Lifting mechanism and propelling device

Abstract

The utility model provides a lifting mechanism and a propelling device, and relates to the technical field of lifting mechanisms. The lifting mechanism comprises a lifting rod, at least one clamping wheel set and a driving mechanism. The clamping wheel set comprises at least two clamping wheels abutting against the lifting rod, the driving mechanism drives the clamping wheels to rotate around respective first shafts, and the clamping wheels provide upward or downward friction force for the lifting rod so that the lifting rod can ascend or descend in the axis direction of the lifting rod. And the first shaft is the axis of the clamping wheel.

Description

Technical Field

[0001] This specification relates to the technical field of lifting mechanisms, and in particular to a lifting mechanism and a propulsion device. Background Technology

[0002] A lifting mechanism is a mechanical device used to transport materials or change the position of equipment in a vertical or inclined direction. Lifting mechanisms can achieve their lifting function through mechanical transmission (e.g., gears, chains, wire ropes) or hydraulic systems. Lifting mechanisms can also be used in propulsion systems, such as marine propulsion systems. In lifting mechanisms employing mechanical transmission, key kinematic pairs (e.g., gear meshing surfaces, chain pins, wire rope strands) are prone to progressive performance degradation under alternating loads. This type of mechanical wear exhibits significant nonlinear development characteristics: before a critical wear threshold, the system can still maintain basic functions, but exceeding the critical point will trigger sudden, unannounced failure. This failure mode is particularly dangerous under full-load operation of the lifting mast. When the transmission mechanism suddenly loses its power holding capability, the lifting mast and its supporting controllers and propellers will fall rapidly under the influence of gravity. The resulting impact load may cause direct damage such as propeller blade deformation and shaft bending, or it may transmit the destructive effect to the hull through rigid connection structures, causing a chain reaction of damage to multiple equipment levels. Utility Model Content

[0003] This specification provides one or more embodiments of a lifting mechanism, including: a lifting rod, at least one set of clamping wheels, and a driving mechanism; the clamping wheel set includes at least two clamping wheels abutting against the lifting rod, the driving mechanism drives the clamping wheels to rotate about their respective first axes, and the clamping wheels provide upward or downward frictional force to the lifting rod to cause the lifting rod to rise or fall along the axial direction of the lifting rod; the first axis is the axis of the clamping wheels.

[0004] In some embodiments, the lifting mechanism further includes a balancing device that drives the clamping wheels to rotate independently about their respective second axes, so that the clamping wheels move independently closer to or further away from the lifting rod; the second axis is parallel to the first axis.

[0005] In some embodiments, the clamping wheel assembly includes: a clamping wheel bracket, each clamping wheel being correspondingly provided with a clamping wheel bracket, the clamping wheel being rotatably connected to the clamping wheel bracket; the balancing device drives the clamping wheel bracket to rotate around the second axis, the second axis being relatively fixed in the axial direction of the lifting rod.

[0006] In some embodiments, the lifting mechanism includes two clamping wheel groups, each clamping wheel group including two clamping wheels; the balancing device includes: a balancing member disposed between the four clamping wheels, the balancing member being configured to be movable along the axial direction of the lifting rod and rotatable about a third axis parallel to the first axis and the second axis; a balancing swing arm, two balancing swing arms respectively disposed on both sides of the balancing member, one end of the balancing swing arm being rotatably connected to the balancing member; a balancing link, two balancing links respectively disposed at the other ends of the two balancing swing arms, the middle part of the balancing link being rotatably connected to the balancing swing arm; and a support swing arm, each clamping wheel support correspondingly fixed with one of the support swing arms, each support swing arm being rotatably connected to one end of a balancing link.

[0007] In some embodiments, the lifting mechanism includes one of the clamping wheel groups, the clamping wheel group including two clamping wheels; the balancing device includes: a balancing member disposed between the two clamping wheels, the balancing member being configured to be movable along the axial direction of the lifting rod and to rotate about a third axis parallel to the first axis and the second axis; a balancing swing arm, two balancing swing arms respectively disposed on both sides of the balancing member, one end of the balancing swing arm being rotatably connected to the balancing member; and a support swing arm, each clamping wheel support correspondingly fixed with one of the support swing arms, each support swing arm being rotatably connected to one of the balancing swing arms.

[0008] In some embodiments, the lifting mechanism includes three clamping wheel groups, each clamping wheel group including two clamping wheels, and the three clamping wheel groups including a first clamping wheel group, a second clamping wheel group, and a third clamping wheel group; the balancing device includes: a balancing member disposed between a plurality of clamping wheels, the balancing member being configured to be movable along the axial direction of the lifting rod and rotatable about a third axis parallel to the first axis and the second axis; a balancing swing arm, two balancing swing arms respectively disposed on both sides of the balancing member, one end of the balancing swing arm being rotatably connected to the balancing member; and two first balancing links, two first balancing links respectively disposed at the other ends of the two balancing swing arms. The middle part of the balance link is rotatably connected to the balance swing arm; the middle part of the second balance link is rotatably connected to one end of the first balance link; the support swing arm is fixed to each of the clamping wheel brackets, the two support swing arms corresponding to the two clamping wheel brackets of the first clamping wheel group are respectively rotatably connected to the other end of the two first balance links, the two support swing arms corresponding to the two clamping wheel brackets of the second clamping wheel group are respectively rotatably connected to one end of the two second balance links, and the two support swing arms corresponding to the two clamping wheel brackets of the third clamping wheel group are respectively rotatably connected to the other end of the two second balance links.

[0009] In some embodiments, the lifting mechanism includes four clamping wheel groups, each clamping wheel group including two clamping wheels; the balancing device includes: a balancing member disposed between a plurality of clamping wheels, the balancing member being configured to be movable along the axial direction of the lifting rod and to rotate about a third axis parallel to the first axis and the second axis; a balancing swing arm, two balancing swing arms respectively disposed on both sides of the balancing member, one end of the balancing swing arm being rotatably connected to the balancing member; a first balancing link, two first balancing links respectively disposed at the other ends of the two balancing swing arms, the middle portion of the first balancing link being rotatably connected to the balancing swing arm; a second balancing link, the middle portion of each of the four second balancing links being rotatably connected to one end of a first balancing link; and a support swing arm, each clamping wheel support correspondingly fixed with one of the support swing arms, each support swing arm being rotatably connected to one of the second balancing links.

[0010] In some embodiments, the balance arm is configured such that, during the swinging process of the balance arm, the height of one end of the balance arm connected to the balance member is not less than the height of the other end of the balance arm.

[0011] In some embodiments, the balancing member is provided with a swing arm limiting groove for limiting the rotation angle of the balancing swing arm, and the balancing swing arm is provided with a swing arm limiting member, which can slide within the swing arm limiting groove.

[0012] In some embodiments, the balancing device further includes: a lead screw arranged parallel to the axial direction of the lifting rod; a slider mechanism matched with the lead screw, wherein the lead screw rotates to drive the slider mechanism to move along the axial direction of the lead screw, and the balancing member is rotatably connected to the slider mechanism.

[0013] In some embodiments, the slider mechanism includes: a lead screw slider engaging with a lead screw, and a balancing member rotatably connected to the lead screw slider; or, the slider mechanism includes: a lead screw slider engaging with a lead screw; a movable slider through which the lead screw passes, the movable slider being slidable relative to the lead screw, and a balancing member rotatably connected to the movable slider; and a slider elastic member disposed between the lead screw slider and the movable slider.

[0014] In some embodiments, the lifting mechanism further includes: a chassis frame, on which a balancing device guide groove is provided; a balancing device guide is provided on the lead screw slider and / or the movable slider, and the balancing device guide is slidably disposed in the balancing device guide groove.

[0015] In some embodiments, the lifting mechanism includes: a balancing device drive mechanism that drives the lead screw to rotate; the balancing device drive mechanism includes: a balancing device drive motor and a manual release lever that is disengaged and driven to the motor shaft of the balancing device drive motor; the lead screw is configured to rotate synchronously with the manual release lever.

[0016] In some embodiments, one of the motor shaft of the balancing device drive motor and the manual release lever is provided with a coupling structure, and the other of the motor shaft of the balancing device drive motor and the manual release lever is provided with a coupling groove that matches the coupling structure. The motor shaft of the balancing device drive motor and the manual release lever are disengaged and driven through the coupling structure and the coupling groove. The manual release lever is operably in a first position and a second position. When the manual release lever is in the first position, the coupling structure disengages from the coupling groove, and the power of the balancing device drive motor is disengaged from the manual release lever. When the manual release lever is in the second position, the coupling structure engages with the coupling groove, and the power of the balancing device drive motor is transmitted to the manual release lever.

[0017] In some embodiments, the balancing device drive mechanism further includes: a positioning structure capable of moving in a direction intersecting the axial direction of the manual release lever, and a positioning elastic element that causes the positioning structure to tend to move closer to the manual release lever; the manual release lever is provided with one or more positioning grooves that match the shape of the positioning structure.

[0018] In some embodiments, the lifting mechanism further includes a transmission mechanism that drives the driving mechanism and the clamping wheel. The transmission mechanism includes a worm, a worm wheel meshing with the worm, a first transmission gear rotating coaxially with the worm wheel, and a second transmission gear drivingly connected to the first transmission gear. The second transmission gear is fixedly connected to the clamping wheel shaft of the clamping wheel and rotates around the first shaft. Both the worm wheel and the first transmission gear rotate around the second shaft.

[0019] In some embodiments, each of the clamping wheels is correspondingly arranged with a worm gear, a first transmission gear, and a second transmission gear; the worm meshes with a plurality of the worm gears respectively.

[0020] In some embodiments, the clamping wheel bracket includes: a clamping wheel bracket base plate and two clamping wheel bracket side plates disposed on both sides of the clamping wheel bracket base plate, wherein the clamping wheel is rotatably arranged between the two clamping wheel bracket side plates.

[0021] In some embodiments, the lifting mechanism further includes: a chassis housing and a chassis frame located inside the chassis housing; the lifting rod passes through the chassis housing and the chassis frame; the clamping wheel assembly is disposed inside the chassis frame; and the driving mechanism and the balancing device are disposed between the chassis housing and the chassis frame.

[0022] In some embodiments, the lifting rod has a circular cross-section, and the clamping wheel has a concave arc surface that conforms to the outer surface of the lifting rod; the lifting mechanism further includes a rotary drive mechanism that drives the lifting rod to rotate about its axis.

[0023] This specification provides a propulsion device according to one or more embodiments, including the lifting mechanism described in any one of the above.

[0024] In some embodiments, the propulsion device includes: a control mechanism disposed at the upper end of the lifting rod and a thruster disposed at the other end of the lifting rod; wherein the lifting rod is configured to rotate about its axis. Attached Figure Description

[0025] This specification will be further described by way of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. The same numbers in the drawings denote the same structures or steps.

[0026] Figure 1 This is a schematic diagram of a lifting mechanism according to some embodiments of this specification.

[0027] Figure 2 This is a schematic diagram of one side of the internal structure of the lifting mechanism shown in some embodiments of this specification.

[0028] Figure 3 yes Figure 2 A magnified view of a portion of the image.

[0029] Figure 4 This is a schematic diagram of the other side of the internal structure of the lifting mechanism shown in some embodiments of this specification.

[0030] Figure 5 yes Figure 4 This is a magnified schematic diagram of a portion of the image.

[0031] Figure 6 This is a schematic diagram showing the coordination of the lifting rod, clamping wheel assembly, and balancing device of the lifting mechanism according to some embodiments of this specification.

[0032] Figure 7 This is a schematic diagram of the balancing device and clamping wheel assembly of the lifting mechanism according to some embodiments of this specification.

[0033] Figure 8 yes Figure 7 A magnified view of a portion of the image.

[0034] Figure 9 This is a schematic diagram of the balancing device of the lifting mechanism shown in some embodiments of this specification.

[0035] Figure 10 This is a schematic diagram of the balancing device and chassis frame of the lifting mechanism according to some embodiments of this specification.

[0036] Figure 11 This is a schematic diagram of the balancing device drive motor and manual clamp release lever of the lifting mechanism according to some embodiments of this specification.

[0037] Figure 12 This is a front view schematic diagram of the balancing device drive motor and manual clamp release lever of the lifting mechanism shown in some embodiments of this specification.

[0038] Figure 13 This is a cross-sectional schematic diagram of the balancing device drive motor and manual clamp release lever of the lifting mechanism shown in some embodiments of this specification.

[0039] Figure 14 This is a schematic diagram of the positioning structure of the manual release lever of the lifting mechanism according to some embodiments of this specification.

[0040] Figure 15 This is a schematic diagram of the drive mechanism of the lifting mechanism shown in some embodiments of this specification.

[0041] Figure 16 This is a schematic diagram of the drive mechanism, clamping wheel bracket, and clamping wheel of the lifting mechanism according to some embodiments of this specification.

[0042] Figure 17 This is a top view schematic diagram of the drive mechanism, clamping wheel bracket, and clamping wheel of the lifting mechanism shown in some embodiments of this specification.

[0043] Figure 18 This is a front view schematic diagram of the drive mechanism, clamping wheel bracket, and clamping wheel of the lifting mechanism shown in some embodiments of this specification.

[0044] Figure 19 This is a cross-sectional schematic diagram of the drive mechanism, clamping wheel bracket, and clamping wheel of the lifting mechanism shown in some embodiments of this specification.

[0045] Figure 20 yes Figure 19 A magnified view of a portion of the image.

[0046] Figures 21 to 25 This is a schematic diagram of the principle of various balancing devices shown in some embodiments of this specification.

[0047] In the diagram, the markings are: 1 Lifting rod; 2 Clamping wheel assembly; 21 Clamping wheel; 22 Clamping wheel bracket; 220 Clamping wheel bracket pivot; 221 Clamping wheel bracket base plate; 222 Clamping wheel bracket side plate; 3 Drive mechanism; 4 Balancing device; 41 Balancing component; 411 Swing arm limiting groove; 42 Balancing swing arm; 421 Swing arm limiting component; 43 Balancing link; 431 First balancing link; 432 Second balancing link; 44 Bracket swing arm; 45 Lead screw; 46 Slider mechanism; 461 Lead screw slider; 462 Movable slider; 463 Slider elastic component; 464 Balancing device guide component; 50 Chassis shell; 51 Chassis frame; 511 Balancing device guide groove; 61 Balancing device drive motor; 611 Engaging structure; 62 Manual clamp release rod; 621 Engaging groove; 622 Positioning groove; 63 Positioning structure; 64 7. Positioning structure housing; 7. Transmission mechanism; 71. Worm gear; 72. Worm wheel; 73. First transmission gear; 74. Second transmission gear; 100. Control mechanism; 200. Propeller. Detailed Implementation

[0048] To more clearly illustrate the technical solutions of the embodiments in this specification, the embodiments will be described in detail below with reference to the accompanying drawings. Obviously, the content described below are some examples or embodiments of this specification. For those skilled in the art, without creative effort, the technical solutions or means disclosed in this specification can be applied to other scenarios based on this technical content.

[0049] It should be understood that the terms "system," "device," "equipment," "part" and / or "component," "unit" and / or "module" used in this specification are a method of distinguishing different components, elements, parts, sections, or assemblies at different levels. However, if other words can achieve the same purpose, they may be replaced by other expressions.

[0050] Unless otherwise specified, the technical terms used to describe components, elements, etc. in this specification are not singular but may include plural. Generally speaking, terms such as "comprising" or "including" only indicate that explicitly identified steps, elements, or components are included, and these steps, elements, and components do not constitute an exclusive list, as the described method or apparatus may also include other steps or components.

[0051] In the description of this specification, it should be understood that the directional descriptions, such as up, down, front, back, left, and right, indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings. These descriptions are for the convenience of describing this application and for simplification, 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. Therefore, they should not be construed as limitations on this application. In the description of this specification, unless otherwise expressly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly. Those skilled in the art can reasonably determine the specific meaning of the above terms in this specification in conjunction with the specific content of the technical solution.

[0052] In this specification, it should be specifically noted that the descriptions related to "axis" are for the convenience of describing this application and simplifying the description, and do not indicate or imply that the relevant structure must have a physical form. The descriptions related to "axis" in this specification, such as first axis, second axis, third axis, etc., can be actual existing axis structures, or virtual axis lines such as central axis lines or abstract rotation centers.

[0053] A lifting mechanism is a mechanical device used to transport materials or change the position of equipment in a vertical or inclined direction. The lifting mechanism can achieve its lifting function through mechanical transmission (e.g., gears, chains, wire ropes, etc.) or a hydraulic system. In some embodiments, the lifting mechanism can be used for a propulsion device, such as a marine propulsion device. In some embodiments, a marine propulsion device may include a propeller, a power unit that drives the propeller, and a lifting rod connected to the power unit. The lifting rod allows the propeller to descend and enter the water, or adjust its depth below the water surface; the lifting rod also allows the propeller to rise and leave the water. In some embodiments, the lifting rod may also be configured to be able to rotate about a horizontal axis to change from a vertical to a horizontal state, thereby allowing the entire propulsion device to be horizontally or substantially horizontally housed inside the hull. In some embodiments, the lifting rod may also be configured to be able to rotate about its axial direction, thereby adjusting the orientation of the propeller.

[0054] In lifting mechanisms employing mechanical transmission, key kinematic pairs (such as gear meshing surfaces, chain pins, and wire rope strands) are prone to gradual performance degradation under alternating loads. Specifically, periodic stress causes fretting wear on the surface of metal materials, and geometric deformation of the contact surface leads to an increase in transmission clearance, resulting in deterioration of positioning accuracy and a decrease in power transmission efficiency.

[0055] In some embodiments, this type of mechanical wear exhibits a significant nonlinear development characteristic: the system can maintain basic functions before a critical wear threshold, but beyond that threshold, it will trigger a sudden, unannounced failure. This failure mode is particularly dangerous under full-load operating conditions of the boom. In some embodiments, when the transmission mechanism suddenly loses its power holding capability, the boom and the controllers and propellers it carries will fall rapidly under the influence of gravity. The resulting impact load may cause direct damage such as propeller blade deformation and shaft bending, or it may transmit the destructive effect to the hull through rigid connection structures, causing a chain reaction of damage to multiple equipment levels.

[0056] Based on this, one or more embodiments of this specification provide a lifting mechanism, which has a friction drive unit composed of clamping wheels. The lifting rod is raised or lowered by the rolling friction force applied by the clamping wheels to the lifting rod. It has a low wear rate and can further compensate for the wear of the clamping wheels and / or the lifting rod by a balancing device, so that the clamping wheels can maintain a close fit with the lifting rod.

[0057] Figure 1 These are schematic diagrams of lifting mechanisms shown in some embodiments of this specification. Figure 2 This is a schematic diagram of one side of the internal structure of the lifting mechanism according to some embodiments of this specification. Figure 3 yes Figure 2 A magnified view of a portion of the diagram. Figure 4 This is a schematic diagram of the other side of the internal structure of the lifting mechanism shown in some embodiments of this specification. Figure 5 yes Figure 4 This is a magnified view of a portion of the image. See also... Figures 1 to 5 As shown, in one or more embodiments of this specification, the lifting mechanism includes: a lifting rod 1, at least one clamping wheel assembly 2, and a driving mechanism 3. In some embodiments, the clamping wheel assembly 2 includes at least two clamping wheels 21 abutting against the lifting rod 1. In some embodiments, the clamping wheel assembly 2 may include two clamping wheels 21, which abut against both sides of the lifting rod 1 respectively. In some embodiments, the clamping wheel assembly 2 may also include four clamping wheels 21, exemplarily, the four clamping wheels 21 abutting against the front and rear sides and the left and right sides of the lifting rod 1 respectively. In some embodiments, the clamping wheel assembly 2 may also include three or other numbers of clamping wheels 21, and the plurality of clamping wheels 21 may be arranged in a circumferential array around the lifting rod 1.

[0058] In some embodiments, the lifting mechanism may include one or more clamping wheel groups 2. In some embodiments, the lifting mechanism may include two or more clamping wheel groups 2. In some embodiments, the multiple clamping wheel groups 2 may be arranged sequentially along the axial direction of the lifting rod 1. In some embodiments, the clamping wheels 21 in the multiple clamping wheel groups 2 may be arranged facing each other in the axial direction of the lifting rod 1, for example, the first clamping wheel of two clamping wheels 21 in the multiple clamping wheel groups 2 may be arranged on one side of the lifting rod 1, and the second clamping wheel of two clamping wheels 21 in the multiple clamping wheel groups 2 may be arranged on the other side of the lifting rod. In some embodiments, the clamping wheels in the multiple clamping wheel groups 2 may also be arranged alternately in the axial direction of the lifting rod 1, for example, two clamping wheels 21 in one clamping wheel group 2 may be arranged on the left and right sides of the lifting rod, respectively, and two clamping wheels 21 in another clamping wheel group 2 may be arranged on the front and rear sides of the lifting rod, respectively.

[0059] In some embodiments, the clamping wheel 21 may have a surface adapted to the shape of the outer surface of the lifting rod 1 to increase the contact area when the clamping wheel 21 abuts against the lifting rod 1. In some embodiments, such as in an embodiment where the clamping wheel assembly 2 includes two clamping wheels 21, the two clamping wheels 21 may respectively cover both sides of the lifting rod 1. For example, both clamping wheels 21 may have concave arc surfaces that cover both sides of the lifting rod 1.

[0060] In some embodiments, the cross-section of the lifting rod 1 may be circular to make the lifting rod 1 isotropic, thereby avoiding the influence on the mating surface between the clamping wheel 21 and the lifting rod 1 when the lifting rod 1 rotates about its own axis. In some embodiments, the cross-section of the lifting rod 1 may also be non-circular, such as rectangular, elliptical or other irregular shapes. In this embodiment, the rotation of the lifting rod 1 about its own axis can be achieved by rotating the entire device.

[0061] In some embodiments, the drive mechanism 3 drives the clamping wheels 21 to rotate about their respective first axes A, where the first axis A is the axis of the clamping wheel 21. In some embodiments, the first axis A of the clamping wheel 21 may be perpendicular to the axis of the lifting rod 1. In some embodiments, the first axes A of the plurality of clamping wheels 21 are parallel to each other. In some embodiments, the clamping wheels 21 provide an upward or downward frictional force to the lifting rod 1 to cause the lifting rod 1 to rise or fall along the axial direction of the lifting rod 1.

[0062] In one or more embodiments of this specification, see Figure 2 , Figure 3 as well as Figures 6 to 8 As shown, the lifting mechanism also includes a balancing device 4, which drives the clamping wheels 21 to rotate independently around their respective second axes B, so that the clamping wheels 21 move independently closer to or further away from the lifting rod 1. The second axis B is parallel to the first axis A.

[0063] In some embodiments, the clamping wheel 21 can rotate around the first axis A, i.e., its own axis, and can also revolve around the second axis B, so that the clamping wheel 21 can swing within a certain range, thereby moving closer to or away from the lifting rod 1. In some embodiments, the surface of the clamping wheel 21 may be worn, or part of the surface of the lifting rod 1 may be worn. The balancing device 4 is used to bring the clamping wheel 21 closer to the lifting rod 1, so that rolling friction can be maintained between the clamping wheel 21 and the lifting rod 1, thus maintaining the stability of the equipment operation.

[0064] In some embodiments, the balancing device 4 can simultaneously drive multiple clamping wheels 21 (e.g., two clamping wheels 21, three clamping wheels 21, four clamping wheels 21 or more clamping wheels 21) to rotate independently around their respective second axes B.

[0065] In one or more embodiments of this specification, see Figures 6 to 8 As shown, the clamping wheel assembly 2 includes: a clamping wheel bracket 22, and each clamping wheel 21 is correspondingly provided with a clamping wheel bracket 22, and the clamping wheel 21 and the clamping wheel bracket 22 are rotatably connected.

[0066] In some embodiments, the position of the second axis B of the clamping wheel bracket 22 relative to the axis of the lifting rod 1 is relatively fixed. Exemplarily, the clamping wheel bracket 22 may be rotatably connected to a device frame (e.g., chassis frame 51) to maintain the approximate position of the clamping wheel bracket 22 and the clamping wheel 21 located thereon. In some embodiments, the clamping wheel bracket 22 may rotate relative to the device frame about the second axis B. In some embodiments, the clamping wheel 21 forms an eccentric oscillation relative to the clamping wheel bracket 22. In some embodiments, the balancing device 4 drives the clamping wheel bracket 22, carrying the clamping wheel 21, to rotate about the second axis B.

[0067] For example, the clamping wheel bracket 22 can be rotatably connected to the equipment frame via one or more clamping wheel bracket pivots 220. In some embodiments, the clamping wheel bracket pivot 220 can be fixedly connected to the side of the clamping wheel bracket 22. In some embodiments, a bearing can be provided between the clamping wheel bracket pivot 220 and the equipment frame. In some embodiments, the balancing device 4 can drive the clamping wheel bracket pivot 220 to rotate (e.g., within a certain range) to drive the clamping wheel bracket 22 carrying the clamping wheel 21 to rotate around the second axis B. In some further embodiments, the balancing device 4 can drive the rotation of the clamping wheel bracket pivot 220 by driving the swing of an eccentric swing arm fixedly connected to the clamping wheel bracket pivot 220. In some further embodiments, the balancing device 4 can simultaneously drive the swing of multiple eccentric swing arms to drive the rotation of the clamping wheel bracket pivots 220 of multiple clamping wheel brackets 22. In this embodiment, the axis of the clamping wheel bracket pivot 220 coincides with the second axis B.

[0068] In one or more embodiments of this specification, see Figures 6 to 8 , combined Figure 21 The schematic diagram shows that the lifting mechanism may include two clamping wheel groups 2, each clamping wheel group 2 including two clamping wheels 21. In this embodiment, the balancing device 4 may include: a balancing component 41, a balancing swing arm 42, a balancing link 43, and a support swing arm 44.

[0069] In some embodiments, see Figure 7 As shown, the balancing member 41 is disposed between the four clamping wheels 21, for example, in the region near the intersection of the diagonals of the four clamping wheels 21, and is capable of displacement and / or rotation within this region. In some embodiments, the balancing member 41 being disposed between the four clamping wheels 21 can be understood as the balancing member 41 being wholly or partially disposed within the space enclosed by the axes of the four clamping wheels 21 and their extensions. In some embodiments, the balancing member 41 is configured to be able to move along the axial direction of the lifting rod 1 and to rotate about a third axis C parallel to the first axis A and the second axis B.

[0070] In some embodiments, two balance arms 42 are respectively disposed on both sides of the balance member 41, and one end of the balance arm 42 is rotatably connected to the balance member 41. In some embodiments, the balance member 41 may be approximately triangular, with its upper end rotatable about a third axis C, and both sides of the balance member 41 rotatably connected to two balance arms 42. In some embodiments, the balance arms 42 move following the movement of the balance member 41, and are also rotatable relative to the balance member 41. In some embodiments, the balance member 41 rotates about the third axis C, so that the balance arms 42... Figure 7 It produces a displacement in the horizontal direction that is biased towards one of the left or right sides.

[0071] In some embodiments, two balance links 43 are respectively disposed at the other ends of two balance arms 42, and the middle portion of the balance link 43 is rotatably connected to the balance arm 42, so that the upper or lower end of the balance link 43 can perform lever movement around its middle portion. See also Figure 7 As shown, taking the left balance arm 42 as an example, when the left balance arm 42 moves to the left, the middle part of the balance link 43 moves to the left accordingly, and the balance link 43 can make lever movements based on the gap between the two clamping wheels 21 on the left and the lifting rod 1 to make adaptive adjustments so that the two clamping wheels 21 on the left can be in close contact with the lifting rod 1.

[0072] In some embodiments, the middle portion of the balance link 43 may be the midpoint of the balance link 43. In some embodiments, the middle portion of the balance link 43 may also be a region within a certain range near the midpoint of the balance link 43. For example, the middle portion of the balance link 43 may be a region centered on the midpoint of the balance link 43 with a length less than or equal to half the total length of the balance link 43.

[0073] In some embodiments, each clamping wheel bracket 22 is correspondingly fixed with a bracket swing arm 44, and each bracket swing arm 44 is rotatably connected to one end of a balance link 43. For example, see... Figure 7 As shown, the two ends of the left-side balance link 43 are rotatably connected to the upper left and lower left support swing arms 44, respectively, and the two ends of the right-side balance link 43 are rotatably connected to the upper right and lower right support swing arms 44, respectively. In some embodiments, the support swing arms 44 are used to drive the clamping wheel 21 to rotate around the second axis B. In some embodiments, the support swing arms 44 are used to drive the clamping wheel bracket 22 to rotate around the second axis B, thereby driving the clamping wheel 21 to revolve around the second axis B. In some embodiments, the other end of the support swing arms 44 can be fixedly connected to the clamping wheel bracket shaft 220 of the clamping wheel bracket 22, so that when one end of the support swing arms 44 moves based on the movement of one end of the balance link 43, the other end of the support swing arms 44 drives the clamping wheel bracket shaft 220 to rotate, thereby driving the clamping wheel 21 to move closer to or away from the lifting rod 1.

[0074] It should be noted that, in this embodiment, the wear degree of the four clamping wheels 21 may be different, and the wear degree of both sides of the lifting rod 1 and at various locations along the axial direction of the lifting rod 1 may also be different. Therefore, the four clamping wheels 21 need to move different distances toward the lifting rod 1 to achieve a tight fit between the four clamping wheels 21 and the lifting rod 1. In some embodiments, the four clamping wheels 21 can successively and sequentially press against the lifting rod 1 during their movement toward the lifting rod 1.

[0075] In some embodiments, see Figure 7As shown, since the four clamping wheels 21 move different distances as they move toward the lifting rod 1, the clamping wheel brackets 22 corresponding to the four clamping wheels 21 have different rotation angles, and the four bracket swing arms 44 transmit the different rotation angles of the four clamping wheel brackets 22 accordingly.

[0076] In some embodiments, see Figure 7 As shown, two balance links 43 connect two clamping wheels 21 on the same side and rotate around the center, thereby allowing the two support arms 44 on the same side to have different rotation angles and to be adaptively adjusted based on the different rotation angles of the two support arms 44.

[0077] Taking the left-side balance link 43 as an example, when the left-side balance link 43 is subjected to a leftward thrust, both ends of the left-side balance link 43 tend to move to the left, thereby pushing the two left-side support arms 44 to rotate around their respective second axes B. For example, when the left-side clamping wheel 21 is in contact with the lifting rod 1, its corresponding clamping wheel support 22 rotates into position and its rotation is obstructed, and its corresponding support arm 44 also rotates obstructed, thus determining the positions of the upper and lower ends of the left-side balance link 43. In some embodiments, since the upper and lower clamping wheels 21 on the same side have different movement distances, the balance link 43 can ultimately be in a position not parallel to the axis of the lifting rod 1, for example, inclined relative to the axis of the lifting rod 1.

[0078] Similarly, taking the right-side balance link 43 as an example, when the right-side balance link 43 is subjected to a rightward thrust, both ends of the right-side balance link 43 tend to move to the right, thereby pushing the two right-side support swing arms 44 to rotate around their respective second axes B. For example, when the right-side clamping wheel 21 is in contact with the lifting rod 1, its corresponding clamping wheel support 22 rotates into position and its rotation is obstructed, and its corresponding support swing arm 44 also rotates obstructed, thus determining the positions of the upper and lower ends of the right-side balance link 43. In some embodiments, since the upper and lower clamping wheels 21 on the same side have different movement distances, the balance link 43 can ultimately be in a position not parallel to the axis of the lifting rod 1, for example, inclined relative to the axis of the lifting rod 1.

[0079] In some embodiments, see Figure 7 As shown, the support arm 44 and the corresponding clamping wheel bracket 22 form a lever mechanism that rotates around the corresponding second axis B. Taking the upper left support arm 44 as an example, when the lower end of the upper left support arm 44 rotates away from the lifting rod 1, the upper end of the clamping wheel bracket 22 (i.e., at the clamping wheel 21) rotates towards the lifting rod 1, thereby causing the clamping wheel 21 to engage with the lifting rod 1. The other three support arms 44 are similar.

[0080] Therefore, by moving the left balance link 43 to the left and the right balance link 43 to the right, and by adjusting the lever based on the rotation center of the balance link 43, the four ends of the left and right balance links 43 can be pushed independently to move away from the lifting rod 1, so that the four clamping wheels can independently approach the lifting rod 1 to fit the lifting rod and adapt to their respective strokes.

[0081] In some embodiments, the cooperation of the balancing member 41 and the balancing arm 42 pushes the middle portions of the left and right balancing links 43 to move away from the lifting rod 1, thereby causing the four ends of the left and right balancing links 43 to move away from the lifting rod 1. In some embodiments, see... Figure 7 As shown, the balancing member 41 moves downward. Due to the restriction effect of the two balancing links 43 on both sides of the balancing member 41 on the axial direction of the balancing arm 42 in the lifting rod 1, the balancing arm 42 cannot move downward as a whole with the balancing member 41, thus causing the balancing arm 42 to rotate around the connection point where it is rotatably connected to the balancing member 41. In some embodiments, during the downward movement of the balancing member 41, the two balancing arms 42 rotate, causing the two balancing arms 42 to move outward away from the ends of the balancing member 41 (i.e., the ends where the balancing arms 42 are rotatably connected to the balancing links 43), thereby causing the left balancing link 43 to move to the left and the right balancing link 43 to move to the right. In some embodiments, the two balancing arms 42 can open outward in a V-shape as the balancing member 41 descends. In some embodiments, the two balancing arms 42 can move to a straight position as the balancing member 41 descends, for example, the two balancing arms 42 can be in a... Figure 7 The horizontal state in the middle.

[0082] In some embodiments, the balancing member 41 can rotate around the third axis C to push the balancing arms 42 on both sides outward by different distances, thereby pushing the balancing links 43 on both sides outward by different distances to balance the degree of contact between the four clamping wheels 21 and the lifting rod 1.

[0083] In some embodiments, the balancing member 41 moves downward so that the position of each end of each balancing link 43 is determined based on the above principle. At this time, the position of the balancing member 41 as a whole in the axial direction of the lifting rod 1 is determined, and the position of the balancing member 41 rotating around the third axis C is also determined. The whole mechanism is stable, which can ensure that all four clamping wheels 21 are in close contact with the lifting rod 1.

[0084] In one or more embodiments of this specification, see Figure 22The schematic diagram shows that the lifting mechanism may include a clamping wheel assembly 2, which includes two clamping wheels 21. In this embodiment, the balancing device 4 may include a balancing member 41, a balancing swing arm 42, and a support swing arm 44.

[0085] In some embodiments, the balancing member 41 is disposed between the two clamping wheels 21, for example, in a region near the midpoint of the line connecting the two clamping wheels 21, and is capable of displacement and / or rotation within this region. In some embodiments, the balancing member 41 is configured to be able to move along the axial direction of the lifting rod 1 and to rotate about a third axis C parallel to the first axis A and the second axis B.

[0086] In some embodiments, two balance arms 42 are respectively disposed on both sides of the balance member 41, and one end of the balance arm 42 is rotatably connected to the balance member 41. In some embodiments, the balance member 41 may be triangular, with its upper end rotatable about a third axis C, and its two sides rotatably connected to the two balance arms 42 respectively. In some embodiments, the balance arms 42 move following the movement of the balance member 41, and are also rotatable relative to the balance member 41. In some embodiments, the balance member 41 rotates about the third axis C, causing the balance arms 42 to produce a horizontal displacement biased towards either the left or right side.

[0087] In some embodiments, each clamping wheel bracket 22 is correspondingly fixed with a bracket swing arm 44, and one end of each bracket swing arm 44 is rotatably connected to a balance swing arm 42. In some embodiments, the bracket swing arm 44 is used to drive the clamping wheel 21 to rotate around the second axis B. In some embodiments, the bracket swing arm 44 is used to drive the clamping wheel bracket 22 to rotate around the second axis B, thereby driving the clamping wheel 21 to revolve around the second axis B. In some embodiments, the other end of the bracket swing arm 44 can be fixedly connected to the clamping wheel bracket pivot 220 of the clamping wheel bracket 22, so that when one end of the bracket swing arm 44 moves based on the movement of one end of the balance link 43, the other end of the bracket swing arm 44 drives the clamping wheel bracket pivot 220 to rotate, thereby driving the clamping wheel 21 to move closer to or away from the lifting rod 1.

[0088] It should be noted that in this embodiment, the wear degree of the two clamping rollers 21 may be different, and the wear degree of both sides of the lifting rod 1 and at various locations along the axial direction of the lifting rod 1 may also be different. Therefore, the two clamping rollers 21 need to move different distances toward the lifting rod 1 to achieve a tight fit between the two clamping rollers 21 and the lifting rod 1. In some embodiments, the four clamping rollers 21 can successively and sequentially press against the lifting rod 1 during their movement toward the lifting rod 1.

[0089] In some embodiments, since the two clamping wheels 21 move different distances as they move toward the lifting rod 1, the clamping wheel brackets 22 corresponding to the two clamping wheels 21 have different rotation angles, and the two bracket swing arms 44 correspondingly transmit the different rotation angles of the two clamping wheel brackets 22.

[0090] In some embodiments, the cooperation of the balancing member 41 and the balancing arm 42 directly pushes one end of the left and right support arms 44 (i.e., the end rotatably connected to the balancing arm 42) to move away from the lifting rod 1. In some embodiments, the support arms 44 and the corresponding clamping wheel brackets 22 form a lever mechanism that rotates around the corresponding second axis B. In some embodiments, when one end of the support arm 44 rotates away from the lifting rod 1, the end of the clamping wheel bracket 22 (i.e., at the clamping wheel 21) rotates towards the lifting rod 1, thereby causing the clamping wheel 21 to engage with the lifting rod 1. In some embodiments, when the balancing member 41 moves downward, due to the restriction effect of the two support arms 44 on the axial direction of the balancing arm 42 on both sides of the balancing member 41, the balancing arm 42 cannot move downward as a whole with the balancing member 41, thereby causing the balancing arm 42 to rotate around the connection point where it is rotatably connected to the balancing member 41. In some embodiments, during the downward movement of the balancing member 41, the two balancing arms 42 rotate so that the ends of the two balancing arms 42 away from the balancing member 41 (i.e. the ends of the balancing arms 42 that are rotatably connected to the support arms 44) move outward, thereby causing the left support arm 44 to move to the left and the right support arm 44 to move to the right, and both support arms 44 rotate.

[0091] In some embodiments, the balancing member 41 can rotate around the third axis C to push the balancing arms 42 on both sides outward by different distances, thereby pushing the support arms 44 on both sides outward by different distances to balance the degree of contact between the two clamping wheels 21 and the lifting rod 1.

[0092] In some embodiments, the balancing member 41 moves downward so that the ends of the two support arms 44 are rotated into position, and the two clamping wheels 21 are in contact with the lifting rod 1 and cannot rotate further. At this time, the position of the balancing member 41 as a whole in the axial direction of the lifting rod 1 is determined, and the position of the balancing member 41 rotating around the third axis C is also determined. The whole mechanism is stable, which can ensure that the two clamping wheels 21 are in close contact with the lifting rod 1.

[0093] In one or more embodiments of this specification, see Figure 23The schematic diagram shows that the lifting mechanism may include three clamping wheel groups, each clamping wheel group including two clamping wheels, and the three clamping wheel groups include a first clamping wheel group, a second clamping wheel group, and a third clamping wheel group. In some embodiments, the balancing device includes: a balancing member 41, a balancing swing arm 42, a first balancing link 431, a second balancing link 432, and a support swing arm 44.

[0094] In some embodiments, a balancing member 41 is disposed between a plurality of clamping wheels, and the balancing member 41 is configured to be movable along the axial direction of the lifting rod and to rotate about a third axis C parallel to the first axis and the second axis.

[0095] In some embodiments, two balance arms 42 are respectively disposed on both sides of the balance member 41, and one end of the balance arm 42 is rotatably connected to the balance member 41.

[0096] In some embodiments, two first balance links 431 are respectively disposed at the other end of two balance arms 42, and the middle part of the first balance link 431 is rotatably connected to the balance arm 42.

[0097] In some embodiments, the middle portion of the second balance link 432 is adjacent to one end of the first balance link 431 (e.g., Figure 23 The upper end of the first balance link 431 is rotatably connected.

[0098] In some embodiments, the middle portion of the first balance link 431 or the middle portion of the second balance link 432 may be the midpoint of the link. In some embodiments, the middle portion of the first balance link 431 or the middle portion of the second balance link 432 may also be a region within a certain range near the midpoint of the link. For example, the middle portion of the first balance link 431 or the middle portion of the second balance link 432 may be a region centered on the midpoint of the link, with a length less than or equal to half the total length of the link.

[0099] In some embodiments, each clamping wheel bracket is correspondingly fixed with a bracket swing arm 44, and the two bracket swing arms 44 corresponding to the two clamping wheel brackets of the first clamping wheel group are respectively connected to the other end of the two first balance rods 431 (e.g., Figure 23 The lower end of the first balance link 431 is rotatably connected to the two bracket arms 44 corresponding to the two clamping wheel brackets of the second clamping wheel assembly, and the two bracket arms 44 are respectively connected to one end of the two second balance links 432 (e.g., Figure 23 The upper end of the second balance link 432 in the third clamping wheel assembly is rotatably connected to the other end of the two second balance links 432 (e.g., the upper end of the second balance link 432 in the third clamping wheel assembly is rotatably connected to the other end of the two clamping wheel brackets respectively). Figure 23 (The lower end of the second balance link 432 in the middle).

[0100] The above embodiments ensure that all clamping wheels in the three clamping wheel groups or an odd number of clamping wheel groups are in close contact with the lifting rod. The working principle of the above embodiments is similar to that of the lifting mechanism including one clamping wheel group and the lifting mechanism including two clamping wheel groups mentioned above, so it will not be described again.

[0101] In one or more embodiments of this specification, see Figure 24 The schematic diagram shows that the lifting mechanism may include four clamping wheel groups, each clamping wheel group including two clamping wheels. In some embodiments, the balancing device includes: a balancing member 41, a balancing swing arm 42, a first balancing link 431, a second balancing link 432, and a support swing arm 44.

[0102] In some embodiments, a balancing member 41 is disposed between a plurality of clamping wheels, and the balancing member 41 is configured to be movable along the axial direction of the lifting rod and to rotate about a third axis C parallel to the first axis and the second axis.

[0103] In some embodiments, two balance arms 42 are respectively disposed on both sides of the balance member 41, and one end of the balance arm 42 is rotatably connected to the balance member 41.

[0104] In some embodiments, two first balance links 431 are respectively disposed at the other end of two balance arms 42, and the middle part of the first balance link 431 is rotatably connected to the balance arm 42.

[0105] In some embodiments, the middle portion of each of the four second balance links 432 is rotatably connected to one end of a first balance link 431. In some embodiments, the four ends of the two first balance links 431 are rotatably connected to the middle portions of the four second balance links 432.

[0106] In some embodiments, the middle portion of the first balance link 431 or the middle portion of the second balance link 432 may be the midpoint of the link. In some embodiments, the middle portion of the first balance link 431 or the middle portion of the second balance link 432 may also be a region within a certain range near the midpoint of the link. For example, the middle portion of the first balance link 431 or the middle portion of the second balance link 432 may be a region centered on the midpoint of the link, with a length less than or equal to half the total length of the link.

[0107] In some embodiments, each clamping wheel bracket is correspondingly fixed with a bracket arm 44, and each bracket arm 44 is rotatably connected to a second balance link 432. In some embodiments, the eight ends of the four second balance links 432 are rotatably connected to the eight bracket arms 44.

[0108] The above embodiments ensure that all clamping wheels in the four clamping wheel groups or an even number of clamping wheel groups are in close contact with the lifting rod. The working principle of the above embodiments is similar to that of the lifting mechanism including one clamping wheel group and the lifting mechanism including two clamping wheel groups mentioned above, so it will not be described again.

[0109] In one or more embodiments of this specification, based on the above-described lifting mechanisms including one clamping wheel group, two clamping wheel groups, three clamping wheel groups, and four clamping wheel groups, the scope can be further extended to lifting mechanisms including five clamping wheel groups, six clamping wheel groups, or even lifting mechanisms including any number of odd or even clamping wheel groups. In some further embodiments, the number of clamping wheel groups can be increased by increasing the number of stages of the balance link. For example, based on having a first balance link and a second balance link, a third balance link, a fourth balance link, and so on can be added.

[0110] In one or more embodiments of this specification, see Figure 25 The schematic diagram shows that the balancing device can be further extended to an embodiment where three clamping wheels 21 are driven to engage on the left side via three support arms 44, and two clamping wheels 21 are driven to engage on the right side via two support arms 44. Specifically, the balancing device can drive three support arms 44 on the left side via a first balancing link 431 and a second balancing link 432, while on the right side only two support arms 44 are driven by the first balancing link 431, to achieve engagement between the clamping wheels and the lifting rod even when the number of clamping wheels 21 on both sides is inconsistent.

[0111] The above embodiments can be further extended to embodiments with any number of clamping wheels on the left and any number of clamping wheels on the right (and the number may be different from the number on the left). The working principle of the above embodiments is similar to that of the foregoing embodiments, so it will not be described again.

[0112] In one or more embodiments of this specification, the balance arm 42 is configured such that, during the swinging process of the balance arm 42, the height of one end of the balance arm 42 connected to the balance member 41 is not less than the height of the other end of the balance arm 42. In some embodiments, the height of one end of the balance arm 42 connected to the balance member 41 is equal to the height of the other end of the balance arm 42 (e.g., when the balance arm 42 rotates to...). Figure 7 When the balance arm 42 is in a horizontal position, it forms a dead point position, thus limiting the rotation angle of the balance arm 42 so that it cannot cross the dead point position and prevent the balance device 4 from failing to recover.

[0113] In some embodiments, see Figure 8As shown, the balancing member 41 is provided with a swing arm limiting groove 411 for limiting the rotation angle of the balancing swing arm 42, and the balancing swing arm 42 is provided with a swing arm limiting member 421. The swing arm limiting member 421 can slide within the swing arm limiting groove 411, and the rotation angle of the balancing swing arm 42 is limited by the cooperation between the swing arm limiting member 421 and the swing arm limiting groove 411. In some embodiments, the swing arm limiting groove 411 is arc-shaped to allow the balancing swing arm 42 to rotate relative to the balancing member 41 within the range specified by the swing arm limiting groove 411.

[0114] In one or more embodiments of this specification, see Figure 8 As shown, the balancing device 4 further includes a lead screw 45 and a slider mechanism 46, which drive the balancing member 41 to rise or fall. In some embodiments, the lead screw 45 is arranged parallel to the axis of the lifting rod 1. In some embodiments, the slider mechanism 46 is matched with the lead screw 45, and the lead screw 45 rotates to drive the slider mechanism 46 to move along the axis of the lead screw 45. The balancing member 41 is rotatably connected to the slider mechanism 46.

[0115] In some embodiments, the slider mechanism 46 includes: a lead screw slider that engages with a lead screw 45, and a balancing member 41 that is rotatably connected to the lead screw slider.

[0116] In other embodiments, the slider mechanism 46 includes a lead screw slider 461, a movable slider 462, and a slider elastic member 463. In some embodiments, the lead screw slider 461 engages with a lead screw 45, and the lead screw 45 rotates to drive the lead screw slider 461 to rise or fall. In some embodiments, the lead screw 45 passes through the movable slider 462, and the movable slider 462 is sleeved outside the lead screw 45. The movable slider 462 can slide relative to the lead screw 45 (i.e., slide freely), and the rotation of the lead screw 45 does not directly affect the movable slider 462. The balancing member 41 is rotatably connected to the movable slider 462. In some embodiments, the slider elastic member 463 is disposed between the lead screw slider 461 and the movable slider 462. In some embodiments, the slider elastic element 463 is used to apply an elastic force to the movable slider 462 based on the lead screw slider 461, so that the movable slider 462 can float within a certain range of the elastic deformation of the slider elastic element 463, thereby applying a preload to the balancing member 41, causing the balancing member 41 to have a downward tendency, thus causing the clamping wheel 21 to have a tendency to move towards the lifting rod 1 in the initial state. In some related application scenarios, as the clamping wheel 21 and / or the lifting rod 1 wear, the lead screw 45 operates to cause the lead screw slider 461 to descend, thereby compressing the slider elastic element 463 to apply a greater downward force to the movable slider 462 and the balancing member 41, thereby causing the clamping wheel 21 to press tightly against the lifting rod 1. In some embodiments, the slider elastic element 463 may be a spring, one or more disc springs, an elastic bellows, etc.

[0117] In one or more embodiments of this specification, see Figure 9 , Figure 10 As shown, the lifting mechanism further includes a chassis frame 51, on which a balancing device guide groove 511 is provided. In some embodiments, a balancing device guide 464 is provided on the lead screw slider 461 and / or the movable slider 462, and the balancing device guide 464 is slidably disposed in the balancing device guide groove 511.

[0118] In some embodiments, the lead screw slider 461 is provided with a balancing device guide 464. In some embodiments, the movable slider 462 is provided with a balancing device guide 464. In some embodiments, both the lead screw slider 461 and the movable slider 462 are provided with balancing device guides 464. The lead screw slider 461 and / or the movable slider 462 are guided to move along the axial direction of the lifting rod 1 by the balancing device guide 464 and the balancing device guide groove 511.

[0119] In one or more embodiments of this specification, see Figures 11 to 14 Combination Figure 6 As shown, the lifting mechanism includes a balancing device drive mechanism 6, which drives the lead screw 45 to rotate. In some embodiments, the balancing device drive mechanism 6 includes a balancing device drive motor 61 and a manual release lever 62 that is disengaged from the motor shaft of the balancing device drive motor 61. In some embodiments, the manual release lever 62 is operably connected to the balancing device drive motor 61, meaning that the manual release lever 62 can be connected to the balancing device drive motor 61 to receive its power, or it can be disconnected from the balancing device drive motor 61 to perform manual operation.

[0120] In some embodiments, the lead screw 45 is configured to rotate synchronously with the manual release lever 62. When the manual release lever 62 is connected to the balancing device drive motor 61, the balancing device drive motor 61 can drive the lead screw 45 to rotate. When the manual release lever 62 is disengaged from the balancing device drive motor 61, the balancing device drive motor 61 cannot drive the lead screw 45 to rotate, but the manual release lever 62 can be manually rotated to drive the lead screw 45 to rotate. Based on the above arrangement, the lead screw 45 can be driven normally by the balancing device drive motor 61, or manually driven in the event of a failure of the balancing device drive motor 61, or manually rotated in reverse to disengage the balancing device drive motor 61 if it is jammed.

[0121] In some embodiments, the manual release lever 62 and the lead screw 45 can be connected by a synchronous belt drive. In some embodiments, a first synchronous pulley can be provided on the manual release lever 62, and a second synchronous pulley can be provided on the lead screw 45. The synchronous belt causes the first and second synchronous pulleys to rotate synchronously, so that the manual release lever 62 and the lead screw 45 rotate synchronously. In some embodiments, the first synchronous pulley can be driven (e.g., keyed) or fixedly connected to the manual release lever 62. In some embodiments, the second synchronous pulley can be driven (e.g., keyed) or fixedly connected to the lead screw 45.

[0122] In one or more embodiments of this specification, see Figures 11 to 14 As shown, one of the motor shaft of the balancing device drive motor 61 and the manual release lever 62 is provided with a coupling structure 611, and the other of the motor shaft of the balancing device drive motor 61 and the manual release lever 62 is provided with a coupling groove 621 that matches the coupling structure 611. The motor shaft of the balancing device drive motor 61 and the manual release lever 62 are connected in a disengaging manner through the coupling structure 611 and the coupling groove 621.

[0123] In some embodiments, the joining structure 611 may be a non-circular structure, and the joining groove 621 may be a non-circular groove whose shape matches that of the joining structure 611. In some embodiments, the joining structure 611 may be elliptical, rectangular, hexagonal, octagonal, racetrack-shaped, or other irregular shapes.

[0124] In some embodiments, the manual release lever 62 is operably positioned in a first position and a second position. When the manual release lever 62 is in the first position, the engagement structure 611 disengages from the engagement groove 621, and the power from the balancing device drive motor 61 is disengaged from the manual release lever 62. When the manual release lever 62 is in the second position, the engagement structure 611 engages with the engagement groove 621, and the power from the balancing device drive motor 61 is transmitted to the manual release lever 62.

[0125] In one or more embodiments of this specification, see Figure 14 As shown, the balancing device drive mechanism 6 further includes: a positioning structure 63 capable of moving in a direction intersecting the axial direction of the manual release lever 62 (e.g., the radial direction of the manual release lever 62), and a positioning elastic element that tends to move the positioning structure 63 closer to the manual release lever 62. In some embodiments, the manual release lever 62 has one or more positioning grooves 622 that match the shape of the positioning structure 63.

[0126] In some embodiments, the balancing device drive mechanism 6 further includes a positioning structure housing 64, with a positioning structure 63 and a positioning elastic member disposed inside the positioning structure housing 64. In some embodiments, one end of the positioning elastic member abuts against the positioning structure housing 64, and the other end of the positioning elastic member abuts against the positioning structure 63. In some embodiments, the positioning elastic member applies an elastic force to the positioning structure 63, causing the positioning structure 63 to abut against the manual release lever 62. When the manual release lever 62 moves upward or downward, causing the positioning groove 622 on the manual release lever 62 to face the positioning structure 63, the positioning structure 63 enters the positioning groove 622 to position the manual release lever 62.

[0127] In some embodiments, the manual release lever 62 may include two positioning slots 622, corresponding to the positioning of the manual release lever 62 in the first position and the positioning in the second position, respectively.

[0128] In some embodiments, the positioning structure 63 may be a sphere. In some embodiments, positioning beads may be used to achieve the functions of the positioning structure 63, the positioning elastic element, and the positioning structure housing 64.

[0129] In one or more embodiments of this specification, see Figure 4 , Figure 5 ,as well as Figures 15 to 20 As shown, the lifting mechanism further includes a transmission mechanism 7 that drives the drive mechanism 3 and the clamping wheel 21. In some embodiments, the transmission mechanism 7 includes a worm 71, a worm wheel 72 meshing with the worm 71, a first transmission gear 73 rotating coaxially with the worm wheel 72, and a second transmission gear 74 drivingly connected to the first transmission gear 73. In some embodiments, the worm 71 rotates to drive one or more worm wheels 72 to rotate, thereby driving the first transmission gear 73 to rotate, and further driving the second transmission gear 74 to rotate.

[0130] In some embodiments, the first transmission gear 73 and the second transmission gear 74 are connected in a transmission manner. In some embodiments, the first transmission gear 73 may directly mesh with the second transmission gear 74. In other embodiments, the first transmission gear 73 may also be connected to the second transmission gear 74 through other transmission gears or other transmission mechanisms.

[0131] In some embodiments, the second transmission gear 74 is fixedly connected to the clamping wheel shaft of the clamping wheel 21. The second transmission gear 74 rotates around the first shaft A. The worm gear 72 drives the second transmission gear 74 to rotate the clamping wheel 21, thereby providing upward or downward rolling friction to the lifting rod 1 through the clamping wheel 21, thus realizing the lifting and lowering of the lifting rod 1. In some embodiments, both the worm gear 72 and the first transmission gear 73 rotate around the second shaft B.

[0132] In some embodiments, each clamping wheel 21 is correspondingly arranged with a worm gear 72, a first transmission gear 73 and a second transmission gear 74, and the worm 71 meshes with multiple worm gears 72 to synchronously drive multiple clamping wheels 21 to rotate through a worm 71.

[0133] In some embodiments, see Figures 16 to 20 As shown, the clamping wheel bracket 22 includes: a clamping wheel bracket base plate 221 and two clamping wheel bracket side plates 222 disposed on both sides of the clamping wheel bracket base plate 221, and the clamping wheel 21 is rotatably arranged between the two clamping wheel bracket side plates 222.

[0134] In one or more embodiments of this specification, see Figure 1 , Figure 2 As shown, the lifting mechanism also includes a chassis housing 50 and a chassis frame 51 located inside the chassis housing 50. In some embodiments, the lifting rod 1 passes through the chassis housing 50 and the chassis frame 51 to allow the lifting rod 1 to rise or fall. In some embodiments, the clamping wheel assembly 2 is located inside the chassis frame 51. In some embodiments, the drive mechanism 3 and the balancing device 4 are located between the chassis housing 50 and the chassis frame 51. Through the double-layer structure of the chassis housing and the chassis frame, the clamping wheel 21 is arranged in the inner layer, and the mechanical transmission structure (e.g., the balancing device 4) and various motors (e.g., the drive mechanism 3) are arranged in the interlayer, improving waterproof performance and allowing potting of the motor area in the interlayer to further improve waterproof performance.

[0135] In one or more embodiments of this specification, the lifting rod 1 has a circular cross-section, and the clamping wheel 21 has a concave arc surface that conforms to the outer surface of the lifting rod 1. In some embodiments, the lifting mechanism further includes a rotary drive mechanism that drives the lifting rod 1 to rotate about its axis. In some embodiments, the concave arc surface of the clamping wheel 21 allows the lifting rod 1 to rotate while also stably providing upward or downward frictional force to the lifting rod 1, thereby ensuring that the rotation of the lifting rod 1 and its rising / falling motion do not interfere with each other.

[0136] In some embodiments, see Figure 3 , Figure 5As shown, the rotary drive mechanism may include a rotary drive motor 81, a third synchronous pulley 82 disposed on the rotary drive motor 81, a fourth synchronous pulley 83 sleeved on and slidably connected to the lifting rod 1, and a rotary drive synchronous belt 84 surrounding the third synchronous pulley 82 and the fourth synchronous pulley 83. In some embodiments, the fourth synchronous pulley 83 is drive-connected to the lifting rod 1. In some embodiments, the fourth synchronous pulley 83 is keyed to the lifting rod 1. Exemplarily, the inner wall of the fourth synchronous pulley 83 is provided with a rotary drive key, or the inner wall of the fourth synchronous pulley extends inward to form a rotary drive key, and the outer wall of the lifting rod 1 is provided with a keyway along its axial direction, so that the fourth synchronous belt 83 can drive the lifting rod 1 to rotate. In some embodiments, a bearing is provided between the fourth synchronous pulley 83 and the lifting rod 1 to allow the lifting rod 1 to rise or fall relative to the fourth synchronous pulley 83. In some embodiments, the rotary drive motor 81 rotates to drive the third synchronous pulley 82 to rotate, thereby driving the fourth synchronous pulley 83 to rotate via the rotary drive synchronous belt 84, thereby driving the lifting rod 1 to rotate.

[0137] In one or more embodiments of this specification, a propulsion device is also provided, which includes the lifting mechanism described above. In some embodiments, the propulsion device includes: a control mechanism 100 disposed at the upper end of the lifting rod 1, and a thruster 200 disposed at the other end of the lifting rod 1. In some embodiments, the propulsion device may be a marine propulsion device, and the thruster 200 may be a propeller. In some embodiments, the lifting rod 1 is configured to be rotatable about its axis to adjust the orientation of the thruster 200.

[0138] The beneficial effects that the embodiments of this specification may bring include, but are not limited to: (1) driving the lifting rod to rise or fall by the rolling friction provided by the clamping wheel, with a small wear rate; (2) enabling the clamping wheel to approach the lifting rod by the balancing device to provide greater friction; (3) realizing the eccentric swing of the clamping wheel by the rotation of the clamping wheel bracket, thereby enabling the clamping wheel to approach the lifting rod; (4) enabling multiple clamping wheels to be adaptively adjusted based on different directions of the lifting rod's movement path by the design of the balancing component, balancing arm, balancing link and support arm, so that all clamping wheels can be in close contact with the lifting rod, and can be applied to the case of two clamping wheel groups; (5) enabling the balancing device to be applied to the case of one clamping wheel group by the design of the balancing component, balancing arm and support arm; (6) enabling the balancing device to be applied to the case of an odd number of clamping wheel groups or an even number of clamping wheel groups by the design of the first balancing link and the second balancing link; (7) preventing the balancing arm from exceeding the dead point position by limiting the swing position of the balancing arm, avoiding the balancing arm from being unable to recover; 8) The preload is provided to the balancing component through the lead screw slider, movable slider and slider elastic element, so that the balancing component has a downward movement tendency, so that the clamping wheel can keep in close contact with the lifting rod in the unworn state, and provide a certain working elasticity, reducing the impact on the system when the balancing device is working or holding the position; (9) The automatic operation, manual operation and manual unlocking of the balancing device are realized by designing the manual release lever; (10) The manual release lever is positioned when it is in the first position or the second position by the positioning structure; (11) Multiple worm wheels are driven by worm gear to drive multiple clamping wheels to move synchronously, reducing the volume of the drive mechanism and the number of motors; (12) The clamping wheel is arranged in the inner layer by the double-layer structure of the outer shell and the frame, and the mechanical transmission structure and motor are arranged in the interlayer to improve the waterproof performance, and allow the motor area in the interlayer to be potted to further improve the waterproof performance; (13) The lifting rod design with a circular cross section and the clamping wheel design with a concave arc surface enable the clamping wheel to drive the lifting rod to rise and fall without affecting the rotation of the lifting rod. It should be noted that different embodiments may produce different beneficial effects. In different embodiments, the beneficial effects may be any one or a combination of the above, or any other possible beneficial effects.

[0139] The basic concepts have been described above. It is obvious that the detailed disclosure above is merely illustrative and does not constitute a limitation of this specification. Although not explicitly stated herein, various modifications, improvements, and corrections may be made to this specification by those skilled in the art. Such modifications, improvements, and corrections are taught in this specification and therefore remain within the spirit and scope of the exemplary embodiments described herein.

Claims

1. A lifting mechanism, characterized in that, include: A lifting boom, at least one clamping wheel assembly, and a drive mechanism; The clamping wheel assembly includes at least two clamping wheels that abut against the lifting rod. The driving mechanism drives the clamping wheels to rotate about their respective first axes. The clamping wheels provide upward or downward frictional force to the lifting rod to make the lifting rod rise or fall along the axial direction of the lifting rod. The first axis is the axis of the clamping wheel.

2. The lifting mechanism according to claim 1, characterized in that, Also includes: A balancing device drives the clamping wheels to rotate independently around their respective second axes, so that the clamping wheels move independently closer to or further away from the lifting rod; The second axis is parallel to the first axis.

3. The lifting mechanism according to claim 2, characterized in that, The clamping wheel assembly includes: a clamping wheel bracket, each clamping wheel is correspondingly provided with a clamping wheel bracket, and the clamping wheel and the clamping wheel bracket are rotatably connected; The balancing device drives the clamping wheel bracket to rotate around the second axis, and the position of the second axis is relatively fixed in the axial direction of the lifting rod.

4. The lifting mechanism according to claim 3, characterized in that, It includes two clamping wheel sets, each clamping wheel set including two clamping wheels; The balancing device includes: A balancing member is disposed between the four clamping wheels and is configured to be movable along the axial direction of the lifting rod and to rotate about a third axis parallel to the first axis and the second axis. Two balance arms are respectively disposed on both sides of the balance member, and one end of each balance arm is rotatably connected to the balance member. A balance link, wherein two balance links are respectively disposed at the other end of the two balance arms, and the middle part of the balance link is rotatably connected to the balance arm; Each of the clamping wheel brackets is correspondingly fixed with a bracket swing arm, and each bracket swing arm is rotatably connected to one end of a balance link.

5. The lifting mechanism according to claim 3, characterized in that, Includes one of the clamping wheel sets, the clamping wheel set including two of the clamping wheels; The balancing device includes: A balancing member is disposed between the two clamping wheels and is configured to be movable along the axial direction of the lifting rod and to rotate about a third axis parallel to the first axis and the second axis. Two balance arms are respectively disposed on both sides of the balance member, and one end of each balance arm is rotatably connected to the balance member. Each of the clamping wheel brackets is correspondingly fixed with a bracket swing arm, and each bracket swing arm is rotatably connected to a balance swing arm.

6. The lifting mechanism according to claim 3, characterized in that, It includes three clamping wheel groups, each clamping wheel group includes two clamping wheels, and the three clamping wheel groups include a first clamping wheel group, a second clamping wheel group, and a third clamping wheel group; The balancing device includes: A balancing member is disposed between a plurality of the clamping wheels, and the balancing member is configured to be movable along the axial direction of the lifting rod and to rotate about a third axis parallel to the first axis and the second axis. Two balance arms are respectively disposed on both sides of the balance member, and one end of each balance arm is rotatably connected to the balance member. The first balance link, two first balance links are respectively disposed at the other end of the two balance arms, and the middle part of the first balance link is rotatably connected to the balance arm; The second balance link has its middle part rotatably connected to one end of the first balance link; Each of the clamping wheel brackets is correspondingly fixed with a bracket swing arm. The two bracket swing arms corresponding to the two clamping wheel brackets of the first clamping wheel group are rotatably connected to the other ends of the two first balance rods, respectively. The two bracket swing arms corresponding to the two clamping wheel brackets of the second clamping wheel group are rotatably connected to one end of the two second balance rods, respectively. The two bracket swing arms corresponding to the two clamping wheel brackets of the third clamping wheel group are rotatably connected to the other ends of the two second balance rods, respectively.

7. The lifting mechanism according to claim 3, characterized in that, It includes four clamping wheel assemblies, each clamping wheel assembly including two clamping wheels; The balancing device includes: A balancing member is disposed between a plurality of the clamping wheels, and the balancing member is configured to be movable along the axial direction of the lifting rod and to rotate about a third axis parallel to the first axis and the second axis. Two balance arms are respectively disposed on both sides of the balance member, and one end of each balance arm is rotatably connected to the balance member. The first balance link, two first balance links are respectively disposed at the other end of the two balance arms, and the middle part of the first balance link is rotatably connected to the balance arm; The second balance link, the middle part of each of the four second balance links is rotatably connected to one end of a first balance link; Each of the clamping wheel brackets is correspondingly fixed with a bracket swing arm, and each bracket swing arm is rotatably connected to a second balance link.

8. The lifting mechanism according to any one of claims 4 to 7, characterized in that, The balance arm is configured such that, during the swinging process of the balance arm, the height of one end of the balance arm connected to the balance member is not less than the height of the other end of the balance arm.

9. The lifting mechanism according to claim 8, characterized in that, The balancing component is provided with a swing arm limiting groove for limiting the rotation angle of the balancing swing arm, and the balancing swing arm is provided with a swing arm limiting member, which can slide within the swing arm limiting groove.

10. The lifting mechanism according to any one of claims 4 to 7, characterized in that, The balancing device also includes: A lead screw, which is arranged parallel to the axis of the lifting rod; A slider mechanism is matched with a lead screw, the lead screw rotates to drive the slider mechanism to move along the axis of the lead screw, and a balancing member is rotatably connected to the slider mechanism.

11. The lifting mechanism according to claim 10, characterized in that, The slider mechanism includes: a lead screw slider, the lead screw slider meshing with the lead screw, and the balancing member rotatably connected to the lead screw slider; Alternatively, the slider mechanism includes: A lead screw and a slider, wherein the lead screw and the slider engage with the lead screw; A movable slider, wherein a lead screw passes through the movable slider, the movable slider is slidable relative to the lead screw, and the balancing member is rotatably connected to the movable slider; A slider elastic element is disposed between the lead screw slider and the movable slider.

12. The lifting mechanism according to claim 11, characterized in that, Also includes: A chassis frame, on which a guide groove for a balancing device is provided; The lead screw slider and / or the movable slider are provided with a balancing device guide, which is slidably disposed in the balancing device guide groove.

13. The lifting mechanism according to claim 10, characterized in that, include: A balancing device drive mechanism, which drives the lead screw to rotate; The balancing device drive mechanism includes: a balancing device drive motor and a manual release lever that is disengaged and driven to the motor shaft of the balancing device drive motor. The lead screw is configured to rotate synchronously with the manual release lever.

14. The lifting mechanism according to claim 13, characterized in that, One of the motor shaft of the balancing device drive motor and the manual release lever is provided with a coupling structure, and the other of the motor shaft of the balancing device drive motor and the manual release lever is provided with a coupling groove that matches the coupling structure. The motor shaft of the balancing device drive motor and the manual release lever are connected in a disengaging transmission manner through the coupling structure and the coupling groove. The manual release lever is operable in a first position and a second position; When the manual release lever is in the first position, the engagement structure disengages from the engagement groove, and the power of the balancing device drive motor is disengaged from the manual release lever. When the manual release lever is in the second position, the engagement structure engages with the engagement groove, and the power of the balancing device drive motor is transmitted to the manual release lever.

15. The lifting mechanism according to claim 13, characterized in that, The balancing device drive mechanism further includes: a positioning structure capable of moving in a direction intersecting the axial direction of the manual release lever, and a positioning elastic element that causes the positioning structure to tend to move closer to the manual release lever. The manual release lever has one or more positioning grooves that match the shape of the positioning structure.

16. The lifting mechanism according to claim 2, characterized in that, Also includes: A transmission mechanism that connects the drive mechanism and the clamping wheel, the transmission mechanism comprising: The worm, the worm wheel meshing with the worm, the first transmission gear rotating coaxially with the worm wheel, and the second transmission gear being connected to the first transmission gear in a transmission manner; The second transmission gear is fixedly connected to the clamping wheel shaft of the clamping wheel, and the second transmission gear rotates around the first shaft; Both the worm gear and the first transmission gear rotate around the second axis.

17. The lifting mechanism according to claim 16, characterized in that, Each of the clamping wheels is correspondingly provided with a worm gear, a first transmission gear, and a second transmission gear; The worm gear meshes with a plurality of worm wheels.

18. The lifting mechanism according to claim 3, characterized in that, The clamping wheel bracket includes: a clamping wheel bracket base plate and two clamping wheel bracket side plates disposed on both sides of the clamping wheel bracket base plate, wherein the clamping wheel is rotatably arranged between the two clamping wheel bracket side plates.

19. The lifting mechanism according to claim 2, characterized in that, Also includes: The chassis shell and the chassis frame located inside the chassis shell; The lifting rod passes through the outer casing of the chassis and the chassis frame; The clamping wheel assembly is located inside the chassis frame; The drive mechanism and the balancing device are located between the chassis shell and the chassis frame.

20. The lifting mechanism according to any one of claims 1 to 5, characterized in that, The lifting rod has a circular cross-section, and the clamping wheel has a concave arc surface that fits against the outer surface of the lifting rod; The lifting mechanism further includes a rotary drive mechanism, which drives the lifting rod to rotate around its axis.

21. A propulsion device, characterized in that, Includes the lifting mechanism described in any one of claims 1 to 20.

22. The propulsion device according to claim 21, characterized in that, include: A control mechanism located at the upper end of the lifting rod, and a pusher located at the other end of the lifting rod; The lifting rod is configured to rotate about its axis.

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