Jacking device and mobile robot

Abstract

The utility model relates to a jacking device and a mobile robot, and the jacking device comprises a base; the first lifting platform is arranged above the base; the plurality of jacking mechanisms are uniformly distributed at the bottom of the first lifting platform; the jacking mechanism comprises a lifting screw rod rotationally connected with the first lifting platform, a lifting screw sleeve in threaded fit with the lifting screw rod, and a second driven gear coaxially fixed with the lifting screw rod; the lifting screw sleeve is fixedly mounted on the base; the driving mechanism is mounted on the first lifting platform and is in transmission connection with the second driven gears of the jacking mechanisms; the driving mechanism is arranged to drive the second driven gears of the jacking mechanisms to rotate synchronously, so that the lifting screws rotate relative to the corresponding lifting threaded sleeves and ascend and descend in the axial direction, and the first lifting platform ascends and descends. According to the utility model, a plurality of jacking mechanisms are kept balanced in the material lifting process by utilizing a single driving mechanism.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a lifting device and a mobile robot. Background Technology

[0002] A mobile robot is an intelligent machine equipped with advanced sensors and intelligent algorithms, capable of moving autonomously or semi-autonomously in a specific environment. There are many types of existing mobile robots, such as conveyor robots for transporting materials, buffer robots for buffering materials, and lifting robots for hoisting materials.

[0003] For lifting robots, the lifting device generates sufficient lifting force in the vertical direction to raise objects to a certain height. For lifting larger materials, the lifting device needs to provide stable support in multiple directions to maintain balance during the lifting process. Existing lifting devices typically require multiple drive mechanisms to achieve this. This not only increases equipment costs but also presents the challenge of synchronizing and coordinating multiple drive mechanisms. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model discloses a lifting device and a mobile robot.

[0005] The technical solution adopted in this utility model is as follows:

[0006] In a first aspect, a lifting device is provided, comprising:

[0007] Base;

[0008] The first lifting platform is located above the base;

[0009] Multiple lifting mechanisms are evenly distributed at the bottom of the first lifting platform; each lifting mechanism includes a lifting screw rotatably connected to the first lifting platform, a lifting sleeve threadedly engaged with the lifting screw, and a second driven gear coaxially fixed to the lifting screw; the lifting sleeve is fixedly installed on the base.

[0010] A drive mechanism is installed on the first lifting platform and is connected to the second driven gear of each of the lifting mechanisms. The drive mechanism is configured to drive the second driven gear of each of the lifting mechanisms to rotate synchronously, thereby causing each of the lifting screws and the corresponding lifting sleeves to rotate relative to each other and to move up and down along the axial direction, so as to raise and lower the first lifting platform.

[0011] In one embodiment of the present invention, a first driven gear is rotatably disposed at the bottom center of the first lifting platform and meshes with the second driven gear; the driving mechanism is connected to the first driven gear.

[0012] In one embodiment of this utility model, it further includes a first bearing coaxially arranged with the first driven gear, a bearing mounting plate fixed to the first lifting platform, a bearing inner ring mounting ring coaxially fixed to the bottom of the bearing mounting plate, and a bearing outer ring pressure plate coaxially fixed to the top of the first driven gear; the inner ring of the first bearing is fixed to the bearing inner ring mounting ring, and the outer ring of the first bearing is fixed to the first driven gear; the inner diameter of the bearing outer ring pressure plate is smaller than the outer diameter of the outer ring of the first bearing.

[0013] In one embodiment of the present invention, the bottom of the first driven gear extends radially inward to form an annular first step portion, the inner diameter of the first step portion being smaller than the outer diameter of the outer ring of the first bearing, so that the first step portion abuts against the outer ring of the first bearing upward; the bottom of the bearing inner ring mounting ring extends radially outward to form a second step portion, the diameter of the second step portion being larger than the inner diameter of the inner ring of the first bearing, so that the second step portion abuts against the inner ring of the first bearing upward.

[0014] In one embodiment of the present invention, a second lifting platform is further provided within the base; the second lifting platform is rotatably connected to the lifting screws of each of the lifting mechanisms.

[0015] In one embodiment of this utility model, a second bearing is provided at the bottom of the lifting screw, and the second bearing is connected to the second lifting platform through a bearing retaining ring; a third bearing is provided at the top of the lifting screw, and the third bearing is connected to the first lifting platform through a bearing pressure plate.

[0016] In one embodiment of this utility model, the driving mechanism includes a driving support platform disposed parallel to the bottom of the first lifting platform, a plurality of fixed columns disposed on the first lifting platform and the driving support platform, a reducer fixed to the driving support platform, a driving motor connected to the input end of the reducer, and a driving gear connected to the output end of the reducer; the two ends of the fixed columns are respectively connected to the first lifting platform and the driving support platform; the driving gear is disposed on the first lifting platform and the driving support platform and meshes with the first driven gear.

[0017] In one embodiment of the present invention, the base includes a first support platform, a fixed bracket fixed to the first support platform, and a second support platform disposed on the fixed bracket; the lifting screw sleeve is fixed to the second support platform.

[0018] In one embodiment of the present invention, a photoelectric sensor fixed to the fixed bracket and a photoelectric sensor sheet fixed to the second lifting platform are also included.

[0019] Secondly, a mobile robot is provided, comprising:

[0020] Chassis main body;

[0021] The lifting device provided in the first aspect is located inside the chassis body;

[0022] The lifting platform is located on the first lifting platform.

[0023] The above-mentioned technical solution of this utility model has the following advantages compared with the prior art:

[0024] In the lifting device described in this utility model, the drive mechanism achieves smooth lifting and lowering of the first lifting platform through the synchronous operation of multiple lifting mechanisms, thereby realizing the lifting and lowering of materials. The lifting stroke is precisely controlled, and the lifting process can maintain a uniform speed, achieving smoothness and stability in lifting and lowering.

[0025] The lifting device described in this invention utilizes a single drive mechanism to synchronize the operation of multiple lifting mechanisms. This maintains balance during material lifting and lowering, ensuring smooth lifting and lowering processes, while simultaneously reducing costs. Attached Figure Description

[0026] To make the content of this utility model easier to understand, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0027] Figure 1 This is a schematic diagram of the lifting device.

[0028] Figure 2 This is a side view of the lifting device.

[0029] Figure 3 yes Figure 2 Cross-sectional view at point AA.

[0030] Figure 4 This is a schematic diagram of the installation of the first driven gear.

[0031] Figure 5 yes Figure 4 A sectional view of the structure.

[0032] Figure 6 This is a schematic diagram of the lifting mechanism.

[0033] Figure 7 This is a structural diagram of a mobile robot.

[0034] Figure 8 This is a side view of the mobile robot (excluding the lifting platform and side panels).

[0035] Explanation of reference numerals in the instruction manual:

[0036] 10. Chassis main body; 20. Lifting platform; 30. Side panel;

[0037] 40. Lifting device; 41. First support platform; 42. Fixed bracket; 43. Second support platform;

[0038] 44. Lifting mechanism; 441. Second lifting platform; 442. First lifting platform; 443. Lifting screw; 444. Lifting sleeve; 445. First driven gear; 4451. First step; 446. Second driven gear;

[0039] 45. Drive mechanism; 451. Drive motor; 452. Reducer; 453. Drive support platform; 454. Drive gear; 455. Fixed column;

[0040] 461. First bearing; 462. Bearing mounting plate; 463. Bearing outer ring pressure plate; 464. Bearing inner ring mounting ring; 4641. Second step; 465. Second bearing; 466. Bearing retaining ring; 467. Limiting ring; 468. Shaft collar; 469. Third bearing; 470. Bearing upper pressure plate;

[0041] 51. Photoelectric sensor sheet; 52. Photoelectric sensor. Detailed Implementation

[0042] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments are not intended to limit the present invention.

[0043] Existing lifting robots typically require multiple lifting devices when facing scenarios involving the lifting of large materials; otherwise, it is difficult to guarantee the stability of the lifting devices during the lifting process.

[0044] To address the aforementioned problems, this embodiment provides a lifting device and a mobile robot.

[0045] Combination Figure 1 , Figure 7 and Figure 8 This embodiment provides a mobile robot, including a chassis body 10, a lifting device 40 disposed on the chassis body 10, and a lifting platform 20 disposed on the lifting device 40.

[0046] The chassis body 10 can adopt a chassis structure of IGV (Intelligent Guided Vehicle), AGV (Automated Guided Vehicles), or AMR (Autonomous Mobile Robot) to enable the mobile robot to move between different locations.

[0047] In this embodiment, as Figure 7 As shown, the chassis body 10 is provided with side panels 30 on its sides. The side panels 30 can protect the internal mechanisms of the mobile robot from external physical damage, such as impacts, dust, water, and other potentially destructive factors. Furthermore, during the operation of the mobile robot, the side panels 30 can reduce interference from external objects such as debris and liquids on the movement of the mobile robot.

[0048] Combination Figures 1 to 3 The lifting device 40 includes a base, a first lifting platform 442, multiple lifting mechanisms 44, and a drive mechanism 45. The first lifting platform 442 is located above the base. The multiple lifting mechanisms 44 are evenly distributed at the bottom of the first lifting platform 442. The drive mechanism 45 is installed on the first lifting platform 442 and drives the lifting mechanisms 44 to operate.

[0049] Specifically, if Figure 1 As shown, the base includes a first support platform 41 mounted on the chassis body 10, a fixed bracket 42 fixed to the first support platform 41, and a second support platform 43 mounted on the fixed bracket 42. The fixed bracket 42 may employ a frame structure, making the entire fixed bracket 42 more stable and capable of withstanding greater loads. Furthermore, the frame structure effectively distributes the force, making the fixed bracket 42 less prone to deformation or damage when subjected to weight, pressure, or impact.

[0050] The lifting mechanism 44 includes a lifting screw 443, a lifting sleeve 444, and a second driven gear 446. The lifting screw 443 is rotatably connected to the first lifting platform 442. The lifting sleeve 444 is threadedly engaged with the lifting screw 443. The second driven gear 446 is coaxially fixed to the lifting screw 443. The lifting sleeve 444 is fixedly installed on the base. The top end of the lifting screw 443 is rotatably connected to the first lifting platform 442. The lifting sleeve 444 is fitted onto the lifting screw 443 and threadedly engaged with it. The lifting screw 443 passes through the second support platform 43 and is fixedly connected to it. The number of second driven gears 446 is equal to the number of lifting screws 443, and each second driven gear 446 is coaxially fixed to one of the lifting screws 443. The second driven gears 446 are fixed near the top of the lifting screw 443.

[0051] A drive mechanism 45 is mounted on the first lifting platform 442. The drive mechanism 45 is also connected to the second driven gears 446 of all lifting mechanisms 44. The drive mechanism 45 drives the second driven gears 446 of each lifting mechanism 44 to rotate synchronously, thereby causing each lifting screw 443 to rotate. The lifting screw 443 rotates relative to the lifting sleeve 444 and moves up and down along the axial direction of the lifting sleeve 444, thereby causing the first lifting platform 442 to rise and fall.

[0052] In a further embodiment, the lifting screws 443 of the multiple lifting mechanisms 44 are evenly distributed around the vertical centerline of the first lifting platform 442. By evenly distributing the multiple lifting screws 443 around the centerline, the first lifting platform 442 experiences uniform force during vertical lifting, reducing the possibility of uneven loading and tilting. This design allows the first lifting platform 442 to remain horizontal when bearing a load, providing good working platform stability, and also helps to improve the rigidity of the entire lifting mechanism 44 and reduce vibration.

[0053] In a further embodiment, the lifting mechanism 44 further includes a first driven gear 445 rotatably disposed at the center of the bottom of the first lifting platform 442. The first driven gear 445 meshes with a second driven gear 446. The drive mechanism 45 is connected to the first driven gear 445.

[0054] In a further embodiment, combined with Figures 3 to 5 The lifting device 40 also includes a first bearing 461, a bearing mounting plate 462, a bearing inner ring mounting ring 464, and a bearing outer ring pressure plate 463. The first bearing 461 is coaxially arranged with the first driven gear 445. The bearing mounting plate 462 is fixed to the bottom of the first lifting platform 442. The bearing inner ring mounting ring 464 is coaxially fixed to the bottom of the bearing mounting plate 462. The bearing outer ring pressure plate 463 is coaxially fixed to the top of the first driven gear 445. The inner ring of the first bearing 461 is fixed to the bearing inner ring mounting ring 464, and the outer ring of the first bearing 461 is fixed to the first driven gear 445. The inner ring of the first bearing 461 is coaxially fitted onto the bearing inner ring mounting ring 464. The inner diameter of the bearing outer ring pressure plate 463 is smaller than the outer diameter of the outer ring of the first bearing 461.

[0055] Among them, such as Figure 5 As shown, the bottom of the first driven gear 445 extends radially inward to form an annular first stepped portion 4451. The inner diameter of the first stepped portion 4451 is smaller than the outer diameter of the outer ring of the first bearing 461, so that the first stepped portion 4451 abuts upward against the outer ring of the first bearing 461. The bottom of the bearing inner ring mounting ring 464 extends radially outward to form a second stepped portion 4641. The diameter of the second stepped portion 4641 is larger than the inner diameter of the inner ring of the first bearing 461, so that the second stepped portion 4641 abuts upward against the inner ring of the first bearing 461.

[0056] In a further embodiment, such as Figure 2 As shown, the lifting device 40 also includes a second lifting platform 441 disposed within the base. The second lifting platform 441 is horizontally disposed between the first support platform 41 and the second support platform 43. Furthermore, the second lifting platform 441 is rotatably connected to the lifting screw 443 of each lifting mechanism 44.

[0057] Specifically, in combination Figure 6 The bottom of the lifting screw 443 is provided with a second bearing 465, which is connected to the second lifting platform 441 through a bearing retaining ring 466. The top of the lifting screw 443 is provided with a third bearing 469, which is connected to the first lifting platform 442 through a bearing upper pressure plate 470. The bearing upper pressure plate 470 is used to fix the third bearing 469 and prevent the third bearing 469 from moving axially.

[0058] Furthermore, the lifting mechanism 44 also includes a collar 468 and a limiting ring 467. The collar 468 and the limiting ring 467 are coaxially mounted on the lifting screw 443. The collar 468 is used to support the third bearing 469, and the limiting ring 467 is used to limit the axial movement of the second driven gear 446.

[0059] like Figure 3 As shown, the drive mechanism 45 includes a drive motor 451, a reducer 452, a drive support platform 453, a drive gear 454, and multiple fixed columns 455. The drive support platform 453 is arranged parallel to the bottom of the first lifting platform 442. The multiple fixed columns 455 are located between the first lifting platform 442 and the drive support platform 453. The reducer 452 is fixed to the drive support platform 453. The drive motor 451 is fixedly connected to the reducer 452. The output end of the drive motor 451 is connected to the input end of the reducer 452. The drive gear 454 is located between the first lifting platform 442 and the drive support platform 453. The drive gear 454 is connected to the output end of the reducer 452 and meshes with the first driven gear 445. The two ends of the fixed columns 455 are fixedly connected to the first lifting platform 442 and the drive support platform 453 respectively, thus leaving a gap between the first lifting platform 442 and the drive support platform 453 to accommodate the drive gear 454. The reducer 452 is installed at the bottom of the drive support platform 453. The output shaft of the reducer 452 extends upward through the drive support platform 453 and is fixed coaxially with the drive gear 454.

[0060] In a further embodiment, the drive motor 451 is horizontally positioned, which can more effectively reduce vibration and noise caused by unbalanced mass, thereby improving the operational smoothness and service life of the drive motor 451. The horizontally positioned drive motor 451 is easier to install and maintain, as it allows for convenient access to all components for inspection or replacement. Furthermore, the horizontally positioned drive motor 451 reduces its vertical space occupation, thereby effectively increasing the lifting stroke of the first lifting platform 442.

[0061] In a further embodiment, each lifting mechanism 44 can be evenly distributed along the circumference of the drive gear 454, which can achieve uniform lifting speed of the lifting platform 20 and synchronous lifting of each part of the lifting platform 20.

[0062] In a further embodiment, such as Figure 1 As shown, the lifting device 40 also includes a photoelectric sensor 52 fixed to the fixed bracket 42 and a photoelectric sensor plate 51 fixed to the second lifting platform 441. The photoelectric sensors 52 are typically arranged in pairs, one above the other. When the second lifting platform 441 descends to its limit position, the photoelectric sensor plate 51 is activated to block the light from the lower photoelectric sensor 52. This light blocking triggers the photoelectric sensor 52, causing it to generate a signal that stops the descent of the second lifting platform 441, thus preventing a collision between the second lifting platform 441 and the first support platform 41, which could damage either the second lifting platform 441 or the first support platform 41, and causing vibration during the material descent process. Similarly, when the second lifting platform 441 rises to its limit position, the photoelectric sensor plate 51 is activated to block the light from the upper photoelectric sensor 52. This stops the second lifting platform 441 from rising, thus preventing a collision between the second lifting platform 441 and the second support platform 43.

[0063] The working principle of this utility model is as follows:

[0064] The drive mechanism 45 drives each lifting mechanism 44 to lift and lower to realize the lifting and lowering of the first lifting platform 442, thereby enabling the lifting platform 20 on it to lift and lower the transported materials.

[0065] Specifically, when the drive motor 451 is started, the reducer 452 reduces the input speed of the drive motor 451 and increases the output torque, thereby driving or transmitting power to the drive gear 454 at the output end. The drive gear 454 and the first driven gear 445 mesh and transmit power, and the first driven gear 445 drives the second driven gear 446 of all lifting mechanisms 44 to rotate synchronously. The second driven gear 446 drives the lifting screw 443 to rotate within the lifting sleeve 444, thereby causing all lifting screws 443 to rise and fall synchronously. With the synchronous rise and fall of the lifting screws 443, the second lifting platform 441 and the first lifting platform 442 rise and fall synchronously, and the first lifting platform 442 in turn causes the lifting platform 20 to rise and fall synchronously.

[0066] Compared with existing technologies, this embodiment only requires a single drive mechanism 45 to enable multiple lifting mechanisms 44 to operate synchronously, thereby allowing the first lifting platform 442 and the lifting platform 20 to rise and fall smoothly, improving the stability of the material lifting process. This solves the problem of coordination among multiple lifting mechanisms 44 while reducing costs. Furthermore, the lifting screws 443 in each lifting mechanism 44 not only drive the lifting but also cooperate to guide the lifting of the first lifting platform 442. The second lifting platform 441 can provide stability control for the multiple lifting screws 443 from the bottom, reducing their swaying.

[0067] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. A lifting device, characterized in that, include: Base; The first lifting platform (442) is located above the base; Multiple lifting mechanisms (44) are evenly distributed at the bottom of the first lifting platform (442); each lifting mechanism (44) includes a lifting screw (443) rotatably connected to the first lifting platform (442), a lifting sleeve (444) threadedly engaged with the lifting screw (443), and a second driven gear (446) coaxially fixed with the lifting screw (443); the lifting sleeve (444) is fixedly installed on the base; A drive mechanism (45) is installed on the first lifting platform (442) and is connected to the second driven gear (446) of each of the lifting mechanisms (44) for transmission. The drive mechanism (45) is configured to drive the second driven gear (446) of each of the lifting mechanisms (44) to rotate synchronously, thereby causing each of the lifting screws (443) to rotate relative to the corresponding lifting sleeve (444) and to rise and fall along the axial direction, so that the first lifting platform (442) can rise and fall. The second lifting platform (441) is located inside the base; the second lifting platform (441) is rotatably connected to the lifting screw (443) of each of the lifting mechanisms (44).

2. The lifting device according to claim 1, characterized in that, It also includes a first driven gear (445) that is rotatably disposed at the bottom center of the first lifting platform (442) and meshes with the second driven gear (446); the drive mechanism (45) is connected to the first driven gear (445).

3. The lifting device according to claim 2, characterized in that, It also includes a first bearing (461) coaxially arranged with the first driven gear (445), a bearing mounting plate (462) fixed to the first lifting platform (442), a bearing inner ring mounting ring (464) coaxially fixed to the bottom of the bearing mounting plate (462), and a bearing outer ring pressure plate (463) coaxially fixed to the top of the first driven gear (445); the inner ring of the first bearing (461) is fixed to the bearing inner ring mounting ring (464), and the outer ring of the first bearing (461) is fixed to the first driven gear (445); the inner diameter of the bearing outer ring pressure plate (463) is smaller than the outer diameter of the outer ring of the first bearing (461).

4. The lifting device according to claim 3, characterized in that, The bottom of the first driven gear (445) extends radially inward to form an annular first step portion (4451). The inner diameter of the first step portion (4451) is smaller than the outer diameter of the outer ring of the first bearing (461) so that the first step portion (4451) abuts against the outer ring of the first bearing (461) upward. The bottom of the bearing inner ring mounting ring (464) extends radially outward to form a second step portion (4641). The diameter of the second step portion (4641) is larger than the inner diameter of the inner ring of the first bearing (461) so that the second step portion (4641) abuts against the inner ring of the first bearing (461) upward.

5. The lifting device according to claim 1, characterized in that, The bottom of the lifting screw (443) is provided with a second bearing (465), which is connected to the second lifting platform (441) through a bearing retaining ring (466); the top of the lifting screw (443) is provided with a third bearing (469), which is connected to the first lifting platform (442) through a bearing upper pressure plate (470).

6. The lifting device according to claim 2, characterized in that, The drive mechanism (45) includes a drive support platform (453) arranged parallel to the bottom of the first lifting platform (442), a plurality of fixed columns (455) arranged on the first lifting platform (442) and the drive support platform (453), a reducer (452) fixed to the drive support platform (453), a drive motor (451) connected to the input end of the reducer (452), and a drive gear (454) connected to the output end of the reducer (452); the two ends of the fixed column (455) are respectively connected to the first lifting platform (442) and the drive support platform (453); the drive gear (454) is arranged on the first lifting platform (442) and the drive support platform (453) and meshes with the first driven gear (445).

7. The lifting device according to claim 1, characterized in that, The base includes a first support platform (41), a fixed bracket (42) fixed on the first support platform (41), and a second support platform (43) provided on the fixed bracket (42); the lifting screw sleeve (444) is fixed to the second support platform (43).

8. The lifting device according to claim 7, characterized in that, It also includes a photoelectric sensor (52) fixed to the fixed bracket (42) and a photoelectric sensor sheet (51) fixed to the second lifting platform (441).

9. A mobile robot, characterized in that, include: Chassis body (10); The lifting device (40) as described in any one of claims 1-8 is disposed within the chassis body (10); The lifting platform (20) is located on the first lifting platform (442).

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