Jacking mechanism and automatic warehouse

Abstract

The utility model discloses a jacking mechanism and an automatic warehouse, relates to the field of automatic warehousing, and aims to prolong the service life of the jacking mechanism. The jacking mechanism comprises a shear fork mechanism, a driving mechanism and an auxiliary lifting mechanism. The shear fork mechanism comprises a plurality of rotatably connected rod pieces; the shear fork mechanism comprises a contraction state and an unfolding state, and switching of the shear fork mechanism between the contraction state and the unfolding state is achieved through relative rotation of the multiple rod pieces. The driving mechanism is in driving connection with the shear fork mechanism so as to drive the shear fork mechanism to be switched between the contraction state and the unfolding state. The auxiliary lifting mechanism is connected with the shear fork mechanism, and the auxiliary lifting mechanism is constructed to apply acting force with a component in the unfolding direction of the shear fork mechanism to the shear fork mechanism in the process that the shear fork mechanism is switched from the contraction state to the unfolding state. According to the scheme, the service life of the jacking mechanism is prolonged.

Description

Technical Field

[0001] The utility model relates to the field of automatic warehousing, in particular to a jacking mechanism and an automatic warehouse. Background Art

[0002] The transport trolley is an essential equipment in the automated warehouse. It includes a chassis and an upper loading mechanism. It has a navigation function and can automatically plan a path in the warehouse. At the same time, the upper loading mechanism has a lifting function, which can realize the lifting of material boxes or other goods, thereby realizing the transfer of items between the storage location and the trolley.

[0003] The inventors have found that the prior art has at least the following problems: the existing transport trolleys have a short service life and are easily damaged. Utility Model Content

[0004] The utility model provides a lifting mechanism and an automated warehouse, which are used to increase the service life of the lifting mechanism.

[0005] The utility model provides a lifting mechanism, comprising:

[0006] A scissor-fork mechanism, comprising a plurality of rotatably connected rods; the scissor-fork mechanism comprises a retracted state and an extended state, and the scissor-fork mechanism is switched between the retracted state and the extended state by relative rotation of the plurality of rods;

[0007] a driving mechanism, drivingly connected to the scissor mechanism to drive the scissor mechanism to switch between the retracted state and the expanded state; and

[0008] The auxiliary lifting mechanism is connected to the scissor-fork mechanism, and is configured to apply a force having a component in a direction of expansion of the scissor-fork mechanism to the scissor-fork mechanism during the process of the scissor-fork mechanism switching from a contracted state to an expanded state.

[0009] In some embodiments, the auxiliary lifting mechanism includes:

[0010] A mounting seat, fixedly connected to one of the rods of the scissor-fork mechanism; the mounting seat comprises a mounting through hole;

[0011] A connecting shaft, comprising a shaft body, a first end and a second end; the first end and the second end are dispersedly fixed at two ends of the shaft body; the shaft body passes through the mounting through hole, and the first end and the second end are both located outside the mounting through hole; and

[0012] an elastic member, sandwiched between the mounting seat and the second end portion;

[0013] Wherein, when the scissor-type mechanism is in a contracted state, the elastic member is compressed; when the scissor-type mechanism is in an expanded state, the elastic member is reset.

[0014] In some embodiments, the scissor-type mechanism is constructed to be symmetrical; the scissor-type mechanism is equipped with two or more auxiliary lifting mechanisms, and each of the auxiliary lifting mechanisms is symmetrically arranged relative to the symmetry axis of the scissor-type mechanism itself.

[0015] In some embodiments, the scissor-type fork mechanism includes two sets of connecting rod mechanisms, each set of the connecting rod mechanisms includes:

[0016] A first connecting rod, one end of which is connected to the driving mechanism;

[0017] a second connecting rod, wherein a middle portion of the second connecting rod is rotatably connected to a middle portion of the first connecting rod; and one end of the second connecting rod is configured to be rotatably connected to a chassis;

[0018] A third connecting rod, one end of which is rotatably connected to the other end of the first connecting rod, and the other end of which is configured to be rotatably and slidably connected to the tray assembly; and

[0019] A fourth connecting rod, wherein the middle portion of the fourth connecting rod is rotatably connected to the middle portion of the third connecting rod, one end of the fourth connecting rod is rotatably connected to the other end of the second connecting rod, and the other end of the fourth connecting rod is constructed to be rotatably connected to the tray assembly.

[0020] In some embodiments, each set of the linkage mechanism further includes:

[0021] The intermediate link mechanism is installed between the first link and the third link, and between the second link and the fourth link.

[0022] In some embodiments, the driving mechanism comprises:

[0023] a power source configured to provide rotational power;

[0024] a screw transmission mechanism, drivingly connected to the power source to convert the rotational power of the power source into linear power; and

[0025] The driving plate is installed between one end of the first connecting rod of the two sets of the connecting rod mechanisms to push the first rod member of the scissor-fork mechanism to translate.

[0026] In some embodiments, the scissor-type mechanism further includes a reinforcing assembly, and the reinforcing assembly is rotatably connected to both sets of the connecting rod mechanisms; and the auxiliary lifting mechanism is installed on the reinforcing assembly.

[0027] In some embodiments, the lifting mechanism further comprises:

[0028] A chassis, wherein the scissor mechanism is installed on the chassis.

[0029] In some embodiments, the lifting mechanism further comprises:

[0030] A walking mechanism, mounted on the chassis; and

[0031] A driving wheel mechanism is installed on the chassis to drive the lifting mechanism to move.

[0032] In some embodiments, the drive wheel mechanism comprises:

[0033] A floating seat assembly comprises a first seat body, a second seat body and a buffer mechanism; the first seat body is mounted on the chassis, and the second seat body is mounted on the first seat body through the buffer mechanism; and

[0034] The driving wheel is mounted on the second seat body.

[0035] In some embodiments, the buffer mechanism comprises:

[0036] A first connecting member, fixedly mounted on the first seat body;

[0037] A second connecting member is arranged at a distance from the first connecting member; the second connecting member is fixedly connected to the second seat body;

[0038] a connecting rod assembly, connecting the first connecting member and the second connecting member, and forming a four-bar linkage together with the first connecting member and the second connecting member; and

[0039] The spring assembly is installed between the first connecting member and the second connecting member to play a buffering role when the second connecting member moves up and down relative to the first connecting member.

[0040] In some embodiments, when the scissor-type mechanism is in a retracted state, the connecting shaft of the auxiliary lifting mechanism abuts against the first connecting member.

[0041] In some embodiments, the lifting mechanism further comprises:

[0042] A tray assembly includes a tray body, a hinge, a slide and a slider; the hinge and the slide are dispersedly installed at the bottom of the tray body; the slider is movably installed in the slide; the third connecting rod of the scissor-fork mechanism is rotatably connected to the slider, and the fourth connecting rod of the scissor-fork mechanism is rotatably connected to the hinge.

[0043] In some embodiments, the tray assembly further comprises:

[0044] The anti-slip strip is installed on the bearing surface of the disc body.

[0045] In some embodiments, when the scissor mechanism is in the deployed state, the auxiliary lifting mechanism is in the reset state;

[0046] In the process of the scissor-type mechanism switching from the expanded state to the contracted state, the auxiliary lifting mechanism is acted upon by the scissor-type mechanism, and the auxiliary lifting mechanism switches from the reset state to the compressed state.

[0047] An embodiment of the utility model provides an automated warehouse, comprising a lifting mechanism provided by any technical solution of the utility model.

[0048] The lifting mechanism provided by the above technical solution includes a scissor mechanism, a driving mechanism and an auxiliary lifting mechanism. During the lifting of the scissor mechanism, that is, the process of switching from a retracted state to an extended state, the auxiliary lifting mechanism provides additional assistance to the scissor mechanism, so that the scissors are not only subjected to the driving force of the driving mechanism, but also to an auxiliary force with a different direction from the driving force. The direction of the auxiliary force has a component along the expansion direction of the scissor mechanism, so the scissor mechanism is easier to switch from a retracted state to an extended state, reducing the load of the driving mechanism, making the driving mechanism have a longer service life and lower power, and also increasing the service life of the lifting mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0050] Figure 1 A schematic diagram of the lifting mechanism provided in an embodiment of the utility model in a retracted state.

[0051] Figure 2 A schematic diagram of a lifting mechanism provided in an embodiment of the utility model in an expanded state.

[0052] Figure 3 A three-dimensional schematic diagram of the connection relationship between the scissor structure and the driving mechanism of the jacking mechanism provided in an embodiment of the utility model.

[0053] Figure 4 Another stereoscopic schematic diagram of the connection relationship between the scissor structure and the driving mechanism of the jacking mechanism provided in an embodiment of the utility model.

[0054] Figure 5 A three-dimensional schematic diagram of the scissor structure of the jacking mechanism provided in an embodiment of the utility model in a retracted state.

[0055] Figure 6 A front view schematic diagram of the scissor structure of the jacking mechanism provided in an embodiment of the utility model in a retracted state.

[0056] Figure 7 A three-dimensional schematic diagram of the auxiliary lifting mechanism of the jacking mechanism provided in an embodiment of the utility model in a reset state.

[0057] Figure 8 A three-dimensional schematic diagram of an auxiliary lifting mechanism of the jacking mechanism provided in an embodiment of the utility model in a compressed state.

[0058] Fig. 9 A three-dimensional schematic diagram of a chassis, a traveling mechanism and a driving wheel mechanism of a lifting mechanism provided in an embodiment of the utility model.

[0059] Fig.10 A three-dimensional schematic diagram of a driving wheel mechanism of a jacking mechanism provided in an embodiment of the utility model.

[0060] Fig.11 A three-dimensional schematic diagram of a tray assembly of a lifting mechanism provided in an embodiment of the utility model.

[0061] Reference numerals:

[0062] 1. Scissor mechanism; 2. Driving mechanism; 3. Auxiliary lifting mechanism; 4. Chassis; 5. Traveling mechanism; 6. Driving wheel mechanism; 7. Pallet assembly;

[0063] 11. Connecting rod mechanism; 12. Strengthening assembly;

[0064] 111, first connecting rod; 112, second connecting rod; 113, third connecting rod; 114, fourth connecting rod; 115, intermediate connecting rod mechanism;

[0065] 21. Power source; 22. Screw drive mechanism; 23. Drive plate; 24. First synchronous pulley; 25. Synchronous belt; 26. Second synchronous pulley; 27. Screw;

[0066] 31. mounting seat; 32. connecting shaft; 33. elastic member; 311. mounting through hole; 321. shaft body; 322. first end portion; 323. second end portion;

[0067] 61. floating seat assembly; 62. driving wheel;

[0068] 611, first seat body; 612, second seat body; 613, buffer mechanism;

[0069] 6131, first connecting member; 6132, second connecting member; 6133, connecting rod assembly; 6134, spring assembly;

[0070] 71. disk body; 72. hinged portion; 73. slideway; 74. slider; 75. anti-slip strip; 76. positioning pin. DETAILED DESCRIPTION

[0071] Combine the following Figures 1 to 11 The technical solution provided by the utility model is described in more detail. The description of the exemplary embodiments is merely illustrative and is by no means intended to limit the present disclosure and its application or use. The present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make the present disclosure thorough and complete and to fully express the scope of the present disclosure to those skilled in the art. It should be noted that unless otherwise specifically stated, the relative arrangement of the components and steps, the composition of the materials, the numerical expressions and the numerical values ​​described in these embodiments should be interpreted as being merely exemplary and not limiting.

[0072] The words "first", "second" and similar words used in this disclosure do not indicate any order, quantity or importance, but are only used to distinguish different parts. The words "include" or "comprise" and similar words mean that the elements before the word include the elements listed after the word, and do not exclude the possibility of also including other elements.

[0073] In the present disclosure, when a specific device is described as being located between a first device and a second device, there may or may not be an intermediate device between the specific device and the first device or the second device. When a specific device is described as being connected to other devices, the specific device may be directly connected to the other devices without an intermediate device, or may not be directly connected to the other devices but have an intermediate device.

[0074] All terms (including technical terms or scientific terms) used in the present disclosure have the same meanings as those understood by ordinary technicians in the field to which the present disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in general dictionaries, such as general dictionaries, should be interpreted as having meanings consistent with their meanings in the context of the relevant technology, and should not be interpreted in an idealized or extremely formal sense, unless explicitly defined herein.

[0075] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be part of the specification.

[0076] The dimensions of the various parts shown in the drawings are not drawn according to the actual proportional relationship. In the drawings, the same reference numerals are attached to common structural elements or structural elements of the same type, and their repeated descriptions are appropriately omitted.

[0077] See also Figure 1The embodiment of the utility model provides a lifting mechanism, including a scissor mechanism 1, a driving mechanism 2 and an auxiliary lifting mechanism 3. The scissor mechanism 1 includes a plurality of rotatably connected rods; the scissor mechanism 1 includes a contracted state and an expanded state, and the scissor mechanism 1 is switched between the contracted state and the expanded state by relative rotation of the plurality of rods; the driving mechanism 2 is drivingly connected to the scissor mechanism 1 to drive the scissor mechanism 1 to switch between the contracted state and the expanded state; the auxiliary lifting mechanism 3 is connected to the scissor mechanism 1, and the auxiliary lifting mechanism 3 is constructed to apply a force having a component in the expansion direction of the scissor mechanism 1 to the scissor mechanism 1 during the process of the scissor mechanism 1 switching from the contracted state to the expanded state. The auxiliary lifting mechanism 3 includes a compressed state and a reset state.

[0078] When the scissor mechanism 1 is in the retracted state, the auxiliary lifting mechanism 3 is in the compressed state. When the scissor mechanism 1 is in the extended state, the auxiliary lifting mechanism 3 is in the reset state. Specifically, during the process of the scissor mechanism 1 switching from the extended state to the retracted state, the auxiliary lifting mechanism 3 is subjected to the force of the scissor mechanism 1, and the auxiliary lifting mechanism 3 switches from the reset state to the compressed state.

[0079] The unfolding direction of the scissor mechanism 1 is along the height direction of the scissor mechanism 1. When the scissor mechanism 1 is in the retracted state, the height of the scissor mechanism 1 is the shortest; when the scissor mechanism 1 is in the unfolded state, the height of the scissor mechanism 1 is the highest. Figure 6 The direction H indicated in the figure is the deployment direction of the scissor-type fork mechanism 1, and is also the height direction of the scissor-type fork mechanism 1.

[0080] In some embodiments, the auxiliary lifting mechanism 3 includes a reset state and a compressed state. When the scissor mechanism 1 is in the deployed state, the auxiliary lifting mechanism 3 is in the reset state; when the scissor mechanism 1 switches from the deployed state to the contracted state, the auxiliary lifting mechanism 3 is subjected to the force of the scissor mechanism 1 (specifically, the extrusion force of the scissor mechanism 1 and the first connecting member 6131 described later jointly extruding the auxiliary lifting mechanism 3), and the auxiliary lifting mechanism 3 switches from the reset state to the compressed state.

[0081] The scissor-fork mechanism 1 is located between the pallet assembly 7 and the chassis 4 described below. The chassis 4 carries the scissor-fork mechanism 1. As the scissor-fork mechanism 1 switches between the retracted and expanded states, the pallet assembly 7 is lifted and lowered, and the items located on the top of the pallet assembly 7 are also lifted and lowered along with the pallet assembly 7.

[0082] The scissor-fork mechanism 1 is a whole formed by rotatably connecting a plurality of connecting rods, and the scissor-fork mechanism 1 can be contracted and expanded. The contraction and expansion of the scissor-fork mechanism 1 are achieved by changing the size of the angle between the connecting rods.

[0083] See also Figures 1 to 4 , the specific implementation method of the scissor-type mechanism 1 is introduced below.

[0084] See also Figure 1 and Figure 2 The scissor-fork mechanism 1 includes two sets of connecting rod mechanisms 11. The two sets of connecting rod mechanisms 11 are symmetrically arranged relative to the central axis L of the scissor-fork mechanism 1.

[0085] The scissor-type fork mechanism 1 includes two sets of link mechanisms 11, each set of link mechanisms 11 includes a first link 111, a second link 112, a third link 113 and a fourth link 114. One end of the first link 111 is connected to the driving mechanism 2; the middle part of the second link 112 is rotatably connected to the middle part of the first link 111. One end of the second link 112 is configured to be rotatably connected to the chassis 4, specifically through the hinge seat 40; one end of the third link 113 is rotatably connected to the other end of the first link 111, and the other end of the third link 113 is configured to be rotatably and slidably connected to the tray assembly 7. The middle part of the fourth link 114 is rotatably connected to the middle part of the third link 113, one end of the fourth link 114 is rotatably connected to the other end of the second link 112, and the other end of the fourth link 114 is configured to be rotatably connected to the tray assembly 7.

[0086] Here, a scissor-type mechanism 1 having two sets of connecting rod mechanisms 11 is taken as an example. The structures of the two sets of connecting rod mechanisms are the same. The two sets of connecting rod mechanisms 11 are distributed at two edges in the width direction of the pallet assembly 7. The two connecting rod mechanisms 11 make the pallet assembly 7 have more force-bearing positions and more balanced force.

[0087] See also Figure 3 and Figure 4 The first link 111 and the third link 113 are hinged at the ends, the first link 111 and the second link 112 are hinged in the middle, the second link 112 and the fourth link 114 are hinged at the ends, the third link 113 and the fourth link 114 are hinged in the middle, and the entire linkage mechanism 11 is roughly a plurality of X-shaped end hinges.

[0088] The number of connecting rods can be set according to the distance that the scissor-fork mechanism 1 needs to be lifted and lowered. Here, four connecting rods are set for each connecting rod mechanism 11 as an example. More connecting rods can also be set as needed. In some embodiments, each set of connecting rod mechanisms 11 also includes an intermediate connecting rod mechanism (not shown in the figure), which is installed between the first connecting rod 111 and the third connecting rod 113, the second connecting rod 112 and the fourth connecting rod 114. The intermediate connecting rod structure also forms an X-shaped structure. By setting an intermediate connecting rod mechanism, the lifting range of the scissor-fork mechanism 1 can be increased to achieve the lifting requirements of a higher height range.

[0089] Back to Figure 1 or Figure 2One end of the first link 111 of the two sets of link mechanisms 11 is connected to the driving mechanism 2, and the driving mechanism 2 applies a force to the two first links 111 to make the scissor mechanism 1 contract and expand. The driving mechanism 2 applies a force F1 to the two first links 111 to make the first links 111 move horizontally, and the direction of the force F1 is along the surface of the chassis 4. The force F2 applied by the auxiliary lifting mechanism 3 to the scissor mechanism 1 has an upward component, which is perpendicular to the surface of the chassis 4. The upward components of the force F1 and the force F2 are perpendicular.

[0090] When the scissor mechanism 1 is in the retracted state, the connecting rod angle of the entire mechanism is the smallest, and the scissor mechanism 1 is difficult to change shape. In the process of switching the scissor mechanism 1 from the retracted state to the extended state, the drive mechanism 2 needs to provide a large driving force. By setting the auxiliary lifting mechanism 3, the scissor mechanism 1 is easier to switch from the retracted state to the extended state, reducing the required driving force of the drive mechanism 2, so that the drive mechanism 2 can be miniaturized and low-power.

[0091] Continue to see Figure 3 to Figure 4 The scissor mechanism 1 further includes a reinforcing component 12, which is rotatably connected to the two sets of connecting rod mechanisms 11; the auxiliary lifting mechanism 3 is installed on the reinforcing component 12. The reinforcing component 12 can be a rod, a reinforcing rib, etc. The number of reinforcing components 12 is one or more, and the plurality of reinforcing components 12 are dispersedly arranged at different positions of the two sets of connecting rod mechanisms 11. The two sets of connecting rod mechanisms 11 are formed into a whole through the reinforcing components 12, and are synchronously contracted and expanded; and the structural strength of the scissor mechanism 1 is also improved, and the bearing capacity is larger.

[0092] See also Figures 5 to 8 In some embodiments, the auxiliary lifting mechanism 3 includes a mounting seat 31, a connecting shaft 32 and an elastic member 33. The mounting seat 31 is fixedly connected to one of the rods of the scissor-fork mechanism 1. The mounting seat 31 includes a mounting through hole 311; the connecting shaft 32 includes a shaft body 321, a first end 322 and a second end 323; the first end 322 and the second end 323 are dispersedly fixed at both ends of the shaft body 321; the shaft body 321 passes through the mounting through hole 311, and the first end 322 and the second end 323 are both located outside the mounting through hole 311; the elastic member 33 is sandwiched between the mounting seat 31 and the second end 323. When the scissor-fork mechanism 1 is in a contracted state, the elastic member 33 is compressed; when the scissor-fork mechanism 1 is in an expanded state, the elastic member 33 is reset.

[0093] Specifically, the mounting seat 31 of the auxiliary lifting mechanism 3 is fixedly connected to the reinforcement assembly 12 of the scissor mechanism 1, the reinforcement assembly 12 is provided with a mounting hole (not shown in the figure), and the mounting seat 31 is installed in the mounting hole of the reinforcement assembly 12. The mounting seat 31 moves synchronously with the reinforcement assembly 12, and the reinforcement assembly 12 and the mounting seat 31 are relatively stationary.

[0094] See also Figure 7 When the auxiliary lifting mechanism 3 is in the reset state, the elastic member 33 is in the reset state, the mounting seat 31 abuts against the first end 322 of the connecting shaft 32, and the elastic member 33 is located between the mounting seat 31 and the second end 323 of the connecting shaft 32.

[0095] See also Figure 8 When the auxiliary lifting mechanism 3 is in a compressed state, the scissor mechanism 1 is also in a contracted state, the distance between the mounting seat 31 and the chassis 4 described later is the shortest, the mounting seat 31 is fixed to the scissor mechanism 1, and the mounting seat 31 is approximately located in the middle of the connecting shaft 32. The other end of the connecting shaft 32 abuts against the first seat body 611 of the driving wheel mechanism 6 described later, which is also fixed. The elastic member 33 is between the second end of the connecting shaft 32 and the mounting seat 31, the length of the elastic member 33 is the shortest, and the elastic member 33 is in a compressed state.

[0096] The working principle of the auxiliary lifting mechanism 3 is described below. When the scissor-fork assembly is in a retracted state, the top end of the connecting shaft 32 of the auxiliary lifting mechanism 3 is staggered with each connecting rod of the scissor-fork mechanism 1 and does not interfere with each other; the bottom end of the connecting shaft 32 abuts against the top surface of the first seat body 611 of the floating seat assembly 61 described later. The elastic member 33 of the auxiliary lifting mechanism 3 is in a compressed state. During the lifting and lowering process of the scissor-fork mechanism 1, at the initial moment, although the scissor-fork mechanism 1 is driven by the driving mechanism 2, the direction of the driving force is along the horizontal direction, while the deformation direction of the scissor-fork mechanism 1 is along the vertical direction, so the scissor-fork mechanism 1 is difficult to deform, the mounting seat 31 and the scissor-fork mechanism 1 are relatively stationary, and the mounting seat 31 also has a tendency to move upward. Since the elastic member 33 of the auxiliary lifting mechanism 3 is in a compressed state, the elastic member 33 always applies a force F2 to the mounting seat 31 that makes the mounting seat 31 move upward, and the force F2 will be transmitted to the scissor-fork mechanism 1 along the mounting seat 31, so that the scissor-fork mechanism 1 is also affected by the force F2. Under the combined effect of the horizontal force F1 applied by the driving mechanism 2 and the force F2 with an upward component applied by the elastic member 33, the load on the driving source is reduced, and the scissors-type mechanism 1 can be smoothly switched from the retracted state to the expanded state, thereby achieving the rising of the tray assembly 7 installed on the scissors-type mechanism 1.

[0097] When the driving mechanism 2 applies a force F1 in the opposite direction to the scissors-fork mechanism 1, the scissors-fork mechanism 1 will switch from the expanded state to the retracted state, and the assistance of the auxiliary lifting mechanism 3 is not required during this process. And during this process, under the action of the force F1 provided by the driving mechanism 2, the scissors-fork mechanism 1 switches from the expanded state to the retracted state, and the scissors-fork structure will drive the auxiliary lifting mechanism 3 to move downward as a whole. After moving downward to a certain extent, the connecting shaft 32 of the auxiliary lifting mechanism 3 will abut against the first seat body 611 of the driving wheel mechanism 6 introduced later, and the connecting shaft 32 can no longer move downward; at this time, the scissors-fork mechanism 1 continues to deform toward the retracted state, and the mounting seat 31 of the auxiliary lifting mechanism 3 is fixedly connected to the scissors-fork mechanism 1, so the mounting seat 31 will move downward relative to the connecting shaft 32, thereby compressing the elastic member 33 located between the mounting seat 31 and the connecting shaft 32, so that the auxiliary lifting mechanism 3 switches from the reset state to the compressed state, that is, Figure 8 The auxiliary lifting mechanism 3 in the compressed state has elastic force provided by the elastic member 33, and the elastic force provides assistance for the scissor-type mechanism 1 to switch from the contracted state to the expanded state next time.

[0098] Continue to see Figure 3 or Figure 4 The scissor mechanism 1 is constructed to be symmetrical. The scissor mechanism 1 is equipped with two or more auxiliary lifting mechanisms 3, and each auxiliary lifting mechanism 3 is symmetrically arranged relative to the symmetry axis of the scissor mechanism 1. The two auxiliary lifting mechanisms 3 can adopt the same structure, and the two auxiliary lifting mechanisms 3 act synchronously. No additional driving components are required, and the auxiliary lifting mechanism 3 can be switched from the reset state to the retracted state directly by using the driving mechanism 2 of the jacking mechanism.

[0099] See also Figure 7 or Figure 8 In order to make the installation of the elastic member 33 more stable, the mounting seat 31 is provided with a cavity, the opening direction of the cavity is toward the elastic member 33, one end of the elastic member 33 abuts against the bottom of the cavity, and the other end of the elastic member 33 abuts against the second end 323 of the connecting shaft 32.

[0100] Back to Figures 1 to 4 The driving mechanism 2 includes a power source 21, a screw transmission mechanism 22 and a driving plate 23. The power source 21 is configured to provide rotational power, and the power source 21 is, for example, a motor. The screw transmission mechanism 22 is drivingly connected to the power source 21 to convert the rotational power of the power source 21 into linear power; the driving plate 23 is installed between one end of the first connecting rod 111 of the two sets of connecting rod mechanisms 11 to push the first rod member of the scissor mechanism 1 to translate.

[0101] See also Figure 3 and Figure 4, the transmission path from the power source 21 to the drive plate 23 is specifically as follows: the power source 21 is specifically a motor. The motor drives the reducer to rotate, the reducer drives the first synchronous pulley 24 to rotate, the first synchronous pulley 24 drives the synchronous belt 25 to rotate, and the synchronous belt 25 drives the second synchronous pulley 26 to rotate. The second synchronous pulley 26 is fixedly connected to the lead screw 27, and the second synchronous drive wheel 26 drives the lead screw 27 to rotate synchronously. The drive plate 23 is slidably mounted on the lead screw 27, and the rotation of the lead screw 27 is converted into a linear motion of the drive plate 23. The drive plate 23 is fixedly connected to the first connecting rod 111 of the scissor mechanism 1, and the linear movement of the drive plate 23 will drive the first connecting rod 111 to move synchronously and linearly. Since one end of the second connecting rod 112 is hinged to the chassis 4, the second connecting rod 112 can only rotate. Therefore, during the linear motion of the first link 111, the distance between one end of the first link 111 and one end of the second link 112 becomes smaller and smaller, which realizes the deformation of the scissor mechanism 1 from the contracted state to the expanded state, and then realizes the rise of the tray assembly 7 installed on the top of the scissor mechanism 1. In this process, the auxiliary lifting mechanism 3 automatically provides assistance, and no additional operation is required, which is very convenient. The reverse movement of the motor will drive the scissor mechanism 1 to deform from the expanded state to the contracted state, and then realize the descent of the tray assembly 7 installed on the top of the scissor mechanism 1.

[0102] See also Fig. 9 The lifting mechanism further includes a chassis 4, and the scissor mechanism 1 is mounted on the chassis 4. The chassis 4 is generally flat and very thin, and the chassis 4 is light. When the lifting capacity of the lifting mechanism remains unchanged, a lighter chassis 4 is used, and more carrying capacity can be distributed to the tray assembly 7, so that the tray assembly 7 can carry heavier objects.

[0103] Continue to see Fig. 9 , the lifting mechanism also includes a walking mechanism 5 and a driving wheel mechanism 6. The walking mechanism 5 is installed on the chassis 4. The walking mechanism 5 can specifically adopt universal wheels, and each universal wheel is installed on the chassis 4 through a universal wheel mounting seat 50. The chassis 4 is roughly rectangular, and universal wheels are provided at two corners and one side of the chassis 4. The driving wheel mechanism 6 is installed on the chassis 4 to drive the lifting mechanism to move. The driving wheel mechanism 6 is specifically two or more. Taking the arrangement of two driving wheel mechanisms 6 as an example, the two driving wheel mechanisms 6 can be installed on two opposite sides of the chassis 4 and close to the middle position of the chassis 4. This arrangement makes the movement process of the chassis 4 smoother.

[0104] See also Fig.10The driving wheel mechanism 6 includes a floating seat assembly 61 and a driving wheel 62. The floating seat assembly 61 includes a first seat body 611, a second seat body 612 and a buffer mechanism 613; the first seat body 611 is installed on the chassis 4, and the first seat body 611 is fixed. The second seat body 612 is installed on the first seat body 611 through the buffer mechanism 613; the driving wheel 62 is installed on the second seat body 612. The second seat body 612 can swing up and down relative to the first seat body 611, thereby driving the driving wheel 62 to swing up and down. This structure enables the driving wheel mechanism 6 to have a good vibration reduction effect when passing through a bumpy road, so that the items placed on the tray assembly 7 are not easy to slide or tilt.

[0105] See also Fig.10 , the buffer mechanism 613 includes a first connecting member 6131, a second connecting member 6132, a connecting rod assembly 6133 and a spring assembly 6134. The first connecting member 6131 is fixedly installed on the first seat body 611, and can be connected by bolts or welding. The second connecting member 6132 is arranged at intervals from the first connecting member 6131. ​​Both the first connecting member 6131 and the second connecting member 6132 can be flat plates. The second connecting member 6132 is fixedly connected to the second seat body 612, and can be connected by bolts or welding. The first connecting member 6131 and the second connecting member 6132 are connected, and together with the first connecting member 6131 and the second connecting member 6132, a four-bar linkage 11 is formed, and the movement trajectory of the second seat body 612 is along a straight line. The spring assembly 6134 is installed between the first connecting member 6131 and the second connecting member 6132 to play a buffering role when the second connecting member 6132 moves up and down relative to the first connecting member 6131. The spring assembly 6134 includes a guide post 6134a and one or more springs 6134b.

[0106] See also Figure 1 , Figure 2 as well as Fig.11 In some embodiments, the lifting mechanism further includes a pallet assembly 7. The pallet assembly 7 includes a plate body 71, a hinged portion 72, a slide 73 and a slider 74. The plate body 71 may be a flat plate. The plate body 71 may be provided with positioning members, such as positioning holes or positioning pins 76, so as to accurately position the goods on the plate body 71. The hinged portion 72 and the slide 73 are dispersedly installed at the bottom of the plate body 71; the slider 74 is movably installed in the slide 73. The stroke of the slider 74 is related to the lifting and lowering distance of the scissor mechanism 1. The third connecting rod 113 of the scissor mechanism 1 is rotatably connected to the slider 74, and the fourth connecting rod 114 of the scissor mechanism 1 is rotatably connected to the hinged portion 72. See Figure 1 and Figure 2 When the scissor mechanism 1 is in the retracted state, the slider 74 is located at one end of the slideway. When the scissor mechanism 1 is in the expanded state, the slider 74 is located at the other end of the slideway.

[0107] Continue to see Fig.11 The tray assembly 7 further includes an anti-slip strip 75, which is installed on the bearing surface of the tray body 71. Two or more anti-slip strips 75 can be provided, and the plurality of anti-slip strips 75 are dispersedly arranged on the bearing surface of the tray body 71. The anti-slip strip 75 increases the friction between the object and the tray body 71.

[0108] An embodiment of the utility model further provides an automated warehouse, comprising a lifting mechanism provided by any technical solution of the utility model.

[0109] The jacking mechanism provided by the above technical solution is compact. The jacking mechanism needs to be frequently raised and lowered to lift and carry goods during operation in the warehouse. The jacking mechanism provided by the above technical solution is provided with an auxiliary lifting mechanism 3, which makes lifting goods more labor-saving and extends the service life of the jacking mechanism.

[0110] In the description of the present utility model, it is necessary to understand that the terms "center", "longitudinal", "lateral", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the protection content of the present utility model. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0111] In the description of the present utility model, each technical feature can be combined with other technical features where feasible.

[0112] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein, but these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the utility model.

Claims

1. A lifting mechanism, characterized in that: include: A scissor-fork mechanism (1) comprises a plurality of rotatably connected rods; the scissor-fork mechanism (1) comprises a retracted state and an extended state, and the scissor-fork mechanism (1) is switched between the retracted state and the extended state by relative rotation of the plurality of rods; A driving mechanism (2) is drivingly connected to the scissor-fork mechanism (1) to drive the scissor-fork mechanism (1) to switch between the contracted state and the expanded state; as well as An auxiliary lifting mechanism (3) is connected to the scissor-type mechanism (1), and the auxiliary lifting mechanism (3) is constructed to apply a force having a component in a direction of expansion of the scissor-type mechanism (1) to the scissor-type mechanism (1) during the process of the scissor-type mechanism (1) switching from a contracted state to an expanded state; wherein the auxiliary lifting mechanism (3) includes a compressed state and a reset state.

2. The lifting mechanism according to claim 1, characterized in that: The auxiliary lifting mechanism (3) comprises: A mounting seat (31) fixedly connected to one of the rods of the scissor-type mechanism (1); the mounting seat (31) comprises a mounting through hole (311); A connecting shaft (32), comprising a shaft body (321), a first end (322) and a second end (323); the first end (322) and the second end (323) are dispersedly fixed at two ends of the shaft body (321); the shaft body (321) passes through the mounting through hole (311), and the first end (322) and the second end (323) are both located outside the mounting through hole (311); and An elastic member (33) is sandwiched between the mounting seat (31) and the second end portion (323); Wherein, when the scissor-fork mechanism (1) is in a contracted state, the elastic member (33) is compressed; when the scissor-fork mechanism (1) is in an expanded state, the elastic member (33) is reset.

3. The lifting mechanism according to claim 1, characterized in that: The scissor-type mechanism (1) is constructed to be symmetrical; the scissor-type mechanism (1) is equipped with two or more auxiliary lifting mechanisms (3), and each of the auxiliary lifting mechanisms (3) is arranged symmetrically relative to the symmetry axis of the scissor-type mechanism (1) itself.

4. The lifting mechanism according to claim 1, characterized in that: The scissor-type fork mechanism (1) comprises two sets of connecting rod mechanisms (11), and each set of the connecting rod mechanisms (11) comprises: A first connecting rod (111), one end of which is connected to the driving mechanism (2); a second connecting rod (112), wherein the middle portion of the second connecting rod (112) is rotatably connected to the middle portion of the first connecting rod (111); and one end of the second connecting rod (112) is configured to be rotatably connected to the chassis (4); a third connecting rod (113), one end of which is rotatably connected to the other end of the first connecting rod (111), and the other end of which is configured to be rotatably and slidably connected to the tray assembly (7); and A fourth connecting rod (114), wherein the middle portion of the fourth connecting rod (114) is rotatably connected to the middle portion of the third connecting rod (113), one end of the fourth connecting rod (114) is rotatably connected to the other end of the second connecting rod (112), and the other end of the fourth connecting rod (114) is constructed to be rotatably connected to the tray assembly (7).

5. The lifting mechanism according to claim 4, characterized in that: Each set of the connecting rod mechanism (11) further comprises: An intermediate link mechanism is installed between the first link (111) and the third link (113), and between the second link (112) and the fourth link (114).

6. The lifting mechanism according to claim 4, characterized in that: The driving mechanism (2) comprises: A power source (21) configured to provide rotational power; a screw transmission mechanism (22) drivingly connected to the power source (21) to convert the rotational power of the power source (21) into linear power; and The driving plate (23) is installed between one end of the first connecting rod (111) of the two sets of the connecting rod mechanisms (11) to push the first rod member of the scissor-fork mechanism (1) to move in translation.

7. The lifting mechanism according to claim 4, characterized in that: The scissor-type fork mechanism (1) further comprises a reinforcing assembly (12), wherein the reinforcing assembly (12) is rotatably connected to the two sets of connecting rod mechanisms (11); and the auxiliary lifting mechanism (3) is mounted on the reinforcing assembly (12).

8. The lifting mechanism according to claim 1, characterized in that: Also includes: A chassis (4), wherein the scissor mechanism (1) is mounted on the chassis (4).

9. The lifting mechanism according to claim 8, characterized in that: Also includes: A walking mechanism (5) mounted on the chassis (4); as well as A driving wheel mechanism (6) is installed on the chassis (4) to drive the lifting mechanism to move.

10. The lifting mechanism according to claim 9, characterized in that: The driving wheel mechanism (6) comprises: A floating seat assembly (61) comprises a first seat body (611), a second seat body (612) and a buffer mechanism (613); the first seat body (611) is mounted on the chassis (4), and the second seat body (612) is mounted on the first seat body (611) via the buffer mechanism (613); and The driving wheel (62) is mounted on the second seat body (612).

11. The lifting mechanism according to claim 10, characterized in that: The buffer mechanism (613) comprises: A first connecting member (6131) is fixedly mounted on the first seat body (611); A second connecting member (6132) is arranged at a distance from the first connecting member (6131); the second connecting member (6132) is fixedly connected to the second seat body (612); a connecting rod assembly (6133) connecting the first connecting member (6131) and the second connecting member (6132), and forming a four-bar linkage (11) together with the first connecting member (6131) and the second connecting member (6132); and The spring assembly (6134) is installed between the first connecting member (6131) and the second connecting member (6132) to play a buffering role when the second connecting member (6132) moves up and down relative to the first connecting member (6131).

12. The lifting mechanism according to claim 11, characterized in that: When the scissor-fork mechanism (1) is in a retracted state, the connecting shaft (32) of the auxiliary lifting mechanism (3) abuts against the first connecting member (6131).

13. The lifting mechanism according to claim 1, characterized in that: Also includes: A tray assembly (7) comprises a tray body (71), a hinged portion (72), a slideway (73) and a slider (74); the hinged portion (72) and the slideway (73) are dispersedly installed at the bottom of the tray body (71); the slider (74) is movably installed in the slideway (73); the third connecting rod (113) of the scissor-type mechanism (1) is rotatably connected to the slider (74), and the fourth connecting rod (114) of the scissor-type mechanism (1) is rotatably connected to the hinged portion (72).

14. The lifting mechanism according to claim 13, characterized in that: The tray assembly (7) further comprises: The anti-slip strip (75) is installed on the bearing surface of the disk body (71).

15. The lifting mechanism according to claim 1, characterized in that: The auxiliary lifting mechanism (3) comprises a reset state and a compressed state; When the scissor mechanism (1) is in an unfolded state, the auxiliary lifting mechanism (3) is in a reset state; During the process of the scissor-type mechanism (1) switching from the expanded state to the contracted state, the auxiliary lifting mechanism (3) is subjected to the force of the scissor-type mechanism (1), and the auxiliary lifting mechanism (3) switches from the reset state to the compressed state.

16. An automated warehouse, characterized in that: It comprises the lifting mechanism described in any one of claims 1 to 15.

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