Rigid-flexible coupling type lifting mechanism

Abstract

The utility model relates to a rigid-flexible coupling type lifting mechanism which comprises a flexible lifting unit, a first driving unit, a second driving unit and a flexible lifting unit. The first driving piece is connected with the flexible lifting piece and used for releasing or rolling the flexible lifting piece; the rigid lifting unit is connected with the flexible lifting piece; the rigid lifting unit comprises a shell, a second driving part and a rigid lifting part; the rigid lifting piece is movably installed in the shell in the fixed direction, and the second driving piece is connected with the rigid lifting piece and used for driving the rigid lifting piece to move; the platform is located below the flexible lifting piece; the platform is provided with a through hole allowing the shell to stretch into, and the platform supports the shell. According to the utility model, a rigid-flexible coupling mode is adopted, so that the occupied space is reduced and the alignment precision is ensured on the premise that enough lifting stroke is ensured.

Description

Technical Field

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

[0002] In some automated industrial scenarios, lifting mechanisms are often used to hoist and move parts. Lifting mechanisms are generally divided into two types: flexible lifting mechanisms and rigid lifting mechanisms.

[0003] Flexible lifting mechanisms use materials such as steel wire ropes and chains as lifting components, controlling lifting and descent by winding or releasing the wire ropes. Flexible lifting mechanisms have the advantage of simple structure, enabling large-scale vertical lifting even in limited installation space. However, their disadvantages are also significant. The steel wire ropes are prone to swaying, and positioning heavily relies on external sensors to determine the release height. Dust and steam in the working environment can affect the accuracy of these sensors, leading to poor positioning and inaccurate end-effector alignment. Since the flexible lifting mechanism moves vertically, verticality errors can occur when the reference plane is not horizontal, also potentially causing inaccurate end-effector alignment.

[0004] Rigid lifting mechanisms typically employ screw-nut pairs, rack and pinion mechanisms, or similar drive systems for lifting. Rigid lifting mechanisms offer a fixed lifting direction, high precision, and good rigidity, providing stable support. However, they also suffer from drawbacks such as complex and bulky structure and large space occupation. Compared to flexible lifting mechanisms, rigid lifting mechanisms require significantly more space for the same lifting stroke, making them unsuitable for operation in space-constrained environments, and they are also more expensive.

[0005] In certain specialized work scenarios, unique operating conditions exist, where space is limited yet a large lifting stroke is required, along with high precision in the end-effector alignment. For example, in the nuclear or chemical industries, where spaces are confined and toxic substances are present, manual intervention is impossible when disassembling and hoisting special components such as filter elements. Flexible lifting mechanisms struggle to guarantee the alignment accuracy between the end-effector and the lifted component; rigid lifting mechanisms, in space-constrained environments, cannot provide sufficient lifting stroke and are extremely expensive.

[0006] Therefore, there is a need to provide a rigid-flexible coupling lifting mechanism that occupies little space, has relatively low cost, and high alignment accuracy. Utility Model Content

[0007] Therefore, it is necessary to provide a rigid-flexible coupling lifting mechanism, the specific technical solution of which is as follows.

[0008] A rigid-flexible coupling lifting mechanism includes:

[0009] The flexible lifting unit includes a first driving member and a flexible lifting member; the first driving member is connected to the flexible lifting member and is used to release or retract the flexible lifting member;

[0010] A rigid lifting unit is connected to a flexible lifting member; the rigid lifting unit includes a housing, a second driving member, and a rigid lifting member; the rigid lifting member is movably installed in the housing along a fixed direction, and the second driving member is connected to the rigid lifting member for driving the rigid lifting member to move;

[0011] The platform is located below the flexible lifting component; the platform is provided with a through hole to accommodate the shell extending into it, and the platform supports the shell.

[0012] Furthermore, the housing is provided with a channel extending along its axial direction; the rigid lifting member is movably placed within the channel along its axial direction.

[0013] Furthermore, the outer surface of the housing is provided with an annular protrusion, the annular protrusion including a first plane, and a resting surface for supporting the first plane is provided above the platform.

[0014] Furthermore, a centering guide structure is provided between the housing and the platform, so that the housing extends into the through hole and is arranged coaxially with the through hole.

[0015] Furthermore, the centering guide structure includes a first guide surface located on the platform and a second guide surface located on the outer surface of the housing; the first guide surface is V-shaped or conical, and the shape of the second guide surface is adapted to the shape of the first guide surface.

[0016] Furthermore, the flexible lifting unit also includes a housing, a drum, and a first pulley; the first driving member is mounted on the housing and is connected to the drum for transmission; the first pulley is mounted on the housing; the flexible lifting member is wound around the drum and extends into the housing after passing through the first pulley.

[0017] Furthermore, the flexible lifting member is equipped with a force sensor, which is used to monitor the tension of the flexible lifting member.

[0018] Furthermore, the platform includes a platform body and a clamping mechanism; the clamping mechanism is mounted on the platform body and is used to clamp the shell or the lifted component.

[0019] Furthermore, the clamping mechanism includes two clamping members arranged opposite to each other and a third driving member; the third driving member is connected to the two clamping members respectively and is used to drive the two clamping members to open and close.

[0020] Furthermore, a gripper is connected to the end of the rigid lifting member.

[0021] Beneficial effects: 1. By adopting a combination of rigid and flexible lifting, the rigid lifting unit is controlled by the flexible lifting unit. This reduces space occupation while ensuring sufficient lifting stroke, making it well-suited for special environments with limited space. The rigid lifting unit is positioned by the platform and aligned at the end, ensuring alignment accuracy.

[0022] 2. By setting a centering guide structure between the shell and the platform, the horizontal deviation during the lifting and lowering of the flexible lifting component can be compensated, further ensuring the end alignment accuracy of the rigid lifting unit.

[0023] 3. The clamping mechanism holds the housing, which further ensures the end alignment accuracy of the rigid lifting unit; the clamping mechanism can also clamp the lifted parts, which facilitates the subsequent transfer, inspection and other operations of the lifted parts. Attached Figure Description

[0024] 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 only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 A cross-sectional diagram of the lifting mechanism;

[0026] Figure 2 This is a schematic diagram of a flexible lifting unit;

[0027] Figure 3 This is a schematic diagram of a rigid lifting unit;

[0028] Figure 4 This is a schematic diagram of the platform;

[0029] Figure 5 A schematic diagram showing the interaction between the platform and the rigid lifting unit;

[0030] Figure 6 Schematic diagram of clamping the lifted part by the clamping mechanism

[0031] Explanation of reference numerals in the attached drawings: 100, flexible lifting unit; 200, rigid lifting unit; 300, platform; 400, filter element; 500, housing;

[0032] 101. Flexible lifting component; 102. Drum; 103. First driving component; 104. First pulley; 105. Force sensor;

[0033] 201. Housing; 202. Rigid lifting component; 203. Second driving component; 204. Second pulley; 205. First plane; 206. Annular protrusion;

[0034] 2021, Channel; 2022, Grabber;

[0035] 301. Platform body; 302. Clamping component; 303. Third driving component; 304. Through hole; 305. Clamping status sensor; 306. Positioning sensor; 307. First part; 308. Second part. Detailed Implementation

[0036] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0037] 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", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, 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.

[0038] Furthermore, the terms "first" and "second" 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. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0039] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "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 mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0040] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0041] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0042] Example

[0043] This embodiment provides a rigid-flexible coupling lifting mechanism, referring to... Figure 1 As shown, it includes a flexible lifting unit 100, a rigid lifting unit 200, and a platform 300.

[0044] Specifically, this embodiment can be applied to the disassembly and assembly of filter element 400 in filtration equipment used in the nuclear industry, with the filter element 400 being lifted. The filter element 400 structure itself includes an installation section and a filtration section, and its length is relatively long, thus requiring a long lifting stroke. The installation location of the filter element 400 has limited working space and is affected by toxic and harmful substances, making it impossible for personnel to directly participate in the alignment operation between the end of the lifting mechanism and the filter element 400. Therefore, it is necessary to ensure the alignment accuracy between the end of the lifting mechanism and the filter element 400.

[0045] It should be noted that this embodiment can also be applied to other scenarios with similar limitations. In this embodiment, for ease of explanation, filter element 400 is used as the lifted component for example.

[0046] Specifically, the flexible lifting unit 100 includes a first driving member 103 and a flexible lifting member 101; the first driving member 103 is connected to the flexible lifting member 101 and is used to release or retract the flexible lifting member 101. The flexible lifting member 101 has a certain degree of flexibility, and during the release process, the flexible lifting member 101 will move downward in the vertical direction.

[0047] Specifically, the rigid lifting unit 200 is connected to the flexible lifting member 101. When the flexible lifting member 101 is wound up or released, the rigid lifting unit 200 rises or falls accordingly, with its movement direction being vertical. The rigid lifting unit 200 includes a housing 201, a second driving member 203, and a rigid lifting member 202. The rigid lifting member 202 is movably installed within the housing 201 along a fixed direction. The second driving member 203 is connected to the rigid lifting member 202 and drives its movement. Therefore, when the second driving member 203 drives the rigid lifting member 202, the rigid lifting member 202 moves along a fixed direction under the constraint of the housing 201. The rigid lifting unit 200 ensures the docking accuracy between its end and the lifted component.

[0048] Specifically, the platform 300 is located below the flexible lifting member 101. The platform 300 has a through hole 304 to accommodate the housing 201 extending into it. When the housing 201 extends into the through hole 304, the platform 300 supports the housing 201. The platform 300 also positions the rigid lifting unit 200, ensuring the accuracy of its operation.

[0049] The rigid-flexible coupling lifting mechanism provided in this embodiment adopts a rigid lifting and flexible lifting coupling method. The flexible lifting unit 100 controls the lifting of the rigid lifting unit 200. While ensuring sufficient lifting stroke, it reduces the space occupation and can be well applied to special environments with limited space. The rigid lifting unit 200 is positioned by the platform 300 and the rigid lifting unit 200 is used for end alignment, which can ensure the alignment accuracy.

[0050] Specifically, the housing 201 has a channel 2021 extending along its axial direction. The rigid lifting mechanism is movably positioned within the channel 2021 along its axial direction. The channel 2021 restricts the direction of movement of the rigid lifting member 202, causing the rigid lifting member 202 to move along the axial direction of the channel 2021. Therefore, when the second driving member 203 drives the rigid lifting member 202, the rigid lifting member 202 moves along the axial direction of the channel 2021 under the restriction of the channel 2021.

[0051] Specifically, a gripper 2022 is installed at the end of the rigid lifting member 202, which is used to grip the filter element 400. The gripper 2022 can be designed according to the structural characteristics of the lifted member, and can be a mechanical gripper, an electromagnetic chuck, or a specific snap-fit ​​structure.

[0052] Specifically, refer to Figure 3 and Figure 4 As shown, the outer surface of the housing 201 is provided with an annular protrusion 206, the annular protrusion 206 including a first plane 205, and a resting surface for supporting the first plane 205 is provided above the platform 300. When the housing 201 enters the through hole 304, and the first plane 205 abuts against the resting surface, it indicates that the flexible lifting member 101 has been lowered into place. Specifically, a force sensor 105 is provided on the flexible lifting member 101 to monitor the tension of the flexible lifting member 101, thereby determining the state of the rigid lifting member 202. For example, when the rigid lifting unit 200 is continuously descending, the tension of the flexible lifting member 101 is maintained within a certain range under the action of the rigid lifting unit 200; when the first surface of the housing 201 abuts against the parking surface of the platform 300, the tension of the flexible lifting member 101 decreases rapidly; when the flexible lifting member 101 is rolled up and the rigid lifting member 202 rises, if the filter element 400 is successfully grasped, the tension will be greater than the tension when it is not successfully grasped, thus indicating whether the filter element 400 has been successfully grasped.

[0053] Specifically, it also includes a housing 500, the bottom of which has an opening. When one side of the opening of the housing 500 is in contact with the mounting surface of the filter element 400, a sealed space is formed between the housing 500 and the mounting surface, preventing leakage of toxic and harmful substances during the installation and removal of the filter element 400. The platform 300 is installed inside the housing 500, and the relative position of the platform 300 and the housing 500 remains fixed. The housing 201 of the rigid lifting unit 200 extends into the through hole 304 and is supported by the platform 300, thus maintaining the relative position of the rigid lifting unit 200 and the platform 300. Therefore, when installing and removing the filter element 400, by aligning the housing 500 and the filter element 400, the alignment accuracy of the rigid lifting unit 200 with the filter element 400 during the gripping process can be ensured, thereby guaranteeing the success rate of the gripper 2022 during the gripping process.

[0054] Specifically, the flexible lifting member 101 can be connected to the rigid lifting unit 200 via the second pulley 204. The second pulley 204 is installed on the top of the housing 201, and the flexible lifting member 101 is made to pass around the second pulley 204. When the flexible lifting member 101 is rolled up or released, it can drive the rigid lifting unit 200 to rise and fall.

[0055] Specifically, in this embodiment, the first driving component 103 can be a winch or hoist, and the flexible lifting component 101 can be a wire rope, chain, or other flexible rope. The rigid lifting component 202 can be a cylinder, motor screw assembly, or other structure, while the second driving component 203 can be a corresponding driving source. When disassembling the filter element 400, the rigid lifting unit 200 can first lift the filter element 400 until the mounting part separates from the mounting surface. The rigid lifting unit 200 has good rigidity, which can prevent the inclined filter element 400 from getting stuck during disassembly.

[0056] Specifically, a centering guide structure is provided between the housing 201 and the platform 300, allowing the housing 201 to extend into the through hole 304 and be arranged coaxially with it. The centering guide structure includes a first guide surface on the platform 300 and a second guide surface on the outer surface of the housing 201. The guide surfaces can have various shapes; for example, the first guide surface can be V-shaped or conical, and the shape of the second guide surface can be adapted to the shape of the first guide surface. In this embodiment, the cooperation of the first and second guide surfaces ensures that the housing 201 and the through hole 304 are arranged coaxially, compensating for horizontal deviations during the lifting and lowering of the flexible lifting member 101, ensuring the alignment accuracy of the rigid lifting unit 200 and the filter element 400, thereby further improving the success rate.

[0057] Specifically, refer to Figure 2As shown, the flexible lifting unit 100 further includes a housing, a drum 102, and a first pulley 104. The first driving member 103 is mounted on the housing and is connected to the drum 102 in a driving connection, driving the drum 102 to rotate. The first pulley 104 is mounted on the housing; the flexible lifting member 101 is wound around the drum 102, passes through the first pulley 104, and extends into the housing 500. In this embodiment, the housing is mounted on the housing 500, and a circular hole is provided at the top of the housing 500, allowing the flexible lifting member 101 to extend into the housing 500 through the circular hole. The circular hole is sealed by the housing, allowing the housing 500 to form a sealed space when it is in contact with the mounting surface.

[0058] Specifically, the platform 300 includes a platform body 301 and a clamping mechanism. The clamping mechanism is mounted on the platform body 301 and is used to clamp the housing 201 or the filter element 400. When the housing 201 passes through the through hole 304, the clamping mechanism holds the housing 201, ensuring the stability of the rigid lifting unit 200. The platform 300 provides rigid support and precise positioning for the rigid lifting mechanism, thereby ensuring the stability of the disassembly and assembly operations and further improving the success rate. Furthermore, the disassembled filter element 400 can be clamped by the clamping mechanism, facilitating subsequent transfer and other operations.

[0059] Specifically, refer to Figure 4 As shown, the clamping mechanism includes two opposing clamping members 302 and a third driving member 303. The two clamping members 302 are located on both sides of the through hole 304, and the third driving member 303 is connected to the two clamping members 302 respectively. By driving the two clamping members 302 to open and close, the clamping and releasing of the housing 201 or filter element 400 can be achieved. In this embodiment, the third driving member 303 can be a motor and lead screw structure. A clamping state sensor 305 is provided on the clamping member 302 to monitor whether it is fully clamped or fully released. The clamping state sensor 305 can be a limit switch, a distance sensor, etc., or it can directly monitor the clamping or releasing state by reading the encoder of the motor.

[0060] Specifically, the clamping member 302 can be configured to match the outer contour of the housing 201, thereby stably clamping the housing 201. Generally, the housing 201 is usually configured as a cylinder, and the clamping member 302 is configured to match the cylindrical shape, thereby clamping the housing 201, and can also clamp the filter element 400.

[0061] In this embodiment, the clamping member 302 includes a first portion 307 and a second portion 308, wherein the first portion 307 is perpendicular to the second portion 308. The first portion 307 includes a first clamping surface that matches the outer contour of the annular protrusion 206 on the housing 201, while a stopping surface is disposed on the top of the second portion 308. When clamping the rigid lifting unit 200, the first plane 205 of the annular protrusion 206 abuts against the stopping surface, and the first clamping surface clamps the outer contour surface of the annular protrusion 206. The second portion 308 also includes a second clamping surface that matches the filter element 400, which can clamp the filter element 400.

[0062] Specifically, refer to Figure 3-5 As shown, the first guide surface can be disposed on the inner sidewall of the first part 307 of the clamping member 302, and the second guide surface can be disposed on the outer sidewall of the annular protrusion 206 of the housing 201. The two clamping members 302 are arranged symmetrically along the axis of the through hole 304, and always remain coaxial with the through hole 304, thereby ensuring the accuracy of the rigid lifting member 202.

[0063] Specifically, a positioning sensor 306 is also provided on the parking surface. This positioning sensor 306 is used to measure the distance between the first plane 205 and the parking surface. When the first plane 205 is within a certain distance of the parking surface, the release speed of the flexible lifting member 101 can be reduced, so as to ensure that the housing 201 and the through hole 304 are smoothly aligned and fitted as much as possible. This positioning sensor 306 can be a laser sensor.

[0064] Work process:

[0065] S1. With the open side of the housing 500 facing the filter element 400, place the housing 500 on the mounting surface of the filter element 400 to form a sealed space. When placing the housing 500, the platform 300 and the filter element 400 can be aligned by matching the installation positions of the housing 500 and the filter element 400, thus ensuring that the gripper 2022 on the rigid lifting member 202 is aligned with the filter element 400.

[0066] S2. The first driving component 103 releases the flexible lifting component 101, causing the rigid lifting unit 200 to move downward under the action of gravity. When releasing the flexible lifting component 101, it is first released at a uniform speed. The distance between the first plane 205 and the parking surface is detected by the positioning sensor 306. When the distance reaches the preset range, it indicates that the rigid lifting unit 200 has approached the platform 300. At this time, the flexible lifting component 101 is slowly released to ensure that the housing 201 is connected to the through hole 304 as much as possible.

[0067] S3. As the rigid lifting unit 200 moves downward, the housing 201 enters the through hole 304 of the platform 300 until the first plane 205 on the outer surface of the housing 201 abuts against the stopping surface on the platform 300. During the process of the housing 201 entering the through hole 304, the centering guide structure can guide the housing 201 to align with the through hole 304, thereby compensating for the horizontal offset generated during the release of the flexible lifting member 101, ensuring the alignment accuracy of the gripper 2022 and the filter element 400, and improving the success rate of gripping. Furthermore, when the first plane 205 abuts against the stopping surface, the force sensor 105 will detect a significant decrease in tension, thus indicating that the housing 201 and the platform 300 have been properly aligned.

[0068] S4. The clamping mechanism clamps the housing 201. The clamping status sensor 305 can detect the clamping or loosening status of the clamping mechanism. After the clamping mechanism clamps the housing 201, it provides support and precise positioning for the rigid lifting unit 200, further improving the accuracy of the alignment between the gripper 2022 and the filter element 400, and increasing the success rate of gripping.

[0069] S5. The second driving component 203 drives the rigid lifting component 202 to move downward until the gripper 2022 grips the filter element 400.

[0070] S6. The second driving component 203 drives the rigid lifting component 202 to move upward and reset, and removes the filter element 400.

[0071] S7. The first driving component 103 winds up the flexible lifting component 101, so that the filter element 400 is lifted completely away from the mounting surface and reaches the preset height.

[0072] S8. The clamping mechanism clamps the filter element 400, and the gripper 2022 releases the filter element 400. This changes the state of the filter element 400 from being held by the gripper 2022 to being held by the clamping mechanism; the filter element 400 is then securely placed on the platform 300, facilitating subsequent transfer, inspection, sealing, or other operations.

[0073] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0074] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A rigid-flexible coupled lifting mechanism, characterized in that, include: The flexible lifting unit includes a first driving component and a flexible lifting component; The first driving member is connected to the flexible lifting member and is used to release or retract the flexible lifting member; A rigid lifting unit is connected to a flexible lifting member; the rigid lifting unit includes a housing, a second driving member, and a rigid lifting member; the rigid lifting member is movably installed in the housing along a fixed direction, and the second driving member is connected to the rigid lifting member for driving the rigid lifting member to move; The platform is located below the flexible lifting component; the platform is provided with a through hole to accommodate the shell extending into it, and the platform supports the shell.

2. A rigid-flexible coupled lifting mechanism according to claim 1, characterized in that, The housing has a channel extending along its axis; the rigid lifting member is movably placed within the channel along its axis.

3. A rigid-flexible coupled lifting mechanism according to claim 1, characterized in that, The outer surface of the housing is provided with an annular protrusion, the annular protrusion includes a first plane, and a resting surface for supporting the first plane is provided above the platform.

4. A rigid-flexible coupled lifting mechanism according to claim 1, characterized in that, A centering guide structure is provided between the housing and the platform, so that the housing extends into the through hole and is arranged coaxially with the through hole.

5. A rigid-flexible coupling lifting mechanism according to claim 4, characterized in that, The centering guide structure includes a first guide surface located on the platform and a second guide surface located on the outer surface of the housing; the first guide surface is V-shaped or conical, and the shape of the second guide surface is adapted to the shape of the first guide surface.

6. The rigid-flexible coupling lifting mechanism according to claim 1, characterized in that, The flexible lifting unit further includes a housing, a drum, and a first pulley; the first driving member is mounted on the housing and is connected to the drum for transmission; the first pulley is mounted on the housing; the flexible lifting member is wound around the drum and extends into the housing after passing through the first pulley.

7. A rigid-flexible coupling lifting mechanism according to claim 6, characterized in that, The flexible lifting member is equipped with a force sensor, which is used to monitor the tension of the flexible lifting member.

8. The rigid-flexible coupling lifting mechanism according to claim 1, characterized in that, The platform includes a platform body and a clamping mechanism; the clamping mechanism is installed on the platform body and is used to clamp the shell or the lifted component.

9. A rigid-flexible coupling lifting mechanism according to claim 8, characterized in that, The clamping mechanism includes two clamping members arranged opposite to each other and a third driving member; the third driving member is connected to the two clamping members respectively and is used to drive the two clamping members to open and close.

10. A rigid-flexible coupling lifting mechanism according to claim 1, characterized in that, The rigid lifting member is connected to a gripper at its end.

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