Self-locking mechanism, jacking device and robot

Abstract

The utility model relates to the technical field of self-locking protection devices, and discloses a self-locking mechanism, a jacking device and a robot, the self-locking mechanism comprises a limiting seat and a sliding assembly, the sliding assembly is used for being fixedly connected to a sliding part, and the limiting seat is used for being fixedly connected to a fixed part; a plurality of limiting parts are arranged on the limiting seat; the sliding assembly comprises a sliding seat and a limiting piece, the sliding seat is used for being fixedly connected with the sliding part, the limiting piece is movably arranged on the sliding seat, and the limiting piece is provided with a clamping end matched with the limiting part in a self-locking mode; the limiting piece is used for moving relative to the sliding seat when sliding towards a first direction along with the sliding seat, so that the clamping end is sequentially matched with different limiting parts along the first direction; and the clamping end is used for being clamped with the limiting part towards the second direction when being matched with any limiting part so as to limit the sliding seat to slide towards the second direction relative to the limiting seat. By means of the mode, self-locking protection can be achieved, meanwhile, cost is reduced, and the service life is prolonged.

Description

Technical Field

[0001] This application relates to the field of self-locking protection device technology, specifically to a self-locking mechanism, a lifting device, and a robot. Background Technology

[0002] Currently, some mechanical devices, such as lifting mechanisms, generally use a brake built into the drive motor. In the event of a power failure, overload, or triggering of a safety sensor, the brake will stop the drive motor quickly and maintain its current state to avoid dangerous situations.

[0003] Because the brake mechanism built into the drive motor has a complex structure and achieves self-locking through friction braking, its wear life is limited, which makes this self-locking method costly and has a short service life. Utility Model Content

[0004] In view of the above problems, embodiments of this application provide a self-locking mechanism, a lifting device, and a robot, which can achieve self-locking protection while reducing costs and increasing lifespan.

[0005] According to a first aspect of the present application, a self-locking mechanism is provided, applied to a mechanical device having a sliding mechanism. The sliding mechanism includes a fixed part and a sliding part slidably connected to the fixed part. The self-locking mechanism includes: a limiting seat and a sliding assembly. The sliding assembly is fixedly connected to the sliding part to slide along the sliding part in a first direction. The first direction includes a first direction and a second direction, which are opposite. The limiting seat is fixedly connected to the fixed part. A plurality of limiting parts are arranged on the limiting seat along the first direction. The sliding assembly includes: a sliding base and a limiting member. The sliding base is fixedly connected to the sliding part. The limiting member is movably disposed on the sliding base. The limiting member has a locking end that self-locks with the limiting part. When the limiting member slides in the first direction with the sliding base, it moves relative to the sliding base so that the locking end sequentially engages with different limiting parts along the first direction. When engaging with any limiting part, the locking end engages with the limiting part in the second direction to restrict the sliding base from sliding in the second direction relative to the limiting base.

[0006] In one alternative embodiment, the limiting part is a slot formed on the limiting seat, the slot having an opening facing the sliding seat; the limiting member is slidably disposed on the sliding seat along a second direction, and a first elastic member is connected between the limiting member and the sliding seat, wherein the second direction is perpendicular to the first direction; the first elastic member is used to drive the locking end to slide and lock into the slot when the locking end moves to a position opposite to the slot; the locking end is provided with an inclined surface on the side facing the first direction, the inclined surface is used to form line contact and frictional engagement with the edge at the slot when the locking end is locked into the slot and the sliding seat slides in the first direction, so that the locking end overcomes the elastic force of the first elastic member and slides out of the slot along the second direction.

[0007] In one alternative embodiment, the end of the limiting seat facing a first direction is designated as the first end. The first end is provided with an abutment portion, which abuts against the engaging end when the sliding seat slides to the first end, thereby causing the limiting member to move to a predetermined position in a direction away from the limiting portion. The sliding assembly also includes an elastic locking member, which is movably disposed on the sliding seat. The elastic locking member is used to move relative to the sliding seat and connect with the limiting member after the limiting member moves to the predetermined position, thereby locking the limiting member at the predetermined position.

[0008] In one alternative embodiment, the end of the limiting seat facing the second direction is the second end, and the second end is provided with an unlocking part. The unlocking part is used to abut against the elastic locking member when the sliding seat slides to the second end, so that the elastic locking member moves relative to the sliding seat and releases the locking of the limiting member.

[0009] In one alternative embodiment, the limiting portion is a slot formed on the limiting seat, the slot having an opening facing the sliding seat; the limiting member is slidably disposed on the sliding seat along a second direction, and a first elastic member is connected between the limiting member and the sliding seat, wherein the second direction is perpendicular to the first direction; the first elastic member is used to drive the locking end to slide and lock into the slot when the locking end moves to a position opposite to the slot; the locking end is provided with an inclined surface on the side facing the first direction, the inclined surface is used to form line contact and frictional engagement with the edge of the slot when the locking end is locked into the slot and the sliding seat slides in the first direction, so that the locking end overcomes the elastic force of the first elastic member and slides out of the slot along the second direction; the abutting portion is used to frictionally engage with the inclined surface when the sliding seat slides to the first end, so that the limiting member moves away from the first direction along the second direction. One side of the limiting part slides to a predetermined position; a locking part is provided on the side of the limiting member facing the first direction; the elastic locking member includes a sliding part, a locking part, and a second elastic member. The sliding part is slidably connected to the sliding seat along the first direction, the locking part is fixedly connected to the sliding part, and the second elastic member is connected between the sliding part and the sliding seat; the second elastic member is used to drive the locking part to slide in the second direction through the sliding part when the limiting member slides to the predetermined position, so that the locking part engages with the locking part, and the limiting member is restricted to the predetermined position; the sliding part is used to abut against the unlocking part and slide relative to the sliding seat in the first direction when it slides to the second end with the sliding seat, so that the locking part releases the locking of the limiting member, and the limiting member slides back to the limiting part in the second direction under the elastic force of the first elastic member.

[0010] In one alternative embodiment, the second elastic member is configured such that when the limiting member is locked in a predetermined position by the locking member, and the sliding speed of the sliding seat in the second direction is greater than or equal to the predetermined speed, it is compressed under the inertia of the sliding seat, so that the sliding member slides relative to the sliding seat in the first direction. The locking member releases the locking of the limiting member, and the limiting member slides along the second direction towards the limiting portion under the elastic force of the first elastic member and engages with the limiting portion, thereby restricting the sliding seat from continuing to slide in the second direction.

[0011] In one alternative embodiment, a sliding hole is provided on the sliding seat along the second direction; the limiting member includes a sliding rod and a limiting component, one end of the sliding rod forms a snap-fit ​​end, and the other end of the sliding rod opposite to the snap-fit ​​end is a connecting end, the connecting end passes through the sliding hole and is fixedly connected to the limiting component, and the limiting component is used to abut against the outer wall of the sliding seat to limit the sliding stroke of the sliding rod.

[0012] In one alternative embodiment, a protrusion is provided on the inner wall of the sliding hole facing the limiting member. A first plane is provided on the inner circumference of the protrusion, and a second plane is provided on the sliding rod. The first plane is used to frictionally engage with the second plane in a second direction to limit the rotation of the sliding rod. A stepped structure is provided on the sliding rod, located between the locking end and the protrusion. A first elastic member abuts against the stepped structure and the protrusion. A locking hole communicating with the sliding hole is also provided on the sliding seat in a first direction. The locking hole and the sliding hole are interconnected at the location of the protrusion, and the locking hole is located on the side of the sliding hole facing the first direction. The locking part is a hole provided on the side of the stepped structure away from the locking end. The locking member can be slidably inserted into the locking hole. When the hole slides to the connection between the sliding hole and the locking hole, the locking member slides in the second direction under the elastic force of the second elastic member and locks into the hole.

[0013] In one alternative embodiment, the sliding seat has grooves on both sides along a third direction, the third direction being perpendicular to both the first and second directions, and the grooves extending along the first direction; the sliding component includes an abutment plate disposed on the sliding seat facing the second direction, a first sliding plate extending from both ends of the abutment plate towards the first direction and slidably disposed in a groove on one side, and a second sliding plate extending from the other end of the abutment plate towards the first direction and slidably disposed in a groove on the other side; a second elastic member abuts against the abutment plate and the sliding seat; the locking component includes a connecting portion and a locking portion, the connecting portion being disposed on the sliding seat facing the first direction and connected between the first and second sliding plates, the locking portion being fixed to the connecting portion facing the second direction, and the locking portion being at least partially slidably inserted into a locking hole.

[0014] According to a second aspect of the embodiments of this application, a lifting device is provided, including a driving member, a sliding mechanism, a scissor mechanism, and a self-locking mechanism as described above; the sliding mechanism includes a fixed part and a sliding part, the sliding part being slidably connected to the fixed part, and the sliding part being fixedly connected to the sliding end of the scissor mechanism; the driving member is disposed on the fixed part, and the driving end of the driving member is connected to the sliding part to drive the scissor mechanism to rise and fall through the sliding part; a limiting member is fixedly connected to the fixed part, and the sliding component is fixedly connected to the sliding part.

[0015] In one alternative embodiment, the scissor mechanism includes a scissor fork and a connecting shaft. The scissor fork includes a first link and a second link that intersect each other. The first link and the second link are connected to each other at the intersection point via the connecting shaft. The connecting shaft is fixedly connected to the first link and rotatably connected to the second link. A torsional elastic element is connected between the connecting shaft and the second link, and the torsional elastic element is used to provide a spring force to the second link for upward movement.

[0016] According to a third aspect of the embodiments of this application, a robot is provided, including the lifting device described above.

[0017] The self-locking mechanism provided in this application embodiment can provide self-locking protection for mechanical devices with sliding mechanisms. Specifically, the limiting seat is connected to the fixed part of the sliding mechanism, and the sliding seat is connected to the sliding part of the sliding mechanism. During the sliding part's movement relative to the fixed part in a first direction, the limiting member on the sliding seat can move relative to the sliding seat so that its locking end sequentially engages with different limiting parts on the limiting seat, thereby allowing the sliding part to slide normally in the first direction for related operations. Moreover, when the locking end engages with any limiting part, it engages with the limiting part in a second direction, meaning that the limiting member cannot slide relative to the limiting seat in a second direction at this time, thus achieving self-locking protection for the mechanical device. For lifting devices, this enables self-locking protection during the lifting process.

[0018] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0019] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0020] Figure 1 A perspective view of the lifting device provided in the embodiments of this application;

[0021] Figure 2 A perspective view of the self-locking mechanism provided in an embodiment of this application;

[0022] Figure 3 An exploded view of the self-locking mechanism provided in an embodiment of this application;

[0023] Figure 4 An exploded view of the self-locking mechanism provided in the embodiments of this application from another perspective;

[0024] Figures 5a to 5c Cross-sectional views of the sliding component in the self-locking mechanism provided in this application embodiment during the sliding process of the sliding component relative to the limiting seat toward the first direction in three states;

[0025] Figure 6a A cross-sectional view of a self-locking mechanism in a self-locking state, provided in another embodiment of this application;

[0026] Figures 6b to 6d Cross-sectional views of the self-locking mechanism under several states during normal sliding operation, as provided in another embodiment of this application;

[0027] Figure 7 An exploded view of the sliding component in the self-locking mechanism provided in the embodiments of this application;

[0028] Figure 8 An exploded view of the sliding component in the self-locking mechanism provided in the embodiments of this application from another perspective;

[0029] Figure 9a and Figure 9b A cross-sectional view of the limiting member in the self-locking mechanism provided in this application during two states of locking;

[0030] Figure 10a and Figure 10b A cross-sectional view of the limiting member in the self-locking mechanism provided in this application embodiment during two states of unlocking;

[0031] Figure 11 A side view of the lifting device provided in an embodiment of this application;

[0032] Figure 12 A perspective view of the scissor fork in the lifting device provided in the embodiments of this application;

[0033] Figure 13a and Figure 13b Front views of the scissor fork in the lifting device provided in the embodiments of this application when it is in the lowest and highest positions;

[0034] Figure 14 A perspective view of the lifting device provided in an embodiment of this application;

[0035] Figure 15 A perspective view of the robot provided in an embodiment of this application.

[0036] The reference numerals in the detailed embodiments are as follows:

[0037] 100. Self-locking mechanism;

[0038] 110. Limiting seat; 1101. First end; 1102. Second end; 111. Limiting part; 1111. Slot; 1111a. Groove; 112. Abutting part; 113. Unlocking part;

[0039] 120. Sliding component;

[0040] 121. Sliding seat; 1211. Sliding hole; 12111. Protrusion; 12112. First plane; 1212. Locking hole; 1213. Sliding groove; 1214. Limiting component;

[0041] 122. Limiting component; 1221. Snap-fit ​​end; 1221a. Inclined surface; 1222. Locking part; 12221. Hole; 1223. Slide rod; 12231. Second plane; 12232. Step structure; 1224. Restricting component; 1225. Connecting end;

[0042] 123. First elastic element;

[0043] 124. Elastic locking element; 1241. Sliding component; 12411. Abutting plate; 12412. First sliding plate; 12413. Second sliding plate; 1242. Locking component; 12421. Connecting part; 12422. Snap-fitting part; 1243. Second elastic element;

[0044] 200. Sliding mechanism; 210. Fixed part; 220. Sliding part;

[0045] 300. Lifting device; 310. Driving component; 311. Driving end; 320. Scissor mechanism; 321. Sliding end; 322. Scissor fork; 3221. First connecting rod; 3222. Second connecting rod; 323. Connecting shaft; 324. Torque elastic element; 325. Connecting seat; 330. Pulley transmission mechanism; 340. Lead screw module;

[0046] 500, Robot; 510, Chassis. Detailed Implementation

[0047] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0048] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0049] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0050] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0051] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A exists, A and B exist simultaneously, and B exists. In addition, the character " / " in this document generally indicates that the related objects before and after it have an "or" relationship.

[0052] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0053] In the description of the embodiments of this application, the technical terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0054] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" 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. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0055] To reduce the cost of self-locking protection in mechanical devices and extend the service life of related structures, this application designs a self-locking mechanism for mechanical devices with sliding mechanisms. When the sliding part in the sliding mechanism slides in a certain direction, the limiting member in the self-locking mechanism can slide along with the sliding part in that direction and sequentially engage with different limiting parts, ensuring the normal operation of the mechanical device. When abnormal conditions such as power failure or overload occur, the sliding part will slide in the opposite direction due to the force. However, when the limiting member is engaged with a certain limiting part, the limiting member cannot slide in the other direction, thereby achieving self-locking protection for the mechanical device.

[0056] In the following text and accompanying drawings, the self-locking mechanism is mainly described using the example of a lifting device. This does not constitute a limitation on the specific implementation of the mechanical device. For example, the self-locking mechanism can also be applied to hoisting devices, lifting devices, etc.

[0057] According to a first aspect of the embodiments of this application, a self-locking mechanism is provided, as detailed below. Figures 1 to 4 , Figure 1 This illustrates an application scenario of a self-locking mechanism in a lifting device. Figure 2 The three-dimensional structure of the self-locking mechanism is shown. Figure 3 and Figure 4 The explosion structure of the self-locking mechanism is shown from two different perspectives.

[0058] like Figure 1 As shown, the self-locking mechanism 100 is applied to a mechanical device having a sliding mechanism 200, which may be, for example, a... Figure 1 The lifting device 300 shown can also be a lifting platform, a multi-level parking garage, etc., and is not limited here. The following description and accompanying drawings will use the lifting device 300 as an example. The sliding mechanism 200 includes a fixed part 210 and a sliding part 220 slidably connected to the fixed part 210. Specifically, the sliding engagement between the sliding part 220 and the fixed part 210 can be... Figure 1 The slider shown is paired with the slide rail, but it can also be paired with a pulley and a slide groove, or a slide rod and a sliding hole, etc.

[0059] like Figure 2As shown, the self-locking mechanism 100 includes a limiting seat 110 and a sliding assembly 120. The sliding assembly 120 is fixedly connected to the sliding part 220 so that it slides along the first direction (indicated by the double arrow X) with the sliding part 220. The first direction includes a first direction (indicated by the single arrow X1) and a second direction (indicated by the single arrow X2). The sliding part 220 slides in the direction indicated by the single arrow X1 for the lifting device 300 to rise, and slides in the direction indicated by the single arrow X2 for the lifting device 300 to fall.

[0060] The limiting seat 110 is used for fixed connection to the fixing part 210. Specifically, the limiting seat 110 can be locked to the fixing part 210 on one side by multiple screws, or it can be fixed to the fixing part 210 by snap-fit, welding, integral molding, etc. The limiting seat 110 has a number of limiting parts 111 arranged in the direction indicated by the double arrow X.

[0061] like Figure 3 and Figure 4 As shown, the sliding assembly 120 includes a sliding seat 121 and a limiting member 122. The sliding seat 121 is used to fix the sliding part 220 in the same way as the limiting seat 110. The sliding seat 121 can also be fixed to the sliding part 220 on one side by screws, or assembled and fixed by snap-fit, welding, integral molding or other methods.

[0062] The limiting member 122 is movably disposed on the sliding base 121, and the limiting member 122 has a locking end 1221 that engages with the limiting part 111 in a self-locking manner. When the limiting member 122 slides with the sliding base 121 in the direction indicated by the single arrow X1, it also moves relative to the sliding base 121, so that the locking end 1221 engages with different limiting parts 111 in sequence along the direction indicated by the single arrow X1, and the sliding part 220 can slide relative to the fixed part 210 in the direction indicated by the single arrow X1, and the lifting device 300 is raised. When the locking end 1221 engages with any of the limiting parts 111, it engages with the limiting part 111 in the direction indicated by the single arrow X2, thereby restricting the sliding seat 121 from sliding relative to the limiting seat 110 in the direction indicated by the single arrow X2. Thus, during the lifting process of the lifting device 300, when abnormal situations such as power failure or overload occur, the force transmitted from the load of the lifting device 300 to the sliding part 220 will not cause the sliding part 220 to slide in the direction indicated by the single arrow X2 due to the mutual locking between the locking end 1221 and the limiting part 111. This achieves self-locking of the lifting device 300 and prevents dangerous situations such as structural impact or load falling.

[0063] For the specific mating structure of the limiting member 122 and the limiting part 111, please refer to [the relevant documentation]. Figures 5a to 5c The cross-sectional structure shown. For example... Figure 5aAs shown, the limiting part 111 can be a slot 1111 formed on the limiting seat 110, and the slot 1111 has a groove 1111a facing the sliding seat 121. The limiting member 122 is slidably disposed on the sliding seat 121 in a second direction (the direction shown by the double arrow Z in the figure), and a first elastic member 123 is connected between the limiting member 122 and the sliding seat 121. The first elastic member 123 is used to provide the limiting member 122 with an elastic force in the direction shown by the double arrow Z toward the slot 1111, that is, in Figure 5a From a visual perspective, it provides a downward elastic force along the Z-axis.

[0064] When the engaging end 1221 moves to a position opposite to the previous slot 1111a (that is, the slot 1111a further back in the direction indicated by the single arrow X1), the limiting member 122 will slide towards the slot 1111 under the elastic force of the first elastic member 123, so that the engaging end 1221 is engaged in the previous slot 1111, forming a... Figure 5a The state shown.

[0065] The snap-fit ​​end 1221 has a bevel 1221a on the side facing the direction indicated by the single arrow X1. In the state shown in 5a, the bevel 1221a abuts against the edge of the slot 1111a facing the direction indicated by the single arrow X1 and forms a line contact.

[0066] exist Figure 5a Based on the state shown, when the sliding seat 121 slides in the direction indicated by the sliding part 220 in the direction pointed by the single arrow X1, the inclined surface 1221a and the edge of the groove 1111a in the direction pointed by the single arrow X1 are in frictional engagement. Under the interaction between the inclined surface 1221a and the edge, the limiting member 122 will slide away from the slot 1111 along the Z-axis direction, that is... Figure 5a Slide the slider upwards from the viewing angle, and the final locking end 1221 will slide completely out of the slot 1111, presenting a... Figure 5b The state shown.

[0067] exist Figure 5b Based on the state shown, when the sliding seat 121 continues to slide along the sliding part 220 in the direction indicated by the single arrow X1, and the locking end 1221 moves to a position opposite to the next slot 1111a (that is, the slot 1111a further forward in the direction indicated by the single arrow X1), the limiting member 122 slides under the elastic force of the first elastic member 123, and the locking end 1221 is locked into the next slot 1111a.

[0068] Figures 5a to 5c The movement of the sliding seat 121 and the limiting member 122 between two adjacent slots 1111a in the direction indicated by the single arrow X1, and so on, is the entire process of the sliding assembly 120 sliding relative to the limiting seat 110 in the direction indicated by the single arrow X1.

[0069] Since the limiting seat 110 has several slots 1111 arranged along the double arrow X direction, during the sliding component 120 sliding relative to the limiting seat 110 in the direction indicated by the single arrow X1, that is, during the lifting device 300 rising, if an abnormal situation such as power failure or overload occurs at a certain moment, under the action of the weight of the load, the sliding component 120 will tend to slide in the direction indicated by the single arrow X2 along with the sliding part 220. Since the inner wall of the slot 1111 facing the direction of the single arrow X2 and the outer wall of the locking end 1221 facing the direction of the single arrow X2 are both planes perpendicular to the sliding direction of the sliding component 120, if the locking end 1221 happens to be locked in a slot 1111 at that moment, the sliding component 120 and the sliding part 220 will not slide in the direction indicated by the single arrow X2 due to the restriction of the inner wall of the slot 1111 on the locking end 1221, thereby achieving self-locking protection. If the locking end 1221 is not engaged in the slot 1111 at that moment, the sliding component 120 and the sliding part 220 will slide in the direction indicated by the single arrow X2. When the locking end 1221 slides to the first slot 1111a, under the elastic force of the first elastic member 123, the locking end 1221 will be engaged in the first slot 1111, so that the sliding component 120 and the sliding part 220 cannot continue to slide in the direction indicated by the single arrow X2, thus achieving self-locking protection.

[0070] It should be noted that the above is only one example provided by this application. In other embodiments, the elastic locking member 124 includes a sliding member 1241, a locking member 1242, and a second elastic member 1243. The sliding member 1241 is slidably connected to the sliding seat 121 in the direction indicated by the double arrow X. The locking member 1242 is fixedly connected to the sliding member 1241. The second elastic member 1243 is connected between the sliding member 1241 and the sliding seat 121. The second elastic member 1243 is used to provide a spring force to the sliding member 1241 in the direction indicated by the single arrow X2.

[0071] Please combine further Figure 9a and Figure 9b The structure shown in the figure illustrates the two states of the abutment portion 112 and the locking end 1221 during the locking process of the limiting member 122. The abutment portion 112 can be a single-piece structure. When the sliding seat 121 slides to the first end 1101, the abutment portion 112... Figure 9a As shown, through frictional engagement with the inclined surface 1221a, the limiting member 122 slides along the direction indicated by the double arrow Z toward the side opposite to the limiting part 111 (viewed upwards in the figure) to a predetermined position, forming... Figure 9b The state shown.

[0072] Please combine Figure 7 , Figure 8 , Figure 9a and Figure 9bWhen the limiting member 122 slides to Figure 9b When the locking member 1242 is in the predetermined position shown, it is opposite to the locking part 1222. Under the elastic force of the second elastic member 1243, the locking member 1242 will slide in the direction shown by the single arrow X2 and engage with the locking part 1222. The limiting member 122 is restricted to the predetermined position by the locking member 1242 and can no longer slide towards the limiting part 111 in the direction shown by the double arrow Z, thereby locking the limiting member 122.

[0073] Please refer to it again. Figure 3 The end of the limiting seat 110 pointing in the direction of the single arrow X2 is the second end 1102. The second end 1102 is provided with an unlocking part 113. The unlocking part 113 is used to abut against the elastic locking member 124 when the sliding seat 121 slides to the second end 1102, so that the elastic locking member 124 moves relative to the sliding seat 121 and releases the locking of the limiting member 122.

[0074] Specifically, with Figure 7 and Figure 8 Taking the specific structure of the elastic locking member 124 shown as an example, the unlocking part 113 can be... Figure 3 As shown, when the sliding seat 121 slides to the second end 1102, the baffle... Figure 10a As shown in the cross-sectional structure, the sliding member 1241 abuts against the unlocking part 113. Under the force of the unlocking part 113, the sliding member 1241 overcomes the elastic force of the second elastic member 1243 and slides in the direction indicated by the single arrow X1, so that the locking member 1242 separates from the locking part 1222, and the locking member 1242 releases its locking of the limiting member 122. Then, under the elastic force of the first elastic member 123, the limiting member 122 slides back to its original position in the direction indicated by the double arrow Z towards the limiting part 111. Figure 10b The state shown is to prepare for the next lifting operation of the jacking device 300, providing self-locking protection.

[0075] To ensure that the self-locking mechanism 100 can still provide self-locking protection in the event of stall during the descent of the lifting device 300, the elastic coefficient of the second elastic element 1243 can be designed accordingly so that when the limiting element 122 is locked by the locking component 1242, as shown in the figure... Figure 9bWhen the sliding seat 121 slides at a speed greater than the predetermined speed in the direction indicated by the single arrow X2 under the drive of the sliding part 220, the second elastic member 1243 will be compressed under the inertia of the sliding seat 121. That is, the sliding seat 121 will slide relative to the sliding member 1241 in the direction indicated by the single arrow X2, thereby separating the locking member 1242 from the locking part 1222. The locking member 1242 releases the lock on the limiting member 122. Under the elastic force of the first elastic member 123, the limiting member 122 slides in the direction indicated by the double arrow Z towards the limiting part 111 and engages with the first limiting part 111 it reaches, so that the sliding seat 121 cannot continue to slide in the direction indicated by the single arrow X2, thereby realizing the self-locking protection during the descent of the lifting device 300.

[0076] To facilitate the assembly of the limiting component 122 and the sliding seat 121, and to improve the reliability of their sliding connection, such as Figure 7 and Figure 8 As shown, a sliding hole 1211 can be formed on the sliding seat 121 along the direction indicated by the double arrow Z. The limiting member 122 includes a sliding rod 1223 and a limiting member 1224. One end of the sliding rod 1223 forms a snap-fit ​​end 1221, and the other end of the sliding rod 1223 opposite to the snap-fit ​​end 1221 is a connecting end 1225. Please refer to further details. Figure 5c The connecting end 1225 passes through the sliding hole 1211 and is fixedly connected to the limiting member 1224. The limiting member 1224 can be a single screw or a combination of screw and washer as shown in the figure, etc. The specific details are not limited here. The limiting member 1224 is used to abut against the outer wall of the sliding seat 121 to limit the sliding stroke of the slide rod 1223 and prevent the slide rod 1223 from coming out of the sliding hole 1211.

[0077] Furthermore, regarding the specific method by which the locking component 1242 locks the slide bar 1223, please refer to... Figure 5c , Figure 7 and Figure 8 The inner wall of the sliding hole 1211 facing the limiting member 1224 has a protrusion 12111. The inner circumference of the protrusion 12111 has a first plane 12112. The sliding rod 1223 has a second plane 12231. When the sliding rod 1223 slides in the sliding hole 1211, the first plane 12112 and the second plane 12231 are in frictional engagement so that the sliding rod 1223 cannot rotate in the sliding hole 1211.

[0078] Based on this, a stepped structure 12232 is also provided on the slide rod 1223. The stepped structure 12232 is used to connect the locking end 1221 and the protrusion 12111. The first elastic member 123 abuts between the stepped structure 12232 and the protrusion 12111, so as to provide elastic force to the slide rod 1223 towards the locking groove 1111 through the stepped structure 12232.

[0079] A locking hole 1212 communicating with the sliding hole 1211 is also provided on the sliding seat 121 along the direction indicated by the double arrow X. The locking hole 1212 and the sliding hole 1211 are as follows: Figure 5c The parts shown are interconnected at the location of the protrusion 12111, and the locking hole 1212 is located on the side of the sliding hole 1211 facing the direction indicated by the single arrow X1. The locking part 1222 can be a hole 12221 opened at the end of the stepped structure 12232 away from the snap-fit ​​end 1221, and the locking member 1242 can be a pin that is slidably inserted into the locking hole 1212.

[0080] Please combine Figure 5c and Figure 9b When the slide bar 1223 slides to the hole 12221 on it and reaches the connection between the slide hole 1211 and the locking hole 1212, the locking component 1242 will slide in the direction shown by the single arrow X2 under the elastic force of the second elastic element 1243 and get into the hole 12221 to lock the slide bar 1223.

[0081] In this embodiment, the first plane 12112 and the second plane 12231 are in frictional engagement to limit the rotation of the slide bar 1223. The purpose is to ensure that the slide bar 1223 only slides in the direction indicated by the double arrow Z, so that the hole 12221 does not shift and can be accurately aligned with the locking component 1242 for locking.

[0082] Based on the above embodiments, please refer again to the structural design of the elastic locking member 124. Figure 7 and Figure 8 The sliding seat 121 has grooves 1213 on both sides along a third direction (indicated by double arrows Y in the figure), and the grooves 1213 extend in the direction indicated by double arrows X. The sliding component 1241 includes an abutment plate 12411 disposed on the side of the sliding seat 121 facing the direction indicated by single arrow X2, a first sliding plate 12412 extending from one end of the abutment plate 12411 in the direction indicated by single arrow X1 and slidably disposed in one side groove 1213, and a second sliding plate 12413 extending from the other end of the abutment plate 12411 in the direction indicated by single arrow X1 and slidably disposed in the other side groove 1213. The second elastic member 1243 abuts against the abutment plate 12411 and the sliding seat 121.

[0083] The locking component 1242 includes a connecting part 12421 and a locking part 12422. The connecting part 12421 is disposed on the side of the sliding base 121 facing the direction indicated by the single arrow X1, and the connecting part 12421 is connected between the first sliding plate 12412 and the second sliding plate 12413. The locking part 12422 is fixed to the side of the connecting part 12421 facing the direction indicated by the single arrow X2, and the locking part 12422 is at least partially slidably inserted into the locking hole 1212.

[0084] In this embodiment, the first sliding plate 12412 and the second sliding plate 12413 are slidably connected in the grooves 1213 on both sides of the sliding seat 121 along the direction indicated by the double arrow Y. The second elastic member 1243 abuts against the abutting plate 12411 at one end of the first sliding plate 12412 and the second sliding plate 12413 and the sliding seat 121. The connecting part 12421 and the snap-fit ​​part 12422 are connected at the other end between the first sliding plate 12412 and the second sliding plate 12413. This makes the elastic locking member 124 have a symmetrical structure, and its structure with the sliding seat 121 is compact and the connection is stable. Furthermore, the elastic locking member 124 is subjected to uniform force during the sliding process relative to the sliding seat 121.

[0085] The above mainly describes the specific structure of each component when the limiting member 122 achieves self-locking protection in a sliding manner. When the limiting member 122 achieves self-locking protection in a swinging manner, similar to the above embodiments, the locking and unlocking of the limiting member 122 after swinging can be achieved by setting a contact part 112 and an unlocking part 113 at both ends of the limiting seat 110, and setting a mechanism similar to the elastic locking member 124 on the sliding seat 121, so as to realize the smooth descent of the lifting device 300 and the reset of the limiting member 122 after descent.

[0086] According to a second aspect of the embodiments of this application, a lifting device is provided; please refer again for details. Figure 1 The lifting device 300 includes a sliding mechanism 200, a driving member 310, a scissor mechanism 320, and a self-locking mechanism 100 provided in any of the above embodiments. The sliding portion 220 of the sliding mechanism 200 is fixedly connected to the sliding end 321 of the scissor mechanism 320. The driving member 310 is disposed on the fixed portion 210, and the driving end 311 of the driving member 310 is connected to the sliding portion 220. Specifically, in Figure 1In the specific embodiment shown, the drive component 310 is a motor, and linear drive of the sliding part 220 is achieved through a pulley transmission mechanism 330 and a lead screw module 340. In other embodiments, the drive component 310 can also be a linearly driven hydraulic cylinder, electric push rod, etc., and is not limited here. During the linear movement of the sliding part 220 driven by the drive component 310, the sliding part 220 drives the scissor mechanism 320 to move up and down, and the self-locking mechanism 100 provides self-locking protection for the lifting and lowering of the scissor mechanism 320.

[0087] like Figure 1 As shown, in order to ensure the stability of the lifting device 300, a self-locking mechanism 100 can be provided at the sliding ends 321 on both sides of the scissor mechanism 320 to ensure that the scissor mechanism 320 is subjected to uniform force when self-locking is performed.

[0088] like Figure 11 As shown, when the scissor lift mechanism 320 is in its lowest position, the drive member 310 needs to bear a large load to drive the scissor lift mechanism 320 to rise, so the initial drive is relatively strenuous. To reduce the load on the drive member 310 during the initial rising phase, this application further incorporates an assist design for the scissor lift mechanism 320; please refer to [link to details]. Figure 12 The figure shows a partial structure of the scissor mechanism 320. As shown in the figure, the scissor mechanism 320 includes a scissor fork 322 and a connecting shaft 323. The scissor fork 322 includes a first link 3221 and a second link 3222 that intersect each other. The first link 3221 and the second link 3222 are connected to each other at the intersection point through the connecting shaft 323.

[0089] The connecting shaft 323 is fixedly connected to the first connecting rod 3221 and rotatably connected to the second connecting rod 3222. A torsional elastic element 324 connects the connecting shaft 323 and the second connecting rod 3222. Specifically, the torsional elastic element 324 can be, for example, a coil spring or a torsion spring. One end of the element can be fixed to the connecting shaft 323 by insertion, and the other end can be inserted into the connecting seat 325 on the second connecting rod 3222, thus forming a fixed connection with the second connecting rod 3222. The torsional elastic element 324 provides a spring force to the second connecting rod 3222, causing it to rotate in the direction shown by the arrow in the figure, that is, to provide a spring force to the second connecting rod 3222, causing it to move in an upward state. This provides assistance during the upward movement of the scissor mechanism 320, thereby reducing the load on the drive component 310 and ensuring the stability and reliability of the drive component 310's operation.

[0090] Specifically, please refer to Figure 13a and Figure 13bThe figure shows the front structure of the scissor fork 322 in its lowest and highest positions. As shown in the figure, the connecting shaft 323 is fixedly connected to the rearmost first link 3221 and rotates synchronously. The connecting shaft 323 and the frontmost second link 3222 can rotate relative to each other, and a torsional elastic element 324 connects the two. Figure 13a In the lowest position shown, the torsion elastic element 324 is in a stretched state, meaning it possesses the elastic force to move towards a contracted state. During the upward movement, the angle between the first link 3221 and the second link 3222 increases. This change corresponds to the inward contraction of the torsion elastic element 324. Therefore, during the upward movement, the torsion elastic element 324 can provide assistance to the movement of the scissor fork 322. When it moves to... Figure 13b At the highest position shown, the torsional elastic element 324 contracts to its maximum extent.

[0091] Furthermore, such as Figure 14 As shown, the scissor fork mechanism 320 may include multiple scissor forks 322, wherein two opposite scissor forks 322 share the same connecting shaft 323. Each scissor fork 322 is assisted by a torsion elastic element 324 on its inner side. This not only makes the overall structure of the scissor fork mechanism 320 compact, but also ensures the uniformity of the assistance distribution and improves the assistance effect, so as to minimize the load on the drive component 310.

[0092] According to a third aspect of the embodiments of this application, a robot is provided, for details please refer to... Figure 15 The figure shows the three-dimensional structure of the robot. The robot 500 can be a small handling robot with a chassis 510 and a lifting device 300 on the chassis 510, as shown in the figure. It can be applied in some industrial scenarios such as warehousing systems to be responsible for the transportation and transfer of goods. Of course, in other embodiments, the robot 500 can also be a high-altitude operation robot, an industrial maintenance robot, an agricultural robot, etc., equipped with a lifting device 300, etc., and the specifics are not limited here.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not 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; and these 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. In particular, as long as there is no structural conflict, the various technical features mentioned in the various embodiments can be combined in any way.

Claims

1. A self-locking mechanism, applied to a mechanical device having a sliding mechanism, said sliding mechanism comprising a fixed part and a sliding part slidably connected to said fixed part, characterized in that, The self-locking mechanism includes: a limiting seat and a sliding assembly. The sliding assembly is fixedly connected to the sliding part so as to slide along the sliding part in a first direction. The first direction includes opposite first and second directions. The limiting seat is fixedly connected to the fixed part. The limiting seat has a plurality of limiting parts arranged along the first direction; The sliding assembly includes a sliding seat and a limiting member. The sliding seat is fixedly connected to the sliding part, and the limiting member is movably disposed on the sliding seat. The limiting member has a snap-fit ​​end that self-locks with the limiting part. The limiting member is used to move relative to the sliding seat when the sliding seat slides toward the first direction, so that the snap-fit ​​end sequentially engages with different limiting parts along the first direction; The locking end is used to lock with the limiting part in the second direction when cooperating with any of the limiting parts, so as to restrict the sliding seat from sliding relative to the limiting seat in the second direction.

2. The self-locking mechanism according to claim 1, characterized in that, The limiting part is a slot formed on the limiting seat, and the slot has an opening facing the sliding seat; The limiting member is slidably disposed on the sliding seat along the second direction, and a first elastic member is connected between the limiting member and the sliding seat, wherein the second direction is perpendicular to the first direction; The first elastic element is used to drive the snap-fit ​​end to slide and snap into the slot when the snap-fit ​​end moves to a position opposite to the slot. The snap-fit ​​end is provided with an inclined surface on the side facing the first direction. The inclined surface is used to snap the snap-fit ​​end into the slot and form a line contact and frictional engagement with the edge at the slot opening when the sliding seat slides in the first direction, so that the snap-fit ​​end overcomes the elastic force of the first elastic member and slides out of the slot along the second direction.

3. The self-locking mechanism according to claim 1, characterized in that, The end of the limiting seat facing the first direction is the first end, and the first end is provided with an abutting part. The abutting part is used to abut against the locking end when the sliding seat slides to the first end, so that the limiting member moves to a predetermined position in a direction away from the limiting part. The sliding assembly further includes an elastic locking member, which is movably disposed on the sliding seat. The elastic locking member is used to move relative to the sliding seat and connect with the limiting member after the limiting member moves to the predetermined position, so as to lock the limiting member at the predetermined position.

4. The self-locking mechanism according to claim 3, characterized in that, The end of the limiting seat facing the second direction is the second end, and the second end is provided with an unlocking part. The unlocking part is used to abut against the elastic locking member when the sliding seat slides to the second end, so that the elastic locking member moves relative to the sliding seat and releases the locking of the limiting member.

5. The self-locking mechanism according to claim 4, characterized in that, The limiting part is a slot formed on the limiting seat, the slot having an opening facing the sliding seat; the limiting member is slidably disposed on the sliding seat along a second direction, and a first elastic member is connected between the limiting member and the sliding seat, wherein the second direction is perpendicular to the first direction; the first elastic member is used to drive the locking end to slide and lock into the slot when the locking end moves to a position opposite to the opening; the locking end is provided with an inclined surface on the side facing the first direction, the inclined surface is used to form line contact and frictional engagement with the edge of the opening when the locking end is locked into the slot and the sliding seat slides towards the first direction, so that the locking end overcomes the elastic force of the first elastic member and slides out of the slot along the second direction; The abutting portion is used to frictionally engage with the inclined surface when the sliding seat slides to the first end, so that the limiting member slides along the second direction toward the side away from the limiting portion to the predetermined position; The limiting member is provided with a locking part on the side facing the first direction; The elastic locking member includes a sliding member, a locking member, and a second elastic member. The sliding member is slidably connected to the sliding seat along the first direction, the locking member is fixedly connected to the sliding member, and the second elastic member is connected between the sliding member and the sliding seat. The second elastic member is used to drive the locking member to slide toward the second direction when the limiting member slides to the predetermined position, so that the locking member engages with the locking part, and the limiting member is restricted to the predetermined position; The sliding member is used to abut against the unlocking part and slide relative to the sliding part toward the first direction when it slides to the second end with the sliding seat, so that the locking member releases the locking of the limiting member, and the limiting member slides back to the limiting part along the second direction under the elastic force of the first elastic member.

6. The self-locking mechanism according to claim 5, characterized in that, The second elastic member is configured such that when the limiting member is locked at the predetermined position by the locking member, and the sliding speed of the sliding seat toward the second direction is greater than or equal to the predetermined speed, it is compressed under the inertia of the sliding seat, so that the sliding member slides relative to the sliding seat toward the first direction. The locking member releases the locking of the limiting member, and the limiting member slides toward the limiting portion along the second direction under the elastic force of the first elastic member and engages with the limiting portion, thereby restricting the sliding seat from continuing to slide toward the second direction.

7. The self-locking mechanism according to claim 5, characterized in that, The sliding seat has a sliding hole along the second direction; The limiting member includes a slide rod and a limiting component. One end of the slide rod forms the snap-fit ​​end, and the other end of the slide rod opposite the snap-fit ​​end is a connecting end. The connecting end passes through the slide hole and is fixedly connected to the limiting component. The limiting component is used to abut against the outer wall of the sliding seat to limit the sliding stroke of the slide rod.

8. The self-locking mechanism according to claim 7, characterized in that, The inner wall of the sliding hole facing the limiting component has a protrusion, the inner circumference of the protrusion has a first plane, and the sliding rod has a second plane. The first plane is used to frictionally engage with the second plane along the second direction to limit the rotation of the sliding rod. The slide bar is provided with a stepped structure, which is located between the snap-fit ​​end and the protrusion, and the first elastic member abuts between the stepped structure and the protrusion; The sliding seat is also provided with a locking hole that communicates with the sliding hole along the first direction. The locking hole and the sliding hole communicate with each other at the position where the protrusion is located, and the locking hole is located on the side of the sliding hole facing the first direction. The locking part is a hole opened on the side of the stepped structure away from the snap-fit ​​end. The locking component can be slidably inserted into the locking hole. When the hole slides to the point where the sliding hole and the locking hole communicate, the locking component slides in the second direction and snaps into the hole under the elastic force of the second elastic member.

9. The self-locking mechanism according to claim 8, characterized in that, The sliding seat has grooves on both sides along a third direction, the third direction is perpendicular to both the first direction and the second direction, and the grooves extend along the first direction; The sliding component includes an abutment plate disposed on the sliding seat facing the second direction, a first sliding plate extending from both ends of the abutment plate toward the first direction and slidably disposed in the groove on one side, and a second sliding plate extending from the other end of the abutment plate toward the first direction and slidably disposed in the groove on the other side. The second elastic element abuts between the abutment plate and the sliding seat; The locking component includes a connecting part and a snap-fit ​​part. The connecting part is disposed on the side of the sliding seat facing the first direction and is connected between the first sliding plate and the second sliding plate. The snap-fit ​​part is fixed to the side of the connecting part facing the second direction and is at least partially slidably inserted into the locking hole.

10. A lifting device, characterized in that, Includes a driving component, a sliding mechanism, a scissor mechanism, and a self-locking mechanism as described in any one of claims 1-9; The sliding mechanism includes a fixed part and a sliding part. The sliding part is slidably connected to the fixed part and is also fixedly connected to the sliding end of the scissor mechanism. The driving component is disposed on the fixed part, and the driving end of the driving component is connected to the sliding part so as to drive the scissor mechanism to rise and fall through the sliding part; The limiting member is fixedly connected to the fixing part, and the sliding component is fixedly connected to the sliding part.

11. The lifting device according to claim 10, characterized in that, The scissor mechanism includes a scissor fork and a connecting shaft. The scissor fork includes a first link and a second link that intersect each other. The first link and the second link are connected to each other at the intersection point through the connecting shaft. The connecting shaft is fixedly connected to the first connecting rod and rotatably connected to the second connecting rod; A torsional elastic element is connected between the connecting shaft and the second connecting rod, and the torsional elastic element is used to provide elastic force to the second connecting rod to move in an upward state.

12. A robot, characterized in that, Includes the lifting device as described in claim 10 or 11.

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