Lifting mechanism and carrying equipment

Abstract

The utility model provides a lifting mechanism and carrying equipment. The lifting mechanism comprises a supporting platform, a lifting device and a driving shaft located at the bottom of the supporting platform. And lifting devices are respectively arranged at two axial ends of the driving shaft. The lifting device comprises a lifting assembly and a transmission assembly, and the lifting assembly is movably connected with the supporting platform to form a first connecting rod mechanism. The lifting assembly comprises a first connecting shaft, a second connecting shaft and a first connecting piece, and the first connecting piece is connected with the first connecting shaft and the second connecting shaft. The transmission assembly comprises a second connecting piece and a third connecting piece, and the second connecting piece is rotationally connected with the second connecting shaft. One end of the third connecting piece is rotationally connected with the driving shaft, and the other end is rotationally connected with the first connecting shaft. When the driving shaft rotates, the first connecting shaft rotates around the driving shaft and drives the connected first connecting piece to move relative to the supporting platform so as to adjust the supporting height of the supporting platform. According to the lifting mechanism, the containing space of some devices of the carrying equipment in the lifting mechanism is increased.

Description

Technical Field

[0001] This application relates to the field of cleaning equipment technology, and in particular to a lifting mechanism and handling equipment. Background Technology

[0002] For material handling equipment such as Automated Guided Vehicles (AGVs), the lifting mechanism is arguably the core and essential component. It adjusts the height of the equipment through its own lifting action to facilitate load movement. Currently, the mainstream lifting mechanism used in the industry is the four-bar linkage. This mechanism is mounted on the base of the material handling equipment. However, the four-bar linkage requires significant swing space during lifting, which is not ideal for housing certain components of the material handling equipment within the lifting mechanism. Utility Model Content

[0003] This application provides a lifting mechanism and a handling device. Without changing the size of the lifting mechanism, the space for some components of the handling device within the lifting mechanism can be increased.

[0004] In a first aspect, embodiments of this application provide a lifting mechanism applied to handling equipment. The lifting mechanism includes:

[0005] Support platform;

[0006] A drive unit, including a drive shaft located at the bottom of a support platform;

[0007] The lifting device has a lifting assembly at each end of the drive shaft in the axial direction; the lifting assembly includes a lifting component and a transmission component, the lifting component is movably connected to the support platform and forms a first linkage mechanism;

[0008] The lifting assembly includes a first connecting shaft, a second connecting shaft, and a first connecting member. The two ends of the first connecting member are respectively connected to the first connecting shaft and the second connecting shaft, and the second connecting shaft is located at the end of the first connecting member away from the drive shaft.

[0009] The transmission assembly includes a second connector and a third connector; one end of the second connector is configured to be rotatably mounted on the base of the handling equipment, and the other end is rotatably connected to a second connecting shaft; one end of the third connector is rotatably connected to a drive shaft, and the other end is rotatably connected to a first connecting shaft; the first connector, the second connector, and the third connector form a second linkage mechanism;

[0010] The first connecting shaft is configured to rotate about the drive shaft when the drive shaft rotates, and drive the first connecting member connected to it to move relative to the support platform to adjust the support height of the support platform.

[0011] Among them, the second connecting shafts in the two lifting devices are two independent structural components.

[0012] In this embodiment, the first linkage mechanism is used, in which the support platform can be considered a fixed component and the first connector can be considered a movable component. Therefore, when the first connector moves, it will cause the second connecting shaft to swing relative to the support platform, thereby causing the support platform to move and change its position, thus adjusting the support height of the support platform to achieve the lifting and lowering of the lifting mechanism.

[0013] Since the first connecting shafts in both lifting devices are rotatably connected to the drive shaft via third connecting shafts, both third connecting shafts can rotate around the drive shaft when it rotates. Therefore, in this embodiment, the movement of the lifting components and transmission components in the two lifting devices can be driven by their respective first and second connecting shafts, allowing the movements of the two lifting components and the two transmission components to be independent of each other. Compared to existing four-bar lifting mechanisms, in this lifting mechanism, neither the first nor the second connecting shaft needs to penetrate through the two lifting components. The lengths of the first and second connecting shafts can be significantly shortened. With the length of the second connecting shaft significantly reduced, the swing space required for the second connecting shaft to swing will also be significantly reduced. In this way, without changing the size of the lifting mechanism, the accommodating space for some components of the handling equipment within the lifting mechanism can be increased, so that some components of the handling equipment can be accommodated within the lifting mechanism, while also facilitating the miniaturization of the handling equipment.

[0014] In some embodiments, a first clearance space is provided between the two second connecting shafts, the first clearance space being used to avoid components of the handling equipment.

[0015] With this configuration, some components of the handling equipment can be housed within the first clearance space when placed on the base, thus avoiding interference between these components and the second connecting shaft. This allows for the placement of these components on the base without affecting the swing of the second connecting shaft.

[0016] In some embodiments, the transmission assembly further includes a third connecting shaft configured to be mounted on a base, wherein one end of the second connector opposite to the second connecting shaft is rotatably connected to the third connecting shaft, such that the second connector is rotatably mounted on the base via the third connecting shaft, thereby ensuring that the second connecting shaft oscillates relative to the base about the third connecting shaft.

[0017] In some embodiments, the two third connecting shafts are provided with a second clearance space at the position corresponding to the first clearance space, and the second clearance space is used to avoid the components of the handling equipment.

[0018] This arrangement allows the devices housed in the first clearance space to be placed within the second clearance space when they are mounted on the base, thus preventing interference between these devices and the second connecting shaft and ensuring the smooth installation of the devices housed in the first clearance space on the base.

[0019] In some embodiments, the axial direction of the third connecting shaft is parallel to the axial direction of the second connecting shaft, ensuring that the second connecting shaft can swing relative to the base in the same direction as the rotation direction of the first connecting shaft.

[0020] In some embodiments, the transmission assembly includes at least two second connectors, which are distributed at both ends of the second connecting shaft;

[0021] The first connector is located in the middle area of ​​the second connecting shaft.

[0022] Compared to the second connector being located at one end of the second connecting shaft, the embodiments of this application, by distributing at least two second connectors at both ends of the second connecting shaft, can increase the stability of the second connecting shaft when rotating relative to the base and the rigidity of the second connecting shaft.

[0023] In some embodiments, the axial direction of the first connecting shaft is parallel to the axial direction of the drive shaft, so that the first connecting shaft can rotate around the drive shaft under the drive of the planetary gears.

[0024] In some embodiments, the first connecting shafts in the two lifting devices are two independent structural components, and there is a gap between the two first connecting shafts along their axial direction to shorten their length and thus reduce the required rotational space. This allows the motor, reducer, and drive assembly, etc., to be housed on the base and accommodated within the gap between the two first connecting shafts, preventing interference between them and the second connecting shaft. This allows the motor, reducer, and drive assembly to be mounted on the base without affecting the swing of the second connecting shaft.

[0025] In some embodiments, the transmission assembly includes at least two third connectors, which are distributed at both ends of the first connecting shaft;

[0026] The first connector is located in the middle area of ​​the first connecting shaft.

[0027] Compared to the third connector being located at one end of the first connecting shaft, the embodiments of this application, by distributing at least two third connectors at both ends of the first connecting shaft, can increase the stability of the first connecting shaft when rotating relative to the base and the rigidity of the first connecting shaft.

[0028] In some embodiments, the transmission assembly further includes a sun gear, planet gears, and a planetary internal gear ring, with the drive shaft passing through the sun gear and the sun gear located at the end of the drive shaft, and the planet gears meshing between the sun gear and the planetary internal gear ring;

[0029] The sun gear is configured to rotate on its own when the drive shaft rotates, thereby driving the planet gears to rotate on their own and around the sun gear;

[0030] The first connecting shaft passes through the planetary gears, which are configured to drive the first connecting shaft to rotate around the drive shaft when they rotate around the sun gear.

[0031] When the first connecting shaft rotates around the drive shaft under the drive of the planetary gears, it will cause the first connecting piece connected to it to move relative to the support platform, which can smoothly adjust the support height of the support platform.

[0032] In some embodiments, the planetary internal gear ring has an arc-shaped meshing rack, and the planetary gear meshes with the meshing rack;

[0033] As the planetary gears rotate around the sun gear, they can roll along the meshing rack so that the planetary gears are always meshed with the planetary internal gear ring and the sun gear.

[0034] In some embodiments, the lifting assembly further includes a first lifting member and a second lifting member, one end of the first lifting member being rotatably connected to a first connecting shaft and the other end being movably connected to a support platform;

[0035] One end of the second lifting component is rotatably connected to the second connecting shaft, and the other end is movably connected to the support platform.

[0036] The first connecting shaft is configured such that when it rotates about the drive shaft in two opposite directions, it can drive the first lifting member to swing relative to the support platform, and at the same time drive the first connecting member to move relative to the support platform towards or away from the second lifting member, so that the support platform can switch between a lifting position and a lowering position.

[0037] The support height of the support platform in the lifting position is higher than that of the support platform in the lowering position.

[0038] With this configuration, when the first connecting shaft rotates in opposite directions around the drive shaft, allowing the support platform to switch between the lifting and lowering positions, the support height of the support platform can be adjusted, thus achieving the lifting and lowering of the support platform.

[0039] In some embodiments, when the support platform is in the lifting position, the included angle between the first lifting member and the third connecting member is a1;

[0040] When the support platform is in the descending position, the included angle between the first lifting component and the third connecting component is a2;

[0041] Where a1 > a2.

[0042] This configuration ensures that when the support platform is in the lifting position, the first connecting end is mounted at a relatively high height on the base, thus positioning the support platform in the lifting position. When the support platform is in the lowering position, it ensures that the first connecting end is mounted at a relatively low height on the base, thus positioning the support platform in the lowering position.

[0043] In some embodiments, the angle between the second lifting member and the second connecting member is always equal to the angle between the first lifting member and the second connecting member.

[0044] This configuration ensures that, regardless of the position of the support platform, the installation height of the first connecting end on the base is always equal to the installation height of the second connecting end on the base, thus ensuring that the support platform is in a horizontal plane and enhancing the stability of the support platform structure.

[0045] In some embodiments, the lifting mechanism further includes a connecting frame and an internal gear ring support;

[0046] One end of the connecting frame is rotatably connected to the internal gear ring bracket, and the other end is rotatably connected to the support platform or the second lifting component.

[0047] By setting up the connecting frame, the structural stability of the first and second linkage mechanisms during movement can be enhanced, enabling the lifting mechanism to switch stably between the lowering and lifting positions.

[0048] In some embodiments, the drive device further includes a motor and a drive assembly, the drive assembly being located at the middle of the drive shaft and connected to the motor;

[0049] The drive assembly is configured to drive the drive shaft to rotate under the drive of the motor.

[0050] With this configuration, the drive shaft can rotate under the drive of the drive assembly, and drive the sun gear to rotate, so that the sun gear can drive the planet gears to rotate and revolve around the sun gear (i.e., revolve), and then drive the first connecting shaft to rotate around the drive shaft through the planet gears.

[0051] Secondly, embodiments of this application provide a handling device, which includes a chassis, a traveling mechanism, and a lifting mechanism as described above, both of which are mounted on a base.

[0052] The handling device of this application embodiment, by setting up a lifting mechanism, enables the handling device of this application to increase the accommodating space of some components of the handling device within the lifting mechanism without changing the size of the lifting mechanism, so that some components of the handling device can be accommodated within the lifting mechanism. Attached Figure Description

[0053] 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.

[0054] Figure 1 A schematic diagram of a lifting mechanism in a descending position provided in an embodiment of this application, viewed from a first perspective;

[0055] Figure 2 A schematic diagram of a lifting mechanism in a descending position, provided as an embodiment of this application, from a second perspective;

[0056] Figure 3 A partial schematic diagram from a third-person perspective of a lifting mechanism in a descending position, provided as an embodiment of this application;

[0057] Figure 4 A partial schematic diagram from a first perspective of a lifting mechanism in the lifting position, provided as an embodiment of this application;

[0058] Figure 5 A partial schematic diagram from a second perspective of a lifting mechanism in the lifting position, provided as an embodiment of this application;

[0059] Figure 6 for Figure 5 A partial schematic diagram of the lifting mechanism;

[0060] Figure 7 for Figure 1 A partial schematic diagram of the lifting mechanism;

[0061] Figure 8 for Figure 4 A partial schematic diagram of the lifting mechanism.

[0062] Figure label:

[0063] 100 - Lifting mechanism;

[0064] 1-Supporting platform; 11-Supporting surface; 12-Non-supporting surface;

[0065] 2-Drive unit; 21-Drive shaft; 22-Motor; 23-Reducer; 24-Transmission wheel;

[0066] 3-Lifting assembly; 31-First lifting component; 32-Second lifting component; 33-First connecting shaft; 331-Limiting groove; 34-Second connecting shaft; 35-First connecting component;

[0067] 4-Transmission assembly; 41-Sun gear; 42-Planet gear; 43-Planet internal gear ring; 431-Meshing rack; 44-Second connecting member; 45-Third connecting member; 46-Third connecting shaft;

[0068] 5-Fourth connecting shaft;

[0069] 6-Fifth connecting axis;

[0070] 7-Fourth connector;

[0071] 8-Shielding parts;

[0072] 9 - First clearance space;

[0073] 10 - Second avoidance space;

[0074] 20-Connecting bracket;

[0075] 30-Internal gear ring bracket. Detailed Implementation

[0076] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0077] This application provides a material handling device. The material handling device may include automated guided vehicles (AGVs) with lifting mechanisms, such as AGVs. The structure of the material handling device will be further described below using a AGV as an example.

[0078] Material handling equipment is an industrial vehicle that loads goods automatically or manually, travels automatically along a set route or carries the load to a designated location, and then loads and unloads the load automatically or manually. For example, the load can be goods, shelves, etc.

[0079] The handling equipment includes a chassis, a traveling mechanism, a lifting mechanism, and a support plate. The traveling mechanism and the lifting mechanism are both mounted on the base. The support plate is located on the side of the lifting mechanism away from the base and is used to support the load.

[0080] The traveling mechanism can drive the base and lifting mechanism to move, enabling the handling equipment to automatically travel along a set route or transport the load to a designated location. For example, the traveling mechanism may include traveling wheels and a traveling motor that drives the traveling wheels.

[0081] As a core and essential component of material handling equipment, the lifting mechanism is a crucial element for Automated Guided Vehicles (AGVs). It can change the height of the material handling equipment through its own lifting mechanism, enabling the equipment to move the load to a designated location or to detach the load from the designated location to continue handling the next load.

[0082] For example, taking a lurking AGV as an example, when the handling equipment is handling a load, it will lurk under the load (such as a shelf), and the lifting mechanism can rise so that the support plate is against the bottom of the load. Thus, when the walking mechanism moves, the handling equipment can drive the load to travel automatically along the set route or transport the load to a designated location.

[0083] Correspondingly, after the handling equipment has moved the load to the designated location, the lifting mechanism can be lowered to remove the support plate from the bottom of the load so that the handling equipment can continue to handle the next load.

[0084] Currently, the mainstream lifting mechanism used in the industry is the four-bar linkage. The four-bar linkage is mounted on the base of the handling equipment. However, the four-bar linkage requires a large swing space during lifting, which is not conducive to housing some components of the handling equipment within the lifting mechanism. For example, components of the handling equipment housed within the lifting mechanism include controllers and power supplies.

[0085] Therefore, the inventors of this application have studied the reasons for the large swing space caused by existing four-bar lifting mechanisms during lifting. The inventors found that existing four-bar lifting mechanisms mainly include a motor, a drive arm, two rotating shafts, and two four-bar linkages. The two rotating shafts are located between the two four-bar linkages, and the ends of the two shafts pass through both linkages, connecting them via the two shafts. One end of the drive arm is connected to the motor, and the other end is connected to one of the rotating shafts. Driven by the motor, the drive arm causes the connected rotating shaft to swing relative to the base of the lifting equipment. This, in turn, causes some components in the two four-bar linkages to change, thereby adjusting the height of the lifting mechanism and achieving lifting.

[0086] In existing four-bar lifting mechanisms, to ensure that the ends of the two shafts simultaneously pass through both four-bar linkages, the shafts need to be relatively long. Therefore, a large swing space is required when the shafts swing relative to the base via the drive arm. Without changing the dimensions of the lifting mechanism, a large swing space required by the shafts can result in insufficient space within the lifting mechanism to accommodate some components of the handling equipment.

[0087] In view of this, this application provides a lifting mechanism applied to handling equipment. A lifting device is provided at each end of a drive shaft via the lifting mechanism. Each lifting device has a lifting assembly, which is movably connected to a support platform to form a first linkage mechanism. The lifting assembly has a first connecting shaft, a second connecting shaft, and a first connecting member. The first connecting shaft can rotate around the drive shaft under its drive, causing the first connecting member to move. When the first connecting member moves, it causes the second connecting shaft to swing relative to the support platform, thereby moving the support platform to adjust its support height and achieve lifting and lowering of the support platform. Therefore, under the drive of the drive shaft, the two first connecting shafts can drive the respective lifting mechanisms to move, thereby achieving lifting and lowering of the support platform.

[0088] Compared to existing four-bar lifting mechanisms, the lifting mechanism of this application eliminates the need for the first and second connecting shafts to penetrate both lifting components, allowing for a shorter length of the second connecting shaft and reducing the required swing space. While maintaining the same overall size, this increases the space available for certain components of the transport equipment within the lifting mechanism, enabling them to be accommodated within the lifting system.

[0089] Figures 1 to 3 The diagrams show the lifting mechanism 100 in different viewpoints when it is in the lowered position. Figure 4 and Figure 5 The diagrams show the lifting mechanism 100 in different viewpoints when it is in the lifting position.

[0090] The following is combined Figures 1 to 5 The structure of the lifting mechanism 100 provided in the embodiments of this application will be further described in the following examples.

[0091] See Figures 1 to 5 The lifting mechanism 100 includes a support platform 1. The support platform 1 is used to support the support plate. The support platform 1 has a support surface 11 and a non-support surface 12 in the thickness direction. The support surface 11 is used to support the support plate.

[0092] The lifting mechanism 100 also includes a drive unit 2, which includes a drive shaft 21 located at the bottom of the support platform 1. The bottom of the support platform 1 refers to the side of the non-support surface 12 that faces away from the support surface 11.

[0093] The lifting mechanism 100 also includes lifting devices. A lifting device is provided at each end of the drive shaft 21 in the axial direction. That is, the lifting mechanism 100 has two lifting devices.

[0094] The lifting device includes a lifting assembly 3, which is movably connected to the support platform 1 and forms a first linkage mechanism. The first linkage mechanism can be a four-bar linkage. The two lifting assemblies 3 can jointly support the support platform 1, enhancing the stability of the support platform 1.

[0095] Figure 6 It shows Figure 5 A partial schematic diagram of the lifting mechanism 100.

[0096] See Figure 6 The lifting assembly 3 includes a first connecting shaft 33, a second connecting shaft 34, and a first connecting member 35. Both ends of the first connecting member 35 are connected to the first connecting shaft 33 and the second connecting shaft 34, respectively, so that the first connecting member 35 is located between the first connecting shaft 33 and the second connecting shaft 34. The second connecting shaft 34 is located at the end of the first connecting member 35 furthest from the drive shaft 21. Correspondingly, the first connecting shaft 33 is located at the end of the first connecting member 35 adjacent to the end furthest from the drive shaft 21.

[0097] Figure 6 It shows Figure 1 A partial schematic diagram of the lifting mechanism 100. Figure 7 for Figure 4 A partial schematic diagram of the lifting mechanism 100.

[0098] See Figure 6 and Figure 7 The lifting device also includes a transmission assembly 4. The transmission assembly 4 includes a second connector 44 and a third connector 45. One end of the second connector 44 is configured to be rotatably mounted on the base of the handling equipment, and the other end is rotatably connected to a second connecting shaft 34, so that the second connecting shaft 34 is swayably mounted on the base.

[0099] One end of the third connector 45 is rotatably connected to the drive shaft 21, and the other end is rotatably connected to the first connecting shaft 33, so as to realize the rotatable connection between the first connecting shaft 33 and the drive shaft 21 through the third connector 45. For example, one end of the third connector 45 can be sleeved on the drive shaft 21, and the other end can be sleeved on the first connecting shaft 33, so as to realize the rotatable connection between the third connector 45, the first connecting shaft 33, and the drive shaft 21.

[0100] The first connecting member 35, the second connecting member 44, and the third connecting member 45 form a second linkage mechanism. The second linkage mechanism also includes a base. The base can be considered as a fixing component of the second linkage mechanism. The second linkage mechanism can also be understood as another four-bar linkage in the lifting mechanism 100.

[0101] The second connecting shafts 34 in the two lifting devices are two independent structural components. That is to say, the second connecting shafts 34 in the two lifting devices are not connected to each other and can be regarded as two connecting shafts.

[0102] See Figures 6 to 8 The first connecting shaft 33 is configured to rotate around the drive shaft 21 when the drive shaft 21 rotates, thereby causing the connected first connecting member 35 to move relative to the support platform 1 to adjust the support height of the support platform 1. For a four-bar linkage, the components may include movable components and fixed components. In a four-bar linkage, when any movable component moves, the direction of movement of the remaining components is also determined.

[0103] In the first linkage mechanism, the support platform 1 can be considered as a fixed component, and the first connecting member 35 can be considered as a movable component. Therefore, when the first connecting member 35 moves relative to the support platform 1 under the drive of the first connecting shaft 33, the support platform 1 will also move accordingly, and the direction of movement is determined.

[0104] When the first connecting member 35 moves, it will cause the second connecting shaft 34 to swing relative to the support platform 1, thereby causing the support platform 1 to move and change its position, thus adjusting the support height of the support platform 1 and raising or lowering the lifting mechanism 100.

[0105] In the second linkage mechanism, the base can be considered as a fixed component, while the first connector 35, the second connector 44, and the third connector 45 can all be considered as movable components. Therefore, when the first connector 35 moves relative to the support platform 1 under the drive of the first connecting shaft 33, the first connector 35, the second connector 44, and the third connector 45 will also move accordingly.

[0106] Since the second connecting shaft 34 is mounted on the base via the second connecting member 44, the second connecting shaft 34 can swing relative to the base when the second connecting member 44 is movable. Since the first connecting shaft 33 is rotatably connected to the drive shaft 21 via the third connecting member 45, the first connecting shaft 33 can rotate around the drive shaft 21 when the third connecting member 45 is movable.

[0107] Therefore, the movement of the support platform 1 can be ensured by the movement of the second connector 44, so as to realize the lifting mechanism 100.

[0108] Since the first connecting shaft 33 in both lifting devices is rotatably connected to the drive shaft 21 via the third connecting shaft 46, both third connecting shafts 46 can rotate around the drive shaft 21 when the drive shaft 21 rotates. Therefore, in this embodiment, the movements of the lifting components 3 and transmission components 4 in the two lifting devices can be driven by their respective first connecting shafts 33 and second connecting shafts 34, allowing the movements of the two lifting components 3 and the two transmission components 4 to be independent of each other.

[0109] Compared to existing four-bar lifting mechanisms, the first connecting shaft 33 and the second connecting shaft 34 in the lifting mechanism 100 of this application do not need to penetrate through the two lifting components 3. Therefore, the lengths of the first connecting shaft 33 and the second connecting shaft 34 can be significantly shortened. With the significant reduction in the length of the first connecting shaft 33, the rotation space required for the first connecting shaft 33 to rotate will also be significantly reduced. With the significant reduction in the length of the second connecting shaft 34, the swing space required for the second connecting shaft 34 to swing will also be significantly reduced. In this way, without changing the size of the lifting mechanism 100, the accommodating space for some components of the handling equipment within the lifting mechanism 100 can be increased, so that some components of the handling equipment can be accommodated within the lifting mechanism 100, while also facilitating the miniaturization of the handling equipment.

[0110] When the two lifting devices of the lifting mechanism 100 are located at both ends of the drive shaft 21, the two lifting devices can reach the two side edges of the base. Furthermore, since the rotation space of the first connecting shaft 33 and the swing space of the second connecting shaft 34 are reduced, the accommodating space within the lifting mechanism 100 can be further increased, so as to facilitate the installation of some components of the handling equipment and further realize the miniaturization of the handling equipment.

[0111] It should be noted that the two transmission components 4 can be distributed at both ends of the drive shaft 21 in the axial direction, and each of the two transmission components 4 is respectively provided with a lifting component 3, so that the two lifting devices are respectively located at both ends of the drive shaft 21 in the axial direction. See Figure 7 and Figure 8 In some embodiments, the transmission assembly 4 further includes a sun gear 41, planet gears 42, and a planetary internal gear ring 43. The drive shaft 21 passes through the sun gear 41, and the sun gear 41 is located at the end of the drive shaft 21. The planet gears 42 mesh between the sun gear 41 and the planetary internal gear ring 43, so that the transmission assembly 4 is located at the end of the drive shaft 21.

[0112] It should be understood that when the planetary gear 42 is engaged between the sun gear 41 and the planetary internal gear ring 43, one side of the planetary gear 42 is engaged with the sun gear 41, and the other side is engaged with the planetary internal gear ring 43. The sun gear 41 is configured to rotate on its own when the drive shaft 21 rotates, so as to drive the planetary gear 42 to rotate on its own and about the sun gear 41.

[0113] Specifically, since one side of planetary gear 42 meshes with sun gear 41, the rotation of sun gear 41 drives planetary gear 42 to rotate. Simultaneously, since the other side of planetary gear 42 meshes with planetary internal gear ring 43, under the driving force of planetary gear 42's rotation, planetary gear 42 will roll in the same direction as the rotation of sun gear 41 within planetary internal gear ring 43, causing planetary gear 42 to rotate around sun gear 41. The rotation of planetary gear 42 around sun gear 41 can be understood as the revolution of planetary gear 42.

[0114] The first connecting shaft 33 passes through the planetary gear 42. The planetary gear 42 is configured to drive the first connecting shaft 33 to rotate around the drive shaft 21 when it rotates around the sun gear 41. With this configuration, when the first connecting shaft 33 rotates around the drive shaft 21 under the drive of the planetary gear 42, it will drive the connected first connecting member 35 to move relative to the support platform 1, thereby adjusting the support height of the support platform 1.

[0115] Since the first connecting shaft 33 passes through the planetary gear 42, when the planetary gear 42 rotates around the sun gear 41, the planetary gear 42 will drive the first connecting shaft 33 to rotate simultaneously. The rotation direction of the first connecting shaft 33 is the same as the rotation direction of the planetary gear 42 relative to the sun gear 41, and the first connecting shaft 33 and the planetary gear 42 rotate coaxially.

[0116] It should be noted that the drive device 2 can control the drive shaft 21 to rotate in two opposite directions. Since the sun gear 41 also rotates in the same direction when the drive shaft 21 rotates, and the planet gears 42 also rotate in the same direction as the sun gear 41 when the sun gear 41 rotates, in this embodiment, it is only necessary for the drive device 2 to control the first connecting shaft 33 to rotate in two opposite directions when the drive shaft 21 rotates in two opposite directions, and the rotation direction of the first connecting shaft 33 is the same as the rotation direction of the drive shaft 21.

[0117] It should be understood that when the first connecting shaft 33 rotates in two opposite directions, it can drive the first connecting member 35 to also move relative to the support platform 1 in two opposite directions, thereby adjusting the support height of the support platform 1 and realizing the lifting and lowering of the support platform 1 and the lifting mechanism 100. In the following text, the movement of the first connecting member 35 and the lifting and lowering of the support platform 1 will be further explained in conjunction with the structure of the lifting assembly 3, and will not be repeated here.

[0118] Since the planetary gear 42 can drive the first connecting shaft 33 to rotate around the drive shaft 21 when it rotates around the sun gear 41, the planetary gear 42 will serve as the drive for the lifting assembly 3. Due to the arrangement of the drive shaft 21, sun gear 41, planetary gear 42 and planetary internal gear ring 43, the torque transmitted from the sun gear 41 to the planetary gear 42 can achieve the effect of speed reduction and torque increase.

[0119] Compared to existing lifting mechanisms that use non-planetary gear drives for the lifting components, the embodiments of this application achieve a speed-reducing and torque-increasing effect when the torque transmitted from the sun gear 41 to the planetary gears 42 is transmitted. This reduces the rotational speed of the drive shaft 21 and increases the output torque. This increases the output torque of the drive device 2, allowing the handling device of this application to use a smaller power drive device 2 to output a larger output torque under the same load, thus improving the transmission efficiency of the drive device 2 and the lifting mechanism 100.

[0120] It should be noted that the principle mentioned above, which states that "by configuring the drive shaft 21, sun gear 41, planet gears 42, and planetary internal gear ring 43, the torque transmitted from the sun gear 41 to the planet gears 42 can achieve the effect of speed reduction and torque increase," can be found in the working principle of the planetary reducer 23. Further elaboration is not provided in this embodiment.

[0121] See Figure 7 and Figure 8 In some embodiments, the planetary internal gear ring 43 has an arc-shaped meshing rack 431, and the planetary gear 42 meshes with the meshing rack 431.

[0122] When the planetary gear 42 rotates around the sun gear 41, it can roll along the meshing rack 431 so that the planetary gear 42 is always meshed with the planetary internal gear ring 43 and the sun gear 41.

[0123] It should be noted that the arc design of the meshing rack 431 can be found in the relevant design of the planetary reducer 23, and will not be repeated in this application.

[0124] See Figure 5 and Figure 6 In some embodiments, the drive device 2 further includes a motor 22 and a drive assembly. The drive assembly is located at the center of the drive shaft 21 and connected to the motor 22. The drive assembly is configured to drive the drive shaft 21 to rotate under the drive of the motor 22. With this configuration, under the drive of the motor 22, the drive shaft 21 can rotate and drive the sun gear 41 to rotate, so that the sun gear 41 can drive the planet gears 42 to rotate and revolve around the sun gear 41 (i.e., revolve around the sun gear 41), thereby driving the first connecting shaft 33 to rotate around the drive shaft 21 through the planet gears 42.

[0125] See Figure 6 The drive assembly may include a transmission component and two transmission wheels 24. One of the two transmission wheels 24 is connected to the output shaft of the motor 22, and the other is connected to the drive shaft 21. The transmission component is sleeved on the opposite side of the two transmission wheels 24. Driven by the motor 22, the output shaft of the motor 22 will rotate, driving the connected transmission wheel 24 to rotate. Under the transmission of the transmission component, the transmission wheel 24 connected to the drive shaft 21 and the drive shaft 21 will rotate.

[0126] For example, the drive assembly can be a chain drive assembly or a belt drive assembly, etc., to diversify the structure of the lifting mechanism 100 and meet the diverse structural design requirements of handling equipment. When the drive assembly is a chain drive assembly, the transmission wheel 24 can be a transmission gear, and the transmission component can be a transmission chain. When the drive assembly is a belt drive assembly, the transmission wheel 24 can be a transmission pulley, and the transmission component can be a transmission belt.

[0127] In some embodiments, the drive unit 2 may further include a speed reducer 23. The speed reducer 23 is connected between the motor 22 and the drive assembly. Specifically, the input end of the speed reducer 23 is connected to the output shaft of the motor 22, and the output end of the speed reducer 23 is connected to a transmission wheel 24 of the drive assembly. By providing the speed reducer 23, the torque of the motor 22 can be increased, the speed of the motor 22 can be reduced, and noise and vibration can be reduced, thereby improving the service life, stability, and safety of the handling equipment.

[0128] See Figure 7 and Figure 8 In some embodiments, the lifting assembly 3 further includes a first lifting member 31 and a second lifting member 32. One end of the first lifting member 31 is rotatably connected to the first connecting shaft 33, and the other end is movably connected to the support platform 1. One end of the second lifting member 32 is rotatably connected to the second connecting shaft 34, and the other end is movably connected to the support platform 1. In this case, the first lifting member 31, the second lifting member 32, the first connecting member 35, and the support platform 1 form a first linkage mechanism. The first lifting member 31, the second lifting member 32, and the first connecting member 35 can all be regarded as moving components in the first linkage mechanism.

[0129] The first connecting shaft 33 is configured such that, when rotating around the drive shaft 21 in opposite directions, it not only causes the first lifting member 31 to swing relative to the support platform 1, but also causes the first connecting member 35 to move relative to the support platform 1 towards or away from the second lifting member 32, thereby switching the support platform 1 between a lifting position and a lowering position. Since the support height of the support platform 1 in the lifting position is higher than that in the lowering position, when the first connecting shaft 33 rotates around the drive shaft 21 in opposite directions, causing the support platform 1 to switch between the lifting and lowering positions, the support height of the support platform 1 can be adjusted, thus achieving the raising and lowering of the support platform 1.

[0130] For ease of description, the two opposite directions mentioned above are defined as the first direction and the second direction, respectively. The first direction can be referred to as the W direction, and the second direction as the V direction. The end of the first lifting member 31 connected to the first connecting shaft 33 is defined as the first connecting end, and the end of the second lifting member 32 connected to the second connecting shaft 34 is defined as the second connecting end.

[0131] For example, see Figure 7When the lifting mechanism 100 is in the lowering position, the sun gear 41 can rotate in the first direction (W direction), and the first connecting shaft 33 will rotate around the sun gear 41 in the first direction under the drive of the planet gear 42. At this time, due to the rotation of the first connecting shaft 33, the first connecting member 35 will move relative to the support platform 1 towards the side closer to the second lifting member 32, and at the same time, the connected first connecting end will swing away from the support platform 1. When the first connecting member 35 moves, it will also cause the connected second connecting shaft 34 to swing relative to the base in the first direction. When the second connecting shaft 34 swings, it will cause the connected second connecting end to swing away from the support platform 1. When the first connecting end and the second connecting end stop swinging, the lifting mechanism 100 will switch from the lowering position to the lifting position (e.g., Figure 8 (as shown in the image).

[0132] For example, see Figure 8 When the lifting mechanism 100 is in the lifting position, the sun gear 41 can rotate in the second direction (V direction), and the first connecting shaft 33 will rotate around the sun gear 41 in the second direction under the drive of the planet gear 42. At this time, due to the rotation of the first connecting shaft 33, the first connecting member 35 will move relative to the support platform 1 in a direction away from the second lifting member 32, and at the same time, the connected first connecting end will swing in a direction closer to the support platform 1. When the first connecting member 35 moves, it will also drive the connected second connecting shaft 34 to swing relative to the base in the second direction. When the second connecting shaft 34 swings, it will drive the connected second connecting end to swing in a direction closer to the support platform 1. When the first connecting end and the second connecting end stop swinging, the lifting mechanism 100 will switch from the lifting position to the lowering position (e.g., Figure 7 (as shown in the image).

[0133] See Figure 8 When the support platform 1 is in the lifting position, the included angle between the first lifting member 31 and the third connecting member 45 is α1. (See also...) Figure 7 When the support platform 1 is in the descending position, the included angle between the first lifting component 31 and the third connecting component 45 is a2.

[0134] Where a1 > a2. This configuration ensures that when the support platform 1 is in the lifting position, the first connecting end is mounted at a relatively high height on the base, thus placing the support platform 1 in the lifting position. When the support platform 1 is in the lowering position, it ensures that the first connecting end is mounted at a relatively low height on the base, thus placing the support platform 1 in the lowering position.

[0135] Specifically, the included angle between the second lifting member 32 and the second connecting member 44 is always equal to the included angle between the first lifting member 31 and the second connecting member 44. This arrangement ensures that, regardless of the position of the support platform 1, the installation height of the first connecting end on the base is always equal to the installation height of the second connecting end on the base, thus ensuring that the support platform 1 is in a horizontal plane and enhancing the stability of the support platform 1 structure.

[0136] See Figure 6 In some embodiments, the first connecting shaft 33 is provided with limiting grooves 331 at positions corresponding to the first lifting member 31, the first connecting member 35, the planetary gear 42, and the third connecting member 45, so that when the first lifting member 31, the first connecting member 35, the planetary gear 42, and the third connecting member 45 are sleeved at different positions on the first connecting shaft 33, they can be provided in the corresponding limiting grooves 331, so as to restrict the movement of the first lifting member 31, the first connecting member 35, the planetary gear 42, and the third connecting member 45 in the axial direction of the first connecting shaft 33 through the limiting grooves 331.

[0137] Correspondingly, the second connecting shaft 34 is also provided with limiting grooves 331 at the positions corresponding to the first connecting member 35, the second connecting member 44, and the second lifting member 32, so that when the first connecting member 35, the second connecting member 44, and the second lifting member 32 are sleeved at different positions on the first connecting shaft 33, they can be provided in the corresponding limiting grooves 331, so as to restrict the axial movement of the first connecting member 35, the second connecting member 44, and the second lifting member 32 on the second connecting shaft 34 through the limiting grooves 331.

[0138] It should be noted that the first connecting shaft 33, the second connecting shaft 34, the third connecting shaft 46, the drive shaft 21, etc., in the embodiments of this application can all be collectively referred to as shafts. A shaft may include a shaft body and a bushing. The bushing is sleeved on the shaft body, and a limiting groove 331 is formed on the periphery of one bushing. Therefore, when the shaft has multiple limiting grooves 331, multiple bushings can be sleeved on the shaft body. Taking the first connecting shaft 33 as an example, when the first connecting shaft 33 has multiple limiting grooves 331 and second limiting grooves 331, at least two bushings can be sleeved on the shaft body of the first connecting shaft 33.

[0139] See Figure 6 In some embodiments, a first clearance space 9 is provided between the two second connecting shafts 34. The first clearance space 9 is used to avoid components of the handling equipment. For example, the first clearance space 9 can be used to avoid components such as the controller and power supply of the handling equipment.

[0140] By providing the first clearance space 9, some components of the handling equipment can be accommodated within the first clearance space 9 when mounted on the base, thus avoiding interference between these components and the second connecting shaft 34. In this way, the mounting of these components on the base can be achieved without affecting the swing of the second connecting shaft 34.

[0141] It should be noted that there is a gap between the two second connecting shafts 34 along the axial direction of the second connecting shaft 34, which forms the first clearance space 9.

[0142] The transmission assembly 4 may include a second connector 44.

[0143] Alternatively, the transmission assembly 4 may also include at least two second connecting members 44. The at least two second connecting members 44 are distributed at both ends of the second connecting shaft 34. In this case, the first connecting member 35 is located in the middle region of the second connecting shaft 34. The second lifting member 32 is also located in the middle region of the second connecting shaft 34.

[0144] Figure 7 The diagram shows that the transmission assembly 4 has two second connectors 44, but this does not constitute a limitation on the number of second connectors 44. In some embodiments, the number of second connectors 44 in the transmission assembly 4 may also be three, four, etc.

[0145] It should be noted that when the number of second connecting members 44 in the transmission assembly 4 is even, the number of second connecting members 44 at both ends of the second connecting shaft 34 can be equal. When the number of second connecting members 44 in the transmission assembly 4 is odd, the number of second connecting members 44 on one end of the second connecting shaft 34 can be more, while the number of second connecting members 44 on the other end can be less.

[0146] Compared to the second connector 44 being located at one end of the second connecting shaft 34, the present application embodiment, by distributing at least two second connectors 44 at both ends of the second connecting shaft 34, can increase the stability and rigidity of the second connecting shaft 34 when rotating relative to the base.

[0147] In some embodiments, the axial direction of the first connecting shaft 33 is parallel to the axial direction of the drive shaft 21, so that the first connecting shaft 33 can rotate around the drive shaft 21 under the drive of the planetary gear 42.

[0148] The first connecting shafts 33 in the two lifting devices are two independent structural components. Furthermore, there is a gap between the two first connecting shafts 33 along their axial direction to shorten their length and reduce the required rotational space. This allows the motor 22, reducer 23, and drive assembly, etc., to be housed on the base and accommodated within the gap between the two first connecting shafts 33, thus avoiding interference between them and the second connecting shaft 34. This allows the motor 22, reducer 23, and drive assembly to be mounted on the base without affecting the swing of the second connecting shaft 34.

[0149] The transmission assembly 4 includes a third connector 45.

[0150] Alternatively, the transmission assembly 4 may include at least two third connecting members 45, which are distributed at both ends of the first connecting shaft 33. In this case, the first connecting member 35 is located in the middle region of the first connecting shaft 33. The first lifting member 31 is also located in the middle region of the first connecting shaft 33. The distribution of the at least two third connecting members 45 at both ends of the first connecting shaft 33 can be found in the relevant description of the second connecting member 44, and will not be repeated here.

[0151] Compared to the third connector 45 being located at one end of the first connecting shaft 33, the present application embodiment, by distributing at least two third connectors 45 at both ends of the first connecting shaft 33, can increase the stability of the first connecting shaft 33 when rotating relative to the base and the rigidity of the first connecting shaft 33.

[0152] See Figures 6 to 8 In some embodiments, the transmission assembly 4 may further include a third connecting shaft 46. The third connecting shaft 46 is configured to be mounted on a base, and the end of the second connecting member 44 opposite to the second connecting shaft 34 is rotatably connected to the third connecting shaft 46 so that the second connecting member 44 is rotatably mounted on the base via the third connecting shaft 46, thereby ensuring that the second connecting shaft 34 swings relative to the base about the third connecting shaft 46.

[0153] In some embodiments, the two third connecting shafts 46 are provided with a second clearance space 10 at the position corresponding to the first clearance space 9, and the second clearance space 10 is used to avoid the components of the handling equipment.

[0154] Since the third connecting shaft 46 is configured to be mounted on the base and connected to the second connecting shaft 34 via the second connector 44, the third connecting shaft 46 can be located on the side of the second connecting shaft 34 facing the base. If the opposing ends of the two third connecting shafts 46 are connected to each other, the device housed in the first clearance space 9 will interfere with the third connecting shaft 46 when it is placed on the base.

[0155] Therefore, by setting the second clearance space 10, the device contained in the first clearance space 9 can be housed in the second clearance space 10 when it is placed on the base, so as to avoid interference between these devices and the second connecting shaft 34 and ensure the smooth installation of the device contained in the first clearance space 9 on the base.

[0156] In some embodiments, the axial direction of the third connecting shaft 46 is parallel to the axial direction of the second connecting shaft 34. Therefore, when the second connecting shaft 34 swings relative to the base about the third connecting shaft 46, it can also be ensured that the second connecting shaft 34 can swing relative to the base in the same direction as the rotation direction of the first connecting shaft 33, so as to ensure that the support height of the support platform 1 can be smoothly adjusted when the first connecting member 35 moves relative to the support platform 1.

[0157] See Figure 6 The lifting mechanism 100 may further include a fourth connector 7, and the number of fourth connectors 7 may be two. One fourth connector 7 may connect two first lifting members 31 to enhance the stability of the two first lifting members 31 during movement. The other fourth connector 7 may connect two second lifting members 32 to enhance the stability of the two second lifting members 32 during movement.

[0158] See Figure 4 In some embodiments, the lifting mechanism 100 may further include a shielding member 8. Exemplarily, the shielding member 8 can be any structure capable of providing a shielding function, such as a baffle plate. The shielding member 8 is mounted on the same side of the sun gear 41 and the planet gears 42, and shields a portion of the structure of at least one of the sun gear 41 and the planet gears 42. By shielding the sun gear 41 and the planet gears 42, a portion of their structure can be prevented from being exposed on the outer surface of the handling equipment, thereby improving the safety of the handling equipment.

[0159] The number of shielding elements 8 can be one or more. For example, Figure 4 Two shielding members 8 are shown, one of which is fixed to the third connector 45, and the other is fixed to the internal gear ring bracket 30 of the lifting mechanism 100. The internal gear ring bracket 30 is used to fix the planetary internal gear ring 43. The two shielding members 8 can jointly shield the sun gear 41 and the planet gears 42 to further improve the safety of the handling equipment.

[0160] The shielding component 8 can be fixed to the third connecting component 45 or the internal gear ring bracket 30 by means of fasteners, snap-fit, or adhesive. For example, the fasteners can be screws, bolts, etc. See also Figure 4 In some embodiments, the lifting mechanism 100 further includes a connecting frame 20 and an internal gear ring support 30, with the planetary internal gear ring 43 mounted on the internal gear ring support 30. For example, the planetary internal gear ring 43 can be fixedly installed on the internal gear ring support 30 by means of fasteners, snap-fit, etc., so that the positions of the planetary internal gear ring 43 and the internal gear ring support 30 are relatively fixed, thereby ensuring the meshing effect of the sun gear 41 with the planetary internal gear ring 43 and the sun gear 41.

[0161] One end of the connecting frame 20 is rotatably connected to the internal gear ring bracket 30, and the other end is rotatably connected to the support platform 1 or the second lifting member 32. For example, one end of the connecting frame 20 can be rotatably connected to the internal gear ring bracket 30 by means of hinge, and the other end of the connecting frame 20 can also be rotatably connected to the support platform 1 or the second lifting member 32 by means of hinge.

[0162] By setting the connecting frame 20, the structural stability of the first linkage mechanism and the second linkage mechanism during movement can be enhanced, so that the lifting mechanism 100 can stably switch between the descending position and the lifting position.

[0163] See Figure 6 and Figure 8 The lifting mechanism 100 may further include a fourth connecting shaft 5, which is mounted on the non-support surface 12 of the support platform 1. Both the connecting frame 20 and the second lifting member 32 are rotatably connected to the fourth connecting shaft 5, thereby achieving a rotatable connection between the connecting frame 20 and the second lifting member 32. Furthermore, the fourth connecting shaft 5 can also achieve a movable connection between the second lifting member 32 and the support platform 1.

[0164] For example, the ends of the connecting frame 20 and the second lifting member 32 that are close to each other can be sleeved on the fourth connecting shaft 5, so that the connecting frame 20 and the second lifting member 32 are rotatably connected to the fourth connecting shaft 5. In this case, the rotatable connection between the connecting frame 20 and the second lifting member 32 and the fourth connecting shaft 5 can be understood as a hinge.

[0165] It should be noted that the lifting mechanism 100 may also include a fifth connecting shaft 6, which is mounted on the non-support surface 12 of the support platform 1. The first lifting member 31 is rotatably connected to the fifth connecting shaft 6 to achieve a movable connection between the first lifting member 31 and the support platform 1.

[0166] In summary, the handling device of this application embodiment, through the provision of the lifting mechanism 100, enables the handling device of this application to increase the accommodating space of some components of the handling device within the lifting mechanism 100 without changing the size of the lifting mechanism 100, so that some components of the handling device can be accommodated within the lifting mechanism 100.

[0167] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, 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.

[0168] In the description of this application, it should be understood that the terms “comprising” and “having” as used herein, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, display structure, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are expressly listed, but may include other steps or units that are not expressly listed or that are inherent to such process, method, product, or device.

[0169] The term "and / or" used in this application is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0170] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., 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 direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0171] 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 or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A lifting mechanism applied to a carrying device, characterized by, The utility model relates to a lifting device for lifting and supporting platform, comprising: Support platform (1); Driving device (2) including drive shaft (21), drive shaft (21) is located in the bottom of support platform (1); Lifting device, drive shaft (21) is equipped with a lifting device at the both ends in the axial direction respectively;The lifting device includes lifting assembly (3) and transmission assembly (4), lifting assembly (3) is movably connected with support platform (1) and forms first connecting rod mechanism; Wherein, the lifting assembly (3) includes first connecting shaft (33), second connecting shaft (34) and first connecting piece (35), both ends of first connecting piece (35) are connected with first connecting shaft (33) and second connecting shaft (34) respectively, and second connecting shaft (34) is arranged at one end of first connecting piece (35) away from drive shaft (21); The transmission assembly (4) includes second connecting piece (44) and third connecting piece (45);One end of second connecting piece (44) is configured to be rotatably mounted on the base of the handling equipment, and the other end is rotatably connected with the second connecting shaft (34);One end of third connecting piece (45) is rotatably connected with the drive shaft (21), and the other end is rotatably connected with the first connecting shaft (33);The first connecting piece (35), the second connecting piece (44) and the third connecting piece (45) form a second connecting rod mechanism; The first connecting shaft (33) is configured to rotate around the drive shaft (21) when the drive shaft (21) rotates, and to move the connected first connecting piece (35) relative to the support platform (1) to adjust the support height of the support platform (1); Wherein, the second connecting shaft (34) in two lifting devices is two independent structural members.

2. The lifting mechanism of claim 1, wherein There is a first avoiding space (9) between the two second connecting shafts (34), which is used to avoid the devices of the handling equipment.

3. A lifting mechanism according to claim 2, characterised in that The transmission assembly (4) further includes a third connecting shaft (46), which is configured to be mounted on the base, and one end of the second connecting piece (44) away from the second connecting shaft (34) is rotatably connected with the third connecting shaft (46).

4. A lifting mechanism according to claim 3, characterised in that Two third connecting shafts (46) are provided with a second avoiding space (10) at a position corresponding to the first avoiding space (9), which is used to avoid the devices of the handling equipment.

5. The lifting mechanism of claim 3, wherein The axial direction of the third connecting shaft (46) is parallel to the axial direction of the second connecting shaft (34).

6. The lifting mechanism of claim 3, wherein The transmission assembly (4) includes at least two second connecting pieces (44), and the at least two second connecting pieces (44) are distributed at the two ends of the second connecting shaft (34); The first connecting piece (35) is arranged in the middle region of the second connecting shaft (34).

7. A lifting mechanism according to any one of claims 1-6, characterised in that The axial direction of the first connecting shaft (33) is parallel to the axial direction of the drive shaft (21).

8. A lifting mechanism according to claim 7, characterised in that The first connecting shafts (33) in the two lifting devices are two independent structural members, and have a spacing between the two first connecting shafts (33) in the axial direction of the first connecting shafts (33).

9. A lifting mechanism according to claim 8, characterised in that The transmission assembly (4) comprises at least two third connecting members (45) which are distributed at the two ends of the first connecting shaft (33). The first connecting member (35) is arranged at the middle region of the first connecting shaft (33).

10. The lifting mechanism according to any one of claims 1-6, characterized in that The transmission assembly (4) further comprises a sun gear (41), a planet gear (42) and a planet inner ring gear (43), the drive shaft (21) is arranged in the sun gear (41), and the sun gear (41) is located at the end of the drive shaft (21), the planet gear (42) is engaged between the sun gear (41) and the planet inner ring gear (43); The sun gear (41) is configured to rotate with the drive shaft (21) to drive the planet gear (42) to rotate around the sun gear (41) and rotate around the sun gear (41); The first connecting shaft (33) is arranged in the planet gear (42), and the planet gear (42) is configured to drive the first connecting shaft (33) to rotate around the drive shaft (21) when the planet gear (42) rotates around the sun gear (41).

11. A lifting mechanism according to claim 10, characterised in that The planet inner ring gear (43) has an arc-shaped engagement rack (431), and the planet gear (42) is engaged with the engagement rack (431); When the planet gear (42) rotates around the sun gear (41), the planet gear (42) can roll along the engagement rack (431).

12. The lifting mechanism according to any one of claims 1-6, characterized in that The lifting assembly (3) further comprises a first lifting member (31) and a second lifting member (32), one end of the first lifting member (31) is rotatably connected with the first connecting shaft (33), and the other end is movably connected with the support platform (1); One end of the second lifting member (32) is rotatably connected with the second connecting shaft (34), and the other end is movably connected with the support platform (1); The first connecting shaft (33) is configured to rotate in opposite directions around the drive shaft (21) to drive the first lifting member (31) to swing relative to the support platform (1) while driving the first connecting member (35) to move relative to the support platform (1) towards the second lifting member (32) or away from the second lifting member (32) to switch the support platform (1) between the lifting position and the lowering position; The support height of the support platform (1) in the lifting position is higher than the support height of the support platform (1) in the lowering position.

13. A lifting mechanism according to claim 12, characterised in that The angle between the first lifting member (31) and the third connecting member (45) in the lifting position of the support platform (1) is a1; The angle between the first lifting member (31) and the third connecting member (45) in the lowering position of the support platform (1) is a2; Wherein, a1>a2.

14. A lifting mechanism according to claim 13, characterised in that The included angle between the second lifting member (32) and the second connecting member (44) is always equal to the included angle between the first lifting member (31) and the second connecting member (44).

15. The lifting mechanism of claim 12, wherein, The connecting frame (20) and the inner ring support (30) are further included. One end of the connecting frame (20) is rotationally connected with the inner ring support (30), and the other end is rotationally connected with the support platform (1) or the second lifting member (32).

16. The lifting mechanism according to any one of claims 1-6, wherein, The driving device (2) further includes a motor (22) and a driving assembly, the driving assembly is arranged at the middle part of the driving shaft (21) and is connected with the motor (22). The driving assembly is configured to drive the driving shaft (21) to rotate under the driving of the motor (22).

17. A handling apparatus, characterised in that, The lifting mechanism as claimed in any one of claims 1-16 is included, and a chassis, a walking mechanism and the lifting mechanism are all arranged on the base.

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