Scissor fork lifting mechanism and mobile robot thereof

Abstract

The utility model discloses a shear fork lifting mechanism and a mobile robot thereof, and relates to the technical field of logistics carrying. The shear fork lifting mechanism comprises a fixed seat, a lead screw driving mechanism and a shear fork mechanism; the shear fork mechanism comprises two shear fork arms which are hinged to each other, and one end of one shear fork arm is hinged to the fixed seat; the other shear fork arm is provided with a sliding end which is in sliding connection with the fixed seat; the lead screw driving mechanism is arranged on the fixing base, and the axial direction of a lead screw of the lead screw driving mechanism is the same as the moving direction of the sliding end. An axial limiting part is arranged on a nut of the lead screw driving mechanism, and the axial limiting part is connected with the sliding end and limits the sliding end in the axial direction; in the radial direction of the lead screw, a movable gap is formed between the sliding end and the nut. The scissor lifting mechanism has the advantages of being simple in structure and easy to install and maintain.

Description

Technical Field

[0001] The utility model relates to the technical field of logistics handling, and particularly relates to a scissor lift mechanism and a mobile robot thereof. Background Art

[0002] The existing scissor lift mechanism generally includes a scissor assembly and a linear drive device, which are connected by a push rod. One end of the push rod is hinged to the linear drive device, and the other end is hinged to one of the fork arms of the scissor assembly. This design not only increases the structural complexity and production cost, but also causes greater stress on the joint parts at both ends of the push rod during operation. Due to volume limitations, if the joint dimensions of the push rod remain unchanged, higher-quality materials need to be used, which will undoubtedly increase the manufacturing cost or may affect the service life.

[0003] To address these challenges, a lift mechanism without a push rod has emerged on the market. This structure mainly includes a servo motor, a ball screw assembly, a linear guide rail, a scissor assembly, and a lifting table. Its working principle is that the servo motor drives the ball screw assembly to rotate, which in turn drives the mating part at the lower end of the scissor assembly to move on the linear guide rail, so that the upper end of the scissor assembly drives the lifting table to rise and fall. However, this solution also has drawbacks: the installation surface of the linear guide rail requires high precision, resulting in an increase in processing cost; the mating part on the linear guide rail and the screw nut in the ball screw assembly are fixedly connected, so it is necessary to ensure a high degree of consistency in their moving directions, otherwise it will affect the smooth movement of the screw nut, which not only makes the structure complex, but also makes installation and maintenance relatively cumbersome.

[0004] Therefore, there is an urgent need to develop a scissor lift mechanism and a mobile robot thereof with a simple structure, easy installation and maintenance. Summary of the Utility Model

[0005] The utility model aims to solve one of the technical problems in the related technologies to a certain extent. For this purpose, the utility model provides a scissor lift mechanism and a mobile robot thereof, which have the advantages of simple structure, easy installation and maintenance.

[0006] To achieve the above object, the utility model adopts the following technical solution in the first aspect: a scissor lift mechanism, including a fixed seat, a screw drive mechanism and a scissor mechanism; the scissor mechanism includes two scissor arms hinged to each other, one end of one scissor arm is hinged to the fixed seat; the other scissor arm has a sliding end slidably connected to the fixed seat; the screw drive mechanism is arranged on the fixed seat and the axial direction of its screw is the same as the moving direction of the sliding end; an axial limiting part is arranged on the nut of the screw drive mechanism, and the axial limiting part is connected to the sliding end and limits the sliding end axially; in the radial direction along the screw, there is an active gap between the sliding end and the nut of the screw drive mechanism.

[0007] Compared with the prior art, the scissors lift mechanism in this embodiment cancels the push rod and directly connects the lower end of one of the scissors arms to the nut assembly, simplifying the structure and avoiding the problem of reduced lifespan that the push rod may cause. At the same time, due to the radial movement clearance between the lower end of the scissors arm and the nut assembly, and only the axial limiting parts acting on each other axially, a radial force on the lead screw is avoided, thereby preventing the lead screw from bending deformation and the resulting resistance to the movement of the nut assembly, ensuring the long-term smooth movement of the nut assembly on the lead screw assembly and extending the service life. In addition, since there is no contact between the two in the radial direction, compared with the traditional solution, the need for a linear guide rail is also eliminated, and it is not necessary to ensure its high consistency with the moving direction of the nut assembly, thus simplifying the installation and maintenance work.

[0008] Optionally, the sliding end is provided with a guiding member and the sliding end is connected to the guiding member; the sliding end is slidably connected to the fixed seat through the guiding member; the axial limiting part is used to axially limit the sliding end through one of the guiding member and the sliding end.

[0009] Optionally, the guiding member includes a slider slidably disposed on the fixed seat; the sliding end is hinged to the slider; in the sliding direction of the slider, one end of the slider cooperates with the axial limiting part; in the radial direction along the lead screw, an activity clearance is formed between the sliding end and the nut of the lead screw driving mechanism through the slider.

[0010] Optionally, the axial limiting part includes a receiving groove, and the receiving groove is disposed on one side of the nut of the lead screw driving mechanism facing the guiding member; the guiding member is disposed in the receiving groove; in the axial direction along the lead screw, the receiving groove has a abutting wall facing the sliding end, and the guiding member is slidably connected to the abutting wall and axially limited by the abutting wall.

[0011] Optionally, a rotational limiting part is further provided on the nut of the lead screw driving mechanism; the rotational limiting part is located outside the nut of the lead screw driving mechanism and abuts against the guiding member to achieve circumferential limitation of the nut.

[0012] Optionally, the guiding member includes a bearing; the bearing includes an inner ring and an outer ring that rotate relative to each other, the sliding end is connected to the inner ring, the outer ring is rollingly disposed with the fixed seat and the outer ring is disposed with a clearance from the axial limiting part.

[0013] Optionally, the scissor mechanism includes two oppositely arranged first scissor arms and two oppositely arranged second scissor arms. Connecting plates are respectively provided between the two first scissor arms and between the two second scissor arms, and the two first scissor arms and the two second scissor arms are respectively fixed through their corresponding connecting plates; the two second scissor arms are located between the two first scissor arms, and the outer sides of the second scissor arms and the inner sides of the first scissor arms are hinged through hinge members; the two sliding ends are respectively located on both sides of the nut of the screw drive mechanism.

[0014] Optionally, the two scissor arms are hinged through a hinge member; with the hinge member as the demarcation point, the length of the scissor arm at one end of the fixed seat is greater than the length of the other end.

[0015] Optionally, it further includes a top plate. One of the two scissor arms is hinged to the bottom of the top plate at the other end opposite to the fixed seat, and the other is slidably connected to the bottom of the top plate at the other end opposite to the fixed seat.

[0016] Optionally, it further includes a plurality of wheels. The plurality of wheels are arranged on the fixed seat, and the plurality of wheels include at least one driving wheel; in the sliding direction of the sliding end, two of the wheels are respectively located at both ends of the scissor mechanism.

[0017] In addition, in a second aspect, the present invention further provides a mobile robot, including a mobile chassis and the scissor lifting mechanism as described in the first aspect. A scissor lifting mechanism accommodating groove is provided on the mobile chassis. The scissor lifting mechanism accommodating groove penetrates through the top and bottom of the mobile chassis, and one end of the scissor lifting mechanism accommodating groove extends to the peripheral side of the mobile chassis and forms an opening for the scissor lifting mechanism to enter and exit on the peripheral side; the scissor lifting mechanism is movably arranged in the scissor lifting mechanism accommodating groove. The beneficial effect reasoning process of the mobile robot provided by the present invention is similar to that of the foregoing scissor lifting mechanism, and will not be elaborated here.

[0018] These features and advantages of the present invention will be disclosed in detail in the following specific embodiments and the accompanying drawings. The best embodiments or means of the present invention will be shown in detail in combination with the accompanying drawings, but it is not a limitation to the technical solution of the present invention. In addition, these features, elements, and components appear in multiple in each of the following texts and drawings, and different symbols or numbers are marked for convenience of representation, but they all represent components with the same or similar structures or functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below with reference to the accompanying drawings:

[0020] Figure 1 It is a schematic structural diagram of the scissor lifting mechanism in some embodiments.

[0021] Figure 2 It is a sectional view of the scissor lift mechanism in some embodiments along the axial direction of the lead screw.

[0022] Figure 3 Is Figure 2 The sectional view along the A - A direction in

[0023] Figure 4 It is an enlarged view of the scissor lift mechanism at the nut assembly in some embodiments.

[0024] Figure 5 It is a schematic structural view of the guide member in some embodiments, showing its embodiment as a slider.

[0025] Figure 6 It is a schematic structural view of the nut assembly in some embodiments, showing the axial limiting portions and the abutting walls on both sides thereof.

[0026] Figure 7 And Figure 8 They are respectively schematic structural views of the first scissor arm and the second scissor arm in some embodiments.

[0027] Figure 9 It is a schematic structural view of the mobile robot in some embodiments, showing the scissor lift mechanism applied thereto.

[0028] Wherein, 10, mobile chassis; 11, scissor lift mechanism receiving groove; 100, fixed seat; 210, first scissor arm; 220, second scissor arm; 221, guide member; 230, connecting plate; 240, hinge member; 310, lead screw assembly; 320, nut assembly; 321, axial limiting portion; 322, abutting wall; 323, rotational limiting portion; 330, motor; 400, top plate. Detailed Description of the Embodiments

[0029] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. Based on the embodiments in the embodiments, it is intended to explain the present invention and should not be construed as a limitation to the present invention.

[0030] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is 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 orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model.

[0031] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0032] In the description of the present utility model, unless otherwise stated, the meaning of "a plurality" is two or more, and the meaning of "several" is one or more.

[0033] As used herein, the phrase "in one embodiment" or "example" or "instance" means that a particular feature, structure, or characteristic described in connection with the embodiment itself can be included in at least one embodiment of the present disclosure. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment.

[0034] Embodiment:

[0035] As a first aspect of the present utility model, a scissor lift mechanism is provided. The scissor lift mechanism is applied to a logistics handling device, such as a mobile robot. As Figure 1 、 Figure 2 and Figure 3 shown, the scissor lift mechanism mainly includes a fixed seat 100, a screw drive mechanism, and a scissor mechanism.

[0036] The fixed seat 100 provides a stable installation platform for the screw drive mechanism and the scissor mechanism. Generally, the fixed seat 100 is horizontally installed on the moving body of the mobile robot, and the screw drive mechanism is fixed on the fixed seat 100.

[0037] The screw drive mechanism mainly includes a screw assembly 310, a nut assembly 320 and a drive assembly. The screw assembly 310 includes a screw and bearings arranged at both ends thereof, which enable the screw to rotate on the fixed seat 100 with its own axis as the center. The nut assembly 320 includes a nut, that is, a screw nut, which is sleeved on the screw and is relatively fixed in the circumferential direction. The drive assembly is connected to one end of the screw, responsible for driving the screw to rotate, and converting this rotational motion into linear motion of the nut in its axial direction. The screw drive mechanism mentioned here covers various forms that can convert the rotational motion of the screw into the axial linear motion of the nut, such as a sliding screw nut, a ball screw nut, etc.

[0038] The scissor mechanism includes two scissor arms, namely a first scissor arm 210 and a second scissor arm 220, wherein the middle of the first scissor arm 210 and the middle of the second scissor arm 220 are hinged to form an X-shaped foldable member. The scissor mechanism is arranged in a vertical direction, wherein the lower end of the first scissor arm 210 is hinged to the fixed seat 100, and the lower end of the second scissor arm 220, i.e., the sliding end, is slidably connected to the fixed seat 100.

[0039] When the lower end of the second scissors arm 220 is on the fixed seat 100 and slides from a position close to the lower end of the first scissors arm 210 to a direction away from the lower end of the first scissors arm 210, the distance between the upper end of the second scissors arm 220 and the upper end of the first scissors arm 210 will also increase accordingly. At the same time, the distance between the plane where the upper ends of the first scissors arm 210 and the second scissors arm 220 are located and the fixed seat 100 will decrease, that is, the height of the plane where the upper ends of the first scissors arm 210 and the second scissors arm 220 are located will decrease.

[0040] Similarly, when the lower end of the second scissor arm 220 is on the fixed seat and slides from a position far away from the lower end of the first scissor arm 210 to a direction close to the lower end of the first scissor arm 210, the distance between the upper end of the second scissor arm 220 and the upper end of the first scissor arm 210 will also decrease accordingly, and at the same time, the distance between the plane where the upper ends of the first scissor arm 210 and the second scissor arm 220 are located and the fixed seat 100 will increase, that is, the height of the plane where the upper ends of the first scissor arm 210 and the second scissor arm 220 are located will increase. The scissor mechanism drives the lower end of the second scissor arm 220 away from or close to the lower end of the first scissor arm 210 to achieve the lifting and lowering of the plane (or platform) where the upper ends of the first scissor arm 210 and the second scissor arm 220 are located.

[0041] like Figure 3As shown in the figure, the fixing base 100 is rectangular as a whole. The lead screw assembly 310 is centrally arranged along the length direction of the fixing base 100, leaving spaces on both sides for arranging hinge seats. The lower end of the first scissors arm 210 is arranged on one end of the fixing base 100 close to the lead screw and is hinged to the hinge seat outside the lead screw. The sliding direction of the lower end of the second scissors arm 220 on the fixing base 100 is the same as the axial direction of the lead screw, that is, on the surface of the fixing base 100, the axial direction of the lead screw is parallel to the sliding direction of the second scissors arm 220.

[0042] The lower end of the second scissors arm 220 is connected to the nut assembly 320, and the latter is arranged on the lead screw assembly 310 and drives the lower end of the second scissors arm 220 to move. Specifically, as Figure 6 shown, the nut assembly 320 is provided with an axial limiting portion 321, and the axial limiting portion 321 is used for axially limiting the lower end of the second scissors arm 220, and there is an activity gap between the two in the radial direction.

[0043] Compared with the existing scissors lifting mechanism, in the scissors lifting mechanism of this embodiment, a push rod is cancelled between the scissors arm and the nut assembly 320, but the lower end of the second scissors arm 220 is directly connected to the nut assembly 320, so the structure is streamlined, and the problem of short service life caused by the use of the push rod is avoided. At the same time, by setting an activity gap in the radial direction between the lower end of the second scissors arm 220 and the nut assembly 320, only axial interaction forces are generated between the lower end of the second scissors arm 220 and the nut assembly 320 through the axial limiting portion 321, and they will not contact in the radial direction and will not generate radial forces on the lead screw. In this way, the lead screw can be prevented from being bent and deformed due to radial forces, and thus the resistance to the movement of the nut assembly 320 caused by the bending deformation can also be avoided. Therefore, the smooth movement of the nut assembly 320 on the lead screw assembly 310 can be ensured for a long time, and the service life is long. At the same time, since the lower end of the second scissors arm 220 and the nut assembly 320 do not contact in the radial direction, compared with the existing scheme, a linear guide rail can also be omitted, and there is no need to rely on the linear guide rail to ensure the high consistency of its moving direction with the nut assembly 320, so the cumbersome operations of installing and maintaining the linear guide rail are omitted.

[0044] In some embodiments, in order to improve the durability and operation smoothness of the scissors lifting mechanism, a guiding member 221 is equipped at the lower end of the second scissors arm 220, and the guiding member 221 is connected to the lower end of the second scissors arm. This design enables the lower end of the second scissors arm 220 not to directly contact the fixing base 100, but to realize the sliding connection with the fixing base 100 through the guiding member 221. The axial limiting portion 321 axially limits the lower end of the second scissors arm 220 through the guiding member 221 to ensure its stable movement.

[0045] The design of adopting the guiding member 221 has multiple advantages. First, the guiding member 221 can be made of a material with high wear resistance and low friction coefficient, reducing wear and increasing the service life of the mechanism. Second, since the guiding member 221 is a replaceable component, once it is worn, it can be replaced individually without replacing the entire second scissors arm 220, which reduces the maintenance cost.

[0046] In different embodiments, the guiding member 221 can be in various forms. For example, it can be any one of a slider, a sliding bearing, or a rolling bearing. Which specific form of the guiding member 221 to choose can be flexibly determined according to the application scenario and design requirements. Those skilled in the art can select the most suitable type according to the actual situation or use several different types of guiding members 221 in combination.

[0047] When the slider is selected as the guiding member 221, the bottom surface of the slider is slidably connected to the fixed seat 100, and a part of the slider is located below the lead screw assembly 310, forming a movable gap with the bottom of the nut assembly 320. The lower end of the second scissors arm 220 is hinged to the exposed part of the slider. Specifically, the slider is provided with a groove, and the lower end of the second scissors arm 220 can extend into this groove and is hinged to the slider through the pin shafts provided at both ends of the groove.

[0048] If a sliding bearing or a rolling bearing is selected as the guiding member 221, these bearings can convert the sliding friction between the lower end of the second scissors arm 220 and the fixed seat 100 into rolling friction, thus significantly reducing the frictional resistance. This conversion helps to make the movement of the scissors lifting mechanism smoother, while reducing the energy loss and maintenance frequency caused by friction. Specifically, the bearing includes an inner ring and an outer ring that rotate relative to each other, the sliding end is connected to the inner ring, and the outer ring is rotatably arranged with the fixed seat and has a clearance setting with the axial limiting portion 321.

[0049] By introducing the guiding member 221 and using it in combination with the lower end of the second scissors arm 220, in some embodiments, not only the overall performance of the scissors lifting mechanism is improved, but also the design flexibility is increased, allowing for optimization for different application scenarios. At the same time, this design also facilitates the maintenance and repair of the scissors lifting mechanism and reduces the long-term operation cost.

[0050] In some embodiments, in order to further improve the performance and reliability of the scissors lifting mechanism, the axial limiting portion 321 includes a receiving groove. As Figure 4 、 Figure 5 and Figure 6As shown, this receiving groove is provided on the side of the nut assembly 320 facing the guide member 221, and has an outward opening, such that the groove penetrates vertically, and only has groove walls on both sides in the axial direction of the screw rod. The guide member 221 is disposed within this receiving groove, and a certain gap is maintained between it and the peripheral wall of the receiving groove. Such a design allows the guide member 221 to have a certain margin of movement in the front-back, left-right directions horizontally within the receiving groove.

[0051] The lower end of the second scissors arm 220 is inserted into this receiving groove and is connected to the guide member 221 therein. In the axial direction of the screw rod, the receiving groove has an abutting wall 322 facing the lower end of the second scissors arm 220. The guide member 221 is slidably connected to this abutting wall 322 and is axially limited by this abutting wall 322. This layout ensures the stability of the lower end of the second scissors arm 220, while allowing it to move limitedly within the receiving groove to adapt to different working conditions.

[0052] In some embodiments, a rotational limiting portion 323 is further added to the nut assembly 320. As Figure 4 shown, this rotational limiting portion 323 is located outside the nut assembly 320 and abuts against the guide member 221 to achieve circumferential limitation of the nut. Specifically, as Figure 4 shown, in the width direction of the fixed seat 100, a retaining piece is provided on each side of the nut. The slider is located below the retaining piece, and a certain distance is maintained between the lower end of the retaining piece and the upper surface of the slider. When the screw rod rotates, the retaining pieces on both sides of the nut will deflect to one side during the movement of the nut. The retaining piece abutting against the slider can prevent the nut from rotating, thereby ensuring that the rotation of the screw rod is completely converted into the linear movement of the nut. Similarly, when the screw rod rotates in the reverse direction, the nut deflects to the opposite side, and the retaining piece on the opposite side will abut against the slider, thereby achieving circumferential limitation of the nut. It should be noted that since there is a gap between the retaining piece and the slider, this allows the nut to deflect within a preset range. At the same time, if the slider jumps during the movement, it can also leave a margin of movement in the radial direction in the vertical direction to avoid the slider hitting the nut.

[0053] In some embodiments, as Figure 1 、 Figure 7 and Figure 8 shown, the scissor lifting mechanism includes two opposed first scissors arms 210 and two opposed second scissors arms 220. Connecting plates 230 are respectively provided between the two first scissors arms 210 and between the two second scissors arms 220, and the two first scissors arms 210 and the two second scissors arms 220 are respectively fixed through their corresponding connecting plates 230. The lengths of the two first scissors arms 210 and the two second scissors arms 220 are nearly equal.

[0054] Two second scissor arms 220 are located between two first scissor arms 210, and the outer sides of the second scissor arms 220 and the inner sides of the first scissor arms 210 are hinged by a hinge member 240. The lower ends of the two second scissor arms 220 are respectively located on both sides of the nut assembly 320. That is to say, the distance between the two second scissor arms 220 located on the inner side is sufficient for the nut assembly 320 to pass through.

[0055] In some embodiments, the first scissor arm 210 and the second scissor arm 220 are hinged by a hinge member 240. Specifically, the length from the upper end of the first scissor arm 210 to the hinge member 240 is less than the length from the lower end of the first scissor arm 210 to the hinge member 240, and the length from the upper end of the second scissor arm 220 to the hinge member 240 is less than the length from the lower end of the second scissor arm 220 to the hinge member 240. Simply put, the distance from the hinge point to the fixed seat 100 is greater than the distance from the hinge point to the platform where the upper ends of the first scissor arm 210 and the second scissor arm 220 are located. According to the principle of mechanics, the first scissor arm 210 and the second scissor arm 220 are equivalent to levers, and the hinge point is the fulcrum. Therefore, the longer the lower arm, the smaller the force it bears, thus reducing the pressure between the nut and the lower end of the second scissor arm 220. This design effectively improves the mechanical efficiency and durability of the scissor lifting mechanism.

[0056] In some embodiments, in order to enhance the function and adaptability of the scissor lifting mechanism, the mechanism is also equipped with a top plate 400, and the top plate 400 can be adapted according to the goods to be carried and can be replaced. Among the first scissor arm 210 and the second scissor arm 220, the upper end of one is hinged to the bottom of the top plate 400, while the other is slidably connected to the bottom of the top plate 400. For example, in Figure 1 and Figure 2 the configuration shown, the upper end of the second scissor arm 220 is hinged to the bottom of the top plate 400, while the upper end of the first scissor arm 210 is provided with a sliding seat, and the sliding connection with the bottom of the top plate 400 is realized through this sliding seat. This design enables the scissor lifting mechanism to adapt to different load and movement requirements. The sliding seat can be replaced by any one of a sliding bearing and a rolling bearing, or they can be used in combination to optimize performance and durability.

[0057] In some embodiments, the screw drive mechanism further includes a drive assembly. This drive assembly consists of a motor 330, which is arranged on the fixed seat 100 and is in transmission connection with one end of the screw. A servo motor 330 can be selected, and a reduction gear assembly can also be installed between the motor 330 and the screw for transmission. Doing so can amplify the output torque of the motor 330 through the reduction gear assembly, thereby improving the drive efficiency and control accuracy.

[0058] In some embodiments, both ends of the screw are connected to the bearing seats on the fixed seat 100 through bearings. In particular, the bearing at the end of the screw connected to the drive assembly adopts an angular contact bearing or a deep groove ball bearing. These types of bearings can provide higher load capacity and better centering, thereby ensuring the smooth operation and long-term stability of the screw drive mechanism.

[0059] In some embodiments, the scissor lift mechanism further includes a plurality of wheels, the plurality of wheels are arranged on the fixed seat, the plurality of wheels include at least one driving wheel, and the rest are driven wheels, the wheels are rotatably connected to the fixed seat via bearings, wherein the driving wheel can be driven by a hub motor or connected to a motor arranged on the fixed seat via a transmission mechanism. In the sliding direction of the sliding end, two of the wheels are respectively located at the two ends of the scissor mechanism. As shown in FIG9 , two driving wheels are provided at one end of the scissor mechanism on the fixed seat, and two driven wheels are provided at the other end, wherein the two driven wheels can rotate independently of each other, so that turning can be achieved through differential rotation.

[0060] In addition, the utility model also provides a design of a mobile robot in a second aspect. Figure 9 As shown, the mobile robot includes a mobile chassis 10 and a scissor lift mechanism as described in the first aspect. The bottom of the mobile chassis faces downward and is equipped with a plurality of driving wheels for easy travel on the ground, and the top faces upward and is designed as a loading platform for placing goods. In particular, a scissor lift mechanism receiving groove 11 is provided on the mobile chassis. The receiving groove 11 runs through the top and bottom of the mobile chassis to form a bottomless through groove. When the scissor mechanism of the scissor lift mechanism is raised, its upper end can lift the goods from the top of the mobile chassis. The wheels of the scissor lift mechanism can travel to the bottom of the mobile chassis (inside the scissor lift mechanism receiving groove).

[0061] The scissor lift mechanism receiving groove has a specific width and length, and its width is slightly larger than the width of the scissor lift mechanism so that the scissor lift mechanism can enter. In the length direction, one end of the scissor lift mechanism receiving groove extends along the upper and lower surfaces of the mobile chassis to the peripheral side of the mobile chassis, and an opening for the scissor lift mechanism to enter and exit is formed on a side wall of the peripheral side, and the width of the opening is equal to the scissor lift mechanism receiving groove. The length of the scissor lift mechanism receiving groove can be less than, equal to or greater than the length of the scissor lift mechanism. When the length of the scissor lift mechanism receiving groove can be less than the length of the scissor lift mechanism, one end of the scissor lift mechanism is received in the scissor lift mechanism receiving groove, and the other end portion is exposed from the opening on the peripheral side of the mobile chassis. When the length of the scissor lift mechanism receiving groove is greater than or equal to the length of the scissor lift mechanism, the scissor lift mechanism receiving groove can completely accommodate the scissor lift mechanism.

[0062] The scissor lift mechanism is movably arranged in the scissor lift mechanism accommodating groove and can flexibly drive out or drive into the opening on the peripheral side wall of the mobile chassis according to the need of handling goods. The scissor lift mechanism and the mobile chassis (10) can be connected by flexible components such as cables to achieve communication and power supply. In addition, a telescopic rod assembly or a multi-joint connection structure can also be used for connection.

[0063] In some alternative embodiments, the scissor lift mechanism includes a power source and can supply power to the motors of the drive wheels and the drive assembly through its own power source. In this case, the scissor lift mechanism and the mobile chassis (10) can be completely separated, there is no physical connection between the two, and control and information transmission are carried out through wireless communication.

[0064] In this embodiment, two parallel scissor lift mechanism accommodating grooves 11 are provided. Each scissor lift mechanism accommodating groove corresponds to a scissor lift mechanism. The scissor lift mechanism is detachably arranged in the scissor lift mechanism accommodating groove and is shown in a separated state in the figure. It should be noted that the detachable arrangement of the scissor lift mechanism in the scissor lift mechanism accommodating groove is prior art and will not be elaborated here one by one. By providing two parallel scissor lift mechanism accommodating grooves 11 and the corresponding scissor lift mechanisms, the contact area with the goods can be increased and the load can be shared.

[0065] When the scissor lift mechanism raises the goods through the scissor mechanism, the scissor lift mechanism disconnects from the scissor lift mechanism accommodating groove, that is, the relative fixed state is released. The wheels at the bottom of the fixed seat can contact the ground, and the scissor lift mechanism can drive out of the mobile chassis from one end of the scissor lift mechanism accommodating groove. When the scissor lift mechanism is in the scissor lift mechanism accommodating groove and the scissor mechanism is in the retracted state, the scissor lift mechanism is suspended in the scissor lift mechanism accommodating groove, and the wheels at the bottom of the fixed seat are suspended from the ground. The goods on the scissor mechanism are directly carried by the top of the mobile chassis. When the mobile chassis moves, it can drive the scissor lift mechanism to move together.

[0066] The beneficial effect reasoning process of the mobile robot provided by the present utility model is similar to that of the foregoing scissor lift mechanism and will not be elaborated here.

[0067] The above is only the specific implementation manner of the present utility model, but the protection scope of the present utility model is not limited thereto. Those skilled in the art should understand that the present utility model includes but is not limited to the content described in the drawings and the above specific implementation manner. Any modification that does not deviate from the functional and structural principles of the present utility model will be included in the scope of the claims.

Claims

1. A scissor lifting mechanism, comprising a fixed seat (100), a lead screw driving mechanism and a scissor mechanism; the scissor mechanism includes two scissor arms hinged to each other, one end of one scissor arm is hinged to the fixed seat (100); the other scissor arm (220) has a sliding end slidably connected to the fixed seat (100); the lead screw driving mechanism is arranged on the fixed seat (100) and the axial direction of its lead screw is the same as the moving direction of the sliding end; characterized in that, An axial limit portion (321) is provided on the nut of the lead screw drive mechanism. The axial limit portion (321) is connected to the sliding end and limits the sliding end axially. In the radial direction along the lead screw, there is an active clearance between the sliding end and the nut.

2. The scissor lift mechanism according to claim 1, wherein The sliding end is provided with a guiding member (221) and is connected to the guiding member (221). The sliding end is slidably connected to the fixed seat (100) through the guiding member (221). The axial limit portion (321) is used to axially limit the sliding end through one of the guiding member (221) and the sliding end.

3. The scissor lift mechanism according to claim 2, characterized in that, The guiding member (221) includes a slider slidably disposed on the fixed seat (100). The sliding end is hinged to the slider. In the sliding direction of the slider, one end of the slider cooperates with the axial limit portion (321). In the radial direction along the lead screw, the active clearance is formed between the sliding end and the nut of the lead screw drive mechanism through the slider.

4. The scissor lift mechanism according to claim 2, wherein, The axial limit portion (321) includes a receiving groove provided on the side of the nut of the lead screw drive mechanism facing the guiding member (221). The guiding member (221) is disposed in the receiving groove. In the axial direction along the lead screw, the receiving groove has an abutting wall (322) facing the sliding end, and the guiding member (221) is slidably connected to the abutting wall (322) and axially limited by the abutting wall (322).

5. The scissor lift mechanism according to claim 2, characterized in that, A rotational limit portion (323) is further provided on the nut of the lead screw drive mechanism. The rotational limit portion (323) is located outside the nut of the lead screw drive mechanism and abuts against the guiding member (221) to achieve circumferential limitation of the nut.

6. The scissor lift mechanism according to claim 2, wherein The guiding member (221) includes a bearing. The bearing includes an inner ring and an outer ring that rotate relative to each other. The sliding end is connected to the inner ring. The outer ring is rollingly disposed with the fixed seat and is provided with a clearance from the axial limit portion (321).

7. The scissor lift mechanism according to any one of claims 1-6, characterized in that, The scissor mechanism includes two opposing first scissor arms (210) and two opposing second scissor arms (220). Connecting plates (230) are respectively provided between the two first scissor arms (210) and between the two second scissor arms (220), and the two first scissor arms (210) and the two second scissor arms (220) are respectively fixed through their corresponding connecting plates (230). The two second scissor arms (220) are located between the two first scissor arms (210), and the outer sides of the second scissor arms (220) and the inner sides of the corresponding first scissor arms (210) on the corresponding sides are hinged through hinge members (240). The two sliding ends are respectively located on both sides of the nut of the lead screw drive mechanism.

8. The scissor lift mechanism according to any one of claims 1-6, characterized in that, The two scissor arms are hinged to each other through a hinge member (240). Taking the hinge member as the demarcation point, the length of the scissor arm at one end of the fixed seat is greater than the length at the other end.

9. The scissor lift mechanism according to any one of claims 1-6, characterized in that, Further included is a top plate (400), one of the two scissor arms is hinged to the bottom of the top plate (400) at the other end opposite to the fixed seat (100), and the other is slidably connected to the bottom of the top plate (400) at the other end opposite to the fixed seat (100).

10. The scissor lift mechanism according to any one of claims 1-6, characterized in that, Further included are a plurality of wheels, the plurality of wheels are arranged on the fixed seat, and the plurality of wheels at least include one driving wheel; in the sliding direction of the sliding end, two of the wheels are respectively located at both ends of the scissor mechanism.

11. A mobile robot, comprising a mobile chassis (10) and a scissor lift mechanism as described in any one of claims 1-10, characterized in that, A scissor lifting mechanism accommodating groove is provided on the mobile chassis, the scissor lifting mechanism accommodating groove penetrates through the top and bottom of the mobile chassis, and one end of the scissor lifting mechanism accommodating groove extends to the peripheral side of the mobile chassis and forms an opening for the scissor lifting mechanism to enter and exit on the peripheral side; the scissor lifting mechanism is movably arranged in the scissor lifting mechanism accommodating groove.

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