Lifting mechanism, material coil executing device and carrying robot

Abstract

The utility model discloses a lifting mechanism which comprises a top plate (100), a bottom plate (200), a driving assembly (300) and a shear fork assembly (400), the top plate and the bottom plate are oppositely arranged, and the shear fork assembly is connected between the top plate and the bottom plate. The driving assembly is used for driving a plurality of scissor-fork sliding blocks (410) of the scissor-fork assembly to slide on the top plate and the bottom plate in the set direction so as to drive the scissor-fork assembly to act and achieve lifting of the top plate, the lifting mechanism further comprises a jacking connecting rod (500), and the jacking connecting rod (500) is connected with the scissor-fork assembly. The first end of the jacking connecting rod is arranged on the bottom plate (200) in a sliding mode, the second end of the jacking connecting rod is hinged to the shear fork assembly, and the jacking connecting rod is perpendicular to the bottom plate under the condition that the shear fork assembly lifts the top plate (100) to the set height. The utility model further provides a material coil executing device and a transfer robot.

Description

Technical Field

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

[0002] The material roll is long and round in size. When using a handling robot to perform material handover of the material roll, special attention must be paid to the stability of the material roll on the handling robot.

[0003] A handling robot typically consists of a mobile chassis and a coil actuator mounted on the chassis. The coil actuator has a position for carrying materials. Typically, the coil actuator can be raised or lowered, and when transferring coils, the coil actuator needs to be controlled to rise or fall.

[0004] How to ensure the stability of the coil actuator 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 mechanism, a material roll execution device including the lifting mechanism, and a handling robot including the material roll execution device.

[0006] As a first aspect of the present invention, a lifting mechanism is provided, which includes a top plate, a bottom plate, a driving assembly, and a scissors assembly. The top plate and the bottom plate are arranged opposite to each other, and the scissors assembly is connected between the top plate and the bottom plate. The driving assembly is used to drive multiple scissors sliders of the scissors assembly to slide along set directions on the top plate and the bottom plate respectively, so as to drive the scissors assembly to move and realize the lifting of the top plate, wherein the lifting mechanism also includes a lifting link, a first end of the lifting link is slidably provided on the bottom plate, and a second end of the lifting link is hinged to the scissors assembly. When the scissors assembly lifts the top plate to a set height, the lifting link is perpendicular to the bottom plate.

[0007] Optionally, the lifting link includes a lifting link body and a link slider, the first end of the lifting link body is hinged to the link slider, the link slider forms the first end of the lifting link, and the second end of the lifting link body forms the second end of the lifting link;

[0008] The connecting rod slider is slidably arranged on the base plate.

[0009] Optionally, the driving assembly includes a screw assembly, one end of the screw assembly is connected to the scissor fork slider of the scissor fork assembly located on the base plate, and the other end of the screw assembly is fixedly connected to the base plate;

[0010] A through hole is formed on the connecting rod slider, and the screw of the screw assembly passes through the through hole, so that the connecting rod slider is sleeved on the screw of the screw assembly, and the diameter of the through hole is larger than the diameter of the screw.

[0011] Optionally, the lifting mechanism further includes a connecting rod position sensor, and the connecting rod position sensor is used to generate corresponding prompt information according to the position of the connecting rod slider.

[0012] Optionally, the lifting mechanism further includes a slider guide rail matching the connecting rod slider, the connecting rod position sensor includes a baffle, a first photoelectric sensor, a second photoelectric sensor, and a third photoelectric sensor, the first photoelectric sensor, the second photoelectric sensor, and the third photoelectric sensor being sequentially arranged on the slider guide rail, the baffle being arranged on the connecting rod slider, and when the connecting rod slider slides to a corresponding position along the slider guide rail, the baffle can be respectively inserted between a light emitting surface and a light receiving surface of one of the first photoelectric sensor, the second photoelectric sensor, and the third photoelectric sensor corresponding to the corresponding position;

[0013] The distance between the first photoelectric sensor and the second photoelectric sensor is smaller than the distance between the second photoelectric sensor and the third photoelectric sensor;

[0014] When the lifting link moves to the third optical sensor, the lifting link is perpendicular to the bottom plate.

[0015] Optionally, the scissor assembly includes a plurality of sub-scissor assemblies arranged side by side along a first direction, the scissor sliders of the plurality of sub-scissor assemblies are located on the same side, and the lifting link is arranged between two adjacent sub-scissor assemblies.

[0016] Optionally, the sub-scissor assembly includes a multi-stage scissor, and the multi-stage scissors are connected in sequence along the lifting direction of the lifting mechanism.

[0017] The scissors fork includes two scissor arms that are cross-hinged, and the second end of the lifting link is hinged to a scissor arm of the scissors fork arranged on the base plate, wherein the hinge point between the lifting link and the scissor arm is located between the cross hinge point of the scissors fork and the hinge point of the scissor arm and the base plate.

[0018] Optionally, the lifting mechanism further includes a distance sensor, and the distance sensor is used to detect the distance between the top plate and the bottom plate.

[0019] Optionally, the distance sensor includes a drawstring sensor, and two ends of the drawstring sensor are respectively arranged on the top plate and the bottom plate.

[0020] As a second aspect of the present invention, a material roll execution device is provided, which includes a lifting mechanism, wherein the material roll execution device also includes a material roll carrier, the material roll carrier is arranged on the supporting surface of the top plate, and the material roll carrier is used to carry materials.

[0021] Optionally, the material roll execution device includes two guide plates, the first end of the guide plate is fixed to the top plate, the second end of the guide plate extends in the direction away from the bearing surface of the top plate, the two guide plates are respectively arranged at the two ends of the top plate and are located on the outside of the material roll carrier, and the distance between the second ends of the two guide plates is greater than the distance between the first ends of the two guide plates.

[0022] As the third aspect of the present invention, a handling robot is provided, which includes a mobile chassis and at least one material roll execution device, and the material roll execution device is arranged on the mobile chassis, wherein at least one of the material roll execution devices is the material roll execution device provided in the second aspect of the present invention, and the bottom plate is arranged on the mobile chassis.

[0023] Optionally, the handling robot includes two material roll execution devices, and the two material roll execution devices are respectively a full material roll execution device and an empty material roll execution device, and the empty material roll execution device is the material roll execution device provided by the second aspect of the present utility model.

[0024] Optionally, the empty roll execution device is located in front of the full roll execution device.

[0025] In the lifting mechanism provided by the present invention, the top plate of the lifting mechanism is load-bearing. During installation, the bottom plate is secured to the mounting base. Once the scissor assembly has raised the top plate to a set height (i.e., the maximum lifting height of the scissor assembly), further lifting ceases. When material is placed on the top plate, the vertical lifting link, along with the scissor assembly, supports the material, improving the overall stability of the lifting mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention will be further described below with reference to the accompanying drawings:

[0027] Figure 1 This is a schematic diagram of the three-dimensional structure of an embodiment of the lifting mechanism provided by the utility model;

[0028] Figure 2This is a schematic diagram of a lifting state of an embodiment of the lifting mechanism provided by the present invention;

[0029] Figure 3 It is a structural diagram of the top plate;

[0030] Figure 4 It is a structural diagram of the base plate;

[0031] Figure 5 This is a schematic diagram of the lifting mechanism after the top plate is removed;

[0032] Figure 6 It is a schematic diagram of the combined state of the lead screw and the ejector slider;

[0033] Figure 7 This is a schematic diagram of an embodiment of the material roll execution device provided by the present invention;

[0034] Figure 8 It is a schematic diagram of another embodiment of the material roll execution device provided by the present invention;

[0035] Figure 9 It is a schematic diagram of an embodiment of the transport robot provided by the utility model.

[0036] Description of Reference Numerals

[0037] 100: Top plate 200: Bottom plate

[0038] 300: Drive assembly 400: Scissor assembly

[0039] 410: Scissor slider 420: Sub-scissor assembly

[0040] 421: Scissor arm 4210: Scissor arm

[0041] 500: Lifting rod 510: Lifting rod body

[0042] 520: Connecting rod slider 521: Blocking piece

[0043] 541: First photoelectric sensor 542: Second photoelectric sensor

[0044] 543: Third photoelectric sensor 310: Lead screw

[0045] 320: Screw seat 110: First slide member

[0046] 120: first hinge seat 210: second slide member

[0047] 220: Second hinge seat 230: Screw seat mounting piece

[0048] 240: Guide rail groove 510a: First sub-connecting rod body

[0049] 510b: Second sub-connecting rod body DETAILED DESCRIPTION

[0050] The following describes in detail embodiments of the present invention, examples of which 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 are not to be construed as limiting the present invention.

[0051] 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 appearance of the phrase "in one embodiment" in various places in the specification does not necessarily refer to the same embodiment.

[0052] As a first aspect of the embodiment of the present utility model, a lifting mechanism is provided, such as Figure 1 and Figure 2 As shown, the lifting mechanism includes a top plate 100, a bottom plate 200, a drive assembly 300, and a scissor assembly 400. The top plate 100 and the bottom plate 200 are arranged opposite to each other, and the scissor assembly 400 is connected between the top plate 100 and the bottom plate 200.

[0053] The driving assembly 300 is used to drive the multiple scissor fork sliders 410 of the scissor fork assembly 400 to slide along the set direction on the top plate 100 and the bottom plate 200 respectively, so as to drive the scissor fork assembly 400 to move and realize the lifting and lowering of the top plate 100.

[0054] The lifting mechanism further includes a lifting link 500, a first end of which is slidably disposed on the base plate 200, and a second end of which is hinged to the scissor assembly 400. When the scissor assembly lifts the top plate 100 to a set height, the lifting link 500 is perpendicular to the base plate 200.

[0055] The lifting mechanism's top plate 100 is load-bearing. During installation, the bottom plate 200 is secured to the mounting base. Once the scissor assembly 400 has raised the top plate 100 to a set height (i.e., the maximum lifting height of the scissor assembly 400), further lifting ceases. When materials are placed on the top plate 100, the lifting link 500, in a vertical position, supports the materials together with the scissor assembly 400, enhancing the overall stability of the lifting mechanism.

[0056] When the lifting link 500 is in a vertical state, this position is the dead point state of the lifting mechanism. Even if there are multiple loads on the top plate 100, it will not fall freely, thereby improving the overall stability of the lifting mechanism.

[0057] It should be noted that the specific value of the set height can be determined according to the application scenario of the lifting mechanism. As an optional embodiment, the lifting mechanism can be used in a material roll execution device of a handling robot.

[0058] In the embodiment of the present invention, there is no special limitation on the specific structure of the lifting rod 500, as long as the lifting rod 500 is rod-shaped and can stably support the bottom plate 200 when it is perpendicular to the bottom plate 200. As an optional embodiment, Figure 1 and Figure 2 As shown, the lifting link 500 includes a lifting link body 510 and a link slider 520. The first end of the lifting link body 510 is hinged to the link slider 520. The link slider 520 forms the first end of the lifting link 500. The second end of the lifting link body 510 forms the second end of the lifting link 500. The link slider 520 is slidably arranged on the base plate 200.

[0059] The lifting and lowering of the scissor assembly 400 can drive the connecting rod slider 520 to slide on the base plate 200.

[0060] In the embodiment of the present invention, there is no special limitation on the specific structure of the lifting connecting rod body 510. In order to improve the overall strength, Figure 5 As shown, the lifting link body 510 may include a first sub-link body 510a and a second sub-link body 510b, which are arranged in parallel and spaced apart. Both ends of the first sub-link body 510a and the second sub-link body 510b are fixedly connected by a connecting shaft.

[0061] In the embodiment of the present invention, there is no particular limitation on how the connecting rod slider 520 slides on the base plate 200. For example, a slide rail that matches the connecting rod slider 520 can be provided on the base plate 200. For another example, a slide groove that matches the connecting rod slider 520 can be provided on the base plate 200.

[0062] In the embodiment of the present invention, there is no special limitation on the specific structure of the drive assembly 300, as long as the drive assembly 300 can drive the slider of the scissor assembly 400 to move linearly. For example, the drive assembly 300 may include a piston cylinder. In order to simplify the structure, the drive assembly 300 may optionally include a screw assembly. Figure 2 As shown, one end of the screw assembly is connected to the scissor fork slider 410 of the scissor fork assembly 400 located on the base plate 200, and the other end of the screw assembly is fixedly connected to the base plate 200.

[0063] like Figure 6As shown, a through hole is formed on the connecting rod slider 520, and the screw 310 of the screw assembly passes through the through hole, so that the connecting rod slider 520 is sleeved on the screw of the screw assembly, and the diameter of the through hole is larger than the diameter of the screw.

[0064] In the embodiment of the present invention, the screw seat 320 of the screw assembly is the other end of the drive assembly 300, and the screw seat 320 is fixedly arranged on the base plate 200. In the embodiment of the present invention, the connecting rod slider 520 can slide between the two ends of the screw assembly.

[0065] To improve the stability of the connection, Figure 4 As shown in , a screw seat mounting member 230 is further provided on the top surface of the base plate 200 , and the screw seat 320 is connected to the screw seat mounting member 230 to fix the screw assembly on the base plate 200 .

[0066] In order to control the lifting height of the lifting mechanism, as an optional implementation, the lifting mechanism may further include a connecting rod position sensor. The connecting rod position sensor 610 is used to generate corresponding prompt information according to the position of the connecting rod slider 520.

[0067] In the present invention, the recipient of the prompt information is not specifically limited. As an optional embodiment, the prompt information can be sent to the drive assembly 300 (i.e., the connecting rod position sensor is electrically connected to the drive assembly's motor), and the drive assembly 300's motor determines whether to continue operation based on the received signal. For example, when the jacking link 500 slides until it is perpendicular to the base plate 200, the connecting rod position sensor generates a corresponding signal and sends it to the drive assembly 300's motor, which then stops driving the scissor assembly 400 to continue ascending.

[0068] like Figure 1 and Figure 2 As shown, the lifting mechanism can also be matched with the slider guide 530 of the connecting rod slider 520, and the connecting rod position sensor includes a baffle 521, a first photoelectric sensor 541, a second photoelectric sensor 542 and a third photoelectric sensor 543. The first photoelectric sensor 541, the second photoelectric sensor 542 and the third photoelectric sensor 543 are sequentially arranged on the slider guide 530, and the baffle 521 is arranged on the connecting rod slider 520, and when the connecting rod slider 520 slides to the corresponding position along the slider guide 530, the baffle 521 can be inserted between the light emitting surface and the light receiving surface of one of the first photoelectric sensor 541, the second photoelectric sensor 542 and the third photoelectric sensor 543 corresponding to the position.

[0069] The distance between the first photosensor 541 and the second photosensor 542 is smaller than the distance between the second photosensor 542 and the third photosensor 543 .

[0070] When the lifting link 500 moves to the third optical sensor 543 , the lifting link 500 is perpendicular to the bottom plate 200 .

[0071] In the present application, the second photoelectric sensor 542 corresponds to an initial position. In the initial position, the barrier is inserted between the light-emitting and light-receiving surfaces of the second photoelectric sensor 542. If an abnormality occurs, the scissor slider of the scissor assembly cannot maintain the initial position and continues to slide until the barrier is inserted between the light-emitting and light-receiving surfaces of the first photoelectric sensor. The signal of the first photoelectric sensor 541 changes, which is equivalent to a lift alarm. Upon receiving the signal corresponding to the lift alarm from the first photoelectric sensor 541, the drive assembly stops driving.

[0072] As an optional embodiment, the lifting mechanism further includes a first stop block, which is disposed on the side of the first photoelectric sensor 541 facing away from the second photoelectric sensor 542. The first stop block is configured to abut the scissor slider when the scissor slider slides past the first photoelectric sensor 541. If the first photoelectric sensor 541 fails abnormally and the scissor slider continues to move away from the negative limit, the scissor slider will hit the first stop block, causing an overcurrent alarm in the drive assembly 300 to prevent further descent of the lifting mechanism.

[0073] If the third light sensor 543 is triggered (i.e., the baffle is inserted between the light reflecting surface and the light receiving surface of the third photoelectric sensor 543), the signal generated by the third light sensor 543 is also equivalent to a lifting alarm, and the drive component stops driving the scissors mechanism to continue rising.

[0074] Optionally, the lifting mechanism further includes a second stopper, disposed on a side of the third photoelectric sensor 543 facing away from the second photoelectric sensor 542, to abut the scissor slider when the scissor slider moves beyond the third photoelectric sensor 543. If the third photoelectric sensor 543 fails abnormally, the scissor slider continues to move toward the positive release limit and hits the second stopper, causing an overcurrent alarm in the drive assembly 300 and preventing further lifting of the lifting mechanism.

[0075] like Figure 4 As shown in FIG, a guide rail groove 240 for accommodating a guide rail of a slider may be further formed on the top surface of the base plate 200 .

[0076] The photoelectric sensor comprises a light-emitting surface and a light-receiving surface facing each other. When unobstructed, light emitted from the light-emitting surface can reach the light-receiving surface, causing the photoelectric sensor to generate a first sensing signal. When a barrier is inserted between the light-emitting and light-receiving surfaces, light from the light-emitting surface cannot reach the light-receiving surface, causing the photoelectric sensor to generate a second sensing signal.

[0077] In the embodiment of the present invention, the first photoelectric sensor 541 is located on the slider side of the scissor assembly 400, and the third photoelectric sensor 543 is located on the hinge side of the scissor assembly 400. The first photoelectric sensor 541 represents the lowest limit position of the scissor assembly 400, and the second photoelectric sensor 542 represents the initial position of the scissor assembly 400.

[0078] The insertion of the blocking piece 521 into the first photoelectric sensor 541 indicates that the scissor assembly 400 has been lowered to the lowest limit position and the driving assembly 300 should stop moving.

[0079] In the embodiment of the present invention, there is no special limitation on the specific structure of the scissors-fork assembly 400. Optionally, the scissors-fork assembly 400 includes a plurality of sub-scissors-fork assemblies 420 arranged side by side along the first direction D1, the scissors-fork sliders 410 of the plurality of sub-scissors-fork assemblies 420 are located on the same side, and the lifting link 500 is arranged between two adjacent sub-scissors-fork assemblies 420.

[0080] It should be noted that each sub-scissor assembly 420 includes two scissor sliders 410, which are respectively arranged on the top plate 100 and the bottom plate 200. The scissor sliders 410 of multiple sub-scissor assemblies 420 are all located on the same side. The greater the number of sub-scissor assemblies 420, the more stable the support for the top plate 100.

[0081] Disposing the lifting link 500 between two adjacent sub-scissor assemblies 420 can improve the compactness of the lifting mechanism and prevent the lifting link 500 from being interfered with by peripheral components.

[0082] In order to increase the lifting stroke of the lifting mechanism, optionally, as Figure 2 As shown, the sub-scissor assembly 420 includes a multi-stage scissor 421, and the multi-stage scissor 421 is connected in sequence along the lifting direction of the lifting mechanism.

[0083] The scissors fork 421 includes two scissors arms 4210 that are cross-hinged, and the second end of the lifting link 500 is hinged to a scissors arm 4210 of the scissors fork set on the base plate 200, wherein the hinge point between the lifting link 500 and the scissors arm 4210 is located between the cross hinge point of the scissors fork 421 and the hinge point of the scissors arm 4210 and the base plate 200.

[0084] In the multi-stage scissors fork 421 in the same sub-scissors fork assembly 420, the scissor fork arms 4210 of two adjacent stages of the scissors fork are hingedly connected.

[0085] In the embodiment of the present invention, there is no particular limitation on the number of scissor lift stages. As an optional embodiment, the sub-scissor lift assembly 420 may include two-stage scissor lifts 421. Furthermore, in the embodiment of the present invention, the scissor lift assembly 400 includes two sub-scissor lift assemblies 420.

[0086] To achieve linear lift, optionally, Figure 1 As shown, the lifting mechanism further includes a distance sensor 900, which is used to detect the distance between the top plate 100 and the bottom plate 200. The distance sensor 900 detects the distance between the top plate 100 and the bottom plate 200 in real time and controls the speed of the motor of the drive assembly 300, thereby achieving linear lifting of the top plate 100.

[0087] As an optional embodiment, the distance sensor 900 may include a drawstring sensor, the two ends of which are respectively arranged on the top plate 100 and the bottom plate 200. Figure 2 As shown in FIG, the draw wire sensor's draw wire mounting end 921 is disposed on the bottom surface of the top plate 100, and the sensor body 922 of the draw wire sensor is disposed on the top surface of the bottom plate.

[0088] Since the lifting stroke of the scissor lift assembly is relatively large, in order to improve the structural compactness of the lifting mechanism, the wiring 910 of the distance sensor 900 can optionally be set as a spiral spring wire.

[0089] In order to protect the scissors assembly, lifting link, drive assembly and other components, the lifting mechanism may optionally further include a protective telescopic cover 1000, which is connected between the top plate 100 and the bottom plate 200, and the scissors assembly, lifting link, drive assembly and other components are all arranged in the protective telescopic cover 1000.

[0090] As an optional implementation, Figure 8 As shown, the protective telescopic cover 1000 can be an accordion cover.

[0091] In the embodiment of the present invention, there is no particular limitation on how to slidably arrange the scissor lift slider 410 on the top plate 100 and the bottom plate 200 .

[0092] like Figure 3 As shown, a plurality of first slide members 110 are provided on the bottom surface of the top plate 100, and a plurality of scissor sliders 410 connected to the top plate 100 are slidably provided in corresponding first slide members 110. Figure 4As shown, a plurality of second slide members 210 are provided on the top surface of the base plate 200 , and a plurality of scissor-type sliders 410 connected to the base plate 200 are slidably provided in corresponding second slide members 210 .

[0093] In addition, a plurality of first articulated seats 120 are provided on the bottom surface of the top plate 100, and the plurality of first articulated seats 120 are used to be articulated with the corresponding scissor arms; a plurality of second articulated seats 220 are also provided on the top surface of the bottom plate 200, and the plurality of second articulated seats 220 are used to be articulated with the corresponding scissor arms.

[0094] As a second aspect of the present invention, Figure 7 and Figure 8 As shown, a roll execution device is provided, the roll execution device includes a lifting mechanism, wherein the roll execution device also includes a roll carrier, the roll carrier is arranged on the bearing surface of the top plate. In the embodiment of the utility model, the bearing surface of the top plate 100 is opposite to the bottom surface of the top plate 100.

[0095] As described above, the top plate 100 of the lifting mechanism is load-bearing. During installation, the bottom plate 200 is secured to the mounting base. Once the scissor assembly 400 has raised the top plate 100 to a set height (i.e., the maximum lifting height of the scissor assembly 400), further lifting ceases. When materials are placed on the top plate 100, the lifting link 500, in a vertical position, can work with the scissor assembly 400 to support the materials, enhancing the overall stability of the lifting mechanism.

[0096] In the embodiments of the present invention, the specific structure of the coil carrier is not particularly limited. For example, the coil carrier includes a carrier plate 710 and at least one bin pair. The bin pair is disposed on the surface of the carrier plate 710 facing away from the top plate 100, with the two bins 720 of the bin pair spaced apart along the length of the carrier plate 710. During material transport, the coil is positioned on the carrier plate 710, with the bin in the bin pair providing positional support and support for the coil, while the carrier plate 710 and the bins jointly support the coil. Due to the large contact area between the carrier plate 710 and the coil, it can bear the majority of the coil's weight, effectively preventing the coil from deforming under its own weight.

[0097] As an optional embodiment, the top plate 100 is centrally disposed on the bottom surface of the supporting plate 710 to provide more stable support for the supporting plate 710 .

[0098] Optionally, the material roll execution device may further include a material buffer assembly, as shown in the figure, the material buffer assembly includes two guide legs 810 and two guide plates 820, the two guide plates 820 correspond one to one to the two guide legs 810, the two guide legs 810 are spaced apart on the movable chassis 600, and are respectively located on the outside of the material roll carrier, the first end of the guide plate 820 is fixed to the end of the corresponding guide leg 810 away from the movable chassis 600, the second end of the guide plate 820 extends in a direction away from the guide leg 810, and the distance between the second ends of the two guide plates 820 is greater than the distance between the first ends of the two guide plates 820.

[0099] During the process of placing the roll on the roll execution device, the guide plate 820 can guide the roll to the supporting surface of the top plate 100 .

[0100] As the third aspect of the present invention, Figure 9 As shown, a handling robot is provided, which includes a mobile chassis 600 and at least one material roll execution device, and the material roll execution device is arranged on the mobile chassis, wherein at least one of the material roll execution devices is the material roll execution device provided by the second aspect of the present utility model.

[0101] Optionally, the handling robot includes two material roll execution devices, and the two material roll execution devices are respectively a full material roll execution device 1100 and an empty material roll execution device, and the empty material roll execution device is the material roll execution device provided by the second aspect of the present utility model.

[0102] Optionally, the full roll execution device is located in the middle of the mobile chassis 600, and the empty roll execution device is located in front of the full roll execution device 1100. The roll carried by the full roll execution device is a full roll, and the roll carried by the empty roll execution device is an empty roll. Placing the full roll execution device in the middle of the mobile chassis 600 makes driving more stable when the full roll execution device is loaded with a full roll.

[0103] 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 mechanism, comprising a top plate (100), a bottom plate (200), a driving assembly (300), and a scissor assembly (400), wherein the top plate (100) and the bottom plate (200) are arranged opposite to each other, the scissor assembly is connected between the top plate (100) and the bottom plate (200), and the driving assembly (300) is used to drive a plurality of scissor sliders (410) of the scissor assembly (400) to slide along a set direction on the top plate (100) and the bottom plate (200) respectively, so as to drive the scissor assembly (400) to move and realize the lifting of the top plate (100), characterized in that The lifting mechanism further includes a lifting link (500), a first end of which is slidably disposed on the base plate (200), and a second end of which is hinged to the scissor assembly (400). When the scissor assembly lifts the top plate (100) to a set height, the lifting link (500) is perpendicular to the base plate (200).

2. The lifting mechanism according to claim 1, characterized in that: The lifting link (500) comprises a lifting link body (510) and a link slider (520), wherein a first end of the lifting link body (510) is hinged to the link slider (520), the link slider (520) forms the first end of the lifting link (500), and a second end of the lifting link body (510) forms the second end of the lifting link (500); The connecting rod slider (520) is slidably arranged on the bottom plate.

3. The lifting mechanism according to claim 2, characterized in that: The driving assembly (300) includes a screw assembly, one end of which is connected to a scissor-fork slider of the scissor-fork assembly (400) located on the base plate, and the other end of which is fixedly connected to the base plate; A through hole is formed on the connecting rod slider (520), and the screw (310) of the screw assembly passes through the through hole, so that the connecting rod slider (520) is sleeved on the screw (310) of the screw assembly, and the diameter of the through hole is larger than the diameter of the screw.

4. The lifting mechanism according to claim 2, characterized in that: The lifting mechanism further includes a connecting rod position sensor, which is used to generate corresponding prompt information according to the position of the connecting rod slider.

5. The lifting mechanism according to claim 4, characterized in that: The lifting mechanism further comprises a slider guide rail (530) matched with the connecting rod slider; the connecting rod position sensor comprises a baffle (521), a first photoelectric sensor (541), a second photoelectric sensor (542) and a third photoelectric sensor (543); the first photoelectric sensor (541), the second photoelectric sensor (542) and the third photoelectric sensor (543) are sequentially arranged on the slider guide rail (530); the baffle (521) is arranged on the connecting rod slider (520); and when the connecting rod slider (520) slides to a corresponding position along the slider guide rail (530), the baffle can be respectively inserted between the light emitting surface and the light receiving surface of one of the first photoelectric sensor (541), the second photoelectric sensor (542) and the third photoelectric sensor (543) corresponding to the position; The distance between the first photoelectric sensor (541) and the second photoelectric sensor (542) is smaller than the distance between the second photoelectric sensor (542) and the third photoelectric sensor (543); When the lifting link (500) moves to the third photoelectric sensor (543), the lifting link is perpendicular to the bottom plate (200).

6. The lifting mechanism according to claim 5, characterized in that: The lifting mechanism further comprises a first limit block and a second limit block, wherein the first limit block is arranged on a side of the first photoelectric sensor (541) away from the second photoelectric sensor (542) to abut against the scissors fork slider when the scissors fork slider slides beyond the first photoelectric sensor (541); and the second limit block is arranged on a side of the third photoelectric sensor (543) away from the second photoelectric sensor (542) to abut against the scissors fork slider when the scissors fork slider moves beyond the third photoelectric sensor (543).

7. The lifting mechanism according to any one of claims 1 to 6, characterized in that: The scissor assembly (400) comprises a plurality of sub-scissor assemblies arranged side by side along a first direction, the scissor sliders of the plurality of sub-scissor assemblies are located on the same side, and the lifting connecting rod (500) is arranged between two adjacent sub-scissor assemblies.

8. The lifting mechanism according to claim 7, characterized in that: The sub-scissor assembly includes multiple scissor forks, which are connected in sequence along the lifting direction of the lifting mechanism. The scissors fork comprises two scissors fork arms that are cross-hinged, and the second end of the lifting link (500) is hinged to a scissors fork arm arranged on the base plate, wherein the hinge point between the lifting link (500) and the scissors fork arm is located between the cross hinge point of the scissors fork and the hinge point of the scissors fork arm and the base plate.

9. The lifting mechanism according to any one of claims 1 to 6, characterized in that: The lifting mechanism further includes a distance sensor, which is used to detect the distance between the top plate and the bottom plate.

10. The lifting mechanism according to claim 9, characterized in that: The distance sensor includes a pull-wire sensor, and two ends of the pull-wire sensor are respectively arranged on the top plate and the bottom plate.

11. A material roll execution device, comprising a lifting mechanism, characterized in that: The material roll execution device also includes a material roll carrier, which is arranged on the carrying surface of the top plate, and is used to carry materials. The lifting mechanism is the lifting mechanism described in any one of claims 1 to 10.

12. The material roll execution device according to claim 11, characterized in that: The material roll execution device includes a material buffer assembly, and the material buffer assembly includes two guide legs (810) and two guide plates (820). The two guide plates (820) correspond to the two guide legs (810) one by one. The two guide legs are arranged on the movable chassis at intervals and are respectively located on the outside of the material roll carrier. The first end of the guide plate (820) is fixed to the end of the corresponding guide leg (810) away from the movable chassis, and the second end of the guide plate (820) extends in a direction away from the guide leg (810). The distance between the second ends of the two guide plates (820) is greater than the distance between the first ends of the two guide plates (820).

13. The material roll execution device according to claim 11 or 12, characterized in that: The material roll carrier includes a carrier plate (710) and at least one bin pair, wherein the bin pair is arranged on the surface of the carrier plate (710) facing away from the top plate (100), and the bin pair includes two bins (720), and the two bins (720) of the bin pair are spaced apart along the length direction of the carrier plate (710).

14. A transport robot comprising a mobile chassis (600) and at least one roll execution device, wherein the roll execution device is arranged on the mobile chassis (600), characterized in that: At least one of the roll execution devices is the roll execution device according to any one of claims 11 to 13, and the base plate (200) is arranged on the movable chassis (600).

15. The transport robot according to claim 14, characterized in that: The handling robot includes two roll execution devices, and the two roll execution devices are respectively a full roll execution device (1100) and an empty roll execution device, and the empty roll execution device is the roll execution device described in any one of claims 10 to 12.

16. The transport robot according to claim 15, characterized in that: The full roll execution device (1100) is located in the middle of the mobile chassis of the handling robot, and the empty roll execution device is located in front of the full roll execution device.

Images