b to 6d Cross-sectional views of the self-locking mechanism provided by another embodiment of the present application in several states during normal sliding operation;

[0027] Figure 7 An exploded view of the sliding component of the self-locking mechanism provided by the embodiment of the present application from one perspective;

[0028] Figure 8 An exploded view of the sliding component of the self-locking mechanism provided by the embodiment of the present application from another perspective;

[0029] Figure 9a and Figure 9b Cross-sectional views of the limiting member of the self-locking mechanism provided by the embodiment of the present application in two states during the locking process;

[0030] Figure 10a and Figure 10b Cross-sectional views of the limiting member of the self-locking mechanism provided by the embodiment of the present application in two states during the unlocking process;

[0031] Figure 11 A side view of the lifting device provided by the embodiment of the present application;

[0032] Figure 12 A perspective view of the scissor fork in the lifting device provided by the embodiment of the present application;

[0033] Figure 13a and Figure 13b Front views of the scissor fork in the lifting device provided by the embodiment of the present application at the lowest and highest positions;

[0034] Figure 14 Another perspective view of the lifting device provided by the embodiment of the present application;

[0035] Figure 15 This is a perspective view of the robot provided by the embodiment of the present application.

[0036] The reference numerals in the detailed implementation manners are as follows:

[0037] 100, self-locking mechanism;

[0038] 110, limiting seat; 1101, first end; 1102, second end; 111, limiting part; 1111, clamping groove; 1111a, notch; 112, abutting part; 113, unlocking part;

[0039] 120, sliding component;

[0040] 121, sliding seat; 1211, sliding hole; 12111, protrusion; 12112, first plane; 1212, locking hole; 1213, sliding groove; 1214, limiting component;

[0041] 122, limiting piece; 1221, clamping end; 1221a, inclined plane; 1222, locking part; 12221, hole position; 1223, sliding rod; 12231, second plane; 12232, step structure; 1224, limiting component; 1225, connecting end;

[0042] 123, first elastic member;

[0043] 124, elastic locking member; 1241, sliding member; 12411, abutting plate body; 12412, first sliding plate body; 12413, second sliding plate body; 1242, locking member; 12421, connecting part; 12422, clamping part; 1243, second elastic member;

[0044] 200, sliding mechanism; 210, fixing part; 220, sliding part;

[0045] 300, jacking device; 310, driving member; 311, driving end; 320, scissor mechanism; 321, sliding end; 322, scissor fork; 3221, first connecting rod; 3222, second connecting rod; 323, connecting shaft; 324, torsion elastic member; 325, connecting seat; 330, belt pulley transmission mechanism; 340, lead screw module;

[0046] 500, robot; 510, chassis. Detailed implementation manners

[0047] Next, embodiments of the technical solution of the present application will be described in detail with reference to the accompanying drawings. The following embodiments are only used to illustrate the technical solution of the present application more clearly, so they are only examples and cannot be used to limit the protection scope of the present application.

[0048] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs; the terms used herein are for the purpose of describing specific embodiments only and are not intended to limit this application; the terms "comprising" and "having" and any variations thereof in the specification and claims of this application and the above drawings are intended to cover non-exclusive inclusion.

[0049] In the description of the embodiments of this application, technical terms such as "first" and "second" are only used to distinguish different objects and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity, specific order or primary-secondary relationship of the indicated technical features. In the description of the embodiments of this application, the meaning of "a plurality of" is more than two, unless otherwise specifically defined.

[0050] Referring to "embodiments" herein means that the specific features, structures or characteristics described in connection with the embodiments can be included in at least one embodiment of this application. The appearance of this phrase in various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0051] In the description of the embodiments of this application, the term "and / or" is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: there is A, there is both A and B, and there is B. In addition, the character " / " in this article generally represents an "or" relationship between the associated objects before and after.

[0052] In the description of the embodiments of this application, the term "a plurality of" means more than two (including two). Similarly, "a plurality of groups" means more than two groups (including two groups), and "a plurality of pieces" means more than two pieces (including two pieces).

[0053] In the description of the embodiments of this application, the orientation or positional relationship indicated by technical terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the embodiments of this application and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of this application.

[0054] In the description of the embodiments of the present application, unless otherwise clearly defined and limited, technical terms such as "installation", "connection", "connection", "fixation" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can also be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0055] In order to reduce the cost of the self-locking protection of the mechanical device and at the same time extend the service life of the self-locking related structure, the present application designs a self-locking mechanism for a mechanical device with a sliding mechanism. When the sliding part in the sliding mechanism slides in a certain direction, the limiting part in the self-locking mechanism can slide in that direction along with the sliding part and successively engage into different limiting parts to ensure the normal operation of the mechanical device. When abnormal situations such as power failure and overload occur, the sliding part will slide in the opposite direction due to the force. However, when the limiting part is engaged in a certain limiting part, the limiting part cannot slide in that opposite direction, thereby realizing the self-locking protection of the mechanical device.

[0056] In the following text and drawings, the self-locking mechanism is mainly described in detail by taking the application in a jacking device as an example, which does not constitute a limitation on the specific implementation manner of the mechanical device. For example, the self-locking mechanism can also be applied to a hoisting device, a lifting device, etc.

[0057] According to the first aspect of the embodiments of the present application, a self-locking mechanism is provided. Specifically, please refer to Figures 1 to 4 , Figure 1 shows the application scenario of the self-locking mechanism in the jacking device, Figure 2 shows the three-dimensional structure of the self-locking mechanism, Figure 3 and Figure 4 respectively show the exploded structures of the self-locking mechanism from two perspectives.

[0058] As Figure 1 shown, the self-locking mechanism 100 is applied to a mechanical device with a sliding mechanism 200. The mechanical device can be, for example, Figure 1 the jacking device 300 shown in Figure 1 . Of course, it can also be a lifting workbench, a stereoscopic garage, etc. Specifically, it is not limited here. In the following text and drawings, the jacking device 300 is taken as an example for elaboration. The sliding mechanism 200 includes a fixed part 210 and a sliding part 220 slidably connected to the fixed part 210. Specifically, the sliding fit between the sliding part 220 and the fixed part 210 can be

[0059] as Figure 2As shown, the self-locking mechanism 100 includes a limit seat 110 and a sliding assembly 120. The sliding assembly 120 is used to be fixedly connected to the sliding part 220 so as to slide along the first direction (the direction shown by the double arrow X) with the sliding part 220. The first direction includes an opposite first direction (the direction pointed by the single arrow X1) and a second direction (the direction pointed by the single arrow X2). When the sliding part 220 slides in the direction pointed by the single arrow X1, it is the rising process of the lifting device 300, and when it slides in the direction pointed by the single arrow X2, it is the descending process of the lifting device 300.

[0060] The limit seat 110 is used to be fixedly connected to the fixed part 210. Specifically, the limit seat 110 can be locked to the fixed part 210 by a plurality of screws on one side. Of course, it can also be fixed to the fixed part 210 by means of clamping, welding, integral molding, etc. A number of limiting parts 111 are arranged on the limit seat 110 along the direction shown by the double arrow X.

[0061] As Figure 3 and Figure 4 shown in, the sliding assembly 120 includes a sliding seat 121 and a limiting member 122. Among them, the sliding seat 121 is used to be fixedly connected to the sliding part 220. Similarly to the fixing method of the limit seat 110, the sliding seat 121 can also be locked to the sliding part 220 by screws on one side, or assembled and fixed by means of clamping, welding, integral molding, etc.

[0062] The limiting member 122 is movably arranged on the sliding seat 121, and the limiting member 122 has a clamping end 1221 that is self-locked and cooperates with the limiting part 111. When the limiting member 122 slides in the direction pointed by the single arrow X1 with the sliding seat 121, it will also move relative to the sliding seat 121 so that the clamping end 1221 cooperates with different limiting parts 111 in sequence along the direction pointed by the single arrow X1. The sliding part 220 can slide relative to the fixed part 210 in the direction pointed by the single arrow X1, and the lifting device 300 rises. When the clamping end 1221 cooperates with any one of the limiting parts 111, it forms a clamping with the limiting part 111 in the direction pointed by the single arrow X2 to limit the sliding seat 121 from sliding relative to the limit seat 110 in the direction pointed by the single arrow X2. Thus, during the rising process of the lifting device 300, when abnormal situations such as power failure and overload occur, due to the restriction of the mutual clamping between the clamping end 1221 and the limiting part 111, the acting force transmitted from the load of the lifting device 300 to the sliding part 220 will not cause the sliding part 220 to slide in the direction pointed by the single arrow X2, thereby realizing the self-locking of the lifting device 300 and preventing dangerous situations such as structural impact and load falling.

[0063] For the specific cooperation structure between the limiting member 122 and the limiting part 111, please further refer to Figures 5a to 5c the sectional structure shown in. As Figure 5aAs shown in the figure, the limiting portion 111 can be a card slot 1111 formed in the limiting seat 110. The card slot 1111 has a notch 1111a facing the sliding seat 121. The limiting member 122 is slidably disposed on the sliding seat 121 along the second direction (the direction shown by the double arrow Z in the figure), and a first elastic member 123 is connected between the limiting member 122 and the sliding seat 121. The first elastic member 123 is used to provide an elastic force to the limiting member 122 along the direction of the double arrow Z towards the card slot 1111, that is, to provide an elastic force downward along the Z axis in the Figure 5a viewing angle.

[0064] When the clamping end 1221 moves to a position opposite to the previous notch 1111a (that is, the notch 1111a further back along the direction of the single arrow X1), the limiting member 122 will slide towards the card slot 1111 under the elastic force of the first elastic member 123, so that the clamping end 1221 is clamped into the previous card slot 1111, showing the Figure 5a shown state.

[0065] A slope 1221a is provided on one side of the clamping end 1221 facing the direction of the single arrow X1. In the state shown in 5a, the slope 1221a abuts against the edge of the notch 1111a facing the direction of the single arrow X1 and forms a line contact.

[0066] On the basis of the Figure 5a shown state, when the sliding seat 121 slides along the direction of the single arrow X1 with the sliding portion 220, the slope 1221a and the edge of the notch 1111a facing the direction of the single arrow X1 are in frictional cooperation. Under the interaction between the slope 1221a and the edge, the limiting member 122 will slide away from the card slot 1111 along the Z-axis direction, that is, Figure 5a slide upward in the viewing angle, and finally the clamping end 1221 will completely slide out of the card slot 1111, showing the Figure 5b shown state.

[0067] On the basis of the Figure 5b shown state, when the sliding seat 121 continues to slide along the direction of the single arrow X1 with the sliding portion 220, and the clamping end 1221 moves to a position opposite to the next notch 1111a (that is, the notch 1111a further forward along the direction of the single arrow X1), the limiting member 122 slides under the elastic force of the first elastic member 123, and the clamping end 1221 is clamped into the next notch 1111a.

[0068] Figures 5a to 5c This is the movement process of the sliding seat 121 and the limiting member 122 between two adjacent card slots 1111a along the direction of the single arrow X1. By analogy, this is the entire process of the sliding assembly 120 sliding relative to the limiting seat 110 along the direction of the single arrow X1.

[0069] Since the limiting seat 110 has a plurality of slots 1111 arranged along the double arrow X direction, during the sliding process of the sliding assembly 120 relative to the limiting seat 110 along the direction indicated by the single arrow X1, that is, during the ascending process of the lifting device 300, when an abnormal situation such as power failure or overload occurs at a certain moment, under the gravity of the load, the sliding assembly 120 will show a tendency to slide in the direction indicated by the single arrow X2 along with the sliding part 220. Since the inner wall of the slot 1111 on the side of the single arrow X2 direction and the outer wall of the clamping end 1221 on the side of the single arrow X2 direction are both planes perpendicular to the sliding direction of the sliding assembly 120, if the clamping end 1221 happens to be clamped in a slot 1111 at this moment, the sliding assembly 120 and the sliding part 220 will not slide in the direction indicated by the single arrow X2 due to the restriction of the inner wall of the slot 1111 on the clamping end 1221, thereby achieving self-locking protection. If the locking end 1221 is not inserted into the locking slot 1111 at this moment, the sliding assembly 120 and the sliding part 220 will slide in the direction indicated by the single arrow X2. When the locking end 1221 slides to the first slot 1111a, under the elastic force of the first elastic member 123, the locking end 1221 will be inserted into the first locking slot 1111, so that the sliding assembly 120 and the sliding part 220 cannot continue to slide in the direction indicated by the single arrow X2, thereby achieving self-locking protection.

[0070] It should be noted that the above is only an example solution provided by the present application, and in other embodiments, the elastic locking member 124 includes a sliding component 1241, a locking component 1242, and a second elastic component 1243. The sliding component 1241 is slidably connected to the sliding seat 121 along the direction indicated by the double arrow X, the locking component 1242 is fixedly connected to the sliding component 1241, and the second elastic component 1243 is connected between the sliding component 1241 and the sliding seat 121. The second elastic component 1243 is used to provide an elastic force to the sliding component 1241 in the direction indicated by the single arrow X2.

[0071] Please further combine Figure 9a and Figure 9b The abutment portion 112 shown in the figure cooperates with the clamping end 1221 to make the limiter 122 in the locking process in two states. As shown in the figure, the abutment portion 112 can be a block-shaped structure. When the sliding seat 121 slides to the first end 1101, the abutment portion 112 is as shown in the figure. Figure 9a As shown in the figure, by frictionally cooperating with the inclined surface 1221a, the limiting member 122 slides to a predetermined position along the direction indicated by the double arrow Z toward the side away from the limiting portion 111 (the viewing angle in the figure is upward), Figure 9b Status shown.

[0072] Please combine Figure 7 , Figure 8 , Figure 9a and Figure 9b, when the limiting member 122 slides to Figure 9b the predetermined position shown, the locking member 1242 is opposite to the locking portion 1222. Under the elastic force of the second elastic member 1243, the locking member 1242 will slide in the direction shown by the single arrow X2 and engage with the locking portion 1222. The limiting member 122 is restricted by the locking member 1242 at this predetermined position and cannot slide towards the limiting portion 111 along the direction shown by the double arrow Z anymore, thereby realizing the locking of the limiting member 122.

[0073] Please refer to again Figure 3 , the end of the limiting seat 110 in the direction pointed by the single arrow X2 is the second end 1102. The second end 1102 is provided with an unlocking portion 113. The unlocking portion 113 is used to abut against the elastic locking member 124 when the sliding seat 121 slides to the second end 1102, so that the elastic locking member 124 moves relative to the sliding seat 121 and releases the locking of the limiting member 122.

[0074] Specifically, taking the Figure 7 and Figure 8 specific structure of the elastic locking member 124 shown as an example, the unlocking portion 113 can be the Figure 3 baffle shown. When the sliding seat 121 slides to the second end 1102, as shown in the sectional structure of Figure 10a , the sliding member 1241 will abut against the unlocking portion 113. Under the action of the unlocking portion 113, the sliding member 1241 will overcome the elastic force of the second elastic member 1243 and slide in the direction pointed by the single arrow X1, so that the locking member 1242 is separated from the locking portion 1222, and the locking member 1242 releases the locking of the limiting member 122. Then, the limiting member 122 will slide towards the limiting portion 111 along the direction shown by the double arrow Z under the elastic force of the first elastic member 123 and reset to the Figure 10b state shown to prepare for providing self-locking protection for the next ascending operation of the jacking device 300.

[0075] In order to enable the self-locking mechanism 100 to still provide the self-locking protection function when the jacking device 300 stalls during the descending process, the elastic coefficient of the second elastic member 1243 can be designed accordingly, so that when the limiting member 122 is locked by the locking member 1242 at the Figure 9bAt the predetermined position shown, when the sliding seat 121 slides in the direction indicated by the single arrow X2 at a sliding speed greater than the predetermined speed driven by the sliding part 220, due to the inertia of the sliding seat 121, the second elastic member 1243 will be compressed, that is, the sliding seat 121 will slide relative to the sliding member 1241 in the direction indicated by the single arrow X2, thereby separating the locking member 1242 from the locking portion 1222. The locking member 1242 releases the locking of the limiting member 122, and the limiting member 122 slides along the direction indicated by the double arrow Z under the elastic force of the first elastic member 123 towards the limiting portion 111 and is engaged with the first limiting portion 111 it reaches, so that the sliding seat 121 cannot continue to slide in the direction indicated by the single arrow X2, realizing the self-locking protection during the descent of the lifting device 300.

[0076] To facilitate the assembly operation of the limiting member 122 and the sliding seat 121 and improve the reliability of their sliding connection at the same time, as Figure 7 and Figure 8 shown, a sliding hole 1211 can be formed in the sliding seat 121 along the direction indicated by the double arrow Z. The limiting member 122 includes a sliding rod 1223 and a limiting member 1224. One end of the sliding rod 1223 forms a clamping end 1221, and the other end of the sliding rod 1223 opposite to the clamping end 1221 is a connecting end 1225. Please further combine Figure 5c , the connecting end 1225 passes through the sliding hole 1211 and is fixedly connected to the limiting member 1224. The limiting member 1224 can be a single screw or a combination of a screw and a gasket shown in the figure, etc. Specifically, it is not limited here. The limiting member 1224 is used to abut against the outer wall of the sliding seat 121 to limit the sliding stroke of the sliding rod 1223 and prevent the sliding rod 1223 from disengaging from the sliding hole 1211.

[0077] Furthermore, for the specific manner in which the locking member 1242 locks the sliding rod 1223, please continue to combine Figure 5c , Figure 7 and Figure 8 , a protrusion 12111 is provided on the inner wall of the sliding hole 1211 at the end towards the limiting member 1224. A first plane 12112 is provided on the inner circumference of the protrusion 12111, and a second plane 12231 is provided on the sliding rod 1223. When the sliding rod 1223 slides in the sliding hole 1211, the first plane 12112 and the second plane 12231 are in frictional cooperation to prevent the sliding rod 1223 from rotating in the sliding hole 1211.

[0078] On this basis, a stepped structure 12232 is also provided on the sliding rod 1223. The stepped structure 12232 is located between the clamping end 1221 and the protrusion 12111. The first elastic member 123 abuts between the stepped structure 12232 and the protrusion 12111 to provide an elastic force towards the card slot 1111 to the sliding rod 1223 through the stepped structure 12232.

[0079] A locking hole 1212 communicating with the sliding hole 1211 is further formed in the sliding seat 121 along the direction indicated by the double arrow X. The locking hole 1212 and the sliding hole 1211 are communicated with each other at the position where the protrusion 12111 is located as shown in Figure 5c shown in the figure, and the locking hole 1212 is located on one side of the sliding hole 1211 in the direction indicated by the single arrow X1. The locking portion 1222 may be a hole position 12221 formed at one end of the stepped structure 12232 away from the clamping end 1221, and the locking member 1242 may be a bolt slidably inserted into the locking hole 1212.

[0080] Please refer to Figure 5c and Figure 9b . When the sliding rod 1223 slides to the position where the hole position 12221 on it reaches the communication position of the sliding hole 1211 and the locking hole 1212, the locking member 1242 will slide in the direction indicated by the single arrow X2 under the elastic force of the second elastic member 1243 and be inserted into the hole position 12221 to lock the sliding rod 1223.

[0081] In this embodiment, the first plane 12112 and the second plane 12231 are in frictional cooperation to limit the rotation of the sliding rod 1223, so as to ensure that the sliding rod 1223 only slides along the direction indicated by the double arrow Z, so that the hole position 12221 does not shift and can be accurately aligned with the locking member 1242 for clamping.

[0082] Based on the above embodiment, for the structural design of the elastic locking member 124, please refer to Figure 7 and Figure 8 again. Sliding grooves 1213 are formed on both sides of the sliding seat 121 along the third direction (the direction indicated by the double arrow Y in the figure), and the sliding grooves 1213 extend along the direction indicated by the double arrow X. The sliding member 1241 includes an abutting plate body 12411 arranged on one side of the sliding seat 121 in the direction indicated by the single arrow X2, a first sliding plate body 12412 extending from one end of the abutting plate body 12411 in the direction indicated by the single arrow X1 and slidably arranged in one side sliding groove 1213, and a second sliding plate body 12413 extending from the other end of the abutting plate body 12411 in the direction indicated by the single arrow X1 and slidably arranged in the other side sliding groove 1213. The second elastic member 1243 abuts between the abutting plate body 12411 and the sliding seat 121.

[0083] The locking member 1242 includes a connecting portion 12421 and a clamping portion 12422. The connecting portion 12421 is disposed on one side of the sliding seat 121 in the direction indicated by the single arrow X1, and the connecting portion 12421 is connected between the first sliding plate body 12412 and the second sliding plate body 12413. The clamping portion 12422 is fixed to one side of the connecting portion 12421 in the direction indicated by the single arrow X2, and at least a part of the clamping portion 12422 is slidably inserted into the locking hole 1212.

[0084] In this embodiment, the first sliding plate body 12412 and the second sliding plate body 12413 are respectively slidably connected in the sliding grooves 1213 on both sides of the sliding seat 121 in the direction indicated by the double arrow Y. The second elastic member 1243 abuts between the abutting plate body 12411 at one end of the first sliding plate body 12412 and the second sliding plate body 12413 and the sliding seat 121. The connecting portion 12421 and the clamping portion 12422 are connected between the first sliding plate body 12412 and the second sliding plate body 12413 at the other end, which makes the elastic locking member 124 as a whole have a symmetrical structure, with a compact structure and a firm connection between it and the sliding seat 121, and the elastic locking member 124 is uniformly stressed as a whole during the sliding process relative to the sliding seat 121.

[0085] The above is mainly the description of the specific structures of the components in the case where the limiting member 122 realizes self-locking protection in a sliding form. In the case where the limiting member 122 realizes self-locking protection in a swinging form as mentioned above, similarly to the above embodiments, the locking and unlocking after the swinging of the limiting member 122 can be achieved by providing an abutting portion 112 and an unlocking portion 113 at both ends of the limiting seat 110 and providing a mechanism similar to the elastic locking member 124 on the sliding seat 121, so as to realize the smooth descent of the lifting device 300 and the reset of the limiting member 122 after the descent.

[0086] According to a second aspect of the embodiments of the present application, a lifting device is provided. For details, please refer to Figure 1 again. The lifting device 300 includes a sliding mechanism 200, a driving member 310, a scissor mechanism 320, and the self-locking mechanism 100 provided in any of the above embodiments. The sliding portion 220 of the sliding mechanism 200 is fixedly connected to the sliding end 321 of the scissor mechanism 320. The driving member 310 is disposed on the fixed portion 210, and the driving end 311 of the driving member 310 is connected to the sliding portion 220. Specifically, in Figure 1In the specific embodiments shown, the driving member 310 is a motor, and the linear driving of the sliding portion 220 is realized through the belt pulley transmission mechanism 330 and the lead screw module 340. In other embodiments, the driving member 310 can also be a linear driving hydraulic cylinder, an electric push rod, etc., and specific details are not limited here. During the process of the driving member 310 driving the sliding portion 220 to move linearly, the sliding portion 220 drives the scissor mechanism 320 to move up and down, and the self-locking mechanism 100 provides self-locking protection for the lifting of the scissor mechanism 320.

[0087] As Figure 1 shown in, in order to ensure the stability of the operation of the lifting device 300, the self-locking mechanism 100 can be provided at the sliding ends 321 on both opposite sides of the scissor mechanism 320 to ensure that the overall force of the scissor mechanism 320 is uniform when self-locking.

[0088] As Figure 11 shown in, when the scissor mechanism 320 is in the lowest position shown in the figure, the driving member 310 needs to bear a large load to drive the scissor mechanism 320 to rise, so it is more laborious to drive at the beginning. To this end, in order to reduce the load of the driving member 310 when rising at the beginning, the present application further designs a boost for the scissor mechanism 320. For specific details, please refer to Figure 12 , the figure shows a partial structure of the scissor mechanism 320. As shown in the figure, the scissor mechanism 320 includes scissor forks 322 and a connecting shaft 323. The scissor forks 322 include a first connecting rod 3221 and a second connecting rod 3222 that cross each other. The first connecting rod 3221 and the second connecting rod 3222 are connected to each other at the intersection point through the connecting shaft 323.

[0089] Among them, the connecting shaft 323 is fixedly connected to the first connecting rod 3221 and is rotatably connected to the second connecting rod 3222. A torsion elastic member 324 is connected between the connecting shaft 323 and the second connecting rod 3222. Specifically, the torsion elastic member 324 can be, for example, a coil spring or a torsion spring. One end of it can be fixed to the connecting shaft 323 by means of plugging, and the other end can be plugged into a connecting seat 325 on the second connecting rod 3222, so as to form a fixed connection with the second connecting rod 3222. The torsion elastic member 324 is used to provide an elastic force for the second connecting rod 3222 to rotate in the direction shown by the arrow in the figure, that is, to provide an elastic force for the second connecting rod 3222 to move towards the rising state, so as to provide boost for the scissor mechanism 320 during the rising process, reduce the load of the driving member 310, and ensure the stability and reliability of the operation of the driving member 310.

[0090] Specifically, please refer to Figure 13a and Figure 13b, the front structures of the scissors 322 at the lowest and highest positions of the scissor mechanism 320 are respectively shown in the figure. As shown in the figure, the connecting shaft 323 is fixedly connected to the rear first connecting rod 3221 and rotates synchronously. The connecting shaft 323 and the front second connecting rod 3222 can rotate relative to each other, and a torsion elastic member 324 is connected between them. In Figure 13a the lowest position state shown, the torsion elastic member 324 is in a stretched state, that is, it has an elastic force to move towards the contracted state. During the ascending process, the angle between the first connecting rod 3221 and the second connecting rod 3222 increases, and this changing state corresponds to the inward contraction movement state of the torsion elastic member 324. Based on this, during the ascending process, the torsion elastic member 324 can provide assistance for the movement of the scissors 322. When moving to Figure 13b the highest position shown, the torsion elastic member 324 contracts to the maximum extent.

[0091] Furthermore, as Figure 14 shown, the scissor mechanism 320 may include multiple scissors 322. Among them, two opposite scissors 322 share the same connecting shaft 323, and each scissor 322 is assisted by arranging a torsion elastic member 324 inside. This can not only make the overall structure of the scissor mechanism 320 compact, but also ensure the uniformity of the assistance distribution, improve the assistance effect, and reduce the load of the driving member 310 as much as possible.

[0092] According to the third aspect of the embodiments of the present application, a robot is provided. For details, please refer to Figure 15 , the three-dimensional structure of the robot is shown in the figure. The robot 500 may be a small handling robot having a chassis 510 and provided with a lifting device 300 on the chassis 510, which can be applied to some industrial scenarios such as a warehousing system and is responsible for transporting and transferring items. Of course, in some other embodiments, the robot 500 may also be an aerial work robot, an industrial maintenance robot, an agricultural robot, etc. equipped with a lifting device 300. The specific details are not limited here.

[0093] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application. In particular, as long as there is no structural conflict, the technical features mentioned in each embodiment can be combined in any way.

Claims

1. A self-locking mechanism is applied to a mechanical device having a sliding mechanism. The sliding mechanism includes a fixed part and a sliding part slidably connected to the fixed part, and is characterized in that, The self-locking mechanism includes a limit seat and a sliding assembly. The sliding assembly is used for fixedly connecting to the sliding part so as to slide along a first direction with the sliding part. The first direction includes an opposite first direction and a second direction. The limit seat is used for fixedly connecting to the fixed part; A number of limiting parts are arranged on the limit seat along the first direction; The sliding assembly includes a sliding seat and a limiting member. The sliding seat is used for fixedly connecting to the sliding part. The limiting member is movably arranged on the sliding seat. The limiting member has a clamping end that self-locks and cooperates with the limiting part; When the limiting member is used to slide in the first direction with the sliding seat, it moves relative to the sliding seat so that the clamping end sequentially cooperates with different limiting parts along the first direction; The clamping end is used for forming a clamping connection with the limiting part in the second direction when cooperating with any one of the limiting parts, so as to limit the sliding seat from sliding in the second direction relative to the limit seat; 2. The self-locking mechanism according to claim 1, wherein The limiting part is a clamping groove opened on the limit seat, and the clamping groove has a notch facing the sliding seat; The limiting member is slidably arranged on the sliding seat along a second direction, and a first elastic member is connected between the limiting member and the sliding seat, wherein the second direction is perpendicular to the first direction; The first elastic member is used for driving the clamping end to slide and snap into the clamping groove when the clamping end moves to a position opposite to the notch; A slope is arranged on one side of the clamping end facing the first direction. The slope is used for forming a line contact and frictional cooperation with the edge of the notch when the clamping end snaps into the clamping groove and the sliding seat slides in the first direction, so that the clamping end overcomes the elastic force of the first elastic member and slides out of the clamping groove along the second direction; 3. The self-locking mechanism according to claim 1, characterized in that The end of the limit seat facing the first direction is the first end, and an abutting part is arranged at the first end. The abutting part is used for abutting against the clamping end when the sliding seat slides to the first end, so that the limiting member moves away from the limiting part to a predetermined position; The sliding assembly further includes an elastic locking member. The elastic locking member is movably arranged on the sliding seat. The elastic locking member is used for moving relative to the sliding seat and connecting to the limiting member after the limiting member moves to the predetermined position, so as to lock the limiting member at the predetermined position; 4. The self-locking mechanism according to claim 3, wherein The end of the limit seat facing the second direction is the second end, and an unlocking part is arranged at the second end. The unlocking part is used for abutting against the elastic locking member when the sliding seat slides to the second end, so that the elastic locking member moves relative to the sliding seat and releases the locking of the limiting member.

5. The self-locking mechanism according to claim 4, characterized in that The limiting part is a clamping groove formed in the limiting seat, and the clamping groove has an opening facing the sliding seat; the limiting member is slidably arranged on the sliding seat in a second direction, and a first elastic member is connected between the limiting member and the sliding seat, wherein the second direction is perpendicular to the first direction; the first elastic member is configured to drive the clamping end to slide and engage with the clamping groove when the clamping end moves to a position opposite to the opening; a slope is arranged on one side of the clamping end facing the first direction, and the slope is configured to form a line contact and frictional engagement with the edge of the opening when the clamping end engages with the clamping groove and the sliding seat slides in the first direction, so that the clamping end overcomes the elastic force of the first elastic member and slides out of the clamping groove in the second direction; The abutting part is configured to frictionally engage with the slope when the sliding seat slides to the first end, so that the limiting member slides in the second direction to a position away from the limiting part to the predetermined position; A locking part is arranged on one side of the limiting member facing the first direction; The elastic locking member includes a sliding part, a locking part and a second elastic member. The sliding part is slidably connected to the sliding seat in the first direction, the locking part is fixedly connected to the sliding part, and the second elastic member is connected between the sliding part and the sliding seat; The second elastic member is configured to drive the locking part to slide in the second direction through the sliding part when the limiting member slides to the predetermined position, so that the locking part engages with the locking part, and the limiting member is restricted at the predetermined position; The sliding part is configured to abut against the unlocking part and slide in the first direction relative to the sliding seat when sliding to the second end with the sliding seat, so that the locking part releases the locking of the limiting member, and the limiting member slides in the second direction towards the limiting part under the elastic force of the first elastic member to reset; 6. The self-locking mechanism according to claim 5, characterized in that, The second elastic member is configured such that when the limiting member is locked at the predetermined position by the locking part and the sliding speed of the sliding seat in the second direction is greater than or equal to a predetermined speed, the second elastic member is compressed under the inertia of the sliding seat, so that the sliding part slides in the first direction relative to the sliding seat, the locking part releases the locking of the limiting member, and the limiting member slides in the second direction towards the limiting part and engages with the limiting part, thereby restricting the sliding seat from continuing to slide in the second direction; 7. The self-locking mechanism according to claim 5, wherein, A sliding hole is formed in the sliding seat in the second direction; The limiting member includes a sliding rod and a limiting part. One end of the sliding rod forms the clamping end, and the other end of the sliding rod opposite to the clamping end is a connecting end. The connecting end passes through the sliding hole and is fixedly connected to the limiting part. The limiting part is used to abut against the outer wall of the sliding seat to limit the sliding stroke of the sliding rod.

8. The self-locking mechanism according to claim 7, wherein, The inner wall of the sliding hole at one end of the limiting component is provided with a protrusion, the inner periphery of the protrusion is provided with a first plane, the sliding rod is provided with a second plane, the first plane is used to frictionally cooperate with the second plane along the second direction to limit the rotation of the sliding rod; The slide bar is provided with a step structure, the step structure is located between the clamping end and the protrusion, and the first elastic member abuts between the step structure and the protrusion; The sliding seat is also provided with a locking hole connected to the sliding hole along the first direction, the locking hole and the sliding hole are connected to each other at the position where the protrusion is located, and the locking hole is located on the side of the sliding hole facing the first direction; The locking portion is a hole opened on the side of the step structure away from the clamping end, and the locking component can be slidably inserted into the locking hole. The locking component is used to slide toward the second direction and be clamped into the hole under the elastic force of the second elastic member when the hole slides to the connecting point between the sliding hole and the locking hole.

9. The self-locking mechanism according to claim 8, wherein The sliding seat is provided with sliding grooves on both sides along the third direction, the third direction is perpendicular to both the first direction and the second direction, and the sliding grooves extend along the first direction; The sliding component includes an abutting plate body disposed on the side of the sliding seat toward the second direction, a first sliding plate body extending from both ends of the abutting plate body toward the first direction and slidably disposed in the sliding groove on one side, and a second sliding plate body extending from the other end of the abutting plate body toward the first direction and slidably disposed in the sliding groove on the other side; The second elastic member abuts between the abutting plate and the sliding seat; The locking component includes a connecting portion and a clamping portion, the connecting portion is arranged on the side of the sliding seat facing the first direction, and the connecting portion is connected between the first sliding plate body and the second sliding plate body, the clamping portion is fixed to the side of the connecting portion facing the second direction, and the clamping portion is at least partially slidably inserted into the locking hole.

10. A jacking device, characterized in that, It comprises a driving member, a sliding mechanism, a scissor mechanism and a self-locking mechanism as described in any one of claims 1 to 9; The sliding mechanism comprises a fixed part and a sliding part, wherein the sliding part is slidably connected to the fixed part, and the sliding part is also fixedly connected to the sliding end of the scissor-fork mechanism; The driving member is disposed on the fixed portion, and a driving end of the driving member is connected to the sliding portion, so as to drive the scissor mechanism to rise and fall through the sliding portion; The limiting member is fixedly connected to the fixing portion, and the sliding assembly is fixedly connected to the sliding portion.

11. The jacking device according to claim 10, characterized in that, The scissor fork mechanism comprises a scissor fork and a connecting shaft, wherein the scissor fork comprises a first connecting rod and a second connecting rod that intersect each other, and the first connecting rod and the second connecting rod are connected to each other at the intersection through the connecting shaft; The connecting shaft is fixedly connected to the first connecting rod and rotatably connected to the second connecting rod; A torsion elastic member is connected between the connecting shaft and the second connecting rod, and the torsion elastic member is used to provide elastic force for the second connecting rod to move toward an ascending state.

12. A robot, characterized in that, Including the jacking device according to claim 10 or 11.

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