Lifting device and transfer robot

Abstract

The utility model provides a lifting device which comprises a fork arm (100) and a driving assembly, the driving assembly (200) comprises a lifting power source (210) and a lifting mechanism (220), the fork arm (100) is connected with the lifting mechanism (220), the lifting device is characterized in that the driving assembly (200) further comprises an integrated transmission module (230), the integrated transmission module (230) comprises a driving gear (231) and a driven gear (232), the driving gear (231) is connected with the integrated transmission module (230), and the driven gear (232) is connected with the integrated transmission module (230). The axis direction of the driving gear (231) is consistent with that of the driven gear (232), the driving gear (231) drives the driven gear (232) to rotate, the driving gear (231) is arranged on an output shaft of the lifting power source (210), and the lifting mechanism (220) is connected with the driven gear (232) so as to convert rotary motion of the driven gear (232) into linear motion. And the fork arm (100) is driven to lift. The utility model further provides a transfer robot.

Description

Technical Field

[0001] The utility model relates to the field of handling equipment, in particular to a lifting device and a handling robot comprising the lifting device. Background Art

[0002] A handling robot for handling rolled materials (or material coils) may include a chassis and lifting devices arranged in pairs.

[0003] When loading materials, the lifting device is controlled to rise to the appropriate height. The external docking device transfers the material roll to the lifting device, and the ends of the material roll are supported on the two lifting devices. After the material is transferred to the required location, the lifting device can be controlled to return to its original position.

[0004] How to ensure the stability of the lifting device during the lifting process has always been pursued in this field. Utility Model Content

[0005] The present invention aims to solve one of the technical problems in the related art to a certain extent. To this end, the present invention provides a lifting device and a handling robot including the lifting device. The handling robot including the lifting device is relatively stable during the lifting process.

[0006] In order to achieve the above-mentioned purpose, the first aspect of the present invention discloses a lifting device, which includes a fork arm and a drive assembly, the drive assembly includes a lifting power source and a lifting mechanism, the fork arm is connected to the lifting mechanism, wherein the drive assembly also includes an integrated transmission module, the integrated transmission module includes a driving gear and a driven gear, the axial directions of the driving gear and the driven gear are consistent, the driving gear drives the driven gear to rotate, the driving gear is arranged on the output shaft of the lifting power source, and the lifting mechanism is connected to the driven gear to convert the rotational motion of the driven gear into linear motion and drive the fork arm to rise and fall.

[0007] Optionally, the integrated transmission module further includes at least one intermediate gear, the intermediate gear is engaged between the driving gear and the driven gear, and the axial direction of the intermediate gear is consistent with the axial direction of the driving gear.

[0008] Optionally, the integrated transmission module further comprises a module box, in which the driving gear, the driven gear and the intermediate gear are all arranged.

[0009] The module box includes a box top plate and a box bottom plate that are oppositely arranged. The box top plate is formed with a driving gear shaft hole, a first driven gear shaft hole, and at least one first intermediate shaft hole. The box bottom plate is formed with a second driven gear shaft hole that is coaxially arranged with the first driven gear shaft hole, and at least one second intermediate shaft hole. The at least one second intermediate shaft hole corresponds to the at least one first intermediate shaft hole in a one-to-one manner, and the corresponding first intermediate shaft holes and second intermediate shaft holes are coaxially arranged.

[0010] The gear shaft of the driving gear passes through the driving gear shaft hole and is rotatably fixed in the driving gear shaft hole. At least one first intermediate shaft hole corresponds to at least one intermediate gear. The first end of the gear shaft of the driven gear passes through the first driven gear shaft hole and is rotatably fixed in the first driven gear shaft hole. The second end of the gear shaft of the driven gear is rotatably set in the second driven gear shaft hole. The first end of the gear shaft of the intermediate gear is rotatably fixed in the corresponding first intermediate shaft hole, and the second end of the gear shaft of the intermediate gear is rotatably fixed in the corresponding second intermediate shaft hole.

[0011] Optionally, a first positioning bearing is provided between the gear shaft of the driving gear and the driving gear shaft hole.

[0012] A second locating bearing is provided between the first end of the gear shaft of the driven gear and the first driven gear shaft hole, and a third locating bearing is provided between the second end of the gear shaft of the driven gear and the second driven gear shaft hole;

[0013] A fourth locating bearing is provided between the first end of the gear shaft of the intermediate gear and the corresponding first intermediate shaft hole, and a fifth locating bearing is provided between the second end of the gear shaft of the intermediate gear and the corresponding second intermediate shaft hole.

[0014] Optionally, the integrated transmission module includes one intermediate gear, and the driving gear, the intermediate gear, and the driven gear have the same number of teeth.

[0015] Optionally, the lifting mechanism includes a lifting screw assembly, wherein the lifting screw of the lifting screw assembly is fixedly connected to the gear shaft of the driven gear, so as to drive the lifting screw to rotate via the gear shaft of the driven gear;

[0016] The lifting device further includes a fork arm mounting structure and a lifting device mounting seat, the fork arm mounting structure includes a fork arm mounting plate and at least one mounting plate guide, the lifting device mounting seat is formed with a guide groove matching the mounting plate guide, the length direction of the guide groove is consistent with the lifting direction of the lifting mechanism, the mounting plate guide is slidably arranged in the guide groove, and the fork arm and the mounting plate guide are respectively fixed on both sides of the fork arm mounting plate;

[0017] The lifting screw can be rotatably fixed on the lifting mounting seat around its own axis, and the mounting plate guide is fixedly connected to the lifting screw nut of the lifting screw assembly to limit the rotation of the lifting screw nut and move along the length direction of the lifting screw under the drive of the lifting screw nut.

[0018] Optionally, the fork arm mounting structure includes a guide mounting plate and a nut mounting seat, the guide connecting plate is arranged on the guide mounting plate, the nut mounting seat is fixed on the guide mounting plate, and is located on the same side of the guide mounting plate as the mounting plate guide, and the lifting screw nut is fixed on the guide mounting plate to realize the connection between the lifting screw nut and the mounting plate guide.

[0019] Optionally, the lifting device mounting seat includes a seat shell having an accommodating space, the lifting power source and the lifting mechanism are both arranged in the accommodating space of the seat shell, and the guide groove is formed on a side wall of the seat shell;

[0020] At least one oil replenishing through hole is provided on the seat housing at a position corresponding to the guide groove.

[0021] Optionally, the lifting device further comprises at least one buffer block, and the buffer block is provided between the bottom end of at least one mounting plate guide and the bottom plate of the lifting device.

[0022] Optionally, the lifting device further comprises a first sensor assembly, and at least one of the mounting plate guides corresponds to the first sensor assembly;

[0023] The first sensor component is configured to send a sensing signal when detecting at least one of the following situations:

[0024] The corresponding mounting plate guide moves to the upper limit of the height;

[0025] The corresponding mounting plate guide moves to the lower limit of the height;

[0026] The corresponding mounting plate guide moves to an initial position, wherein the initial position is located between the upper height limit and the lower height limit, and the distance between the initial position and the upper height limit is smaller than the distance between the initial position and the lower height limit.

[0027] Optionally, the lifting device further includes a pull rope sensor assembly, the pull rope sensor assembly including a pull rope sensor and a pull rope outlet line, one of the pull rope sensor and the pull rope outlet line is fixed on the lifting device mounting seat, and one of the pull rope sensor and the pull rope outlet line is fixed on the fork arm mounting structure, and the pull rope sensor is used to send a sensor signal when the fork arm mounting structure moves to a set height.

[0028] Optionally, the lifting power source includes a first motor and a first speed change mechanism, the output shaft of the first motor is drivingly connected to the input shaft of the first speed change mechanism, and the driving gear is arranged on the output shaft of the first speed change mechanism.

[0029] Optionally, the lifting device further includes a lateral shifting mechanism, the lifting mechanism is arranged on the lateral shifting mechanism, and the lateral shifting mechanism can drive the lifting mechanism to move back and forth along a set direction.

[0030] Optionally, the side shift mechanism includes a base plate, a side shift screw assembly and at least one side shift guide rail, the side shift guide rail and the side shift screw of the side shift screw assembly are both arranged on the base plate, and the length direction of the side shift screw assembly and the length direction of the side shift guide rail are both consistent with the set direction;

[0031] The base plate is opposite to the bottom plate of the lifting mechanism, and a guide block cooperating with the guide rail is provided on the surface of the bottom plate of the lifting mechanism facing the base plate, and the side shift screw nut of the side shift screw assembly is fixedly connected to the bottom plate of the lifting mechanism.

[0032] Optionally, the lateral shift mechanism further includes at least one limit block, and at least one end portion of at least one lateral shift guide rail is correspondingly provided with the limit block.

[0033] Optionally, the side shift mechanism further includes a second sensor assembly, and at least one of the guide blocks corresponds to the second sensor assembly, and the second sensor assembly is configured to emit a sensor signal when at least one of the following conditions is detected:

[0034] The corresponding guide block moves to the first limit position;

[0035] The corresponding guide block moves to the second extreme position;

[0036] The corresponding guide block moves to an initial position, wherein the initial position is located between the first limit position and the second limit position.

[0037] As a second aspect of the present invention, a transport robot is provided, which includes a mobile chassis and lifting devices arranged in pairs, wherein the lifting devices are arranged on the mobile chassis, and the two lifting devices in the same pair are arranged opposite to each other, wherein the lifting devices are the lifting devices provided in the first aspect of the present invention.

[0038] Optionally, the transport robot further includes an auxiliary lifting mechanism, and the auxiliary lifting mechanism is disposed on the mobile chassis.

[0039] In an embodiment of the present invention, the driving gear and the driven gear are arranged in an integrated transmission module. Therefore, the integrated transmission module can be pre-assembled and then arranged in the lifting device, which can ensure the transmission accuracy between the driving gear and the driven gear, improve the stability of the fork arm during the lifting process, and reduce the difficulty of installation.

[0040] These features and advantages of the present invention will be detailed in the following detailed description and accompanying drawings. The preferred embodiments or means of the present invention will be fully illustrated in conjunction with the accompanying drawings, but are not intended to limit the technical solutions of the present invention. Furthermore, although multiple features, elements, and components may be present and are labeled with different symbols or numbers for convenience, they all represent components with the same or similar structure or function. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The present invention will be further described below with reference to the accompanying drawings:

[0042] Figure 1 A schematic diagram of an embodiment of the transport robot provided by the present invention;

[0043] Figure 2 It is an exploded schematic diagram of the integrated transmission module in the lifting device provided by the present utility model;

[0044] Figure 3 This is a schematic diagram of the assembly of the speed reduction mechanism and the integrated transmission module in the lifting device provided by the present invention;

[0045] Figure 4 It is an assembly diagram of the lifting power source, lifting mechanism, and fork arm mounting structure;

[0046] Figure 5 is a schematic diagram of the fork arm mounting structure;

[0047] Figure 6This is a schematic diagram of the lifting device provided by the present invention with its outer shell removed;

[0048] Figure 7 It is a schematic diagram of the lifting device provided by the utility model;

[0049] Figure 8 It is a schematic diagram of the side shift mechanism.

[0050] Description of Reference Numerals

[0051] 100: Fork arm 200: Drive assembly

[0052] 210: Lifting power source 220: Lifting mechanism

[0053] 221: Lifting screw 222: Lifting screw nut

[0054] 230: Integrated transmission module 231: Driving gear

[0055] 232: Driven gear 233: Intermediate gear

[0056] 234: Box top plate 235: Box bottom plate

[0057] 300: Fork arm mounting structure 310: Fork arm mounting plate

[0058] 320: Mounting plate guide 330: Guide mounting plate

[0059] 340: Nut mounting seat 400: Lifting device mounting seat

[0060] 410: Seat housing 420: Mounting base

[0061] 430: Buffer block 500: Side shift mechanism

[0062] 510: Base plate 520: Side shift screw assembly

[0063] 530: Side guide rail 540: Guide block

[0064] 600: Mobile chassis 700: Auxiliary lifting mechanism DETAILED DESCRIPTION

[0065] The following describes in detail embodiments of the present invention. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described in the embodiments are intended to explain the present invention and should not be construed as limiting the present invention.

[0066] References in this specification to "one embodiment," "an example," or "an example" mean that a particular feature, structure, or characteristic described in connection with the embodiment itself can be included in at least one embodiment disclosed herein. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment.

[0067] In a lifting device, the rotational motion of a power source (typically comprising a motor and a reduction gear) is transmitted to the lifting mechanism's input component (such as a lead screw) via meshing gears, thereby driving the lifting mechanism's input component to rotate. However, during assembly, very high precision is required between the gears. Failure to meet this precision can cause vibration during transmission, affecting the stability of the lifting device during lifting.

[0068] In view of this, as a first aspect of the present invention, a lifting device is provided, such as Figure 1 and Figure 7 As shown, the lifting device includes a fork arm 100 and a drive assembly 200. The drive assembly 200 includes a lifting power source 210 and a lifting mechanism 220. The fork arm is connected to the lifting mechanism 220. The lifting power source 210 is used to drive the lifting mechanism 220 to drive the fork arm 100 to rise and fall. Among them, the drive assembly 200 also includes an integrated transmission module 230. The integrated transmission module 230 includes a driving gear 231 and a driven gear 232. The axial directions of the driving gear 231 and the driven gear 232 are consistent. The driving gear 231 drives the driven gear 232 to rotate. The driving gear 231 is set on the output shaft of the lifting power source 210. The lifting mechanism 220 is connected to the driven gear 232 to convert the rotational motion of the driven gear 232 into linear motion and drive the fork arm 100 to rise and fall.

[0069] In an embodiment of the present invention, the driving gear 231 and the driven gear 232 are arranged in the integrated transmission module 230. Therefore, the integrated transmission module 230 can be pre-assembled and then arranged in the lifting device. This can ensure the transmission accuracy between the driving gear 231 and the driven gear 232, improve the stability of the fork arm 100 during the lifting process, and reduce the difficulty of installation.

[0070] It should be noted that in the embodiment of the present invention, due to the limited installation space, the integrated transmission module has a rectangular parallelepiped shape. Figure 2 As shown in , the length direction of the integrated transmission module can be perpendicular to the axis direction of the driving gear 231.

[0071] In an embodiment of the present invention, the distance between the output shaft of the power source and the input component of the lifting mechanism is fixed. In order to install the driving gear 231 and the driven gear 232 in a space with limited width and complete the power transmission, optionally, the integrated transmission module 230 can also include at least one intermediate gear 233, which is located between the driving gear 231 and the driven gear 232, and the axial direction of the intermediate gear 233 is consistent with the axial direction of the driving gear 231.

[0072] In an embodiment of the present invention, without changing the wheelbase between the output shaft of the lifting power source 210 and the lifting mechanism 220 (i.e., the wheelbase of the driving gear 231 and the wheelbase of the driven gear 232), by adding at least one intermediate gear 233 between the wheelbase of the driving gear 231 and the driven gear 232, the diameter of the driving gear 231 and the driven gear 232 can be reduced (more suitable for installation in a space with limited width), and the meshing area between the gear teeth is larger, thereby ensuring the stability of the power transmission process and reducing noise.

[0073] In order to improve the assembly accuracy of the integrated transmission module 230 itself, optionally, as Figure 2 As shown, the integrated transmission module 230 may further include a module box, which includes a box top plate 234 and a box bottom plate 235 that are arranged opposite to each other.

[0074] A driving gear shaft hole 231a, a first driven gear shaft hole 232a and at least one first intermediate shaft hole 233a are formed on the top plate 234 of the box body, and a second driven gear shaft hole 232b coaxially arranged with the first driven gear shaft hole 232a and at least one second intermediate shaft hole 233b are formed on the bottom plate 235 of the box body.

[0075] At least one second intermediate shaft hole 233b corresponds to at least one first intermediate shaft hole 233a, and the corresponding first intermediate shaft hole 233a and second intermediate shaft hole 233b are coaxially arranged.

[0076] The gear shaft of the driving gear 231 passes through the driving gear shaft hole 231a and is rotatably fixed in the driving gear shaft hole 231a.

[0077] The first end of the gear shaft of the driven gear 232 passes through the first driven gear shaft hole 232a and is rotatably fixed in the first driven gear shaft hole 23a, and the second end of the gear shaft of the driven gear 232 is rotatably set in the second driven gear shaft hole 232b.

[0078] At least one first intermediate shaft hole 233a corresponds one-to-one to at least one intermediate gear 233, the first end of the gear shaft of the intermediate gear 233 is rotatably fixed in the corresponding first intermediate shaft 233a hole, and the second end of the gear shaft of the intermediate gear 233 is rotatably fixed in the corresponding second intermediate shaft hole 233b.

[0079] The driving gear 231, the driven gear 232, the intermediate gear 233 and the corresponding gear shafts can be pre-integrated in the module box to achieve high-precision installation of the driving gear 231, the driven gear 232 and the intermediate gear 233, further reducing the noise generated during the gear meshing process, simplifying the installation steps and improving assembly efficiency.

[0080] In the embodiment of the present invention, in order to achieve accurate positioning of the driving gear, the driven gear, and the intermediate gear, optionally:

[0081] A first positioning bearing 231 b is provided between the gear shaft of the driving gear 231 and the driving gear shaft hole 231 a.

[0082] A second locating bearing 232 c is provided between the first end of the gear shaft of the driven gear 232 and the first driven gear shaft hole 232 a , and a third locating bearing 232 d is provided between the second end of the gear shaft of the driven gear 232 and the second driven gear shaft hole 232 b .

[0083] A fourth locating bearing 233 c is provided between the first end of the gear shaft of the intermediate gear 233 and the corresponding first intermediate shaft hole 233 a , and a fifth locating bearing 233 d is provided between the second end of the gear shaft of the intermediate gear 233 and the corresponding second intermediate shaft hole 233 b .

[0084] In the embodiment of the present invention, in order to simplify the structure of the integrated transmission module 230 , optionally, the integrated transmission module 230 includes an intermediate gear 233 , and the driving gear 231 , the intermediate gear 233 , and the driven gear 232 have the same number of teeth.

[0085] In the embodiment of the present invention, the specific form of the lifting mechanism 220 is not particularly limited, as long as it can convert the rotational motion of the driven gear 232 into linear motion. For example, the lifting mechanism 220 can be any one of a gear rack mechanism, a belt drive mechanism, a chain drive mechanism, and a lifting screw assembly.

[0086] In order to facilitate installation, improve the integration of the lifting device, and improve the stability of the lifting process, optionally, Figure 4 As shown, the lifting mechanism 220 includes a lifting screw assembly, wherein the lifting screw 221 of the lifting screw assembly is fixedly connected to the gear shaft of the driven gear 232 so as to drive the lifting screw 221 to rotate through the gear shaft of the driven gear 232 .

[0087] like Figures 4 to 6 As shown, the lifting device may further include a fork arm mounting structure 300 and a lifting device mounting seat 400. Figure 4 and Figure 5 As shown in , the fork arm mounting structure 300 includes a fork arm mounting plate 310 and at least one mounting plate guide 320. Accordingly, a guide groove is formed on the lifting device mounting base 400 to match the mounting plate guide 320. The length of the guide groove aligns with the lifting direction of the lifting mechanism 220. The mounting plate guide 320 is slidably disposed in the guide groove. The fork arm 100 and the mounting plate guide 320 are respectively fixed to either side of the fork arm mounting plate 310. It should be noted that in this embodiment of the utility model, the fork arm 100 and the mounting plate guide 320 are arranged along the height direction of the lifting device.

[0088] The lifting screw 221 is fixed to the lifting mount 400 so as to be rotatable about its own axis. The mounting plate guide 320 is fixedly connected to the lifting screw nut 222 of the lifting screw assembly to restrict the rotation of the lifting screw nut 222. Furthermore, the mounting plate guide 320 can move along the length of the lifting screw 221 under the drive of the lifting screw nut 222.

[0089] In the embodiment of the present invention, the lead screw 221 of the lifting mechanism only rotates and does not lift. Therefore, the lifting screw nut 222 can move along the axis of the lifting screw 221. The lifting screw nut 222 can move up and down along the axis of the lifting screw 221, thereby driving the mounting plate guide 320 and the fork arm mounting plate 310 to move up and down, and ultimately driving the fork arm 100 to move up and down.

[0090] In the present invention, there is no special limitation on how to fix the mounting plate guide 320 and the lifting screw nut 222. As an optional embodiment, Figure 5 As shown, the fork arm mounting structure 300 can also include a guide mounting plate 330 and a nut mounting seat 340. The mounting plate guide 320 is arranged on the guide mounting plate 330, and the nut mounting seat 340 is fixed on the guide mounting plate 330 and is located on the same side of the guide mounting plate 330 as the mounting plate guide 320. The lifting screw nut 222 is fixed on the guide mounting plate 330 to realize the connection between the lifting screw nut 222 and the mounting plate guide 320.

[0091] In the embodiment of the present invention, the lifting screw 221 can be rotatably fixed on the lifting device mounting base 400 through a bearing seat.

[0092] As an optional embodiment, the fork arm mounting structure 300 includes two mounting plate guides 320 that are spaced apart from each other, and the nut mounting seat 340 is located between the two mounting plate guides 320 .

[0093] In the embodiment of the present utility model, Figure 6 As shown, the lifting device mounting seat 400 includes a seat shell 410 having an accommodation space, and the lifting power source and the lifting mechanism 220 are both arranged in the accommodation space of the seat shell 410.

[0094] At least one oil replenishing through hole 411 is provided at a position corresponding to the guide groove on the seat housing 410. Lubricating oil can be provided to the mounting plate guide 320 through the oil replenishing through hole 411.

[0095] In an optional embodiment, the fork arm mounting structure 300 includes two mounting plate guides 320. Figure 6 In the embodiment shown in FIG, two oil supply through holes 411 are provided on the seat housing 410 .

[0096] Furthermore, the lifting device mounting base 400 may include a mounting base base 420, and the base housing 410 is disposed on the mounting base base 420. The lifting device mounting base 400 may be mounted on a corresponding mounting base via the mounting base base 420. The mounting base may be a mobile chassis of a transport robot or other structure on the mobile chassis.

[0097] As an optional implementation, Figure 4 As shown, the lifting device further includes at least one buffer block 430, which is disposed between the bottom end of at least one mounting plate guide 320 and the base plate of the lifting device (in an optional embodiment, the base plate of the lifting device is the mounting base plate 420 of the lifting device mounting base 400). The provision of the buffer block 430 can limit the travel distance of the mounting plate guide 320 and eliminate lifting jams caused by machining errors and / or installation errors in the base plate of the lifting device.

[0098] As an optional embodiment, the fork arm mounting structure 300 includes two mounting plate guides 320 , and a buffer block 430 is correspondingly provided at the bottom end of each mounting plate guide 320 .

[0099] In the embodiment of the present invention, there is no particular limitation on the material of the buffer block 430. The buffer block 430 can be made of materials such as polyurethane and rubber.

[0100] To ensure that the mounting plate guide 320 moves within an allowable range, the lifting device may optionally further include a first sensor assembly. At least one mounting plate guide 320 corresponds to the first sensor assembly. The first sensor assembly is configured to emit a sensor signal upon detecting at least one of the following conditions:

[0101] The mounting plate guide 320 moves to an upper height limit;

[0102] The mounting plate guide 320 moves to the lower limit of the height;

[0103] The mounting plate guide 320 moves to an initial position, wherein the initial position is located between the upper height limit and the lower height limit, and a distance between the initial position and the upper height limit is smaller than a distance between the initial position and the lower height limit.

[0104] As an optional embodiment, the first sensor assembly includes a photoelectric baffle 470 arranged on the corresponding mounting plate guide 320, and the inner wall of the seat shell 410 is provided with a positive limit slot type photoelectric sensor 440, a zero position slot type photoelectric sensor 450 and a negative limit slot type photoelectric sensor 460.

[0105] The positive limit slot type photoelectric sensor 440 corresponds to the upper limit of the height, the zero position slot type photoelectric sensor 450 corresponds to the initial position, and the negative limit slot type photoelectric sensor 460 corresponds to the lower limit of the height.

[0106] The openings of the positive limit slot-type photoelectric sensor 440, the zero position slot-type photoelectric sensor 450, and the negative limit slot-type photoelectric sensor 460 all face the corresponding mounting plate guide 320. As the mounting plate guide 320 drives the photoelectric baffle 470 to move, the photoelectric baffle 470 inserts into the zero position slot-type photoelectric sensor 450, generating a sensing signal from the zero position slot-type photoelectric sensor 450, indicating that the mounting plate guide 320 has moved to its initial position. The photoelectric baffle 470 inserts into the negative limit slot-type photoelectric sensor 460, generating a sensing signal from the negative limit slot-type photoelectric sensor 460, indicating that the mounting plate guide 320 has moved to its lower height limit. The photoelectric baffle 470 inserts into the positive limit slot-type photoelectric sensor 440, generating a sensing signal from the positive limit slot-type photoelectric sensor 440, indicating that the mounting plate guide 320 has moved to its upper height limit.

[0107] The corresponding sensor signal can be sent to the industrial computer, which controls the output of the lifting power source 210 according to the sensor signal.

[0108] Optionally, the lifting device may further include a pull rope sensor assembly 480, wherein the pull rope sensor and one of the pull ropes of the pull rope sensor assembly 480 are arranged on the mounting base base plate 420, and the other of the pull rope sensor and the pull rope of the pull rope sensor assembly 480 are arranged on the fork arm mounting plate 310.

[0109] When the fork arm mounting plate 310 reaches the set upper limit of the height, the pull rope sensor of the pull rope sensor assembly 480 sends a sensing signal. When the industrial computer receives the sensing signal from the pull rope sensor, it controls the lifting power source 210 to stop output.

[0110] In the embodiment of the present invention, there is no special limitation on the specific structure of the lifting power source 210, as long as it can output rotational motion. Figure 4 As shown, the lifting power source 210 includes a first motor 211 and a first speed change mechanism 212. The output shaft of the first motor 211 is in driving connection with the input shaft of the first speed change mechanism 212. A driving gear 231 is provided on the output shaft of the first speed change mechanism 212.

[0111] As an optional embodiment, the first speed change mechanism 212 may be a planetary speed change mechanism, such as Figure 3 As shown, the axial direction of the output shaft of the first speed change mechanism 212 is parallel to the axial direction of the driven gear of the integrated transmission module 230 .

[0112] As an optional implementation, the first motor 211 may be a servo motor.

[0113] As an optional implementation, Figure 7 and Figure 8 As shown, the lifting device further includes a lateral shift mechanism 500 , on which the lifting mechanism 220 is disposed. The lateral shift mechanism 500 can drive the lifting mechanism 220 to move back and forth along a set direction D.

[0114] When unloading materials, the lifting mechanism 220 is first used to lift the fork arm 100 and the materials carried by the fork arm 100 to a set height, and then the side shift mechanism is used to control the lifting mechanism 220 to move laterally in a set direction, so that the materials can be moved to the correct docking position. Of course, the present invention is not limited to this. The side shift mechanism can be used to control the lifting mechanism 220 to move laterally in a set direction, and then the lifting mechanism 220 can be used to lift the fork arm 100 and the materials to a set height.

[0115] Similarly, when loading materials, the lifting mechanism 220 can be controlled to raise the fork arm 100 to a set height, and then the side shift mechanism can be used to control the lifting mechanism 220 to move laterally, so that the top of the lifting mechanism 220 can reach the accurate docking position to receive the materials. Of course, the present invention is not limited to this. The side shift mechanism can first be used to control the lifting mechanism 220 to move laterally in a set direction, and then the lifting mechanism 220 can be controlled to raise the fork arm 100 to a set height.

[0116] In the present invention, there is no particular limitation on the specific type of the side shift mechanism 500, as long as it can convert rotational motion into linear motion. Figure 8 As shown, the side-shift mechanism 500 may include a base plate 510, a side-shift screw assembly 520 and at least one side-shift guide rail 530. The side-shift guide rail 530 and the side-shift screw 521 of the side-shift screw assembly 520 are both arranged on the base plate 510. The length direction of the side-shift screw assembly 520 and the length direction of the side-shift guide rail 530 are both consistent with the set direction (i.e., direction D above).

[0117] After assembly, the base plate 510 is opposite to the bottom plate of the lifting mechanism 220, and a guide block 540 that cooperates with the side-shift guide rail 530 is provided on the surface of the bottom plate of the lifting mechanism 220 facing the base plate 510, and the side-shift screw nut 522 of the side-shift screw assembly 520 is fixedly connected to the bottom plate of the lifting mechanism 220.

[0118] It should be noted that the length direction of the side screw 521 can be horizontal, and the length direction of the lifting screw 221 can be vertical. By driving the side screw assembly 520 to rotate, the side screw nut 522 can be moved along the length direction of the side screw 521, and the lifting mechanism 220 can be driven to move along the length direction of the side screw 521.

[0119] As an optional embodiment, the lateral shift mechanism 500 may further include at least one limit block 550 , and at least one end portion of at least one lateral shift guide rail 530 is correspondingly provided with the limit block 550 .

[0120] By providing the limit block 550 , the distance that the lifting mechanism 220 moves along the lateral guide rail 530 can be limited, thereby ensuring that the lifting mechanism 220 moves within a reasonable range.

[0121] To further ensure that the lifting mechanism 220 moves within a reasonable range, the side shift mechanism optionally further includes a second sensor assembly. At least one guide block 540 corresponds to the second sensor assembly. The second sensor assembly is configured to emit a sensor signal upon detecting at least one of the following conditions:

[0122] The corresponding guide block 540 moves to the first extreme position;

[0123] The corresponding guide block 540 moves to the second extreme position;

[0124] The corresponding guide block 540 moves to an initial position, wherein the initial position is located between the first extreme position and the second extreme position.

[0125] As an optional embodiment, the second sensor assembly includes a photoelectric baffle (not shown) arranged on the corresponding guide block 540, and a positive limit slot type photoelectric sensor 561, a zero position slot type photoelectric sensor 562 and a negative limit slot type photoelectric sensor 563 are arranged on the base plate 510.

[0126] Among them, the positive limit slot type photoelectric sensor 561 corresponds to the first limit position, the zero position slot type photoelectric sensor 562 corresponds to the initial position, and the negative limit slot type photoelectric sensor 563 corresponds to the second limit position.

[0127] The openings of the positive limit slot type photoelectric sensor 561, the zero position slot type photoelectric sensor 562, and the negative limit slot type photoelectric sensor 563 all face the corresponding guide block 540. As the guide block 540 drives the photoelectric baffle to move, the photoelectric baffle inserts into the zero position slot type photoelectric sensor 562, generating a sensing signal indicating that the guide block has reached its initial position. The photoelectric baffle inserts into the negative limit slot type photoelectric sensor 563, generating a sensing signal indicating that the guide block 540 has reached its second limit position. The photoelectric baffle inserts into the positive limit slot type photoelectric sensor 561, generating a sensing signal indicating that the guide block 540 has reached its first limit position.

[0128] In the specific embodiment shown in the figure, limit blocks 550 are provided at both ends of the two lateral guide rails 530 .

[0129] In the embodiment of the present invention, there is no particular limitation on how to drive the side shift screw 521 to rotate. Alternatively, the side shift screw 521 can be driven to rotate by the side shift force source 560.

[0130] exist Figure 8 In the embodiment shown in FIG, the side moving force source 560 includes a second motor 561, a second speed change mechanism 562 and a transmission assembly 563. The power output by the second motor 561 is transmitted to the transmission assembly 563 after the speed change by the second speed change mechanism 562, and then transmitted to the side moving screw 521 by the transmission assembly 563.

[0131] As an optional embodiment, the second speed change mechanism 562 may be a planetary reduction gearbox.

[0132] As an optional embodiment, the transmission assembly 563 can be a synchronous belt transmission assembly.

[0133] As an optional implementation, the second motor 561 may be a servo motor.

[0134] In order to make the lateral movement of the lifting mechanism 220 more stable, the lateral movement mechanism 500 may optionally include two lateral movement guide rails 530 arranged at intervals, and each lateral movement guide rail 530 is provided with at least two guide blocks 540 .

[0135] In order to make the structure of the side-shift mechanism 500 more compact, optionally, the side-shift screw assembly 520 and the side-shift force source 560 are both arranged in the gap between the two side-shift guide rails 530 .

[0136] In the present invention, the specific structure of the fork arm 100 is not particularly limited, as long as it can support the material. As an alternative embodiment, the fork arm 100 may have a plate-like structure. In this embodiment of the present invention, the lifting devices are arranged in pairs on the mobile chassis. The fork arms 100 of the two lifting devices in the same pair face each other. To limit the position of the material on the fork arm 100, a limiting notch may optionally be formed on the top surface of the fork arm 100.

[0137] In order to prevent external devices from damaging the fork arm 100 during the process of loading and unloading materials, a collision bar 101 may be optionally provided on the side of the fork arm 100 .

[0138] In order to protect the internal components of the drive assembly 200, the drive assembly 200 may optionally further include a component shell 270. Figure 8 As shown in FIG, the component housing 270 includes a top housing, a bottom housing, and an accordion cover connected between the top housing and the bottom housing. The lifting power source 210 and the lifting mechanism 220 are both disposed in the component housing 270, and the accordion cover can be extended and retracted as the lifting mechanism 220 is raised and lowered.

[0139] As a second aspect of the present invention, a transport robot is provided, which includes a mobile chassis 600 and lifting devices arranged in pairs, wherein the lifting devices are arranged on the mobile chassis 600, and the two lifting devices in the same pair are arranged opposite to each other, wherein the lifting devices are the lifting devices provided in the first aspect of the present invention.

[0140] As described above, without changing the wheelbase between the driving gear of the lifting power source 210 and the driving gear 231 of the lifting mechanism 220, adding at least one intermediate gear 233 between the driving gear 231 and the driven gear 232 can reduce the diameters of the driving gear and the driven gear, which not only ensures the stability of the power transmission process but also reduces noise.

[0141] When the transport robot is used to transport materials, the materials are supported by the lifting devices that are arranged opposite to each other.

[0142] As an optional implementation, the transport robot may further include an auxiliary lifting mechanism 700 , which is disposed on the mobile chassis 600 .

[0143] As an optional embodiment, the lifting devices arranged in pairs are used to carry the full roll of material 10, and the auxiliary lifting mechanism 700 is used to carry the empty roll of material 20.

[0144] The above are only specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modifications that do not deviate from the functional and structural principles of the present invention are included within the scope of the claims.

Claims

1. A lifting device, comprising a fork arm (100) and a drive assembly, wherein the drive assembly (200) comprises a lifting power source (210) and a lifting mechanism (220), wherein the fork arm (100) is connected to the lifting mechanism (220), and wherein: The driving assembly (200) further includes an integrated transmission module (230), the integrated transmission module (230) including a driving gear (231) and a driven gear (232), the axial directions of the driving gear (231) and the driven gear (232) being consistent, the driving gear (231) driving the driven gear (232) to rotate, the driving gear (231) being arranged on the output shaft of the lifting power source (210), the lifting mechanism (220) being connected to the driven gear (232) to convert the rotational motion of the driven gear (232) into linear motion, and driving the fork arm (100) to lift and lower.

2. The lifting device according to claim 1, characterized in that: The integrated transmission module further comprises at least one intermediate gear (233), wherein the intermediate gear (233) is meshed between the driving gear (231) and the driven gear (232), and the axial direction of the intermediate gear (233) is consistent with the axial direction of the driving gear (231).

3. The lifting device according to claim 2, characterized in that: The integrated transmission module (230) further includes a module housing, wherein the driving gear (231), the driven gear (232) and the intermediate gear (233) are all arranged in the module housing. The module box includes a box top plate (234) and a box bottom plate (235) arranged opposite to each other, wherein the box top plate (234) is formed with a driving gear shaft hole (231a), a first driven gear shaft hole (232a) and at least one first intermediate shaft hole (233a), and the box bottom plate (235) is formed with a second driven gear shaft hole (232b) coaxially arranged with the first driven gear shaft hole (232a), and at least one second intermediate shaft hole (233b), wherein the at least one second intermediate shaft hole (233b) corresponds to the at least one first intermediate shaft hole (233a) in a one-to-one manner, and the corresponding first intermediate shaft hole (233a) and the second intermediate shaft hole (233b) are coaxially arranged; The gear shaft of the driving gear (231) passes through the driving gear shaft hole (231a) and is rotatably fixed in the driving gear shaft hole (231a). At least one of the first intermediate shaft holes (233a) corresponds to at least one of the intermediate gears (233). The first end of the gear shaft of the driven gear (232) passes through the first driven gear shaft hole (232a) and is rotatably fixed in the first driven gear shaft hole (232a). The second end of the gear shaft of the driven gear (232) is rotatably set in the second driven gear shaft hole (232b). The first end of the gear shaft of the intermediate gear (233) is rotatably fixed in the corresponding first intermediate shaft hole (233a). The second end of the gear shaft of the intermediate gear (233) is rotatably fixed in the corresponding second intermediate shaft hole (233b).

4. The lifting device according to claim 3, characterized in that: A first positioning bearing (231b) is provided between the gear shaft of the driving gear (231) and the driving gear shaft hole (231a). A second locating bearing (232c) is provided between the first end of the gear shaft of the driven gear (232) and the first driven gear shaft hole (232a), and a third locating bearing (232d) is provided between the second end of the gear shaft of the driven gear (232) and the second driven gear shaft hole (232b); A fourth locating bearing (233c) is provided between the first end of the gear shaft of the intermediate gear (233) and the corresponding first intermediate shaft hole (233a), and a fifth locating bearing (233d) is provided between the second end of the gear shaft of the intermediate gear (233) and the corresponding second intermediate shaft hole (233b).

5. The lifting device according to claim 2, characterized in that: The integrated transmission module (230) includes an intermediate gear (233), and the driving gear, the intermediate gear, and the driven gear have the same number of teeth.

6. The lifting device according to any one of claims 1 to 5, characterized in that The lifting mechanism (220) includes a lifting screw assembly, wherein the lifting screw (221) of the lifting screw assembly is fixedly connected to the gear shaft of the driven gear, so as to drive the lifting screw (221) to rotate via the gear shaft of the driven gear; The lifting device further comprises a fork arm mounting structure (300) and a lifting device mounting seat (400), wherein the fork arm mounting structure (300) comprises a fork arm mounting plate (310) and at least one mounting plate guide (320), and a guide groove matching the mounting plate guide (320) is formed on the lifting device mounting seat (400), wherein the length direction of the guide groove is consistent with the lifting direction of the lifting mechanism (220), and the mounting plate guide (320) is slidably arranged in the guide groove, and the fork arm (100) and the mounting plate guide (320) are respectively fixed on both sides of the fork arm mounting plate (310); The lifting screw (221) is fixed on the lifting device mounting seat so as to be rotatable around its own axis. The mounting plate guide (320) is fixedly connected to the lifting screw nut (222) of the lifting screw assembly to limit the rotation of the lifting screw nut (222) and move along the length direction of the lifting screw (221) under the drive of the lifting screw nut (222).

7. The lifting device according to claim 6, characterized in that: The fork arm mounting structure (300) includes a guide member mounting plate (330) and a nut mounting seat (340), wherein the guide member connecting plate is arranged on the guide member mounting plate (330), and the nut mounting seat (340) is fixed on the guide member mounting plate (330) and is located on the same side of the guide member mounting plate (330) as the mounting plate guide (320), and the lifting screw nut (222) is fixed on the guide member mounting plate (330) to realize the connection between the lifting screw nut (222) and the mounting plate guide (320).

8. The lifting device according to claim 6, characterized in that: The lifting device mounting seat (400) includes a seat shell (410) having an accommodation space, the lifting power source (210) and the lifting mechanism (220) are both arranged in the accommodation space of the seat shell (410), and the guide groove is formed on the side wall of the seat shell (410); At least one oil replenishing through hole is provided on the seat housing (410) at a position corresponding to the guide groove.

9. The lifting device according to claim 6, characterized in that: The lifting device further comprises at least one buffer block (430), and the buffer block (430) is arranged between the bottom end of at least one of the mounting plate guides (320) and the bottom plate of the lifting device.

10. The lifting device according to claim 6, characterized in that: The lifting device further comprises a first sensor assembly, and at least one of the mounting plate guides (320) corresponds to the first sensor assembly; The first sensor component is configured to send a sensing signal when detecting at least one of the following situations: The corresponding mounting plate guide (320) moves to an upper height limit; The corresponding mounting plate guide (320) moves to the lower limit of the height; The corresponding mounting plate guide (320) moves to an initial position, wherein the initial position is located between the upper height limit and the lower height limit, and the distance between the initial position and the upper height limit is smaller than the distance between the initial position and the lower height limit.

11. The lifting device according to claim 6, characterized in that: The lifting device further includes a pull rope sensor assembly (480), the pull rope sensor assembly including a pull rope sensor and a pull rope outlet, one of the pull rope sensor and the pull rope outlet is fixed on the lifting device mounting seat (400), and one of the pull rope sensor and the pull rope outlet is fixed on the fork arm mounting structure (300), and the pull rope sensor is used to send a sensor signal when the fork arm mounting structure (300) moves to a set height.

12. The lifting device according to any one of claims 1 to 5, characterized in that The lifting power source (210) comprises a first motor (211) and a first speed change mechanism (212); the output shaft of the first motor (211) is in transmission connection with the input shaft of the first speed change mechanism (212); and the driving gear (231) is arranged on the output shaft of the first speed change mechanism (212).

13. The lifting device according to any one of claims 1 to 5, characterized in that The lifting device further comprises a lateral shift mechanism (500), the lifting mechanism (220) is arranged on the lateral shift mechanism (500), and the lateral shift mechanism (500) can drive the lifting mechanism (220) to move back and forth along a set direction.

14. The lifting device according to claim 13, characterized in that The side shift mechanism (500) comprises a base plate (510), a side shift screw assembly (520) and at least one side shift guide rail (530); the side shift guide rail (530) and the side shift screw of the side shift screw assembly (520) are both arranged on the base plate (510); the length direction of the side shift screw assembly (520) and the length direction of the side shift guide rail (530) are both consistent with the set direction; The base plate is opposite to the bottom plate of the lifting mechanism (220), and a guide block (540) that cooperates with the guide rail is provided on the surface of the bottom plate of the lifting mechanism (220) facing the base plate, and the side-shift screw nut of the side-shift screw assembly (520) is fixedly connected to the bottom plate of the lifting mechanism (220).

15. The lifting device according to claim 14, characterized in that The lateral shift mechanism further comprises at least one limiting block, and at least one end of at least one lateral shift guide rail (530) is correspondingly provided with the limiting block.

16. The lifting device according to claim 14, characterized in that The side shift mechanism further comprises a second sensor assembly, at least one of the guide blocks (540) corresponds to the second sensor assembly, and the second sensor assembly is used to send a sensing signal when at least one of the following conditions is detected: The corresponding guide block (540) moves to a first extreme position; The corresponding guide block (540) moves to a second extreme position; The corresponding guide block (540) moves to an initial position, wherein the initial position is located between the first limit position and the second limit position.

17. A transport robot comprising a mobile chassis and lifting devices arranged in pairs, wherein the lifting devices are arranged on the mobile chassis (600), and the two lifting devices in the same pair are arranged opposite to each other, characterized in that: The lifting device is the lifting device according to any one of claims 1 to 16.

18. The transport robot according to claim 17, characterized in that: The transport robot further comprises an auxiliary lifting mechanism (700), and the auxiliary lifting mechanism (700) is arranged on the mobile chassis (600).

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