Jacking device and autonomous mobile robot

Abstract

The embodiment of the utility model provides a jacking device and an autonomous mobile robot. According to the jacking device, a crankshaft motor and a connecting rod mechanism are used, the output end of the crankshaft motor is hinged to a first rod, and then the other end of the first rod is hinged to the first end of a second rod and the first end of a third rod of the connecting rod mechanism; when the output end of the crankshaft motor outputs power, the first rod drives the second rod and the third rod to act, the included angle between the second rod and the third rod is changed, and then the shear fork assembly and the first jacking plate are pushed to ascend and descend. According to the scheme, due to the fact that the crankshaft motor is used, arrangement of related transmission mechanisms is reduced, and the structure is simple; the crankshaft motor drives the shear fork arm and the first jacking plate to act through the first rod, the second rod and the third rod, the whole transmission chain is short, the transmission efficiency is high, and the lifting speed of the lifting device is remarkably increased. Due to the fact that the transmission chain is short and the number of parts is small, the maintenance cost of the lifting device is low.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a lifting device and an autonomous mobile robot. Background Technology

[0002] Vertical lifting equipment is an indispensable tool in industrial production, logistics handling, and construction. For example, in the logistics handling field, there are products that incorporate lifting devices on AMRs (Automatic Mobile Robots). However, some existing lifting devices have shortcomings, such as limited load-bearing capacity, slow lifting speed, and low structural stability. Utility Model Content

[0003] In view of the above problems, this application is made to provide a lifting device and an autonomous mobile robot to solve or at least partially solve the above problems.

[0004] In one embodiment of this application, a lifting device is provided for mounting on a device body. Specifically, the lifting device includes:

[0005] Crankshaft motor;

[0006] The first rod, the second rod, and the third rod are hinged at the first end of the first rod, the first end of the second rod, and the first end of the third rod to the first shaft. The second end of the first rod is hinged to the output end of the crankshaft motor. The second end of the second rod is hinged to the second shaft. The second end of the third rod is used to hinge to the equipment body.

[0007] At least one set of scissor lift assemblies, the scissor lift assembly including a first scissor lift arm and a second scissor lift arm, the first scissor lift arm and the second scissor lift arm intersecting and hinged at the middle; the first scissor lift arm is connected to a second shaft, and a first end of the first scissor lift arm is used to hinge to the device body; the first end of the second scissor lift arm is used to slide hinge to the device body.

[0008] The first lifting plate, the second end of the first scissor arm is slidably hinged to the first lifting plate, and the second end of the second scissor arm is hinged to the first lifting plate.

[0009] Optionally, a connecting hole is provided at a position near the second end of the first scissor arm; the shaft end of the second shaft is disposed in the connecting hole.

[0010] Optionally, the bottom of the first lifting plate is provided with a first connecting seat; the first connecting seat is provided with a first sliding groove; the second end of the first scissor arm is hinged to the first roller shaft, the first roller shaft is provided with a first roller; the first roller is located in the first sliding groove.

[0011] Optionally, the lifting device further includes a second connecting seat for fixing to the equipment body; the first end of the first scissor arm is hinged to the second connecting seat.

[0012] Optionally, the lifting device further includes a third connecting seat for fixing to the equipment body; the third connecting seat is provided with a second sliding groove; the first end of the second scissor arm is hinged to the second roller shaft, the second roller shaft is provided with a second roller; the second roller is located in the second sliding groove.

[0013] Optionally, the bottom of the first lifting plate is provided with a fourth connecting seat; the second end of the second scissor arm is hinged to the fourth connecting seat.

[0014] Optionally, the lifting device further includes a second lifting plate and a sealing cover: the second lifting plate is disposed above the first lifting plate, and the size of the second lifting plate is larger than the size of the first lifting plate; the sealing cover is disposed below the second lifting plate to seal the first lifting plate, the crankshaft motor, the first rod, the second rod, the third rod, and at least one set of scissor fork assemblies in a closed space; wherein the sealing cover extends and retracts along with the lifting plate.

[0015] Optionally, the lifting device includes two sets of scissor lift assemblies; the lifting device includes a first U-shaped member and a second U-shaped member, the first U-shaped member having two parallel second rods, and the second U-shaped member having two parallel third rods.

[0016] Optionally, the lifting device further includes a distance sensor; the distance sensor is located below the first lifting plate and is used to detect the lifting distance of the first lifting plate.

[0017] In another embodiment of this application, an autonomous mobile robot is also provided. The autonomous mobile robot includes a device body on which a lifting device as described in the above embodiments is provided.

[0018] In the technical solution of this application embodiment, the lifting device uses a crankshaft motor and a connecting rod mechanism. The output end of the crankshaft motor is hinged to a first rod, and the other end of the first rod is hinged to the first ends of the second and third rods of the connecting rod mechanism. When the crankshaft motor outputs power, the first rod drives the second and third rods, changing the angle between them, thereby pushing the scissor lift assembly and the first lifting plate to rise and fall. Because this application embodiment uses a crankshaft motor, which directly outputs power along a circular trajectory, the setup of related transmission mechanisms is reduced, resulting in a simple structure. The crankshaft motor drives the scissor lift arm and the first lifting plate through the first, second, and third rods, resulting in a short transmission chain, high transmission efficiency, and significantly improved lifting speed. Furthermore, due to the short transmission chain and fewer parts, the lifting device provided by this solution has low maintenance costs. Through actual testing, the solution provided by this application embodiment also demonstrates good performance in terms of structural stability and load-bearing capacity. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1a A bottom view of a lifting device provided in an embodiment of this application;

[0021] Figure 1b This is a top view of a lifting device provided in an embodiment of this application;

[0022] Figure 1c This is a right-side view of a lifting device provided in an embodiment of this application;

[0023] Figure 1d This is a left-side view of a lifting device provided in an embodiment of this application;

[0024] Figure 1e A side view of a lifting device provided in an embodiment of this application;

[0025] Figure 1f A schematic diagram of a crankshaft motor in a lifting device provided in an embodiment of this application;

[0026] Figure 2 for Figure 1e A cross-sectional schematic diagram;

[0027] Figure 3 This is a side view of a lifting device provided in an embodiment of this application;

[0028] Figure 4 A schematic diagram of the connection structure of the crankshaft motor, the first rod, the second rod, and the third rod in a lifting device provided in an embodiment of this application;

[0029] Figure 5 A schematic diagram of an autonomous mobile robot provided in an embodiment of this application;

[0030] Figure 6 A schematic diagram of a lifting device for an autonomous mobile robot in a raised state, provided for an embodiment of this application;

[0031] Figure 7 This is a schematic diagram of an autonomous mobile robot lifting a carrier, provided as an embodiment of this application. Detailed Implementation

[0032] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. It is understood that the specific embodiments described herein are merely for explaining the present application and not for limiting it. Furthermore, it should be noted that, for ease of description, the accompanying drawings only show the parts relevant to the present application and not all structures. In the description of this application, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two elements or the interaction between two elements. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0033] In this application, unless otherwise expressly specified and limited, "above" or "below" a second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of a second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" of a second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature. In the description of this embodiment, the terms "above," "below," "left," "right," etc., of orientation or positional relationship are based on the orientation or positional relationship shown in the drawings and are only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. In addition, the terms "first" and "second" are only used for descriptive distinction and have no special meaning.

[0034] Figures 1a to 1f , Figure 2 and Figure 3 This application illustrates a lifting device according to an embodiment. This lifting device can be installed on intelligent forklifts, autonomous mobile robots, picking robots, etc., in the logistics field, or on work vehicles with lifting devices, autonomous traveling lifting vehicles, etc., in the construction field; this embodiment does not specifically limit its application.

[0035] As shown in Figure 1~ Figure 1f , Figure 2 and Figure 3 As shown, the lifting device includes a crankshaft motor 1, a first rod 2, a second rod 3, a third rod 4, at least one set of scissor lift assemblies 5, and a first lifting plate 6. The first ends of the first rod 2, the second rod 3, and the third rod 4 are hinged to a first shaft 7. The second end of the first rod 2 is hinged to the output end of the crankshaft motor 1. The second end of the second rod 3 is hinged to a second shaft 8. The second end of the third rod 4 is hinged to the device body.

[0036] The lifting device may include one, two, or more sets of scissor lift assemblies 5, etc. In this embodiment, the connection of one set of scissor lift assemblies will be described first; the connection methods of the remaining sets of scissor lift assemblies are similar.

[0037] like Figure 1eAs shown, the scissor lift assembly 5 includes a first scissor lift arm 51 and a second scissor lift arm 52, which intersect and are hinged at their midpoints. The first scissor lift arm 51 is rotatably connected to the second shaft 8, and its first end is hinged to the equipment body. The first end of the second scissor lift arm 52 is slidably hinged to the equipment body. The second end of the first scissor lift arm 51 is slidably hinged to the first lifting plate 6, and the second end of the second scissor lift arm 52 is also hinged to the first lifting plate 6.

[0038] It should be noted that the term "sliding hinge" as used herein refers to connecting two objects via a hinge, allowing one object to slide and rotate relative to the other. In this embodiment, the sliding hinge between the second end of the first scissor arm and the first lifting plate means that the second end of the first scissor arm is connected to the first lifting plate via a hinge, and the second end of the first scissor arm can slide relative to the first lifting plate. Similarly, the sliding hinge between the first end of the second scissor arm and the equipment body means that the first end of the second scissor arm is connected to the equipment body via a hinge, and the first end of the second scissor arm can slide relative to the equipment body.

[0039] In addition, "rotatable connection" refers to any connection method that allows two objects to rotate relative to each other. It is not necessarily achieved through hinges, but can also be achieved through bearing connections or other methods.

[0040] In this embodiment of the application, a crankshaft motor is used, which directly outputs power for a circular trajectory 100 (see...). Figure 1f This design reduces the number of related transmission mechanisms, resulting in a simpler structure. The crankshaft motor drives the scissor arm and the first lifting plate through the first, second, and third rods. The entire transmission chain is short, resulting in high transmission efficiency and significantly improved lifting speed. Furthermore, due to the short transmission chain and fewer parts, the lifting device provided by this solution has low maintenance costs. Actual testing shows that the solution provided in this application also exhibits good structural stability and load-bearing capacity.

[0041] In one specific implementation, a connection hole 511 is provided near the second end of the first scissor arm 51. For example... Figure 1e As shown, a boss protruding toward the second shaft is provided near the second end of the first scissor arm 51, and a connecting hole 511 may be provided on the boss. The shaft end of the second shaft 8 is located in the connecting hole 511. More specifically, the shaft end of the second shaft 8 may be provided with a bearing, which is located in the connecting hole 511, wherein the bearing may be interference-fitted with the connecting hole 511.

[0042] Of course, other structures can also be used, such as connecting the first scissor arm and the second shaft via a hinge, such as... Figure 3In the example shown, a through hole is provided near the second end of the first scissor arm, through which the second shaft passes and is hinged to the first scissor arm. Alternatively, the first scissor arm has a protrusion extending toward the second shaft. The end of the second shaft has a shaft hole, and the protrusion is placed in the shaft hole; or, the protrusion and the second shaft are connected by an intermediate connector, and the protrusion and the second shaft can rotate relative to each other; etc., this embodiment does not limit this.

[0043] See Figure 3 As shown, the bottom of the first lifting plate 6 is provided with a first connecting seat 91. The first connecting seat 91 is provided with a first sliding groove ( Figure 3 (Angle not shown). The first groove along... Figure 3 The arrow in the diagram extends in the direction shown. The second end of the first scissor arm 51 is hinged to the first roller shaft, and the first roller shaft is provided with a first roller; the first roller is located in the first groove.

[0044] Furthermore, the lifting device also includes a second connecting seat 92, which is used to fix it to the equipment body. The first end of the first scissor arm 51 is hinged to the second connecting seat 92.

[0045] See also Figure 3 As shown, the lifting device further includes a third connecting seat 93, which is used to fix it to the equipment body. The third connecting seat 93 is provided with a second sliding groove. Figure 3 (Angle not shown). The second groove along... Figure 3 The arrow shown extends in the direction indicated. See also Figure 1e As shown, the first end of the second scissor arm 52 is hinged to the second roller shaft, and the second roller shaft is provided with a second roller 521; the second roller 521 is located in the second groove.

[0046] Furthermore, the bottom of the first lifting plate 6 is provided with a fourth connecting seat 94; the second end of the second scissor arm 52 is hinged to the fourth connecting seat 94.

[0047] like Figure 2 As shown, the lifting device also includes a second lifting plate 10 and a sealing cover 11. It should be noted here that: Figure 2 Only a portion of the central sealing cover 11 is shown. From the overall perspective of the autonomous mobile robot, as shown in the figure, the sealing cover 11 is located below the second lifting plate 10, and encloses the first lifting plate 6, crankshaft motor 1, first rod 2, second rod 3, third rod 4, and at least one set of scissor lift assemblies 5 in a sealed space.

[0048] The second lifting plate 10 is positioned above the first lifting plate 6, and the size of the second lifting plate 10 is larger than the size of the first lifting plate 6. Further, as... Figure 1aAs shown, the second lifting plate 10 has two opposite sides. The first side is close to the crankshaft motor 1, and the second side is opposite to the first side and away from the crankshaft motor 1. The second side of the second lifting plate 10 is provided with a notch 12, which can be used for positioning to guide the autonomous mobile robot into the bottom of the carrier (such as a tray or cage) and stop at the target position.

[0049] See Figure 2 As shown, the sealing cover 11 is positioned below the second lifting plate 10 to seal the first lifting plate 6, crankshaft motor 1, first rod 2, second rod 3, third rod 4, and at least one set of scissor lift assemblies 5 within a closed space. The sealing cover 11 can extend and retract with the lifting of the first lifting plate 6 and the second lifting plate 10. In specific implementations, the sealing cover 11 can be a bellows cover or a dustproof roller shutter, etc. By setting the sealing cover 11, the various components and structures of the lifting device can be sealed in a closed space, preventing dust from entering, and providing high safety and a simpler appearance.

[0050] In addition, a second lifting plate 10 is added above the first lifting plate 6. The second lifting plate 10, as an exposed component, hides the components located in the enclosed space (such as the first lifting plate, crankshaft motor, first rod, second rod, third rod, and at least one set of scissor lift assemblies) below, resulting in a simpler appearance.

[0051] like Figure 1b , Figure 1e and Figure 2 As shown, the second lifting plate 10 is equipped with two carrier docking positioning blocks 13. These two carrier docking positioning blocks 13 are used for positioning when docking with carriers (such as cage cars, single-layer material cars, multi-layer material cars, transfer machines, material tray cars, etc.). For different types of carriers, the size and relative position of these two carrier docking positioning blocks may be different. In this embodiment, the second lifting plate is treated as an independent part, and the corresponding carrier can be adapted to be docked by replacing the second lifting plate, making the lifting device more flexible.

[0052] Specifically, such as Figure 2 As shown, there is a gap 14 between the edge of the first lifting plate 6 and the second lifting plate 10. This gap 14 serves as a mounting groove, and the upper end of the sealing cover 11 can be inserted into the mounting groove for fixation, such as by adhesive, screws, etc.

[0053] The example lifting device shown in the accompanying drawings of this application includes a structure comprising two sets of scissor lift assemblies 5. Specifically, the lifting device includes a first U-shaped member 15 and a second U-shaped member 16. The first U-shaped member 15 has two parallel second rods 3, and the second U-shaped member 16 has two parallel third rods 4. Correspondingly, the second ends of the two parallel second rods 3 are connected together, that is, the bottom of the first U-shaped member 15 is hinged to the second shaft 8, and the two spaced-apart ends of the first U-shaped member 15 (i.e., the first ends of the two second rods 3) are hinged to the first shaft 7. The first ends of the two parallel third rods 4 are connected together, that is, the bottom of the second U-shaped member 16 is hinged to the first shaft 7, and the two spaced-apart ends of the second U-shaped member 16 (i.e., the second ends of the two third rods) are respectively hinged to their respective third shafts 17. The third shaft 17 may be a component on the equipment body, or the third shaft 17 may be mounted on a mounting base on the equipment body.

[0054] See Figure 1e As shown, the lifting device in this embodiment also includes a distance sensor 18. This distance sensor 18 is communicatively connected to a control device on the device body. The distance sensor 18 is located below the first lifting plate 6 and is used to detect the lifting distance of the first lifting plate 6. Correspondingly, the control device is also electrically connected to a crankshaft motor. The control device controls the start and stop of the crankshaft motor based on the detection information from the distance sensor.

[0055] For example, when the first lifting plate 6 needs to rise, the control device controls the crankshaft motor 1 to start, outputting power in a first direction (such as clockwise); when the distance sensor 18 detects that the first lifting plate 6 has risen to a first preset distance, the control device controls the crankshaft motor 1 to stop working. When the first lifting plate 6 needs to descend, the control device controls the crankshaft motor 1 to start, outputting power in a second direction (such as counterclockwise); when the distance sensor detects that the first lifting plate has descended to a second preset distance, the control device controls the crankshaft motor 1 to stop working.

[0056] The working principle of the lifting device provided in the embodiments of this application will be explained below.

[0057] See Figure 1e and Figure 2 As shown, the output end of crankshaft motor 1 rotates clockwise on the left side. Figure 1e and Figure 2 When the angle corresponding to the shown viewpoint is clockwise, the first lever 2 moves to the right along with the output end of the crankshaft motor 1, pulling the hinge point of the second lever 3 and the third lever 4 to the right as well. The included angle between the second lever 3 and the third lever 4 increases, pushing the two sets of scissor lift assemblies 5 and the lifting plates (the first lifting plate 6 and the second lifting plate 10) upward. When the output end of the crankshaft motor 1 rotates to the rightmost position, the lifting plates (the first lifting plate 6 and the second lifting plate 10) move upward to the highest point.

[0058] The output end of crankshaft motor 1 rotates counterclockwise on the far right. Figure 1e and Figure 2 When the angle corresponding to the shown viewpoint is clockwise, the first rod 2 moves to the left in sync, and the hinge point of the second rod 3 and the third rod 4 also moves to the left. The angle between the second rod 3 and the third rod 4 becomes smaller, and the two sets of scissor assemblies 5 and the lifting plates (the first lifting plate 6 and the second lifting plate 10) will move downwards.

[0059] Based on the lifting device provided in the above embodiments, this application also provides an autonomous mobile robot. For example... Figure 5 and Figure 6 As shown. The autonomous mobile robot includes a device body 20, which is equipped with a lifting device as provided in the above embodiment. Specifically, the structure of the lifting device of the autonomous mobile robot in this embodiment can be found in the above description, and will not be repeated here.

[0060] The autonomous mobile robot's body 20 can be equipped with environmental perception and autonomous navigation functions. Based on these functions, the autonomous mobile robot can travel to places such as... Figure 7 Below the carrier 30 (such as a material tray), the lifting device operates, and the second lifting plate 10 rises. During the rise, it is positioned by two carrier docking and positioning blocks 13 on the second lifting plate 10, that is, it moves to the appropriate position under the docking guidance of the two carrier docking and positioning blocks. After the second lifting plate 10 lifts the material tray off the ground, the autonomous mobile robot can transport the material tray to its destination.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A lifting device, characterized in that, The lifting device is designed to be mounted on the equipment body and includes: Crankshaft motor; The first rod, the second rod, and the third rod are hinged at the first end of the first rod, the first end of the second rod, and the first end of the third rod to the first shaft. The second end of the first rod is hinged to the output end of the crankshaft motor. The second end of the second rod is hinged to the second shaft. The second end of the third rod is used to hinge to the equipment body. At least one set of scissor lift assemblies, the scissor lift assembly including a first scissor lift arm and a second scissor lift arm, the first scissor lift arm and the second scissor lift arm crossing each other and hinged at the middle of the two scissor lift arms; the first scissor lift arm is rotatably connected to a second shaft, and a first end of the first scissor lift arm is used to hinge to the device body; the first end of the second scissor lift arm is used to slide hinge to the device body. The first lifting plate, the second end of the first scissor arm is slidably hinged to the first lifting plate, and the second end of the second scissor arm is hinged to the first lifting plate.

2. The lifting device according to claim 1, characterized in that, A connection hole is provided at the position of the first scissor arm near the second end; The end of the second shaft is located inside the connecting hole.

3. The lifting device according to claim 2, characterized in that, The bottom of the first lifting plate is provided with a first connecting seat; The first connecting seat is provided with a first sliding groove; The second end of the first scissor arm is hinged to the first roller shaft, and the first roller shaft is provided with a first roller. The first roller is located within the first groove.

4. The lifting device according to claim 3, characterized in that, It also includes a second connector for fixing to the device body; The first end of the first scissor arm is hinged to the second connecting seat.

5. The lifting device according to claim 1, characterized in that, It also includes a third connector for fixing to the device body; The third connecting seat is provided with a second sliding groove; The first end of the second scissor arm is hinged to the second roller shaft, and the second roller shaft is provided with a second roller; The second roller is located within the second groove.

6. The lifting device according to claim 5, characterized in that, The bottom of the first lifting plate is provided with a fourth connecting seat; The second end of the second scissor arm is hinged to the fourth connecting seat.

7. The lifting device according to any one of claims 1 to 6, characterized in that, It also includes a second lifting plate and a sealing cover: The second lifting plate is positioned above the first lifting plate, and the size of the second lifting plate is larger than the size of the first lifting plate; The sealing cover is disposed below the second lifting plate to seal the first lifting plate, the crankshaft motor, the first rod, the second rod, the third rod, and at least one set of scissor lift assemblies within a closed space; The sealing cover moves up and down in conjunction with the lifting plate.

8. The lifting device according to any one of claims 1 to 6, characterized in that, The lifting device includes two sets of scissor lift assemblies; The lifting device includes a first U-shaped component and a second U-shaped component. The first U-shaped component has two parallel second rods, and the second U-shaped component has two parallel third rods.

9. The lifting device according to any one of claims 1 to 6, characterized in that, It also includes a distance sensor; The distance sensor is located below the first lifting plate and is used to detect the lifting distance of the first lifting plate.

10. An autonomous mobile robot, characterized in that, include: Equipment body; The lifting device as described in any one of claims 1 to 9 is disposed on the equipment body.

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