Scissor lift and mobile robot with same

Abstract

The scissor lift includes: a fixed plate; the lifting plate is arranged above the fixed plate; a pair of scissor arms between the fixed plate and the lift plate and having an X shape, the pair of scissor arms including a first scissor arm and a second scissor arm, each of the first scissor arm and the second scissor arm including a fixed end fixed to the fixed plate and a moving end configured to linearly move relative to the fixed plate; a motor configured to move the moving end of the first scissor arm and the moving end of the second scissor arm; and a load reducing device configured to reduce a load applied to the motor when the lifting plate is lowered, in which the load reducing device includes a plurality of elastic bodies on the moving end of the first scissor arm and connected in series.

Description

Technical Field

[0001] Embodiments of this disclosure relate to scissor lifts and mobile robots having the scissor lift. Background Technology

[0002] Mobile robots are widely used in various fields such as manufacturing, logistics, and services.

[0003] For example, mobile robots can transport various objects, such as materials or parts, to workers or consumers.

[0004] Mobile robots may include lifts that adjust the height of objects to facilitate loading and unloading.

[0005] The elevator is mounted on the upper surface of the mobile robot and can adjust the height of objects according to the height of the loading and unloading areas. Summary of the Invention

[0006] Technical solution According to embodiments of this disclosure, a scissor lift is provided, and the scissor lift may include: a fixed plate; a lifting plate above the fixed plate; a pair of scissor arms between the fixed plate and the lifting plate and having an X shape, the pair of scissor arms including a first scissor arm and a second scissor arm, each of the first scissor arm and the second scissor arm including a fixed end fixed to the fixed plate and a movable end configured to move linearly relative to the fixed plate; a motor configured to move the movable ends of the first scissor arm and the second scissor arm; and a load reduction device configured to reduce the load applied to the motor when the lifting plate descends, wherein the load reduction device may include a plurality of elastomers on the movable ends of the first scissor arms and connected in series.

[0007] According to one or more embodiments of this disclosure, the load reduction device may further include: a movable support connected to a movable end of the first scissor arm, wherein one end of the plurality of elastomers is connected to the movable support; a plurality of engagement plates at the other ends of the plurality of elastomers and between the plurality of elastomers; a plurality of stop plates configured to selectively engage with the plurality of engagement plates; and a rope winder adjacent to a fixed end of the first scissor arm and including a rope connected to the engagement plate furthest from the movable support among the plurality of engagement plates.

[0008] According to one or more embodiments of the present disclosure, the plurality of elastomers may include: a first elastomer, wherein one end of the first elastomer is connected to a movable support; and a second elastomer connected in series with the first elastomer.

[0009] According to one or more embodiments of the present disclosure, the plurality of coupling plates may include: a first coupling plate between one end of the first elastomer and one end of the second elastomer; and a second coupling plate at the other end of the second elastomer and connected to the rope of the rope winder.

[0010] According to one or more embodiments of the present disclosure, the plurality of stop plates may include: a first stop plate configured to stop a first engagement plate; and a second stop plate spaced apart from the first stop plate and configured to not stop the first engagement plate and stop the second engagement plate.

[0011] According to one or more embodiments of this disclosure, the first elastomer and the second elastomer may have the same spring constant as each other.

[0012] According to one or more embodiments of this disclosure, the spring constant of the first elastic body may be greater than the spring constant of the second elastic body.

[0013] According to one or more embodiments of the present disclosure, the scissor lift may further include: a stop plate moving device including an actuator; and a processor configured to control the stop plate moving device to move a plurality of stop plates according to the weight of an object on the lifting plate.

[0014] According to one or more embodiments of this disclosure, the scissor lift may further include: a weight detection sensor configured to measure the weight of an object on the lifting plate, wherein the processor is further configured to control a stop plate movement device based on signals from the weight detection sensor.

[0015] According to one or more embodiments of this disclosure, the scissor lift may further include: a load detector configured to detect the magnitude of a load applied to the motor, wherein the processor is further configured to control a stop plate movement device based on a signal from the load detector.

[0016] According to one or more embodiments of this disclosure, when the lifting plate is at its lowest height, all of the plurality of connecting plates can be stopped by the plurality of stop plates.

[0017] According to one or more embodiments of this disclosure, when the lifting plate is at its highest height, the plurality of connecting plates may not be stopped by the plurality of stop plates.

[0018] According to embodiments of this disclosure, a mobile robot is provided, and the mobile robot may include: a body configured for autonomous movement; and a scissor lift on the upper surface of the body, wherein the scissor lift may include: a fixed plate; a lifting plate above the fixed plate; a pair of scissor arms between the fixed plate and the lifting plate and having an X shape, the pair of scissor arms including a first scissor arm and a second scissor arm, each of the first scissor arm and the second scissor arm including a fixed end fixed to the fixed plate and a movable end configured to move linearly relative to the fixed plate; a motor configured to move the movable ends of the first scissor arms and the second scissor arms; and a load reduction device configured to reduce the load applied to the motor when the lifting plate descends, and wherein the load reduction device may include a first elastomer and a second elastomer, the first elastomer and the second elastomer being on the movable ends of the first scissor arms and connected in series.

[0019] According to one or more embodiments of the present disclosure, the load reduction device may further include: a movable support connected to a movable end of a first scissor arm, wherein one end of a first elastic body is connected to the movable support; a first connecting plate at the other end of the first elastic body, wherein one end of a second elastic body is connected to the first connecting plate and the second elastic body is configured to be in a straight line with the first elastic body; a second connecting plate at the other end of the second elastic body; a first stop plate configured to stop the first connecting plate; and a second stop plate spaced apart from the first stop plate by a defined distance, and the second stop plate is configured to not stop the first connecting plate and stop the second connecting plate.

[0020] According to one or more embodiments of this disclosure, the spring constant of the first elastic body may be greater than the spring constant of the second elastic body. Attached Figure Description

[0021] These and / or other aspects, features, and advantages of certain embodiments of the present disclosure will become more apparent from the following description taken in conjunction with the accompanying drawings, wherein: Figure 1 This is a perspective view showing a scissor lift according to one or more embodiments of the present disclosure.

[0022] Figure 2 This is a perspective view showing a scissor lift according to one or more embodiments of the present disclosure, with lifting plates indicated by dashed lines.

[0023] Figure 3 This shows the section intercepted along line AA. Figure 1 A sectional view of a scissor lift.

[0024] Figure 4 yes Figure 1 A side view of a scissor lift.

[0025] Figure 5This is a side view showing the second engagement plate of a scissor lift according to one or more embodiments of the present disclosure being jammed by a second stop plate.

[0026] Figure 6 This shows the section cut along line BB. Figure 5 A sectional view of a scissor lift.

[0027] Figure 7 This is a side view showing the state in which the first connecting plate and the second connecting plate of a scissor lift according to one or more embodiments of the present disclosure are respectively locked by the first stop plate and the second stop plate.

[0028] Figure 8 It is a cut along the CC line. Figure 7 A sectional view of a scissor lift.

[0029] Figure 9 This is a side view showing the lifting platform of a scissor lift according to one or more embodiments of the present disclosure in its lowest position.

[0030] Figure 10 This shows the section intercepted along line DD. Figure 9 A sectional view of a scissor lift.

[0031] Figure 11 It is a graph showing the load applied to the motor of a scissor lift according to one or more embodiments of the present disclosure.

[0032] Figure 12 This is a side view showing a scissor lift according to one or more embodiments of the present disclosure.

[0033] Figure 13 This is a block diagram of a scissor lift according to one or more embodiments of the present disclosure.

[0034] Figure 14 This is a block diagram of a scissor lift according to one or more embodiments of the present disclosure.

[0035] Figure 15 It is a graph showing the load applied to the motor depending on the weight loaded on the scissor lift, according to one or more embodiments of the present disclosure.

[0036] Figure 16 This is a side view showing a scissor lift according to one or more embodiments of the present disclosure.

[0037] Figure 17 This is a block diagram of a scissor lift according to one or more embodiments of the present disclosure.

[0038] Figure 18 This is a block diagram of a scissor lift according to one or more embodiments of the present disclosure.

[0039] Figure 19 This is a view illustrating a mobile robot equipped with a scissor lift according to one or more embodiments of the present disclosure. Detailed Implementation

[0040] The various example embodiments and terminology used in this document are not intended to limit the scope of this disclosure, and the embodiments of this disclosure should be understood to include various modifications, equivalents, and alternatives to the example embodiments.

[0041] Similar reference numerals may be used for similar or related components, in conjunction with the description in the accompanying drawings.

[0042] Unless the relevant context clearly indicates otherwise, the singular form of the noun corresponding to an item may include one or more of the items mentioned above.

[0043] In this document, each of the phrases such as “A or B”, “at least one of A and B”, “at least one of A or B”, “A, B or C”, “at least one of A, B and C”, “at least one of A, B and C” may include any one of the items listed with the corresponding phrase, or any possible combination thereof.

[0044] The term “and / or” includes any element of the multiple related descriptions or a combination of the multiple related descriptions.

[0045] Terms such as “first,” “second,” “primary,” or “secondary” can be simply used to distinguish one component from others without limiting the corresponding component in any other way (e.g., importance or order).

[0046] When referring to a component (e.g., the first) as being "coupled" or "connected" to another component (e.g., the second) with or without the terms "functionally" or "communically," it means that one component can be connected to the other component directly (e.g., wired), wirelessly, or via a third component.

[0047] Terms such as “comprising” or “having” are intended to specify the presence of features, numbers, steps, operations, components, parts or combinations thereof described in the embodiments, but do not exclude the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0048] When a component is referred to as being “connected,” “coupled,” “supported,” or “in contact” with another component, this means not only that the component is directly connected, coupled, supported, or in contact, but also that the component is indirectly connected, coupled, supported, or in contact through a third component.

[0049] When a component is said to be "on" another component, this includes not only cases where the component is in contact with another component, but also cases where there is another component between the two components.

[0050] Furthermore, the terms “front end,” “rear end,” “upper side,” “lower side,” “top,” “bottom,” etc., used in this disclosure are defined with reference to the accompanying drawings. However, the shape and position of each component are not limited by the terminology.

[0051] Embodiments of this disclosure relate to a scissor lift and a mobile robot equipped with such a scissor lift, which can use a motor with a lower rated capacity by allowing the load applied to the motor to decrease as the height of the lifting platform decreases.

[0052] In the following text, reference will be made to Figures 1 to 4 A scissor lift 1 according to one or more embodiments of the present disclosure is described in detail.

[0053] Figure 1 This is a perspective view showing a scissor lift 1 according to one or more embodiments of the present disclosure. Figure 2 This is a perspective view showing a scissor lift 1 according to one or more embodiments of the present disclosure, with a lifting plate indicated by dashed lines. Figure 3 This shows the section intercepted along line AA. Figure 1 A sectional view of a scissor lift. Figure 4 yes Figure 1 Side view of scissor lift 1.

[0054] Reference Figures 1 to 4 The scissor lift 1 according to one or more embodiments of the present disclosure may include a fixed plate 10, a lifting plate 20, a pair of scissor arms 30, a motor 40 and a load reduction device 50.

[0055] The fixing plate 10 can be configured to mount and support the scissor lift 1. The fixing plate 10 can be configured as a flat plate with an approximately rectangular shape.

[0056] The lifting plate 20 can be positioned above the fixed plate 10. The lifting plate 20 can be spaced apart from the fixed plate 10 by a defined distance. The lifting plate 20 is configured to move vertically relative to the fixed plate 10. The lifting plate 20 is configured to support an object that will be moved vertically. That is, the object can be placed on the upper surface of the lifting plate 20.

[0057] The lifting plate 20 can be formed as a flat plate with an approximately rectangular shape corresponding to the fixed plate 10. The lifting plate 20 can be formed with dimensions corresponding to the fixed plate 10. The lifting plate 20 can be formed with approximately the same dimensions as the fixed plate 10.

[0058] A pair of scissor arms 30 may be disposed between the fixed plate 10 and the lifting plate 20. The pair of scissor arms 30 may be configured to be parallel to each other at a defined interval on the upper surface of the fixed plate 10. Each of the pair of scissor arms 30 may be formed in an X shape similar to scissors. Each of the pair of scissor arms 30 may include a fixed end 311 fixed to the fixed plate 10 and a movable end 321 that moves linearly relative to the fixed plate 10. The pair of scissor arms 30 are formed with the same structure, therefore one scissor arm 30 will be described below.

[0059] The scissor arm 30 may include two arms (e.g., a first arm 31 and a second arm 32) coupled in an X-shape. A rotating pin 33 may be positioned at the center of the first arm 31 and the second arm 32. The first arm 31 and the second arm 32 are coupled to rotate about the rotating pin 33.

[0060] The lower end of the first arm 31 is configured such that the first arm 31 can pivot at a defined angle at a defined position on the fixed plate 10. That is, the lower end of the first arm 31 forms a fixed end 311 fixed at the defined position on the fixed plate 10. The upper end of the first arm 31 is configured to move linearly relative to the lifting plate 20. That is, the upper end of the first arm 31 forms an upper moving end 312 that moves linearly relative to the lifting plate 20.

[0061] The upper end of the second arm 32 is configured such that the second arm 32 can pivot at a defined angle at a defined position on the lifting plate 20. That is, the upper end of the second arm 32 forms an upper fixed end 322 fixed at a defined position on the lower surface of the lifting plate 20. The lower end of the second arm 32 is configured to move linearly relative to the fixed plate 10. That is, the lower end of the second arm 32 forms a moving end 321 that moves linearly relative to the fixed plate 10.

[0062] Therefore, while the fixed end 311 of the scissor arm 30 is fixed to the fixed plate 10, the movable end 321 of the scissor arm 30 can move linearly relative to the fixed plate 10. Simultaneously, while the upper fixed end 322 of the scissor arm 30 is fixed to the lifting plate 20, the upper movable end 312 of the scissor arm 30 can move linearly relative to the lifting plate 20. Therefore, when the movable end 321 of the scissor arm 30 moves linearly relative to the fixed plate 10, the lifting plate 20 can move up and down.

[0063] The lower end of the first arm 31 is rotatably mounted on a fixing pin 311a, which is mounted on the upper surface of the fixing plate 10. Therefore, the first arm 31 can pivot around the fixing pin 311a at a certain angle.

[0064] The upper end of the first arm 31 may be configured to be guided by an upper linear motion (LM) guide member 313 disposed on the lower surface of the lifting plate 20. For example, the upper linear motion guide member 313 may include an upper LM guide 3131 and an upper LM block 3132. The upper LM block 3132 is configured to move linearly along the upper LM guide 3131.

[0065] The upper end of the first arm 31 is rotatably mounted on the upper LM block 3132. A movable pin 3133 is mounted on the side of the upper LM block 3132, and the upper end of the first arm 31 is rotatably mounted on the movable pin 3133 of the upper LM block 3132. Therefore, when the first arm 31 pivots about the fixed pin 311a mounted on the fixed plate 10, the upper LM block 3132 coupled to the upper end of the first arm 31 can move linearly along the upper LM guide 3131 mounted on the lifting plate 20.

[0066] The upper end of the second arm 32 is rotatably mounted on the upper fixing pin 322a, which is located on the lower surface of the lifting plate 20. Therefore, the second arm 32 can pivot around the upper fixing pin 322a at a certain angle.

[0067] The lower end of the second arm 32 can be guided by a linear motion guide member 323 disposed on the upper surface of the fixed plate 10. For example, the linear motion guide member 323 may include an LM guide 3231 and an LM block 3232. The LM block 3232 is configured to move linearly along the LM guide 3231. The lower end of the second arm 32 can be rotatably disposed on the LM block 3232. A movable pin 3233 is disposed on the side of the LM block 3232, and the lower end of the second arm 32 can be rotatably disposed on the movable pin 3233 of the LM block 3232. Therefore, when the second arm 32 pivots about the upper fixed pin 322a disposed on the lifting plate 20, the LM block 3232 coupled to the lower end of the second arm 32 can move linearly along the LM guide 3231 disposed on the fixed plate 10.

[0068] Therefore, the two fixing pins 311a and the two linear motion guide members 323 corresponding to the pair of scissor arms 30 can be disposed on the upper surface of the fixing plate 10 at a limited distance. The two upper fixing pins 322a and the two upper linear motion guide members 313 corresponding to the pair of scissor arms 30 can be disposed on the lower surface of the lifting plate 20 at a limited distance.

[0069] The motor 40 is configured to move the movable ends 321 of a pair of scissor arms 30. The motor 40 is configured to generate power to move the movable ends 321 of the pair of scissor arms 30. Therefore, when the motor 40 is operated, the movable ends 321 of the pair of scissor arms 30 move in the horizontal direction, so that the lifting plate 20 can move in the vertical direction.

[0070] The motor 40 may also include a power transmission device that converts rotary motion into linear motion. The power transmission device may include a ball screw 41 and a ball nut 42.

[0071] The ball screw 41 is connected to the motor shaft 401 of the motor 40. The ball screw 41 and the motor shaft 401 can be connected via a coupler 44. Therefore, when the motor shaft 401 rotates, the ball screw 41 rotates.

[0072] The ball nut 42 engages with the ball screw 41. When the ball screw 41 rotates, the ball nut 42 moves linearly.

[0073] The ball nut 42 is positioned at the center of the movable plate 43. Both ends of the movable plate 43 are fixed to the movable ends 321 of a pair of scissor arms 30. Therefore, when the ball nut 42 moves, the movable plate 43 can also move linearly along with the ball nut 42. When the movable plate 43 moves in a straight line, the movable ends 321 of the pair of scissor arms 30 can also move in a straight line.

[0074] The linear movement of the movable plate 43 can be guided by a pair of linear motion guides 323, which guide the linear movement of the moving ends 321 of a pair of scissor arms 30. Specifically, the movable plate 43 can be disposed on the upper surface of the LM block 3232. Therefore, the movable plate 43 can move linearly along the LM guides 3231 on which the LM block 3232 is disposed.

[0075] A movable pin 3233 can be disposed on the side of the LM block 3232. The movable end 321 of the scissor arm 30 is rotatably disposed on the movable pin 3233. Therefore, when the motor 40 is operated and the movable plate 43 moves linearly, the LM block 3232 can move linearly along the LM guide 3231. When the LM block 3232 moves linearly, the movable end 321 of the scissor arm 30 can move linearly together with the LM block 3232. When the movable end 321 of the scissor arm 30 moves linearly, the lifting plate 20 disposed at the upper end of the scissor arm 30 can move vertically.

[0076] The load reduction device 50 can be configured to reduce the load applied to the motor 40 when the lifting plate 20 descends. The load reduction device 50 can be positioned adjacent to the moving end 321 of the scissor arm 30. The load reduction device 50 can be configured to apply a defined force to the moving end 321 of the scissor arm 30. The load reduction device 50 can be configured such that the force applied by the load reduction device 50 to the moving end 321 of the scissor arm 30 varies depending on the height of the lifting plate 20.

[0077] The load reduction device 50 may also include a plurality of elastomers 52 and 54 connected in series.

[0078] The load reduction device 50 may include a movable support 51, a plurality of elastic bodies (e.g., a first elastic body 52 and a second elastic body 54), a plurality of connecting plates (e.g., a first connecting plate 53 and a second connecting plate 55), and a plurality of stop plates (e.g., a first stop plate 56 and a second stop plate 57).

[0079] The movable bracket 51 can be connected to the movable end 321 of the scissor arm 30. The movable bracket 51 can be configured to move integrally with the movable end 321 of the scissor arm 30. For example, the movable bracket 51 can be disposed at the tip of the movable pin 3233, which is disposed on the side of the LM block 3232. The movable bracket 51 is formed to fix and support one end of a plurality of elastic bodies (e.g., a first elastic body 52 and a second elastic body 54).

[0080] Multiple elastomers (e.g., first elastomer 52 and second elastomer 54) are configured to reduce the load applied to the motor 40. The multiple elastomers (e.g., first elastomer 52 and second elastomer 54) may be connected in series. One end of the multiple elastomers (e.g., first elastomer 52 and second elastomer 54) connected in series may be connected to the movable support 51. A connecting plate may be disposed on the other end of the multiple elastomers (e.g., first elastomer 52 and second elastomer 54).

[0081] Multiple elastic bodies (e.g., first elastic body 52 and second elastic body 54) may have the same spring constant or different spring constants.

[0082] As an example, multiple elastomers (e.g., first elastomer 52 and second elastomer 54) may be formed by a helical spring.

[0083] Multiple connecting plates (e.g., first connecting plate 53 and second connecting plate 55) may be disposed at the other ends of multiple elastomers (e.g., first elastomer 52 and second elastomer 54) and between multiple elastomers (e.g., first elastomer 52 and second elastomer 54). The multiple connecting plates (e.g., first connecting plate 53 and second connecting plate 55) are configured to be respectively engaged by multiple corresponding stop plates (e.g., first stop plate 56 and second stop plate 57). The number of multiple connecting plates (e.g., first connecting plate 53 and second connecting plate 55) may be the same as the number of multiple elastomers (e.g., first elastomer 52 and second elastomer 54). For example, when the multiple elastomers (e.g., first elastomer 52 and second elastomer 54) include three elastomers, the multiple connecting plates include three connecting plates. Therefore, one connecting plate is disposed at the other end of one elastomer.

[0084] Multiple elastomers (e.g., first elastomer 52 and second elastomer 54) and multiple connecting plates (e.g., first connecting plate 53 and second connecting plate 55) are configured such that they can move integrally with the moving end 321 of the scissor arm 30.

[0085] Multiple stop plates (e.g., first stop plate 56 and second stop plate 57) may be configured to selectively engage with multiple engagement plates (e.g., first engagement plate 53 and second engagement plate 55). The number of multiple stop plates (e.g., first stop plate 56 and second stop plate 57) may be the same as the number of multiple engagement plates (e.g., first engagement plate 53 and second engagement plate 55). For example, when the multiple engagement plates (e.g., first engagement plate 53 and second engagement plate 55) include two engagement plates, the multiple stop plates (e.g., first stop plate 56 and second stop plate 57) may include two stop plates. The first stop plate 56 may be configured such that the first engagement plate 53 is engaged, and the second stop plate 57 may be configured such that the second engagement plate 55 is engaged.

[0086] Multiple stop plates (e.g., first stop plate 56 and second stop plate 57) may be disposed on the upper surface of the fixed plate 10 on one side of the moving end 321 of the scissor arm 30. Therefore, when the moving end 321 of the scissor arm 30 moves, the multiple stop plates (e.g., first stop plate 56 and second stop plate 57) do not move. Multiple elastomers (e.g., first elastomer 52 and second elastomer 54) and multiple connecting plates (e.g., first connecting plate 53 and second connecting plate 55) may be located between the scissor arm 30 and the multiple stop plates (e.g., first stop plate 56 and second stop plate 57).

[0087] When the moving end 321 of the scissor arm 30 moves a certain distance away from the fixed end 311, the last connecting plate (e.g., the second connecting plate 55) at the rear end of the last elastic body (e.g., the second elastic body 54) among the plurality of elastic bodies (e.g., the first elastic body 52 and the second elastic body 54) is locked by the last stop plate (e.g., the second stop plate 57) closest to the fixed end 311 among the plurality of stop plates (e.g., the first stop plate 56 and the second stop plate 57). The connecting plate (e.g., the first connecting plate 53) at the rear end of another elastic body (e.g., the first elastic body 52) is not locked by the last stop plate (e.g., the second stop plate 57). Here, the last elastic body among the plurality of elastic bodies (e.g., the first elastic body 52 and the second elastic body 54) refers to the elastic body (e.g., the second elastic body 54) farthest from the moving bracket 51.

[0088] The rope 71 of the rope winder 70 can be connected to the last of a plurality of connecting plates (e.g., the second connecting plate 55) closest to the fixed end 311 of the scissor arm 30. The rope winder 70 is configured to be adjacent to the fixed end 311 of the scissor arm 30 and to automatically wind or unwind the rope 71 according to the movement of the moving end 321 of the scissor arm 30.

[0089] The rope 71 of the rope winder 70 is connected to the joint plate (e.g., the second joint plate 55) that is furthest from the movable support 51 among a plurality of joint plates (e.g., the first joint plate 53 and the second joint plate 55). When the tip of the rope 71 of the rope winder 70 is secured to the joint plate (e.g., the second joint plate 55), a certain tension is applied to the rope 71. Because the tension applied to the rope 71 is small compared to the stiffness of the plurality of elastic bodies (e.g., the first elastic body 52 and the second elastic body 54), the plurality of elastic bodies (e.g., the first elastic body 52 and the second elastic body 54) will not be stretched by the tension applied to the rope 71. Connecting the rope 71 of the rope winder 70 to the last joint plate (e.g., the second joint plate 55) among the plurality of joint plates (e.g., the first joint plate 53 and the second joint plate 55) helps to keep the plurality of elastic bodies (e.g., the first elastic body 52 and the second elastic body 54) in a straight line.

[0090] In this embodiment, the plurality of elastomers (e.g., first elastomer 52 and second elastomer 54) includes two elastomers (e.g., first elastomer 52 and second elastomer 54). The first elastomer 52 and the second elastomer 54 are connected in series. That is, the first elastomer 52 and the second elastomer 54 can be arranged in a straight line. One end of the first elastomer 52 is fixed to the movable support 51.

[0091] The spring constant of the first elastic body 52 is greater than that of the second elastic body 54. In other words, the rigidity of the first elastic body 52 is greater than that of the second elastic body 54.

[0092] In this embodiment, each of the first elastic body 52 and the second elastic body 54 is formed of a spring. That is, the first elastic body 52 is a first spring, and the second elastic body 54 is a second spring. The first spring and the second spring may be formed as helical springs.

[0093] The plurality of bonding plates include a first bonding plate 53 and a second bonding plate 55.

[0094] The first connecting plate 53 is disposed at the other end of the first elastic body 52. ​​Therefore, one end of the first elastic body 52 is fixed to the movable bracket 51, and the other end of the first elastic body 52 is fixed to the first connecting plate 53. That is, the first elastic body 52 is disposed between the movable bracket 51 and the first connecting plate 53.

[0095] The first engaging plate 53 may include a first engaging portion 531 that is engaged by the first stop plate 56. The first engaging portion 531 may be located at the lower end of the first engaging plate 53. The first engaging portion 531 may be configured to be engaged by the first stop plate 56 but not by the second stop plate 57.

[0096] The second connecting plate 55 is disposed at the other end of the second elastic body 54. Therefore, one end of the second elastic body 54 is fixed to the first connecting plate 53, and the other end of the second elastic body 54 is fixed to the second connecting plate 55. That is, the first connecting plate 53 is located between the first elastic body 52 and the second elastic body 54. The second elastic body 54 is disposed between the first connecting plate 53 and the second connecting plate 55. The position of the second connecting plate 55 is closer to the fixed end 311 of the scissor arm 30 than that of the first connecting plate 53.

[0097] The second engaging plate 55 may include a second engaging portion 551 that is engaged by the second stop plate 57. The second engaging portion 551 may be disposed on one side of the second engaging plate 55. The second engaging portion 551 may be configured to be engaged by the second stop plate 57. The second engaging portion 551 may be configured not to be engaged by the first stop plate 56.

[0098] The plurality of stop plates include a first stop plate 56 and a second stop plate 57. The first stop plate 56 and the second stop plate 57 are disposed on the upper surface of the fixed plate 10 at a defined interval.

[0099] A first stop plate 56 is disposed on the fixed plate 10, such that the first joint portion 531 of the first joint plate 53 can be locked by the first stop plate 56. When the first joint plate 53 is locked by the first stop plate 56, the first joint plate 53 will not move with the movement end 321 of the scissor arm 30. Therefore, when the movement end 321 of the scissor arm 30 moves, the first elastic body 52 disposed on the first stop plate 56 can be extended.

[0100] The second stop plate 57 is disposed on the fixed plate 10, such that the second joint portion 551 of the second connecting plate 55 can be locked by the second stop plate 57. The second stop plate 57 is configured such that the first joint portion 531 of the first connecting plate 53 is not locked by the second stop plate 57. The second stop plate 57 is positioned closer to the fixed end 311 of the scissor arm 30 than the first stop plate 56.

[0101] The second stop plate 57 is spaced apart from the first stop plate 56 by a defined distance. The distance between the first stop plate 56 and the second stop plate 57 can be defined such that when the second engaging plate 55 is locked by the second stop plate 57 and the second elastic body 54 is extended to a defined length, the first engaging plate 53 is locked by the first stop plate 56. For example, the distance between the first stop plate 56 and the second stop plate 57 can be defined such that when the second elastic body 54 is extended to its maximum length, the first engaging plate 53 is locked by the first stop plate 56.

[0102] When the second engaging plate 55 is engaged by the second stop plate 57, the second engaging plate 55 will not move with the movement of the moving end 321 of the scissor arm 30. Therefore, when the moving end 321 of the scissor arm 30 moves further in the same direction, the first elastic body 52 and the first engaging plate 53 can move, and the second elastic body 54 can be extended. At this time, the first elastic body 52 may or may not be extended depending on its spring constant and the load applied to the moving end 321.

[0103] While the second connecting plate 55 is locked by the second stop plate 57, the moving end 321 of the scissor arm 30 continues to move in the same direction, and the first connecting plate 53 can be locked by the first stop plate 56. When the first connecting plate 53 is locked by the first stop plate 56, the second elastic body 54 no longer extends.

[0104] The first joining plate 53 and the second joining plate 55 can be guided by the joining linear motion guide member 59. For example, the first joining plate 53 can be disposed on the first LM block 591 of the joining linear motion guide member 59, and the second joining plate 55 can be disposed on the second LM block 592 of the joining linear motion guide member 59. The first LM block 591 and the second LM block 592 can be slidably disposed on the LM guide member 593 of the joining linear motion guide member 59. Then, the first joining plate 53 and the second joining plate 55 can be guided by the first LM block 591, the second LM block 592 and the LM guide member 593 of the joining linear motion guide member 59 through the linear movement of the moving end 321 of the scissor arm 30.

[0105] However, the linear movement of the first joining plate 53 and the second joining plate 55 is not limited to the first LM block 591, the second LM block 592, and the LM guide 593. The linear movement of the first joining plate 53 and the second joining plate 55 can be guided in various ways.

[0106] The rope 71 of the rope winder 70 can be connected to the second connecting plate 55. Because the tension applied to the rope 71 by the rope winder 70 is much less than the stiffness of the first elastic body 52 and the second elastic body 54, the first elastic body 52 and the second elastic body 54 will not be stretched due to the tension of the rope 71.

[0107] Therefore, when the moving end 321 of the scissor arm 30 moves away from the fixed end 311, the rope 71 connected to the second connecting plate 55 is pulled out from the rope winder 70 and becomes longer. When the moving end 321 of the scissor arm 30 moves closer to the fixed end 311, the rope 71 connected to the second connecting plate 55 automatically winds around the rope winder 70 and becomes shorter.

[0108] In the following text, reference will be made to Figures 4 to 10 The operation of the scissor lift 1 according to one or more embodiments of the present disclosure is described in detail.

[0109] Figure 5 This is a side view showing the second engagement plate 55 of the scissor lift 1 according to one or more embodiments of the present disclosure being locked by the second stop plate 57. Figure 6 This shows the section cut along line BB. Figure 5 A sectional view of the scissor lift 1. Figure 7 This is a side view showing the first connecting plate 53 and the second connecting plate 55 of the scissor lift 1 according to one or more embodiments of the present disclosure being locked by the first stop plate 56 and the second stop plate 57, respectively. Figure 8 It is a cut along the CC line. Figure 7 A sectional view of a scissor lift. Figure 9 This is a side view showing the lifting plate 20 of the scissor lift 1 according to one or more embodiments of the present disclosure in the state of being at its lowest height. Figure 10 This shows the section intercepted along line DD. Figure 9 A sectional view of a scissor lift.

[0110] Reference Figure 4 According to one or more embodiments of the present disclosure, the lifting plate 20 of the scissor lift 1 is at its highest height H1. At this time, the load applied to the motor 40 of the scissor lift 1 is minimal.

[0111] In this state, when the motor shaft 401 of the motor 40 rotates in one direction, the moving plate 43 moves away from the fixed end 311 of the scissor arm 30 via the ball screw 41 and ball nut 42. When the moving plate 43 moves away from the fixed end 311 of the scissor arm 30, the moving end 321 of the scissor arm 30 connected to the moving plate 43 moves in the direction away from the fixed end 311 (-X direction) (hereinafter referred to as the first direction).

[0112] When the moving end 321 of the scissor arm 30 moves in the first direction, the first elastic body 52, the first connecting plate 53, the second elastic body 54 and the second connecting plate 55 of the load reduction device 50 provided on the moving end 321 move together with the moving end 321 in the first direction.

[0113] While the moving end 321 of the scissor arm 30 moves a certain distance in the first direction, the first elastic body 52, the first connecting plate 53 and the second elastic body 54 provided on the moving end 321 can pass through the second stop plate 57 without being stuck by the second stop plate 57.

[0114] When the moving end 321 of the scissor arm 30 moves further in the first direction, the second engaging plate 55 of the moving end 321 is locked by the second stop plate 57. Figure 5 and Figure 6 The state is shown in the image.

[0115] Reference Figure 5 and Figure 6 The second joint portion 551 of the second joint plate 55 is locked by the second stop plate 57. The first joint plate 53 of the moving end 321 is located between the first stop plate 56 and the second stop plate 57. At this time, the lifting plate 20 moves from... Figure 4 The highest height H1 in the structure moves downwards by a specified distance and is located at height H2.

[0116] In this state, when the motor 40 is operated and the moving end 321 of the scissor arm 30 moves further away from the fixed end 311 (i.e., the first direction), the second engaging plate 55 is engaged by the second stop plate 57, thus extending the second elastic body 54. The first elastic body 52 and the first engaging plate 53 can move integrally with the moving end 321 in the first direction. When the moving end 321 of the scissor arm 30 moves in the first direction, the lifting plate 20 moves downward.

[0117] When the moving end 321 of the scissor arm 30 moves further in the first direction, the second elastic body 54 extends and the first engagement portion 531 of the first engaging plate 53 is locked by the first stop plate 56. When the first engagement portion 531 of the first engaging plate 53 is locked by the first stop plate 56, the first engaging plate 53 will not move with the moving end 321 of the scissor arm 30 moving in the first direction. Figure 7 and Figure 8 The state is shown in the image.

[0118] Reference Figure 7 and Figure 8 The second connecting plate 55 is held in place by the second stop plate 57, and the first connecting plate 53 is held in place by the first stop plate 56. The first connecting portion 531 of the first connecting plate 53 of the moving end 321 contacts the first stop plate 56, and the second connecting portion 551 of the second connecting plate 55 contacts the second stop plate 57. At this time, the lifting plate 20 moves from... Figure 5 The height H2 in the middle moves downward by a limited distance and is located at height H3.

[0119] From the moment the second connecting plate 55 is stopped by the second stop plate 57 until the first connecting plate 53 is stopped by the first stop plate 56, the first elastic body 52 and the second elastic body 54, which are connected in series, absorb the load applied to the moving end 321 of the scissor arm 30 by the object placed on the lifting plate 20, thereby reducing the load applied to the motor 40 by the object placed on the lifting plate 20.

[0120] In this state, when the motor 40 operates and the moving end 321 of the scissor arm 30 moves further away from the fixed end 311 (i.e., the first direction), the first engaging plate 53 is held in place by the first stop plate 56, therefore the first engaging plate 53 does not move and the first elastic body 52 is extended. At this time, the second elastic body 54 is no longer extended and is located between the first stop plate 56 and the second stop plate 57. Figure 9 and Figure 10 The state is shown in the image.

[0121] Reference Figure 9 and Figure 10 The second connecting plate 55 is held in place by the second stop plate 57, and the first connecting plate 53 is held in place by the first stop plate 56. The first connecting portion 531 of the first connecting plate 53 of the moving end 321 contacts the first stop plate 56, and the first elastic body 52 is fully extended. At this time, the lifting plate 20 moves from... Figure 7 The height H3 is moved downwards by a limited distance. That is, the lifting plate 20 is located at the lowest height H4.

[0122] When the first connecting plate 53 is locked by the first stop plate 56, and the first elastic body 52 is extended by the movement of the moving end 321, the first elastic body 52 absorbs the load applied to the moving end 321 of the scissor arm 30 by the object placed on the lifting plate 20, thereby reducing the load applied to the motor 40 by the object placed on the lifting plate 20.

[0123] In the following text, reference will be made to Figure 11 The effect of the scissor lift 1 on reducing the load applied to the motor 40 according to one or more embodiments of the present disclosure is described.

[0124] Figure 11 It is a graph showing the load applied to the motor 40 of the scissor lift 1 according to one or more embodiments of the present disclosure.

[0125] exist Figure 11 In the diagram, the X-axis represents the operating time of the scissor lift 1, and the Y-axis represents the load applied to the motor 40. Specifically, the X-axis represents the time it takes for the lifting plate 20 of the scissor lift 1 to move from its lowest height H4 to its highest height H1, in seconds. The Y-axis represents the load applied to the motor 40 while the lifting plate 20 is rising, in N (units of weight).

[0126] The solid curve C1 represents the load applied to the motor while the lifting plate of the scissor lift according to the comparative embodiment is rising, and the dashed curve C2 represents the load applied to the motor 40 while the lifting plate 20 of the scissor lift 1 according to one or more embodiments of the present disclosure is rising. The scissor lift according to the comparative embodiment is the same as the scissor lift 1 according to one or more embodiments of the present disclosure, except that it does not include a load reduction device.

[0127] exist Figure 11 In the diagram, solid curve C1 and dashed curve C2 represent the results of measuring the load applied to motor 40 when a 40 kg object is placed on the lifting plate 20 of scissor lift 1 and the lifting plate 20 is raised from the lowest height H4 to the highest height H1.

[0128] exist Figure 11 In the diagram, points X1, X2, and X3 represent the positions of the moving end 321 of the scissor lift 1. Specifically, point X1 represents the position of the moving end 321 when the lifting plate 20 of the scissor lift 1 is at its lowest height H4 (see [reference]). Figure 9 Point X2 indicates the position of the moving end 321 of the scissor lift 1 just before the first connecting plate 53 separates from the first stop plate 56 (see [reference]). Figure 7 Point X3 indicates the position of the moving end 321 of the scissor lift 1 just before the second connecting plate 55 separates from the second stop plate 57 (see [reference]). Figure 5 ).

[0129] Line S1 represents the first spring force, which the load reduction device 50 uses to support the lifting plate 20 of the scissor lift 1 between points X1 and X2. Line S2 represents the second spring force, which the load reduction device 50 uses to support the lifting plate 20 of the scissor lift 1 between points X2 and X3.

[0130] In cases involving two springs (such as the load reduction device 50 according to one or more embodiments of this disclosure), namely a first spring (e.g., a first elastic body 52) and a second spring (e.g., a second elastic body 54), the first spring force refers to the elastic force of the first spring (e.g., the first elastic body 52). The second spring force refers to the equivalent elastic force of the first spring (e.g., the first elastic body 52) and the second spring (e.g., the second elastic body 54). The equivalent elastic force can be obtained using the equivalent spring constants of the first spring (e.g., the first elastic body 52) and the second spring (e.g., the second elastic body 54).

[0131] When the spring constant of the first spring (e.g., the first elastic body 52) is K1 and the spring constant of the second spring (e.g., the second elastic body 54) is K2, the equivalent spring constant of the first spring (e.g., the first elastic body 52) and the second spring (e.g., the second elastic body 54) is Keq=(K1×K2) / (K1+K2).

[0132] Referring to the solid curve C1, in the case of the scissor lift according to the comparative embodiment, when the lifting platform 20 is at its lowest height, i.e., at point X1, the maximum load is applied to the motor 40. As the lifting platform 20 gradually rises from its minimum height, the load applied to the motor 40 decreases. When the lifting platform 20 is at its highest height, the minimum load is applied to the motor 40.

[0133] For example, when a 40 kg object is loaded onto the lifting platform 20, a load of approximately 2,410 N is applied to the motor 40 at point X1, a load of approximately 1,030 N is applied to the motor 40 at point X2, and a load of approximately 712 N is applied to the motor 40 at point X3. When the lifting platform 20 is at its lowest height, a load of approximately 333 N is applied to the motor 40.

[0134] In the scissor lift 1 according to one or more embodiments of the present disclosure, the load applied to the motor 40 is reduced by the load reduction device 50. This result is as follows: Figure 11 The dashed curve C2 in the figure is shown.

[0135] Reference Figure 11 As the moving end 321 of the scissor lift 1 moves from point X1 to point X2, a first spring force is applied to the moving end 321 of the scissor lift 1 via the load reduction device 50, thereby reducing the load applied to the motor 40 by the first spring force. Therefore, in the scissor lift 1 according to one or more embodiments of this disclosure, while the moving end 321 moves from point X1 to point X2, almost no load is applied to the motor 40 by the weight of the object.

[0136] When the moving end 321 of the scissor lift 1 moves from point X2 to point X3, a second spring force is applied to the moving end 321 of the scissor lift 1 through the load reduction device 50, thereby reducing the load applied to the motor 40 by the second spring force. Therefore, in the scissor lift 1 according to one or more embodiments of the present disclosure, when the moving end 321 moves from point X2 to point X3, almost no load is applied to the motor 40 by the weight of the object.

[0137] As the moving end 321 of the scissor lift 1 moves from point X3 to the position where the lifting plate 20 reaches its maximum height, the spring force is applied to the moving end 321 without passing through the load reduction device 50. Therefore, the load applied to the motor 40 gradually increases.

[0138] When the moving end 321 of the scissor lift 1 is in the defined position, the load applied to the motor 40 of the scissor lift 1 according to one or more embodiments of the present disclosure is the same as the load applied to the motor of the scissor lift according to the comparative embodiment. This is in Figure 11 The area shown is the region where the solid curve C1 and the dashed curve C2 overlap.

[0139] The scissor lift 1 according to one or more embodiments of the present disclosure, having the above-described structure, can reduce the load applied to the motor 40 by using the load reduction device 50. Therefore, the scissor lift 1 according to one or more embodiments of the present disclosure can use a motor 40 with a small rated torque, thus allowing the scissor lift 1 to be designed to be compact and reducing the power required to operate it.

[0140] In the scissor lift 1 described above, multiple stop plates (e.g., first stop plate 56 and second stop plate 57) are fixed to the fixed plate 10, but the embodiments of this disclosure are not limited thereto. The scissor lift 1 according to one or more embodiments of this disclosure may be configured to move multiple stop plates depending on the weight of the object loaded on the lifting plate 20.

[0141] In the following text, reference will be made to Figures 12 to 14 A scissor lift 1 according to one or more embodiments of the present disclosure is described.

[0142] Figure 12 This is a side view showing a scissor lift 1 according to one or more embodiments of the present disclosure.

[0143] Reference Figure 12 The scissor lift 1 according to one or more embodiments of the present disclosure may include a fixed plate 10, a lifting plate 20, a pair of scissor arms 30, a motor 40 and a load reduction device 50.

[0144] The fixed plate 10, lifting plate 20, pair of scissor arms 30 and motor 40 are the same as those of the scissor lift 1 according to the above embodiment; therefore, their repeated description can be omitted.

[0145] The load reduction device 50 may include a movable support 51, a plurality of elastic bodies (e.g., a first elastic body 52 and a second elastic body 54), a plurality of connecting plates (e.g., a first connecting plate 53 and a second connecting plate 55), and a stop plate moving device 60.

[0146] Since the movable support 51, the plurality of elastic bodies (e.g., the first elastic body 52 and the second elastic body 54) and the plurality of connecting plates (e.g., the first connecting plate 53 and the second connecting plate 55) are the same as those of the load reduction device 50 according to the above embodiment, their repeated description can be omitted.

[0147] The stop plate moving device 60 may be configured to move a plurality of stop plates (e.g., a first stop plate 56 and a second stop plate 57) according to the weight of an object placed on the lifting plate 20. The stop plate moving device 60 may include a plurality of stop plates (e.g., a first stop plate 56 and a second stop plate 57), a sliding plate 602, and an actuator 601.

[0148] Since the multiple stop plates (e.g., the first stop plate 56 and the second stop plate 57) are the same as the stop plates of the load reduction device 50 according to the above embodiment, their repeated description can be omitted. The multiple stop plates may include the first stop plate 56 and the second stop plate 57.

[0149] The sliding plate 602 connects multiple stop plates (e.g., first stop plate 56 and second stop plate 57) so that the multiple stop plates (e.g., first stop plate 56 and second stop plate 57) can move as a unit. The sliding plate 602 can be configured to slide on the upper surface of the fixed plate 10.

[0150] Actuator 601 is configured to move slide plate 602 linearly. When actuator 601 moves slide plate 602, a plurality of stop plates (e.g., first stop plate 56 and second stop plate 57) can move integrally with slide plate 602. When slide plate 602 is moved by actuator 601, the positions of the plurality of stop plates (e.g., first stop plate 56 and second stop plate 57) can be changed. An electric linear actuator can be used as actuator 601.

[0151] Figure 13 This is a block diagram of a scissor lift 1 according to one or more embodiments of the present disclosure.

[0152] Reference Figure 13 The scissor lift 1 according to one or more embodiments of the present disclosure may include a weight detection sensor 92 and a processor 90.

[0153] The weight detection sensor 92 can be configured to measure the weight of an object placed on the lifting plate 20. The weight detection sensor 92 can be disposed on the lifting plate 20. A load cell can be used as the weight detection sensor 92.

[0154] The processor 90 can be configured to use signals from the weight detection sensor 92 to control the stop plate moving device 60. For example, the processor 90 can use signals including weight information sent from the weight detection sensor 92 to identify the weight of an object loaded on the lifting plate 20, and control the actuator 601 of the stop plate moving device 60 to move multiple stop plates (e.g., the first stop plate 56 and the second stop plate 57) depending on the identified weight of the object.

[0155] The positions of multiple stop plates (e.g., first stop plate 56 and second stop plate 57) corresponding to the weight of the object can be stored in memory 91. Therefore, when processor 90 identifies the weight of the object from the signal of weight detection sensor 92, processor 90 can identify the appropriate positions of multiple stop plates (e.g., first stop plate 56 and second stop plate 57) from the data stored in memory 91, and control actuator 601 to position the multiple stop plates (e.g., first stop plate 56 and second stop plate 57) at positions suitable for the weight of the object.

[0156] In the foregoing, a weight detection sensor 92 was used to detect the weight of the object loaded on the lifting plate 20, but the embodiments of this disclosure are not limited thereto.

[0157] The load applied to the motor 40 of the scissor lift 1 varies depending on the weight of the object loaded on the lifting plate 20. Therefore, as another example, the scissor lift 1 can be configured to detect the load applied to the motor 40 and move multiple stop plates (e.g., a first stop plate 56 and a second stop plate 57) in response to the detected load. Figure 14 The image shows this type of scissor lift 1.

[0158] Figure 14 This is a block diagram of a scissor lift 1 according to one or more embodiments of the present disclosure.

[0159] Reference Figure 14 The scissor lift 1 according to one or more embodiments of the present disclosure may include a load detector 93 and a processor 90.

[0160] The load detector 93 is configured to detect the magnitude of the load applied to the motor 40. For example, the load detector 93 can detect the magnitude of the load applied to the motor 40 by detecting the current applied to the motor driver of the drive motor 40.

[0161] The processor 90 can be configured to use signals from the load detector 93 to control the stop plate moving device 60. For example, the processor 90 can use signals including load information of the motor 40 sent from the load detector 93 to identify the magnitude of the load applied to the motor 40, and control the actuator 601 of the stop plate moving device 60 to move multiple stop plates (e.g., the first stop plate 56 and the second stop plate 57) depending on the identified magnitude of the load on the motor 40.

[0162] The positions of a plurality of stop plates (e.g., first stop plate 56 and second stop plate 57) corresponding to the magnitude of the load applied to the motor 40 (hereinafter referred to as the load magnitude of the motor 40) can be stored in the memory 91. Therefore, when the processor 90 identifies the load magnitude of the motor 40 from the signal of the load detector 93, the processor 90 can identify the positions of the plurality of stop plates (e.g., first stop plate 56 and second stop plate 57) suitable for the load of the motor 40 from the data stored in the memory 91, and control the actuator 601 to position the plurality of stop plates (e.g., first stop plate 56 and second stop plate 57) at positions suitable for the load of the motor 40.

[0163] As described above, by changing the positions of multiple stop plates (e.g., the first stop plate 56 and the second stop plate 57), the load applied to the motor 40 can be reduced to the maximum according to the weight of the object loaded on the lifting plate 20.

[0164] According to an embodiment, the memory 91 may include computer instructions configured to cause the processor 90 to perform its functions when executed by the processor 90.

[0165] Figure 15 It is a graph showing the load applied to the motor 40 depending on the weight loaded on the scissor lift 1, according to one or more embodiments of the present disclosure.

[0166] like Figure 15 As shown, the curve of the load applied to the motor 40 varies depending on the weight of the object loaded on the lifting plate 20.

[0167] exist Figure 15 In the diagram, curve W0 at the bottom indicates the case where no object is loaded on the lifting platform 20. Curves W1, W2, and W3 indicate the case where an object is loaded on the lifting platform 20. Curve W3 indicates the case where an object of the maximum weight that can be loaded onto the lifting platform 20 is loaded. Curve W2 indicates the case where an object lighter than the object in curve W3 but heavier than the object in curve W1 is loaded on the lifting platform 20. Curve W1 indicates the case where an object with a weight less than that of curve W2 is loaded on the lifting platform 20.

[0168] According to one or more embodiments of the present disclosure, the scissor lift 1 can appropriately position a plurality of stop plates (e.g., a first stop plate 56 and a second stop plate 57) according to the weight of the object loaded on the lifting plate 20, thereby minimizing the load applied to the motor 40. For example, the scissor lift 1 according to one or more embodiments of the present disclosure can appropriately adjust the positions of the plurality of stop plates (e.g., a first stop plate 56 and a second stop plate 57) to match the weight of the object loaded on the lifting plate 20. Figure 15 The bottom curves W0, W1, W2, and W3 shown correspond to each other.

[0169] Because according to Figures 1 to 10 The scissor lift 1 of the illustrated embodiment has a plurality of stop plates (e.g., a first stop plate 56 and a second stop plate 57) fixed to a fixed plate 10, so that it can respond to Figure 15 The load applied to the motor 40 is reduced by one of the multiple curves (e.g., bottom curve W0, curve W1, curve W2 and curve W3).

[0170] The scissor lift 1 described above is configured such that a plurality of stop plates (e.g., first stop plate 56 and second stop plate 57) are moved by an actuator 601, but embodiments of the present disclosure are not limited thereto. The scissor lift 1 according to one or more embodiments of the present disclosure may be configured to move a plurality of stop plates (e.g., first stop plate 56 and second stop plate 57) using a plurality of actuators according to the weight of an object loaded on the lift plate 20.

[0171] In the following text, refer to Figures 16 to 18 The present disclosure will describe a scissor lift 1 according to one or more embodiments.

[0172] Figure 16 This is a side view showing a scissor lift 1 according to one or more embodiments of the present disclosure.

[0173] Reference Figure 16 The scissor lift 1 according to one or more embodiments of the present disclosure may include a fixed plate 10, a lifting plate 20, a pair of scissor arms 30, a motor 40 and a load reduction device 50.

[0174] The fixed plate 10, lifting plate 20, pair of scissor arms 30 and motor 40 are the same as those of the scissor lift 1 according to the above embodiment; therefore, their repeated description can be omitted.

[0175] The load reduction device 50 may include a movable support 51, a plurality of elastic bodies (e.g., a first elastic body 52 and a second elastic body 54), a plurality of connecting plates (e.g., a first connecting plate 53 and a second connecting plate 55), a first stop plate moving device 61, and a second stop plate moving device 62.

[0176] The movable support 51, the plurality of elastic bodies (e.g., the first elastic body 52 and the second elastic body 54) and the plurality of connecting plates (e.g., the first connecting plate 53 and the second connecting plate 55) are the same as those of the load reduction device 50 according to the above embodiment; therefore, their repeated description can be omitted.

[0177] The first stop plate moving device 61 may be configured to move the first stop plate 56 according to the weight of an object placed on the lifting plate 20. The first stop plate moving device 61 may include the first stop plate 56 and the first actuator 611.

[0178] The first stop plate 56 is similar to the first stop plate 56 of the load reduction device 50 according to the above embodiment; therefore, its repeated description can be omitted.

[0179] The first actuator 611 is configured to move the first stop plate 56 linearly. When the first actuator 611 moves the first stop plate 56, the position of the first stop plate 56 can be changed. An electric linear actuator can be used as the first actuator 611.

[0180] The second stop plate moving device 62 may be configured to move the second stop plate 57 according to the weight of an object placed on the lifting plate 20. The second stop plate moving device 62 may include the second stop plate 57 and the second actuator 621.

[0181] The second stop plate 57 is similar to the second stop plate 57 of the load reduction device 50 according to the above embodiment; therefore, its repeated description can be omitted.

[0182] The second actuator 621 is configured to move the second stop plate 57 linearly. When the second actuator 621 moves the second stop plate 57, the position of the second stop plate 57 can be changed. An electric linear actuator can be used as the second actuator 621.

[0183] Figure 17 This is a block diagram of a scissor lift 1 according to one or more embodiments of the present disclosure.

[0184] Reference Figure 17 The scissor lift 1 according to one or more embodiments of the present disclosure may include a weight detection sensor 92 and a processor 90.

[0185] The weight detection sensor 92 is configured to measure the weight of an object placed on the lifting plate 20. The weight detection sensor 92 may be mounted on the lifting plate 20. A load cell may be used as the weight detection sensor 92.

[0186] The processor 90 can be configured to use signals from the weight detection sensor 92 to control the first stop plate moving device 61 and the second stop plate moving device 62. For example, the processor 90 can use signals including weight information sent from the weight detection sensor 92 to identify the weight of an object loaded on the lifting plate 20, and control the first actuator 611 of the first stop plate moving device 61 and the second actuator 621 of the second stop plate moving device 62 based on the identified weight of the object, so as to move the first stop plate 56 and the second stop plate 57, respectively.

[0187] The positions of the first stop plate 56 and the second stop plate 57 corresponding to the weight of the object can be stored in the memory 91. Therefore, when the processor 90 identifies the weight of the object from the signal of the weight detection sensor 92, the processor 90 can identify the appropriate positions of the first stop plate 56 and the second stop plate 57 from the data stored in the memory 91, control the first actuator 611 to position the first stop plate 56 at the appropriate position corresponding to the weight of the object, and control the second actuator 621 to position the second stop plate 57 at the appropriate position corresponding to the weight of the object.

[0188] In the foregoing, a weight detection sensor 92 was used to detect the weight of the object loaded on the lifting plate 20, but the embodiments of this disclosure are not limited thereto.

[0189] Because the load applied to the motor 40 of the scissor lift 1 varies depending on the weight of the object loaded on the lifting plate 20, the scissor lift 1 can be configured to detect the load applied to the motor 40 and move the first stop plate 56 and the second stop plate 57 according to the detected load. Figure 18 The image shows this type of scissor lift 1.

[0190] Figure 18 This is a block diagram of a scissor lift 1 according to one or more embodiments of the present disclosure.

[0191] Reference Figure 18 The scissor lift 1 according to one or more embodiments of the present disclosure may include a load detector 93 and a processor 90.

[0192] The load detector 93 is configured to detect the magnitude of the load applied to the motor 40. For example, the load detector 93 can detect the magnitude of the load applied to the motor 40 by detecting the current applied to the motor driver of the drive motor 40.

[0193] The processor 90 can be configured to use signals from the load detector 93 to control the first stop plate moving device 61 and the second stop plate moving device 62. For example, the processor 90 can use signals including load information of the motor 40 sent from the load detector 93 to identify the magnitude of the load applied to the motor 40, control the first actuator 611 of the first stop plate moving device 61 to move the first stop plate 56 based on the identified magnitude of the load on the motor 40, and control the second actuator 621 of the second stop plate moving device 62 to move the second stop plate 57 based on the identified magnitude of the load on the motor 40.

[0194] The positions of the first stop plate 56 and the second stop plate 57, corresponding to the magnitude of the load applied to the motor 40 (hereinafter referred to as the load magnitude of the motor 40), can be stored in the memory 91. Therefore, when the processor 90 can identify the load magnitude of the motor 40 from the signal from the load detector 93, the processor 90 can identify the positions of the first stop plate 56 and the second stop plate 57 suitable for the load of the motor 40 from the data stored in the memory 91, and control the first actuator 611 and the second actuator 621 to position the first stop plate 56 and the second stop plate 57 at positions suitable for the load of the motor 40.

[0195] As described above, when the positions of the first stop plate 56 and the second stop plate 57 are changed, the load applied to the motor 40 can be reduced to the maximum according to the weight of the object loaded on the lifting plate 20.

[0196] According to an embodiment, the memory 91 may include computer instructions configured to cause the processor 90 to perform its functions when executed by the processor 90.

[0197] The scissor lift 1 according to one or more embodiments of the present disclosure can be mounted on a mobile robot.

[0198] Figure 19 This is a view showing a mobile robot 100 equipped with a scissor lift 1 according to one or more embodiments of the present disclosure.

[0199] Reference Figure 19 The mobile robot 100 according to one or more embodiments of the present disclosure may include a body 110 and a scissor lift 1.

[0200] The scissor lift 1 is mounted on the upper surface of the main body 110. The scissor lift 1 can be mounted on the main body 110 by fixing the fixing plate 10 to the upper surface of the main body 110.

[0201] The main body 110 is configured to move the scissor lift 1 to a designated position. In other words, the scissor lift 1 can move autonomously to a designated position via the main body 110.

[0202] The main body 110 may include a mobile device 111 (e.g., a mover), a position recognition sensor, a robot communication unit, and a robot processor.

[0203] The mobility device 111 can be configured to move the mobile robot 100 on a travel surface. For example, the mobility device 111 may include a pair of driving wheels and a plurality of auxiliary wheels. The pair of driving wheels and the plurality of auxiliary wheels may be disposed on the lower surface of the body 110. The pair of driving wheels may be rotatably disposed on the left and right sides of the lower surface of the body 110. The plurality of auxiliary wheels may be disposed in front of and behind the pair of driving wheels on the lower surface of the body 110.

[0204] However, the structure of the mobile device 111 is not limited to multiple wheels. Various mobile devices with different structures can be used, as long as they can move the mobile robot 100.

[0205] The position recognition sensor can be configured to enable the mobile robot 100 to recognize its own position. The mobile robot 100 can use the position recognition sensor to recognize its own position. For example, sensors capable of recognizing the current position of the mobile robot 100 (such as image sensors, light detection and ranging (LIDAR) sensors, etc.) can be used as position recognition sensors.

[0206] The robot communication unit can be configured to communicate wirelessly with external devices, such as servers, mobile devices, etc. For example, the robot communication unit can receive information about the location and altitude of the destination from the external device.

[0207] The robot's communication unit can wirelessly connect to external devices via various mobile communication methods, such as Bluetooth, WiFi, 4G, and 5G.

[0208] The robot processor can be configured to control the mobile robot 100. For example, the robot processor can be configured to control the mobile device 111, the position recognition sensor, the scissor lift 1, and the robot communication unit.

[0209] The robot processor controls the mobile device 111 to move the mobile robot 100. The robot processor can use a position recognition sensor to identify the current position of the mobile robot 100. The robot processor can use the position recognition sensor and the mobile device 111 to move the mobile robot 100 to its destination.

[0210] The robot processor can control the scissor lift 1 to adjust the height of the lifting platform 20. For example, when the mobile robot 100 is moving, the robot processor can control the scissor lift 1 so that the lifting platform 20 is at its lowest height. Additionally, when the mobile robot 100 reaches its destination, the robot processor can control the scissor lift 1 so that the height of the lifting platform 20 matches the height of the destination.

[0211] The robot processor can control the processor 90 of the scissor lift 1 to adjust the height of the lifting platform 20 of the scissor lift 1. The robot processor can be configured to include the processor 90 of the scissor lift 1. In this case, the robot processor can control the motor 40 of the scissor lift 1.

[0212] Although non-limiting exemplary embodiments have been shown and described above with reference to the accompanying drawings, those skilled in the art will understand that various modifications in form and detail may be made without departing from the spirit and scope of this disclosure.

Claims

1. A scissor lift, comprising: Fixing plate; The lifting platform is located above the fixed platform. A pair of scissor arms, located between a fixed plate and a lifting plate and having an X shape, the pair of scissor arms including a first scissor arm and a second scissor arm, each of the first scissor arm and the second scissor arm including a fixed end fixed to the fixed plate and a movable end configured to move linearly relative to the fixed plate; The motor is configured to move the moving end of the first scissor arm and the moving end of the second scissor arm; The load reduction device is configured to reduce the load applied to the motor when the lifting plate is lowered. The load reduction device includes multiple elastomers, which are located on the moving end of the first scissor arm and connected in series.

2. The gondola lift according to claim 1, wherein The load reduction device also includes: A movable support is connected to the movable end of the first scissor arm, wherein one end of the plurality of elastic bodies is connected to the movable support; Multiple connecting plates are located at the other end of the multiple elastomers and between the multiple elastomers; Multiple stop plates are configured to selectively engage with the multiple engagement plates; and The rope winder is adjacent to the fixed end of the first scissor arm and includes a rope connected to the joint plate furthest from the movable support among the plurality of joint plates.

3. The gull-wing elevator of claim 2, wherein, The plurality of elastomers include: A first elastic body, wherein one end of the first elastic body is connected to a movable support; and The second elastomer is connected in series with the first elastomer.

4. The gull-wing elevator of claim 3, wherein, The plurality of bonding plates include: A first connecting plate is located between the other end of the first elastic body and one end of the second elastic body; and The second connecting plate is located at the other end of the second elastomer and is connected to the rope of the rope winder.

5. The gull-wing elevator of claim 4, wherein, The plurality of stop plates include: The first stop plate is configured to stop the first connecting plate; and The second stop plate is spaced a defined distance from the first stop plate and is configured to not stop the first connecting plate and to stop the second connecting plate.

6. The scissor lift as described in claim 3, wherein, The first elastic body and the second elastic body have the same spring constant.

7. The scissor lift as described in claim 3, wherein, The spring constant of the first elastic body is greater than the spring constant of the second elastic body.

8. The scissor lift as described in claim 2, further comprising: The stop plate moving device includes an actuator; and The processor is configured to control the stop plate moving device to move the plurality of stop plates according to the weight of the object on the lifting plate.

9. The scissor lift as described in claim 8, further comprising: A weight sensor is configured to measure the weight of an object on the lifting platform. The processor is also configured to control the stop plate movement device based on signals from the weight detection sensor.

10. The scissor lift as described in claim 8, further comprising: A load detector is configured to detect the magnitude of the load applied to the motor. The processor is also configured to control the stop plate movement device based on signals from the load detector.

11. The scissor lift as described in claim 2, wherein, When the lifting plate is at its lowest height, all of the multiple connecting plates are stopped by the multiple stop plates.

12. The scissor lift as described in claim 2, wherein, When the lifting plate is at its highest height, the plurality of connecting plates are not stopped by the plurality of stop plates.

13. A mobile robot, comprising: The main body is configured to move autonomously; and The scissor lift has its main body on its upper surface. Among them, scissor lifts include: Fixing plate; The lifting platform is located above the fixed platform. A pair of scissor arms, located between a fixed plate and a lifting plate and having an X shape, the pair of scissor arms including a first scissor arm and a second scissor arm, each of the first scissor arm and the second scissor arm including a fixed end fixed to the fixed plate and a movable end configured to move linearly relative to the fixed plate; A motor is configured to move the moving end of the first scissor arm and the moving end of the second scissor arm; and The load reduction device is configured to reduce the load applied to the motor when the lifting plate descends, and The load reduction device includes a first elastic body and a second elastic body, which are located on the moving end of the first scissor arm and connected in series.

14. The mobile robot of claim 13, wherein, The load reduction device also includes: A movable support is connected to the movable end of the first scissor arm, wherein one end of the first elastic body is connected to the movable support; A first connecting plate is located at the other end of the first elastic body, wherein one end of a second elastic body is connected to the first connecting plate, and the second elastic body is configured to be in a straight line with the first elastic body. The second connecting plate is located at the other end of the second elastomer; The first stop plate is configured to stop the first connecting plate; and The second stop plate is spaced a defined distance from the first stop plate, and the second stop plate is configured to not stop the first connecting plate and to stop the second connecting plate.

15. The mobile robot of claim 14, wherein, The spring constant of the first elastic body is greater than the spring constant of the second elastic body.

Images