Jacking device and unmanned vehicle

Abstract

The application discloses a jacking device and an unmanned vehicle, and belongs to the technical field of unmanned vehicles. The jacking device comprises a bearing mechanism, at least one jacking mechanism and a driving mechanism. The jacking mechanism comprises a lifting assembly and a lifting and falling assembly. The lifting assembly comprises two lifting pieces. The lifting and falling assembly is in abutment with the lifting pieces. When the lifting pieces move along a first direction relative to the bearing mechanism, the lifting and falling assembly can move along a second direction relative to the bearing mechanism. The first direction intersects the second direction. The driving mechanism comprises at least one driving piece. The driving piece is in driving connection with the two lifting pieces respectively, and drives the two lifting pieces to move towards each other or move away from each other. The driving piece is located on one side of the lifting assembly along the first direction. By arranging the driving piece on one side of the lifting assembly along the first direction, the distance between the two lifting pieces along the first direction can be reduced, the occupied space of the lifting assembly along the first direction is reduced, and the arrangement in a space-limited scene is facilitated.

Description

Technical Field

[0001] This application belongs to the field of unmanned vehicle technology, specifically relating to a lifting device and an unmanned vehicle. Background Technology

[0002] Lifting devices are widely used in unmanned transport vehicles, driverless trucks, and automated warehousing equipment to achieve lifting and lowering operations for goods. In related technologies, the lifting assembly includes two lifting members that can move relative to each other. A drive unit drives the two lifting members to move towards or away from each other, thereby converting horizontal movement into vertical lifting movement.

[0003] However, since the driving component is located between the two lifting components, which are arranged on both sides of the driving component, the horizontal spacing between the two driving components is relatively large, increasing the overall horizontal space occupied by the lifting assembly, which is not conducive to its deployment in space-constrained scenarios. Summary of the Invention

[0004] One of the objectives of this application is to provide a lifting device that reduces the space occupied by the lifting components along the first direction, which is beneficial for deployment in space-constrained scenarios, thereby at least partially solving the aforementioned technical problems.

[0005] Another objective of this application is to provide an unmanned vehicle including a lifting device.

[0006] To achieve the above objectives, according to a first aspect of this application, a lifting device is provided, comprising:

[0007] Bearing mechanism;

[0008] At least one lifting mechanism, the lifting mechanism including a lifting component and a lifting component, the lifting component including two lifting members, the lifting component abutting against the lifting members, so that when the lifting members move relative to the carrying mechanism along a first direction, the lifting component can move relative to the carrying mechanism along a second direction, the first direction and the second direction intersecting;

[0009] The driving mechanism includes at least one driving member, which is respectively connected to two lifting members and drives the two lifting members to move towards each other or away from each other.

[0010] The drive component is located on one side of the lifting assembly along the first direction.

[0011] In one or more embodiments of this application, the driving mechanism includes a driving member, a driven member, and a transmission member. The driving member is connected to the driving member, the driven member is connected to the bearing mechanism, the transmission member drives the driving member and the driven member, and two lifting members are respectively connected to the transmission member.

[0012] In one or more embodiments of this application, both the driving and driven components are sprockets, and the transmission component is a chain; or,

[0013] Both the driving and driven components are pulleys, and the transmission component is a belt.

[0014] In one or more embodiments of this application, the lifting device includes a plurality of lifting mechanisms, and the lifting component of each lifting mechanism is connected to a transmission component.

[0015] In one or more embodiments of this application, the lifting assembly and the lowering assembly are arranged along a second direction, and the driving member and the lowering assembly are staggered along the second direction.

[0016] In one or more embodiments of this application, the driving member and the driven member are arranged along a first direction, the driving member and the lifting assembly are staggered along a second direction, and the driven member and the lifting assembly are staggered along a second direction.

[0017] In one or more embodiments of this application, the transmission component includes a first transmission part and a second transmission part, the first transmission part and the second transmission part being located on both sides of the transmission component along a second direction, and the lifting component includes a first lifting member and a second lifting member, both the first lifting member and the second lifting member including a connecting part and two lifting parts, the connecting part connecting the two lifting parts, the connecting part of the first lifting member being connected to the first transmission part, and the connecting part of the second lifting member being connected to the second transmission part.

[0018] In one or more embodiments of this application, the lifting assembly includes a lifting frame and a plurality of lifting pulleys. The lifting pulleys are connected to the lifting frame and abut against the lifting parts in a corresponding manner. The first lifting member and the second lifting member are arranged along a first direction. The two lifting parts of the first lifting member are arranged along a third direction. The two lifting parts of the second lifting member are arranged along a third direction. The first direction, the second direction, and the third direction are perpendicular to each other.

[0019] In one or more embodiments of this application, the lifting part has a first abutting surface, a second abutting surface, and a third abutting surface. The first abutting surface, the second abutting surface, and the third abutting surface are arranged sequentially along a first direction. The first abutting surface and the third abutting surface are both parallel to the horizontal plane. The horizontal height of the first abutting surface is higher than the horizontal height of the third abutting surface. There is a target distance between the second abutting surfaces of the first lifting member and the second abutting surfaces of the second lifting member along the first direction. The target distance increases from the first abutting surface toward the third abutting surface along the second direction.

[0020] In one or more embodiments of this application, the supporting mechanism includes a base with a groove, and each lifting part is provided with a pulley assembly that extends into the groove. The pulley assembly includes a first pulley and a second pulley. The first pulley abuts against the inner wall of the groove along a second direction, and the second pulley abuts against the inner wall of the groove along a third direction.

[0021] In one or more embodiments of this application, the supporting mechanism further includes a plurality of guide structures, each corresponding to a lifting pulley, and the guide structures connect the lifting frame to the base so that the lifting frame can move relative to the base along a second direction.

[0022] In one or more embodiments of this application, the lifting device further includes a first sensor and a second sensor. Both the first sensor and the second sensor are connected to the bearing mechanism. The lifting mechanism has a lifting state and a reset state. In the lifting state, the lifting pulley abuts against the first contact surface, and the lifting part triggers the sensing signal of the first sensor. In the reset state, the lifting pulley abuts against the third contact surface, and the lifting part triggers the sensing signal of the second sensor.

[0023] According to a second aspect of this application, an unmanned vehicle is provided, comprising:

[0024] car;

[0025] Such as the lifting device described above;

[0026] The load-bearing mechanism slides in conjunction with the carriage along the first direction.

[0027] Compared with the prior art, the lifting device of this application, by setting the driving component on one side of the lifting component along the first direction, can reduce the distance between the two lifting components along the first direction, reduce the space occupied by the lifting component along the first direction, and is beneficial for deployment in space-constrained scenarios. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a perspective view of a lifting device in one embodiment of the present application, wherein the lifting mechanism is in a raised state;

[0030] Figure 2 This is a perspective view of a lifting device in one embodiment of the present application, wherein the lifting mechanism is in a reset state;

[0031] Figure 3 This is an exploded view of the lifting device in one embodiment of this application;

[0032] Figure 4 for Figure 2 Sectional view at point BB;

[0033] Figure 5 for Figure 1 Sectional view at point AA;

[0034] Figure 6 This is a three-dimensional schematic diagram of an unmanned vehicle in one embodiment of this application.

[0035] Explanation of reference numerals in the attached figures:

[0036] 1. Bearing mechanism; 11. Base; 111. Slide groove; 12. Guide structure; 13. Bearing pulley;

[0037] 2. Lifting mechanism; 21. Lifting assembly; 211. Lifting component; 212. First lifting component; 213. Second lifting component; 214. Connecting part; 215. Lifting part; 2151. First abutting surface; 2152. Second abutting surface; 2153. Third abutting surface; 22. Lifting assembly; 221. Lifting frame; 222. Lifting pulley; 23. Pulley block; 231. First pulley; 232. Second pulley;

[0038] 3. Drive mechanism; 31. Drive component; 32. Driving component; 33. Driven component; 34. Transmission component; 341. First transmission part; 342. Second transmission part;

[0039] 4. First sensor;

[0040] 5. Second sensor;

[0041] 6. Carriage; 61. Sliding rail;

[0042] X, first direction; Y, second direction; Z, third direction; D, target distance. Detailed Implementation

[0043] To enable those skilled in the art to better understand the technical solutions in this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments in this disclosure, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this disclosure.

[0044] It should be understood that terms such as “having,” “comprising,” and “including” as used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

[0045] According to the first aspect of this application, referring to Figure 1 The present disclosure provides a lifting device, including a supporting mechanism 1, at least one lifting mechanism 2 and a driving mechanism 3.

[0046] In this embodiment, the supporting mechanism 1 serves as the mounting base for the lifting device, used to support and install the various components of the lifting mechanism 2 and the drive mechanism 3. The supporting mechanism 1 can adopt a plate structure or a frame structure to provide stable support. The lifting mechanism 2 is mounted on the supporting mechanism 1 to realize the lifting action. The drive mechanism 3 provides power to drive the lifting mechanism 2 to perform the lifting operation.

[0047] In some embodiments, in conjunction with reference Figure 2 As shown, the lifting mechanism 2 includes a lifting component 21 and a lifting component 22. The lifting component 21 includes two lifting members 211. The lifting component 22 abuts against the lifting members 211 so that when the lifting members 211 move relative to the bearing mechanism 1 along the first direction X, the lifting component 22 can move relative to the bearing mechanism 1 along the second direction Y.

[0048] In this embodiment, the two lifting members 211 are slidably engaged with the bearing mechanism 1 and can reciprocate relative to the bearing mechanism 1 along the first direction X.

[0049] The lifting assembly 22 is used to carry goods or objects to be lifted. The lifting assembly 22 abuts against the lifting member 211. When the lifting member 211 moves relative to the carrying mechanism 1 along the first direction X, the lifting assembly 22 can move relative to the carrying mechanism 1 along the second direction Y.

[0050] In some embodiments, the first direction X intersects with the second direction Y.

[0051] In this embodiment, the first direction X is the horizontal direction (e.g., the forward and backward direction of the autonomous vehicle), and the second direction Y is the vertical direction (e.g., the up and down direction of the autonomous vehicle). Thus, the horizontal movement of the lifting member 211 can be converted into the vertical movement of the lifting assembly 22, thereby realizing the lifting function.

[0052] In some embodiments, the drive mechanism 3 includes at least one drive member 31, which is connected to two lifting members 211 respectively and drives the two lifting members 211 to move towards each other or away from each other.

[0053] In this embodiment, the driving member 31 is connected to the two lifting members 211 respectively, and is used to drive the two lifting members 211 to move towards each other or away from each other along the first direction X.

[0054] In some embodiments, the drive member 31 is located on one side of the lifting assembly 21 along the first direction X.

[0055] In this embodiment, the driving member 31 is disposed on one side of the lifting assembly 21 along the first direction X, that is, both lifting members 211 are located on the same side of the driving member 31 along the first direction X, rather than being placed on opposite sides of the driving member 31.

[0056] By positioning the drive component 31 on one side of the lifting assembly 21 along the first direction X, the distance between the two lifting components 211 along the first direction X can be reduced, thus reducing the space occupied by the lifting assembly 21 along the first direction X. With the distance between the two lifting components 211 shortened, the support position for the lifting assembly 22 becomes more concentrated, providing more stable support for the lifting assembly 22.

[0057] The drive unit 31 and the lifting assembly 21 are arranged along the first direction X. Compared with the scheme where the two are arranged along the second direction Y (i.e., the vertical direction), the size of the lifting device along the second direction Y can be reduced, thereby reducing the overall thickness of the lifting device. When applied to unmanned vehicles, it can free up more space for goods in the vertical direction and improve the loading capacity of the vehicle.

[0058] For example, such as Figure 2 The drive component 31, the second lifting component 213, and the first lifting component 212 are arranged sequentially along the first direction X, with a neat and compact layout. When the two lifting components 211 approach each other, the lifting assembly 21 occupies less space, making it particularly suitable for lifting multiple small cargo boxes in unmanned vehicles, allowing for more lifting points to be arranged within a limited space. The drive component 31 can use a servo motor in conjunction with a reducer, controlling the forward and reverse rotation of the motor to achieve the opposite or backward movement of the two lifting components 211.

[0059] In some embodiments, in conjunction with reference Figure 2 and Figure 3 As shown, the drive mechanism includes a driving member 32, a driven member 33, and a transmission member 34. The driving member 32 is connected to the driving member 31, the driven member 33 is connected to the bearing mechanism 1, and the transmission member 34 drives the driving member 32 and the driven member 33. The two lifting members 211 are respectively connected to the transmission member 34.

[0060] In this embodiment, a single driving member 31 drives the active member 32 to rotate, and a transmission member 34 drives the driven member 33 to rotate synchronously. The transmission member 34 also drives the two lifting members 211 to move along the first direction X. This structure can achieve the synchronous movement of the two lifting members 211 without the need for multiple driving members, which simplifies the overall structure of the lifting device, saves space, and reduces manufacturing costs.

[0061] For example, the drive component 31 includes a motor and a reducer. The motor provides rotational power, and the reducer is connected to the motor to adjust the output torque and speed. The driving component 32 is connected to the output shaft of the reducer, and the drive component 31 is fixedly connected to the load-bearing mechanism 1 to ensure stability during the driving process. The driven component 33 is rotatably connected to the load-bearing mechanism 1 through a bearing housing, thereby enabling it to rotate freely relative to the load-bearing mechanism 1.

[0062] The transmission member 34 is used to transmit the torque of the driving member 32 to the driven member 33. Since the two lifting members 211 are connected to the transmission member 34, when the transmission member 34 transmits torque, it can drive the two lifting members 211 to move, for example, to move towards each other or away from each other along the first direction X. When the driving member 31 rotates forward, the two lifting members 211 move away from each other to achieve lifting; when the driving member 31 rotates in reverse, the two lifting members 211 move towards each other to achieve lowering.

[0063] In other embodiments, two driving members 31 can be provided to independently drive the movement of the two lifting members 211. The two driving members 31 can be located on both sides of the lifting assembly 21 along the first direction X. Alternatively, multiple driven members 33 can be provided to drive the movement of the lifting members 211, such as a gear-driven mechanism with one driving member 32 and two rack-driven mechanisms 33, or a lead screw-driven mechanism with one driving member 32 and two nuts 33.

[0064] In some embodiments, continue to refer to Figure 3 As shown, the driving component 32 and the driven component 33 are both sprockets, and the transmission component 34 is a chain.

[0065] In other embodiments, both the driving member 32 and the driven member 33 are pulleys, and the transmission member 34 is a belt.

[0066] In this embodiment, a chain or belt is used to transmit torque between the driving member 32 and the driven member 33. The two lifting members 211 are fixedly connected to the transmission member 34 and can move together with the transmission member 34. For example, the two lifting members 211 are respectively connected to both sides of the transmission member 34 (i.e., located on both sides of the radial direction of the driving member 32, that is, on both sides of the transmission member 34 with opposite directions of movement). By rotating the driving member 31 in both directions, the two lifting members 211 can move in different directions, that is, the two lifting members 211 can move towards or away from each other.

[0067] In this embodiment, compared to the lead screw drive solution, this application uses chain drive or belt drive, which allows for greater flexibility in the layout of the drive component 31, eliminating the need for coaxial alignment with the lead screw. The drive component 31 is driven by a sprocket and chain, and the axis of its output shaft can adapt to different spatial layout requirements. For example, the output shaft of the drive component 31 can extend in any direction, thus accommodating the limitations imposed by different installation spaces on its layout. Furthermore, the lead screw module requires high installation precision, and the clearance between the lead screw and nut needs to be strictly controlled; otherwise, it will affect transmission accuracy and service life, leading to high processing, manufacturing, and assembly costs. The lead screw also has high requirements for environmental cleanliness; dust or particulate matter entering the lead screw pair will cause accelerated wear and decreased accuracy, therefore, strict protection is necessary.

[0068] This solution's sprocket and chain drive offers significant cost advantages, stronger resistance to contamination, and lower installation precision requirements, while still ensuring reliable operation in dusty or humid environments. For unmanned delivery vehicle scenarios, it can more stably drive the lifting component 211. Furthermore, chain drives offer advantages such as long-distance transmission, overload protection, and the ability to operate with minimal or no lubrication.

[0069] For example, when both the driving element 32 and the driven element 33 are sprockets and the transmission element 34 is a chain, the driving element 32 is a driving sprocket connected to the output shaft of the driving element 31; the driven element 33 is a driven sprocket mounted on the bearing mechanism 1 via a bearing seat; and the transmission element 34 is a ring chain that wraps around the driving and driven sprockets. The two lifting elements 211 are fixedly connected to different parts of the chain, for example, to the upper and lower sides of the chain (i.e., the radial sides of the driving sprocket). Compared to belt drives, chain drives can bear larger loads, are less prone to loosening and slippage, and are more suitable for heavy-duty applications.

[0070] When using belt drives, the belt can be a friction drive belt (transmitting power through friction between the belt and the pulley) or a meshing drive belt (transmitting power through the meshing of teeth between the belt and the pulley teeth). Belt drives can achieve power transmission effects similar to chain drives, but with lower operating noise.

[0071] In some embodiments not shown, the lifting device includes a plurality of lifting mechanisms 2, each of which has a lifting member 211 connected to a transmission member 34.

[0072] In this embodiment, by employing chain or belt drive, one drive unit 31 can synchronously drive multiple lifting mechanisms 2 to lift and lower simultaneously via a transmission unit 34. The multiple lifting mechanisms 2 are arranged along the first direction X, saving space occupied by the lifting device along the second direction Y. Within each lifting mechanism 2, the two lifting components 211 of the lifting assembly 21 are both connected to both sides of the transmission unit 34. This same-side layout allows multiple lifting mechanisms 2 to be arranged side-by-side in the same direction without interfering with each other, which is beneficial for modular design.

[0073] For example, when applied to unmanned vehicles, multiple lifting mechanisms 2 can be arranged along the front-to-back direction at the bottom of the vehicle compartment to achieve independent or synchronous lifting operations of goods at different positions within the compartment, thereby improving loading and unloading efficiency. Multiple lifting mechanisms 2 can share the same set of drive mechanisms 3, that is, one drive component 31 drives the lifting components 211 of all lifting mechanisms 2 simultaneously through a transmission component 34, ensuring the synchronization of the actions of each lifting mechanism 2.

[0074] In some embodiments, continue to refer to Figure 1 and Figure 2 As shown, the lifting assembly 21 and the lifting assembly 22 are arranged along the second direction Y, and the drive unit 31 and the lifting assembly 22 are offset along the second direction Y.

[0075] In this embodiment, the lifting assembly 21 and the lowering assembly 22 are arranged along the second direction Y, that is, the lowering assembly 22 is located above the lifting assembly 21. During horizontal movement, the lifting member 211 of the lifting assembly 21 drives the lowering assembly 22 to move vertically up and down by abutting. The driving member 31 and the lowering assembly 22 are staggered along the second direction Y, that is, the projection of the driving member 31 on the second direction Y does not overlap with the projection of the lowering assembly 22 on the second direction Y.

[0076] In this embodiment, the lifting assembly 21 and the lifting assembly 22 are arranged along the second direction Y, which allows for better lifting of the lifting assembly 22. The driving component 31 and the lifting assembly 21 are arranged along the first direction X, and the driving component 31 and the lifting assembly 22 are offset along the second direction Y. At this time, the driving component 31 is located on one side of the lifting assembly 22 along the first direction X, and the lifting assembly 22 does not obstruct the top of the driving component 31, which facilitates maintenance and repair of the driving component 31.

[0077] For example, the drive component 31 is located diagonally below the lifting assembly 22, and the lifting component 21 is located directly below the lifting assembly 22. This layout makes the lifting device more compact and facilitates daily maintenance.

[0078] In some embodiments, continue to refer to Figure 2As shown, the driving member 32 and the driven member 33 are arranged along the first direction X, the driving member 32 and the lifting assembly 22 are offset along the second direction Y, and the driven member 33 and the lifting assembly 22 are offset along the second direction Y.

[0079] In this embodiment, the driving member 32 and the driven member 33 are arranged along the first direction X, so that the transmission member 34 remains in a straight state, stably performing straight transmission and reducing the transmission loss of the transmission member 34. The driving member 32 and the driven member 33 are located on both sides of the lifting assembly 22 along the first direction X, so that the driving member 32 and the lifting assembly 22 are misaligned along the second direction Y, and the driven member 33 and the lifting assembly 22 are also misaligned along the second direction Y.

[0080] This layout ensures that the lifting members 211 connected to both sides of the transmission member 34 move in the first direction X and at the same speed, thereby improving the synchronization of the two lifting members 211. The lifting assembly 22 does not obstruct the top of the driving member 32 and the driven member 33, facilitating the installation and maintenance of the driving member 32 and the driven member 33. For example, maintenance operations can be performed without disassembling the lifting assembly 22.

[0081] In some embodiments, continue to refer to Figure 2 and Figure 3 As shown, the transmission member 34 includes a first transmission part 341 and a second transmission part 342, which are located on both sides of the transmission member 34 along the second direction Y.

[0082] For example, when the transmission member 34 is a chain, the first transmission part 341 is the lower part of the chain, and the second transmission part 342 is the upper part of the chain; or vice versa. After the transmission member 34 is tensioned, the first transmission part 341 and the second transmission part 342 are arranged along the second direction Y, that is, located on both sides of the radial direction of the driving member 32, so that during the movement of the transmission member 34, the first transmission part 341 and the second transmission part 342 move in opposite directions.

[0083] In some embodiments, continue to refer to Figure 2 and Figure 3 As shown, the lifting assembly 21 includes a first lifting member 212 and a second lifting member 213. Both the first lifting member 212 and the second lifting member 213 include a connecting portion 214 and two lifting portions 215. The connecting portion 214 connects the two lifting portions 215. The connecting portion 214 of the first lifting member 212 is connected to the first transmission portion 341, and the connecting portion 214 of the second lifting member 213 is connected to the second transmission portion 342.

[0084] In this embodiment, each lifting member 211 is connected to the transmission member 34 via the connecting part 214 between the two lifting parts 215, so that one transmission member can drive the two lifting parts 215 to move at the same time. Compared with the two lifting parts 215 being connected to the transmission member separately, the structure and installation operation are simplified.

[0085] During the movement of the transmission component 34, the two transmission parts move in opposite directions, enabling the two connecting parts 214 (i.e., the two lifting components 211) to move in opposite directions or towards each other. Both transmission parts extend along the first direction X, causing the transmission parts to move along the first direction X, which in turn drives the connecting parts 214 to move along the first direction X.

[0086] For example, in order to enable the two connecting parts 214 to dock with the two transmission parts, and for the two lifting members 211 to be arranged along the first direction X, the two connecting parts 214 are staggered along the second direction Y. Specifically, the height of the connecting part 214 of the first lifting member 212 is lower than the height of the connecting part 214 of the second lifting member 213, so that the connecting part 214 of the first lifting member 212 can be connected to the first transmission part 341 (e.g., the lower side of the chain), and the connecting part 214 of the second lifting member 213 can be connected to the second transmission part 342 (e.g., the upper side of the chain).

[0087] In some embodiments, in conjunction with reference Figure 1 , Figure 2 and Figure 3 As shown, the lifting assembly 22 includes a lifting frame 221 and a plurality of lifting pulleys 222. The lifting pulleys 222 are connected to the lifting frame 221, and the lifting pulleys 222 abut against the lifting part 215 in a corresponding manner.

[0088] In this embodiment, the lifting pulley 222 is connected to the side (i.e., the lower side) of the lifting frame 221 facing the carrying mechanism 1 along the second direction Y. The lifting frame 221 is used to carry goods or objects to be lifted, and its shape and size can be designed according to actual application requirements.

[0089] In some embodiments, the first lifting member 212 and the second lifting member 213 are arranged along a first direction X, the two lifting portions 215 of the first lifting member 212 are arranged along a third direction Z, and the two lifting portions 215 of the second lifting member 213 are arranged along a third direction Z.

[0090] In this embodiment, the first lifting member 212 and the second lifting member 213 are arranged along the first direction X, and the two lifting parts 215 of the first lifting member 212 are arranged along the third direction Z. This can save the space occupied by the lifting assembly 21 along the second direction Y and reduce the size of the lifting device along the second direction Y.

[0091] In this embodiment, the four lifting parts 215 of the two lifting members 211 are distributed along the first direction X and the third direction Z, respectively, and the four lifting parts 215 abut against the corresponding lifting pulleys 222, thereby supporting the four corners of the lifting frame 221, and thus stably lifting, lowering and supporting the lifting assembly 22 (e.g., the lifting frame 221) along the second direction Y.

[0092] By utilizing the rolling friction between the lifting part 215 and the lifting pulley 222, low-resistance linkage between the lifting component 211 and the lifting assembly 22 is achieved.

[0093] In some embodiments, the first direction X, the second direction Y, and the third direction Z are mutually perpendicular.

[0094] For example, the third direction Z can be the left or right direction of the autonomous vehicle. The axis of the output shaft of the drive member 31, the axis of the drive member 32, and the axis of the driven member 33 are parallel to each other and all extend along the third direction Z. At this time, the first transmission unit 341 and the second transmission unit 342 can be arranged along the second direction Y.

[0095] In some embodiments, in conjunction with reference Figure 4 and Figure 5 As shown, the lifting part 215 has a first abutting surface 2151, a second abutting surface 2152 and a third abutting surface 2153. The first abutting surface 2151, the second abutting surface 2152 and the third abutting surface 2153 are arranged sequentially along the first direction X. The first abutting surface 2151 and the third abutting surface 2153 are both parallel to the horizontal plane. The horizontal height of the first abutting surface 2151 is higher than the horizontal height of the third abutting surface 2153.

[0096] In this embodiment, the top surface of the lifting part 215 forms a stepped structure of "high horizontal section, inclined section, and low horizontal section". The second abutment surface 2152 is inclined relative to the horizontal plane, so that when the lifting part 215 moves along the first direction X, it abuts against the lifting pulley 222 by the second abutment surface 2152, driving the lifting assembly 22 to move along the second direction Y.

[0097] For example, the first abutting surface 2151 and the third abutting surface 2153 are located on the upper and lower sides of the second abutting surface 2152, and both are set to be horizontal.

[0098] In some embodiments, continue to refer to Figure 4 As shown, there is a target distance D between the second abutment surface 2152 of the first lifting member 212 and the second abutment surface 2152 of the second lifting member 213 along the first direction X, and the target distance D increases along the second direction Y from the first abutment surface 2151 toward the third abutment surface 2153.

[0099] In this embodiment, the second abutment surfaces 2152 of the first lifting member 212 and the second abutment surfaces 2152 of the second lifting member 213 are arranged in an outwardly expanding manner, and the distance between them at the lower part (the side closer to the third abutment surface 2153) is greater than the distance at the upper part (the side closer to the first abutment surface 2151). Therefore, when the two lifting members 211 move towards each other, the lifting pulley 222 moves from the first abutment surface 2151 through the second abutment surface 2152 to the third abutment surface 2153, thereby descending; when the two lifting members 211 move away from each other, the lifting pulley 222 moves from the third abutment surface 2153 through the second abutment surface 2152 to the first abutment surface 2151, thereby being lifted.

[0100] In this embodiment, when the lifting pulley 222 abuts against the first contact surface 2151 or the third contact surface 2153, even if the lifting assembly 22 is subjected to a load and acts on the lifting part 215 through the lifting pulley 222, it is not easy for the lifting assembly 22 and the lifting member 211 to deviate in the second direction Y. At this time, self-locking can also be achieved by using the internal mechanism of the drive member 31 (such as a motor or reducer), that is, restricting the movement of the lifting pulley 222 relative to the lifting part 215 in the first direction X (where the force is smaller), thereby achieving locking between the lifting assembly 22 and the lifting member 211. Thus, there is no need to continuously consume energy to maintain the lifting state and the reset state.

[0101] For example, the second contact surface 2152 is inclined relative to the horizontal plane. When the lifting load remains unchanged, the size of the inclination angle of the second contact surface 2152 directly determines the size of the traction force required by the drive member 31. When there is no spatial restriction along the first direction X, the inclination angle can be very small, and the drive member 31 can lift a large load with a small force.

[0102] In other embodiments, the target distance D decreases along the second direction Y from the first abutment surface 2151 toward the third abutment surface 2153, that is, the two second abutment surfaces 2152 are inwardly contracted along the second direction Y from the first abutment surface 2151 toward the third abutment surface 2153. At this time, when moving towards each other, the lifting component 22 rises, and when moving away from each other, the lifting component 22 falls, which can also achieve the lifting function.

[0103] In some embodiments, continue to refer to Figure 3 As shown, the supporting mechanism 1 includes a base 11, the base 11 has a groove 111, and each lifting part 215 is provided with a pulley group 23, which extends into the groove 111.

[0104] In this embodiment, each lifting part 215 is slidably engaged with the sliding groove 111 through the pulley group 23, so that the lifting part 211 and the base 11 are slidably engaged along the first direction X, and so that the lifting part 215 can more smoothly lift and reset the lifting assembly 22 during the contact with the lifting pulley 222.

[0105] In some embodiments, the pulley assembly 23 includes a first pulley 231 and a second pulley 232. The first pulley 231 abuts against the inner wall of the groove 111 along the second direction Y, and the second pulley 232 abuts against the inner wall of the groove 111 along the third direction Z.

[0106] In this embodiment, the first pulley 231 abuts against the inner wall of the groove 111 along the second direction Y, thereby limiting the offset between the lifting member 211 and the base 11 along the second direction Y. The second pulley 232 abuts against the inner wall of the groove 111 along the third direction Z, thereby limiting the offset between the lifting member 211 and the base 11 along the third direction Z, ensuring that the lifting member 211 slides stably relative to the base 11 along the first direction X.

[0107] For example, the axis of the first pulley 231 extends along the third direction Z, and the axis of the second pulley 232 extends along the second direction Y. Each lifting part 215 may be provided with two pulley sets 23 to improve the stability of sliding. The two pulley sets 23 on the same lifting part 215 are arranged along the first direction X. Each lifting member 211 is provided with pulley sets 23 on both sides along the third direction Z to ensure the smooth sliding of both sides of the lifting member 211.

[0108] In some embodiments, continue to refer to Figure 4 and Figure 5 As shown, the supporting mechanism 1 also includes multiple guide structures 12, each of which corresponds to a lifting pulley 222. The guide structure 12 connects the lifting frame 221 to the base 11, so that the lifting frame 221 can move relative to the base 11 along the second direction Y.

[0109] In this embodiment, the lifting frame 221 and the base 11 are slidably engaged through the guide structure 12, so that during the process of the lifting part 215 abutting against the lifting pulley 222, the lifting frame 221 can only move along the second direction Y, and will not deviate in other directions (such as the first direction X, the third direction Z).

[0110] For example, the guide structure 12 includes a sliding sleeve and a sliding rod. The sliding sleeve is connected to the base 11, and the sliding rod is connected to the lifting frame 221. The sliding rod and the sliding sleeve slide in a sliding engagement along the second direction Y. The number of guide structures 12 is the same as the number of lifting pulleys 222 (e.g., four), which can slide and limit the movement of each lifting pulley 222 and slide in a sliding engagement at the four corners of the lifting frame 221, thereby improving the stability of the lifting frame 221 during the lifting process.

[0111] In some embodiments, continue to refer to Figure 3 As shown, the lifting device also includes a first sensor 4 and a second sensor 5, both of which are connected to the bearing mechanism 1.

[0112] In some embodiments, the lifting mechanism 2 has a raised state and a reset state.

[0113] In this embodiment, both the first sensor 4 and the second sensor 5 are connected to the support mechanism 1 (e.g., the base 11) and remain stationary. By moving the lifting part 215 relative to the base 11, the signals of the two sensors can be triggered, thereby sensing the position of the lifting part 215 along the first direction X, which facilitates the control system in determining whether the lifting mechanism 2 is in a lifting state or a reset state.

[0114] In some embodiments, in conjunction with reference Figure 5 As shown, in the lifting state, the lifting pulley 222 abuts against the first contact surface 2151, and the lifting part 215 triggers the sensing signal of the first sensor 4.

[0115] In some embodiments, in conjunction with reference Figure 4 As shown, in the reset state, the lifting pulley 222 abuts against the third contact surface 2153, and the lifting part 215 triggers the sensing signal of the second sensor 5.

[0116] In this embodiment, when the lifting pulley 222 abuts against the first contact surface 2151 or the third contact surface 2153 (i.e., two horizontal surfaces) of the lifting part 215, it is in a lifting state or a reset state. The lifting pulley 222 and the lifting part 215 are less likely to deviate along the second direction Y (vertical direction), meaning that the lifting assembly 21 is protected against deviance using the two horizontal surfaces. At this time, the control system can shut down the drive unit 31, eliminating the need for continuous energy consumption to maintain the lifting and reset states, thus reducing energy consumption.

[0117] According to a second aspect of this disclosure, an unmanned vehicle is provided, which includes the aforementioned lifting device. The unmanned vehicle possesses all the beneficial effects of the aforementioned lifting device, which will not be elaborated further herein.

[0118] In some embodiments, in conjunction with reference Figure 6As shown, an unmanned vehicle includes a carriage 6 and a lifting device, and a carrying mechanism 1 slides with the carriage 6 along a first direction X.

[0119] In this embodiment, the sliding direction between the bearing mechanism 1 and the carriage 6 is parallel to the sliding direction between the lifting mechanism 2 and the bearing mechanism 1, so that the traction chain and the transmission component 34 (e.g., chain) in the carriage 6 extend in the same direction and have a consistent layout, which facilitates installation and disassembly.

[0120] For example, by providing a load-bearing pulley 13 on the base 11 and a slide rail 61 inside the carriage 6, the load-bearing mechanism 1 can slide relative to the carriage 6 along the first direction X.

[0121] In this embodiment, when loading goods onto an unmanned vehicle (e.g., an unmanned truck or unmanned logistics vehicle), the forks lift the goods to a certain height. The lifting device extends outside the cargo compartment 6 using the carrying mechanism 1 and uses the lifting component 22 of the lifting mechanism 2 to lift and catch the goods, separating them from the forks. Subsequently, under the action of the vehicle's traction motor, the traction chain drives the lifting device along the slide rail 61 into the cargo compartment 6, thereby pulling the lifting mechanism 2 and the goods on it into the cargo compartment 6. After the lifting device reaches a preset position inside the cargo compartment 6, the lifting component 22 descends and detaches from the goods. The goods are then placed in the preset position inside the cargo compartment 6, completing the loading process.

[0122] When unloading on the unmanned vehicle, when the lifting device reaches the cargo placement position, the lifting assembly 22 lifts the cargo. Under the action of the traction motor on the vehicle, the lifting device is driven to move along the slide rail 61 to the outside of the carriage 6, thereby pulling the lifting mechanism 2 and the cargo on the lifting mechanism 2 to the outside of the carriage 6. After the lifting device reaches the fork position outside the carriage 6, the lifting assembly 22 descends and detaches from the cargo. The cargo is placed on the forks, and after the forks descend to the designated height, the unloading is completed.

[0123] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0124] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0125] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0126] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A lifting device, characterized in that, include: Bearing mechanism; At least one lifting mechanism, the lifting mechanism including a lifting component and a lifting component, the lifting component including two lifting members, the lifting component abutting against the lifting members, such that when the lifting members move relative to the carrying mechanism along a first direction, the lifting component can move relative to the carrying mechanism along a second direction, the first direction intersecting the second direction; The driving mechanism includes at least one driving member, which is respectively connected to the two lifting members and drives the two lifting members to move towards each other or away from each other. The drive component is located on one side of the lifting assembly along the first direction.

2. The lifting device as described in claim 1, characterized in that, The driving mechanism includes a driving member, a driven member, and a transmission member. The driving member is connected to the driving member, the driven member is connected to the bearing mechanism, the transmission member drives the driving member and the driven member, and the two lifting members are respectively connected to the transmission member.

3. The lifting device as described in claim 2, characterized in that, Both the driving component and the driven component are sprockets, and the transmission component is a chain; or... Both the driving component and the driven component are pulleys, and the transmission component is a belt.

4. The lifting device as described in claim 2, characterized in that, The lifting device includes multiple lifting mechanisms, and the lifting component of each lifting mechanism is connected to the transmission component.

5. The lifting device as described in claim 1, characterized in that, The lifting assembly and the lowering assembly are arranged along the second direction, and the driving component and the lowering assembly are offset along the second direction.

6. The lifting device as described in claim 2, characterized in that, The driving member and the driven member are arranged along the first direction, the driving member and the lifting assembly are offset along the second direction, and the driven member and the lifting assembly are offset along the second direction.

7. The lifting device as described in claim 2, characterized in that, The transmission component includes a first transmission part and a second transmission part, which are located on both sides of the transmission component along the second direction. The lifting assembly includes a first lifting member and a second lifting member, which each includes a connecting part and two lifting parts. The connecting part connects the two lifting parts. The connecting part of the first lifting member is connected to the first transmission part, and the connecting part of the second lifting member is connected to the second transmission part.

8. The lifting device as described in claim 7, characterized in that, The lifting assembly includes a lifting frame and multiple lifting pulleys. The lifting pulleys are connected to the lifting frame and abut against the lifting parts in a corresponding manner. The first lifting member and the second lifting member are arranged along the first direction. The two lifting parts of the first lifting member are arranged along a third direction, and the two lifting parts of the second lifting member are arranged along the third direction. The first direction, the second direction, and the third direction are perpendicular to each other.

9. The lifting device as described in claim 8, characterized in that, The lifting part has a first abutting surface, a second abutting surface, and a third abutting surface. The first abutting surface, the second abutting surface, and the third abutting surface are arranged sequentially along the first direction. The first abutting surface and the third abutting surface are both parallel to the horizontal plane. The horizontal height of the first abutting surface is higher than the horizontal height of the third abutting surface. There is a target distance between the second abutting surface of the first lifting member and the second abutting surface of the second lifting member along the first direction. The target distance increases along the second direction from the first abutting surface toward the third abutting surface.

10. The lifting device as described in claim 8, characterized in that, The supporting mechanism includes a base with a sliding groove. Each lifting part is provided with a pulley assembly that extends into the sliding groove. The pulley assembly includes a first pulley and a second pulley. The first pulley abuts against the inner wall of the sliding groove along the second direction, and the second pulley abuts against the inner wall of the sliding groove along the third direction.

11. The lifting device as described in claim 10, characterized in that, The supporting mechanism also includes multiple guide structures, each corresponding to one of the lifting pulleys. The guide structures connect the lifting frame to the base, so that the lifting frame can move relative to the base along the second direction.

12. The lifting device as described in claim 9, characterized in that, The lifting device further includes a first sensor and a second sensor, both of which are connected to the bearing mechanism. The lifting mechanism has a lifting state and a reset state. In the lifting state, the lifting pulley abuts against the first contact surface, and the lifting part triggers the sensing signal of the first sensor. In the reset state, the lifting pulley abuts against the third contact surface, and the lifting part triggers the sensing signal of the second sensor.

13. An unmanned vehicle, characterized in that, include: car; The lifting device as described in any one of claims 1 to 12; The load-bearing mechanism slides in cooperation with the carriage along the first direction.

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