Lifting mechanism and carrying equipment

Abstract

The utility model provides a lifting mechanism and carrying equipment. The lifting mechanism comprises a supporting platform, a driving device, a first lifting piece, a second lifting piece, a first connecting piece, a sun gear, a planet inner gear ring and a planet gear meshed between the sun gear and the planet inner gear ring. The first connecting piece is movably connected with one end of the first lifting piece and one end of the second lifting piece. The ends, away from the first connecting piece, of the first lifting piece and the second lifting piece are movably connected to the supporting platform and form a first connecting rod mechanism with the first connecting piece and the supporting platform. The sun gear is arranged on a driving shaft of the driving device. The sun gear rotates when the driving shaft rotates so as to drive the planet gear to rotate and rotate around the sun gear. When the planet gear rotates around the sun gear, at least one of the first lifting piece and the first connecting piece can be driven to move relative to the supporting platform, and the supporting height of the supporting platform is adjusted. According to the lifting mechanism, the transmission efficiency of the driving device and the lifting mechanism is improved.

Description

Technical Field

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

[0002] For material handling equipment such as Automated Guided Vehicles (AGVs), the lifting mechanism is arguably the core and essential component. It can change the height of the material handling equipment through its own lifting mechanism to facilitate the transport of loads.

[0003] Currently, the mainstream application in the lifting mechanism industry is the four-bar lifting mechanism. Mainstream manufacturers use a four-bar lifting mechanism supplemented by a crank-connecting rod for drive. However, the crank-connecting rod transmission has a range of efficiency, so this method generally suffers from low transmission efficiency, which cannot be solved. Utility Model Content

[0004] This application provides a lifting mechanism and a handling device that can increase the output torque of the drive device. This allows the handling device of this application to use a smaller power drive device to output a larger output torque when the load is the same, thereby improving the transmission efficiency of the drive device and the lifting mechanism.

[0005] Firstly, embodiments of this application provide a lifting mechanism. The lifting mechanism includes:

[0006] Support platform;

[0007] A drive unit, including a drive shaft, is located at the bottom of the support platform;

[0008] A lifting assembly is located at the bottom of a support platform. The lifting assembly includes a first lifting member, a second lifting member, and a first connecting member. The first connecting member is movably connected to one end of the first lifting member and the second lifting member, respectively. The ends of the first lifting member and the second lifting member that are away from the first connecting member are both movably connected to the support platform, and the first lifting member, the second lifting member, the first connecting member, and the support platform form a first linkage mechanism.

[0009] The transmission assembly includes a sun gear, planet gears, and a planetary internal gear ring. The sun gear is located on the drive shaft, and the planet gears mesh between the sun gear and the planetary internal gear ring. The sun gear is configured to rotate on its own axis when the drive shaft rotates, thereby driving the planet gears to rotate on their own axis and around the sun gear.

[0010] The first lifting member and the first connecting member are both movably connected to the planetary gear; the planetary gear is configured to drive at least one of the first lifting member and the first connecting member to move relative to the support platform when rotating around the sun gear, and to adjust the support height of the support platform.

[0011] In this embodiment, planetary gears serve as the drive for the lifting assembly. Through the arrangement of the drive shaft, sun gear, planetary gears, and planetary internal gear rings, the torque transmitted from the sun gear to the planetary gears achieves a speed-reducing and torque-increasing effect. Compared to existing lifting mechanisms that use non-planetary gear drives, this embodiment, by achieving a speed-reducing and torque-increasing effect through the torque transmitted from the sun gear to the planetary gears, enables a reduction in the drive shaft's rotational speed and an increase in output torque. This increases the output torque of the drive unit, allowing the lifting device of this application to use a smaller power drive unit to output a larger output torque under the same load, thus improving the transmission efficiency of the drive unit and the lifting mechanism.

[0012] In some embodiments, the end of the first lifting member connected to the first connecting member is the first connecting end, and the end of the second lifting member connected to the first connecting member is the second connecting end.

[0013] The planetary gear is configured to, while rotating around the sun gear in two opposite directions, drive the first connecting end to swing relative to the support platform, and at the same time drive the second connecting end to swing relative to the support platform through the first connecting member, so that the support platform can switch between a descending position and a lifting position.

[0014] The second connecting end swings in the same direction as the first connecting end, and the support height of the support platform in the lifting position is higher than that of the support platform in the lowering position.

[0015] This application enables the support platform to switch between a descending position and a lifting position by controlling the rotation direction of the planetary gears around the sun gear, thereby adjusting the support height of the support platform.

[0016] In some embodiments, the lifting assembly further includes a first connecting shaft, which is located on the side of the drive shaft facing the support platform;

[0017] The first connecting end is rotatably connected to the first connecting shaft, the first connecting shaft passes through the planetary gear, and the planetary gear can rotate relative to the first connecting shaft;

[0018] The planetary gear is configured to drive the first connecting shaft to rotate around the drive shaft when it rotates, and to drive the first connecting end to swing relative to the support platform through the first connecting shaft.

[0019] Since one end of the first lifting component is movably connected to the support platform, and the first connecting end is rotatably connected to the first connecting shaft, when the planetary gear rotates around the sun gear in opposite directions, the embodiment of this application can cause the first connecting end to swing towards or away from the support platform through the drive of the first connecting shaft, so as to facilitate the support platform to switch between the lifting position and the lowering position.

[0020] In some embodiments, the axial direction of the first connecting shaft is parallel to the axial direction of the drive shaft, and the first connecting shaft is rotatably mounted on the drive shaft so that the first connecting shaft can rotate around the drive shaft under the drive of the planetary gears. In this way, when the first connecting shaft rotates, it can drive the connected first connecting end to rotate simultaneously, thereby realizing the swinging of the first connecting end relative to the support platform.

[0021] In some embodiments, one end of the first connector adjacent to the first lifting member is connected to the first connecting shaft; the second connecting end is rotatably connected to the first connector.

[0022] The first connecting shaft is configured to, when rotating about the drive shaft, also drive the first connecting member to move relative to the support platform toward or away from the second lifting member, so as to drive the second connecting end to swing relative to the support platform through the first connecting member.

[0023] With this configuration, when the planetary gears rotate around the sun gear in opposite directions, the first connecting shaft can be driven by the first connecting member to swing the first connecting end toward or away from the support platform, so that the support platform can switch between the lifting position and the lowering position.

[0024] In some embodiments, the lifting assembly further includes a second connecting shaft located on the side of the drive shaft facing the second lifting member;

[0025] One end of the first connector adjacent to the second lifting member and the second lifting member are rotatably connected via a second connecting shaft;

[0026] The second connecting shaft is configured to swing relative to the base of the transport equipment and cause the second connecting end to swing relative to the support platform when the first connecting member moves toward or away from the second lifting member relative to the support platform.

[0027] With the second connecting shaft, when the first connecting member moves toward or away from the second lifting member relative to the support platform, the first connecting member can drive the second connecting end to swing toward or away from the support platform via the second connecting shaft, so that the support platform can switch between the lifting position and the lowering position.

[0028] In some embodiments, the axial direction of the second connecting shaft is parallel to the axial direction of the first connecting shaft, so that when the first connecting member moves relative to the second lifting member, it can drive the second connecting shaft to swing relative to the base in the same direction as the rotation direction of the first connecting shaft, thereby driving the second connecting end to swing in the same direction as the swing direction of the first connecting end. This ensures that the second connecting end and the first connecting shaft swing simultaneously toward or away from the support platform, thereby enabling the support platform to switch between the lifting position and the lowering position.

[0029] The transmission assembly includes a second connector, one end of which is configured to be rotatably mounted on the base, and the other end is rotatably connected to a second connecting shaft, so that the second connecting shaft is oscillatingly mounted on the base, so that the second connecting shaft oscillates relative to the base under the drive of the first connector.

[0030] In some embodiments, the transmission assembly includes at least two second connectors, which are distributed at both ends of the second connecting shaft;

[0031] The second lifting member and the first connecting member are located in the middle area of ​​the second connecting shaft.

[0032] Compared to the second connector being located at one end of the second connecting shaft, the embodiments of this application, by distributing at least two second connectors at both ends of the second connecting shaft, can increase the stability of the second connecting shaft when rotating relative to the base and the rigidity of the second connecting shaft.

[0033] Furthermore, by limiting the positions of the second connector, the second lifting member, and the first connector on the second connecting shaft, while ensuring that the second lifting member and the first connector are positioned on the second connecting shaft, the axial movement of the second lifting member and the first connector on the second connecting shaft can be further restricted by the second connector.

[0034] In some embodiments, the transmission assembly further includes a third connecting shaft, the axial direction of which is parallel to the axial direction of the drive shaft. The third connecting shaft is configured to be mounted on a base, and a second connecting member is rotatably connected to the third connecting shaft so that the second connecting member is rotatably mounted on the base via the third connecting shaft. The second connecting member will drive the second connecting shaft to swing relative to the base about the third connecting shaft. Furthermore, since the axial direction of the third connecting shaft is parallel to the axial direction of the drive shaft, when the second connecting shaft swings relative to the base about the third connecting shaft, it can also be ensured that the second connecting shaft can swing relative to the base in the same direction as the rotation direction of the first connecting shaft.

[0035] In some embodiments, the transmission assembly further includes a third connector, one end of which is rotatably connected to the drive shaft and the other end of which is rotatably connected to the first connecting shaft, and the first connector, the second connector and the third connector form a second linkage mechanism;

[0036] When the first connecting shaft rotates around the drive shaft, it can cause the two ends of the third connecting member and the first lifting member to swing relative to the support platform in a direction that moves closer to or further away from each other, thereby changing the included angle between the third connecting member and the first lifting member, and thus changing the height of the end of the first lifting member connected to the support platform on the base, so that the support platform can switch between the lowering position and the lifting position.

[0037] In some embodiments, the lifting mechanism further includes a shielding member mounted on the same side of the sun gear and planet gears, which shields a portion of the structure of at least one of the sun gear and planet gears.

[0038] By using shielding components, at least a portion of the structure of the sun gear and planetary gears can be prevented from being exposed on the outer surface of the handling equipment, thereby improving the safety of the handling equipment.

[0039] In some embodiments, the lifting mechanism further includes a connecting frame and an internal gear ring support, wherein the planetary internal gear ring is disposed on the internal gear ring support;

[0040] One end of the connecting frame is rotatably connected to the internal gear ring bracket, and the other end is rotatably connected to the support platform or the second lifting component.

[0041] By setting up the connecting frame, the structural stability of the first and second linkage mechanisms during movement can be enhanced, enabling the lifting mechanism to switch stably between the lowering and lifting positions.

[0042] In some embodiments, the lifting mechanism further includes a fourth connecting shaft, which is mounted on the side of the support platform facing the lifting assembly. The connecting frame and the second lifting member are both rotatably connected to the fourth connecting shaft, so as to realize the rotatable connection between the connecting frame and the second lifting member through the fourth connecting shaft.

[0043] In some embodiments, the planetary internal gear ring has an arc-shaped meshing rack, and the planetary gear meshes with the meshing rack;

[0044] As the planetary gears rotate around the sun gear, they can roll along the meshing rack so that the planetary gears are always meshed with the planetary internal gear ring and the sun gear.

[0045] In some embodiments, the lifting mechanism includes two transmission components and two lifting components. The two transmission components are distributed at both ends of the drive shaft in the axial direction, and each of the two transmission components is provided with a corresponding lifting component.

[0046] The planetary gears in the transmission assembly are movably connected to the first lifting component and the first connecting component in the corresponding lifting assembly.

[0047] In this way, when the drive shaft rotates, it can drive the two transmission components and the lifting components to move in the same direction simultaneously, so that the support platform can switch between the lowering position and the lifting position with the cooperation of the two lifting components and the corresponding transmission components, thereby enhancing the stability of the support platform when switching positions.

[0048] Since the movement of both lifting components is controlled by their corresponding transmission components, and the movements of the two transmission components are independent of each other, the movements of the two lifting components are also independent and there is no need for long-shaft transmission between them. This configuration shortens the length of the first connecting shaft, second connecting shaft, and third connecting shaft, thereby reducing the rotational space of the first connecting shaft and the swing space of the second connecting shaft. This allows the base to accommodate some components of the handling equipment within the space between at least the two corresponding second connecting shafts, increasing the storage space for these components and facilitating the miniaturization of the handling equipment.

[0049] In some embodiments, the lifting mechanism further includes a fourth connector disposed between the two lifting components to connect the two lifting components.

[0050] The fourth connector enhances the structural stability of the lifting assembly during movement, thus supporting the stability of the platform during position switching.

[0051] In some embodiments, the drive device further includes a motor and a drive assembly, wherein the drive assembly is disposed at the middle or end of the drive shaft and is connected to the motor;

[0052] The drive assembly is configured to drive the drive shaft to rotate under the drive of the motor.

[0053] With this configuration, the drive shaft can rotate under the drive of the drive assembly, and drive the sun gear to rotate, so that the sun gear can drive the planet gears to rotate and revolve around the sun gear (i.e., revolve).

[0054] In some embodiments, the drive assembly includes a chain drive assembly or a belt drive assembly to diversify the structure of the lifting mechanism in order to meet the diverse structural designs of the handling equipment.

[0055] In some embodiments, the drive unit further includes a speed reducer connected between the motor and the drive assembly.

[0056] By using a speed reducer, the torque of the motor can be increased, the speed of the motor can be reduced, and noise and vibration can be reduced, thereby improving the service life, stability and safety of the handling equipment.

[0057] Secondly, embodiments of this application provide a handling device, which includes a chassis, a traveling mechanism, and a lifting mechanism as described above, both of which are mounted on a base.

[0058] By incorporating a lifting mechanism within the handling equipment, the lifting mechanism changes the height of the handling equipment through its own lifting and lowering, enabling the equipment to move the load to a designated location or to easily detach the load from its location to continue handling the next load. Furthermore, by using planetary gears within the lifting mechanism to drive the lifting components, the output torque of the drive unit is increased. This allows the handling equipment of this application to utilize a smaller power drive unit to output a larger output torque when the load is the same, thereby improving the transmission efficiency of both the drive unit and the lifting mechanism. Attached Figure Description

[0059] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0060] Figure 1 A schematic diagram of a lifting mechanism in a descending position provided in an embodiment of this application, viewed from a first perspective;

[0061] Figure 2 A schematic diagram of a lifting mechanism in a descending position, provided as an embodiment of this application, from a second perspective;

[0062] Figure 3 A partial schematic diagram from a third-person perspective of a lifting mechanism in a descending position, provided as an embodiment of this application;

[0063] Figure 4 A partial schematic diagram from a first perspective of a lifting mechanism in the lifting position, provided as an embodiment of this application;

[0064] Figure 5 A partial schematic diagram from a second perspective of a lifting mechanism in the lifting position, provided as an embodiment of this application;

[0065] Figure 6 for Figure 1 A partial schematic diagram of the lifting mechanism;

[0066] Figure 7 for Figure 4 A partial schematic diagram of the lifting mechanism;

[0067] Figure 8 for Figure 5 A partial schematic diagram of the lifting mechanism.

[0068] Figure label:

[0069] 100 - Lifting mechanism;

[0070] 1-Supporting platform; 11-Supporting surface; 12-Non-supporting surface; 13-Through hole;

[0071] 2-Drive unit; 21-Drive shaft; 22-Motor; 23-Reducer; 24-Transmission wheel;

[0072] 3-Lifting assembly; 31-First lifting component; 32-Second lifting component; 33-First connecting shaft; 331-Limiting groove; 34-Second connecting shaft; 35-First connecting component;

[0073] 4-Transmission assembly; 41-Sun gear; 42-Planet gear; 43-Planet internal gear ring; 431-Meshing rack; 44-Second connecting member; 45-Third connecting member; 46-Third connecting shaft;

[0074] 5-Fourth connecting shaft;

[0075] 6 - Fifth connecting axis;

[0076] 7-Fourth connector;

[0077] 8-Shielding parts;

[0078] 20-Connecting bracket;

[0079] 30-Internal gear ring bracket. Detailed Implementation

[0080] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0081] This application provides a material handling device. The material handling device may include an automated guided vehicle (AGV) with a lifting mechanism 100, such as a submersible AGV. The structure of the material handling device will be further described below using a submersible AGV as an example.

[0082] Material handling equipment is an industrial vehicle that loads goods automatically or manually, travels automatically along a set route or carries the load to a designated location, and then loads and unloads the load automatically or manually. For example, the load can be goods, shelves, etc.

[0083] The handling equipment includes a chassis, a traveling mechanism, a lifting mechanism 100, and a support plate. Both the traveling mechanism and the lifting mechanism 100 are mounted on the base. The support plate is located on the side of the lifting mechanism 100 away from the base and is used to support the load.

[0084] The traveling mechanism can drive the base and lifting mechanism 100 to travel, so that the handling equipment can automatically travel along a set route or transport the load to a designated location. For example, the traveling mechanism may include traveling wheels and a traveling motor 22 that drives the traveling wheels to travel.

[0085] As a core and essential component of handling equipment, the lifting mechanism 100 is a core and essential mechanism for Automated Guided Vehicles (AGVs). It can change the height of the handling equipment by lifting itself, so that the handling equipment can move the load to a designated location, or facilitate the handling equipment to move the load to a designated location and detach it from the load to continue the handling of the next load.

[0086] For example, taking a submersible AGV as an example, when the handling equipment is handling a load, it will lie submerged at the bottom of the load (such as a shelf), and the lifting mechanism 100 can rise so that the support plate is against the bottom of the load. Thus, when the walking mechanism moves, the handling equipment can drive the load to travel automatically along the set route or transport the load to a designated location.

[0087] Accordingly, after the handling equipment has moved the load to the designated location, the lifting mechanism 100 can be lowered to remove the support plate from the bottom of the load so that the handling equipment can continue to handle the next load.

[0088] Currently, the mainstream lifting mechanism used in the industry is the four-bar lifting mechanism. Mainstream manufacturers use a four-bar lifting mechanism supplemented by a crank-connecting rod system for drive. However, the crank-connecting rod transmission has varying efficiency ranges, resulting in a generally unresolved problem of low transmission efficiency in lifting mechanisms.

[0089] Therefore, this application provides a lifting mechanism. Through the arrangement of the lifting assembly, the drive shaft within the drive unit, and the sun gear, planet gears, and planetary internal gear ring within the transmission assembly, the drive shaft can drive the sun gear to rotate during operation. The rotation of the sun gear, in conjunction with the planetary internal gear ring, drives the planet gears to rotate on their own axes while simultaneously causing them to rotate around the sun gear. As the planet gears rotate around the sun gear, they drive the lifting assembly to rise and fall, thus achieving the lifting mechanism's lifting and falling. In this way, the planet gears act as the drive for the lifting assembly, and the torque transmitted from the sun gear to the planet gears achieves a speed-reducing and torque-increasing effect. This achieves the effect of reducing the speed of the drive shaft and increasing the output torque, resulting in less power required from the drive unit for the same load on the handling equipment, thereby improving the transmission efficiency of the drive unit and the lifting mechanism.

[0090] The structure of the lifting mechanism provided in the embodiments of this application will be further described below with reference to the accompanying drawings and examples.

[0091] Figures 1 to 3 The diagrams show the lifting mechanism 100 in different viewpoints when it is in the lowered position.

[0092] See Figures 1 to 3 The lifting mechanism 100 includes a support platform 1. The support platform 1 is used to support the support plate. The support platform 1 has a support surface 11 and a non-support surface 12 in the thickness direction. The support surface 11 is used to support the support plate.

[0093] See Figure 1 and Figure 2 The lifting mechanism 100 also includes a drive device 2, which includes a drive shaft 21 located at the bottom of the support platform 1. The bottom of the support platform 1 refers to the side of the non-support surface 12 that faces away from the support surface 11.

[0094] The lifting mechanism 100 also includes a lifting device, which includes a lifting assembly 3. The lifting assembly 3 is located at the bottom of the support platform 1. The lifting assembly 3 includes a first lifting member 31, a second lifting member 32, and a first connecting member 35. The first connecting member 35 is movably connected to one end of the first lifting member 31 and the second lifting member 32, respectively. The ends of the first lifting member 31 and the second lifting member 32 opposite to the first connecting member 35 are both movably connected to the support platform 1. Furthermore, the first lifting member 31, the second lifting member 32, the first connecting member 35, and the support platform 1 form a first linkage mechanism. The first linkage mechanism can be a four-bar linkage mechanism. The first lifting member 31, the second lifting member 32, and the first connecting member 35 can be regarded as movable components in the first linkage mechanism, and the support platform 1 can be regarded as a fixed component in the first linkage mechanism.

[0095] See Figure 1 and Figure 3 The lifting device also includes a transmission assembly 4, which comprises a sun gear 41, planet gears 42, and a planetary internal gear ring 43. The sun gear 41 is located on the drive shaft 21, and the planet gears 42 mesh between the sun gear 41 and the planetary internal gear ring 43. At this time, one side of the planet gear 42 meshes with the sun gear 41, and the other side meshes with the planetary internal gear ring 43. The sun gear 41 is configured to rotate on its own axis when the drive shaft 21 rotates, thereby driving the planet gears 42 to rotate on their own axis and around the sun gear 41.

[0096] Specifically, since one side of planetary gear 42 meshes with sun gear 41, the rotation of sun gear 41 drives planetary gear 42 to rotate. Simultaneously, since the other side of planetary gear 42 meshes with planetary internal gear ring 43, under the driving force of planetary gear 42's rotation, planetary gear 42 will roll in the same direction as the rotation of sun gear 41 within planetary internal gear ring 43, causing planetary gear 42 to rotate around sun gear 41. The rotation of planetary gear 42 around sun gear 41 can be understood as the revolution of planetary gear 42.

[0097] Figure 4 and Figure 5 The diagrams show the lifting mechanism 100 in different viewpoints when it is in the lifting position.

[0098] See Figure 1 , Figure 4 and Figure 5 Both the first lifting member 31 and the first connecting member 35 are movably connected to the planetary gear 42. The planetary gear 42 is configured to drive at least one of the first lifting member 31 and the first connecting member 35 to move relative to the support platform 1 and adjust the support height of the support platform 1 when rotating around the sun gear 41. That is, when the planetary gear 42 rotates around the sun gear 41, it can drive either the first lifting member 31 or the first connecting member 35 to move relative to the support platform 1. Alternatively, when the planetary gear 42 rotates around the sun gear 41, it can drive both the first lifting member 31 and the first connecting member 35 to move simultaneously relative to the support platform 1.

[0099] In a four-bar linkage, the components can include movable components and fixed components. In a four-bar linkage, when any movable component moves, the direction of movement of the remaining components is also determined.

[0100] Since the first lifting member 31, the second lifting member 32, the first connecting member 35 and the support platform 1 form a first linkage mechanism, and the first lifting member 31, the second lifting member 32 and the first connecting member 35 are the moving components in the first linkage mechanism, when either the first lifting member 31 or the first connecting member 35 moves relative to the support platform 1, the support platform 1 will also move accordingly, and the direction of movement is determined.

[0101] Therefore, as the planetary gear 42 rotates around the sun gear 41 and drives at least one of the first lifting member 31 and the first connecting member 35 to move relative to the support platform 1, the position of the support platform 1 can be changed, thereby adjusting the support height of the support platform 1 to achieve the lifting and lowering of the lifting mechanism 100.

[0102] Thus, planetary gear 42 serves as the drive for lifting assembly 3. Due to the arrangement of drive shaft 21, sun gear 41, planetary gears 42, and planetary internal gear ring 43, the torque transmitted from sun gear 41 to planetary gears 42 achieves a speed-reducing and torque-increasing effect. Compared to existing lifting mechanisms 100 where lifting assembly 3 is driven by a non-planetary gear 42 drive, this embodiment achieves a speed-reducing and torque-increasing effect by transmitting torque from sun gear 41 to planetary gears 42, thereby reducing the rotational speed of drive shaft 21 and increasing output torque. This increases the output torque of drive device 2, allowing the transport device of this application to use a smaller power drive device 2 to output a larger output torque under the same load, thus improving the transmission efficiency of drive device 2 and lifting mechanism 100.

[0103] It should be noted that the principle mentioned above, which states that "by configuring the drive shaft 21, sun gear 41, planet gears 42, and planetary internal gear ring 43, the torque transmitted from the sun gear 41 to the planet gears 42 can achieve the effect of speed reduction and torque increase," can be found in the working principle of the planetary reducer 23. Further elaboration is not provided in this embodiment.

[0104] See Figure 3 The planetary internal gear ring 43 has an arc-shaped meshing rack 431, and the planet gear 42 meshes with the meshing rack 431. When the planet gear 42 rotates around the sun gear 41, it can roll along the meshing rack 431 so that the planet gear 42 is always meshed with the planetary internal gear ring 43 and the sun gear 41.

[0105] It should be noted that the arc design of the meshing rack 431 can be found in the relevant design of the planetary reducer 23, and will not be repeated in this application.

[0106] See Figure 3 The drive unit 2 also includes a motor 22 and a drive assembly. The drive assembly is located in the middle or at the end of the drive shaft 21 and is connected to the motor 22. Figure 3 The diagram shows a structure where the drive assembly is located at the middle of the drive shaft 21. In some embodiments, the drive assembly is also located at the end of the drive shaft 21. This will be further explained below in conjunction with the number of transmission assemblies 4, and will not be repeated here.

[0107] The drive assembly is configured to drive the drive shaft 21 to rotate under the drive of the motor 22. In this configuration, the drive shaft 21 can rotate under the drive of the drive assembly, and drive the sun gear 41 to rotate, so that the sun gear 41 can drive the planet gears 42 to rotate and revolve around the sun gear 41 (i.e., revolve).

[0108] See Figure 3 The chain drive assembly may include a transmission component and two drive wheels 24. One of the two drive wheels 24 is connected to the output shaft of the motor 22, and the other is connected to the drive shaft 21. The transmission component is sleeved on the opposite side of the two drive wheels 24. Driven by the motor 22, the output shaft of the motor 22 will rotate, driving the connected drive wheel 24 to rotate. Under the transmission of the transmission component, the drive wheel 24 connected to the drive shaft 21 and the drive shaft 21 will rotate.

[0109] For example, the drive assembly can be a chain drive assembly or a belt drive assembly, etc., to diversify the structure of the lifting mechanism 100 and meet the diverse structural design requirements of handling equipment. When the drive assembly is a chain drive assembly, the transmission wheel 24 can be a transmission gear, and the transmission component can be a transmission chain. When the drive assembly is a belt drive assembly, the transmission wheel 24 can be a transmission pulley, and the transmission component can be a transmission belt.

[0110] In some embodiments, the drive unit 2 may further include a speed reducer 23. The speed reducer 23 is connected between the motor 22 and the drive assembly. Specifically, the input end of the speed reducer 23 is connected to the output shaft of the motor 22, and the output end of the speed reducer 23 is connected to a transmission wheel 24 of the drive assembly. By providing the speed reducer 23, the torque of the motor 22 can be increased, the speed of the motor 22 can be reduced, and noise and vibration can be reduced, thereby improving the service life, stability, and safety of the handling equipment.

[0111] Figure 6 It shows Figure 1 A partial schematic diagram of the lifting mechanism 100. Figure 7 for Figure 4 A partial schematic diagram of the lifting mechanism 100.

[0112] See Figure 6 and Figure 7 The end of the first lifting member 31 that is connected to the first connecting member 35 is the first connecting end. The end of the second lifting member 32 that is connected to the first connecting member 35 is the second connecting end.

[0113] The planetary gear 42 is configured to, while rotating around the sun gear 41 in two opposite directions, simultaneously cause the first connecting end to oscillate relative to the support platform 1, and also cause the second connecting end to oscillate relative to the support platform 1 via the first connecting member 35, thereby switching the support platform 1 between a lowering position and a lifting position. The second connecting end oscillates in the same direction as the first connecting end. The support height of the support platform 1 in the lifting position is higher than the support height of the support platform 1 in the lowering position.

[0114] It should be understood that the drive device 2 can control the drive shaft 21 to rotate in two different directions, enabling the drive shaft 21 to drive the sun gear 41 to rotate in the first direction and the second direction. The first direction and the second direction can be understood as the two opposite directions mentioned above. For example, the first direction can be referred to as the W direction, and the second direction can be referred to as the V direction.

[0115] For example, see Figure 6 When the support platform 1 is in the lowered position, the sun gear 41 can rotate in the first direction, and the planet gear 42 will rotate around the sun gear 41 in the first direction and roll on the planetary internal gear ring 43. As the planet gear 42 rotates around the sun gear 41, it will cause the first connecting end to swing away from the support platform 1, and can also cause the second connecting end to swing away from the support platform 1 via the first connecting member 35, thereby switching the support platform 1 from the lowered position to the lifting position (e.g., ...). Figure 7 (As shown).

[0116] For example, see Figure 7When the support platform 1 is in the lifting position, the sun gear 41 can rotate in the second direction, and the planet gear 42 will rotate around the sun gear 41 in the second direction and roll on the planetary internal gear ring 43. As the planet gear 42 rotates around the sun gear 41, it will cause the first connecting end to swing towards the support platform 1, and can also cause the second connecting end to swing towards the support platform 1 via the first connecting member 35, thereby switching the support platform 1 from the lifting position to the lowering position (e.g., ...). Figure 6 (As shown).

[0117] Therefore, by controlling the rotation direction of the planetary gear 42 around the sun gear 41, this application can switch the support platform 1 between the lowering position and the lifting position, thereby adjusting the support height of the support platform 1.

[0118] Figure 8 It shows Figure 5 A partial schematic diagram of the lifting mechanism 100.

[0119] See Figure 5 and Figure 8 In some embodiments, the lifting assembly 3 further includes a first connecting shaft 33. The first connecting shaft 33 is located on the side of the drive shaft 21 facing the support platform 1. A first connecting end is rotatably connected to the first connecting shaft 33. The first connecting shaft 33 passes through the planetary gear 42, and the planetary gear 42 can rotate relative to the first connecting shaft 33, so that when the sun gear 41 rotates under the drive of the drive shaft 21, the planetary gear 42 can also rotate under the drive of the sun gear 41.

[0120] The planetary gear 42 is configured to drive the first connecting shaft 33 to rotate around the drive shaft 21 when it rotates around the sun gear 41, and to cause the first connecting end to swing relative to the support platform 1 via the first connecting shaft 33. Since the first connecting shaft 33 passes through the planetary gear 42, when the planetary gear 42 rotates around the sun gear 41, the planetary gear 42 will drive the first connecting shaft 33 to rotate simultaneously. The rotation direction of the first connecting shaft 33 around the drive shaft 21 is the same as the rotation direction of the planetary gear 42 relative to the sun gear 41, and the first connecting shaft 33 and the planetary gear 42 rotate coaxially.

[0121] Since one end of the first lifting member 31 is movably connected to the support platform 1, and the first connecting end is rotatably connected to the first connecting shaft 33, when the planetary gear 42 rotates around the sun gear 41 in two opposite directions, the first connecting end can be swung towards or away from the support platform 1 by the drive of the first connecting shaft 33 in this embodiment, so that the support platform 1 can switch between the lifting position and the lowering position.

[0122] For example, when the lifting mechanism 100 is in the lowering position, the sun gear 41 can rotate in the first direction, and the first connecting shaft 33 will rotate around the sun gear 41 in the first direction under the drive of the planet gear 42. At this time, due to the rotation of the first connecting shaft 33, the connected first connecting end will swing away from the support platform 1, so that the support platform 1 switches from the lowering position to the lifting position.

[0123] For example, when the lifting mechanism 100 is in the lifting position, as the sun gear 41 rotates in the second direction, the first connecting shaft 33 will rotate around the sun gear 41 in the second direction under the drive of the planet gear 42. At this time, due to the rotation of the second connecting shaft 34, the connected first connecting end will swing towards the support platform 1, so that the support platform 1 switches from the lifting position to the lowering position.

[0124] See Figure 8 The first connecting shaft 33 is parallel to the axis of the drive shaft 21, and the first connecting shaft 33 is rotatably mounted on the drive shaft 21 so that the first connecting shaft 33 can rotate around the drive shaft 21 under the drive of the planetary gear 42. In this way, when the first connecting shaft 33 rotates, it can drive the first connecting end connected to it to rotate at the same time, thereby realizing the swing of the first connecting end relative to the support platform 1.

[0125] See Figure 5 and Figure 8 In some embodiments, the end of the first connecting member 35 adjacent to the first lifting member 31 is connected to the first connecting shaft 33. The end of the first connecting member 35 adjacent to the first lifting member 31 can be rotatably or fixedly connected to the first connecting shaft 33. The second connecting end is rotatably connected to the first connecting member 35. This arrangement allows the first connecting member 35 to connect between the first lifting member 31 and the second lifting member 32, and the second connecting end can rotate relative to the first connecting member 35, so that the first lifting member 31, the second lifting member 32, the first connecting member 35, and the support platform 1 form a first linkage mechanism.

[0126] The first connecting shaft 33 is configured such that, when rotating around the drive shaft 21, it can also drive the first connecting member 35 to move relative to the support platform 1 towards or away from the second lifting member 32, so that the second connecting end can swing relative to the support platform 1 via the first connecting member 35. With this configuration, when the planetary gear 42 rotates around the sun gear 41 in opposite directions, the first connecting shaft 33 can be driven by the first connecting member 35 to swing the first connecting end towards or away from the support platform 1, allowing the support platform 1 to switch between a lifting position and a lowering position.

[0127] For example, when the lifting mechanism 100 is in the lowering position, the first connecting shaft 33 will rotate around the sun gear 41 in the first direction under the drive of the planetary gear 42. The first connecting shaft 33 will drive the first connecting member 35 to move towards the direction closer to the second lifting member 32, and drive the connected second connecting end to swing away from the support platform 1, so that the support platform 1 can switch from the lowering position to the lifting position.

[0128] For example, when the lifting mechanism 100 is in the lifting position, the first connecting shaft 33 will rotate around the sun gear 41 in the second direction under the drive of the planetary gear 42. The first connecting shaft 33 will drive the first connecting member 35 to move away from the second lifting member 32, and drive the connected second connecting end to swing towards the support platform 1, so that the support platform 1 can switch from the lifting position to the lowering position.

[0129] See Figure 5 and Figure 8 The first connecting shaft 33 has a limiting groove 331 at the position corresponding to the first connecting end. When the first connecting end is sleeved on the first connecting shaft 33, it is located in the corresponding limiting groove 331. With this configuration, while achieving a rotatable connection between the first connecting end and the first connecting shaft 33, the limiting groove 331 can restrict the axial movement of the first connecting end relative to the support platform 1 along the first connecting shaft 33, so as to avoid interference between the first connecting end and the first connecting member 35.

[0130] It should be noted that the first connecting shaft 33, the second connecting shaft 34, the third connecting shaft 46, the drive shaft 21, etc., in the embodiments of this application can all be collectively referred to as shafts. A shaft may include a shaft body and a bushing. The bushing is sleeved on the shaft body, and a limiting groove 331 is formed on the periphery of one bushing. Therefore, when a shaft has multiple limiting grooves 331, multiple bushings can be sleeved on the shaft body. Taking the first connecting shaft 33 as an example, when the first connecting shaft 33 has multiple limiting grooves 331, at least two bushings can be sleeved on the shaft body of the first connecting shaft 33.

[0131] Correspondingly, when the end of the first connecting member 35 adjacent to the first lifting member 31 is rotatably connected to the first connecting shaft 33, the first connecting shaft 33 has a limiting groove 331 at the position corresponding to the first connecting member 35. The end of the first connecting member 35 adjacent to the first lifting member 31 is sleeved on the first connecting shaft 33 and disposed in the corresponding second limiting groove 331. With this configuration, while achieving rotatable connection between the first connecting member 35 and the first connecting shaft 33, the limiting groove 331 can restrict the axial movement of the first connecting member 35 relative to the second lifting member 32 along the first connecting shaft 33, thereby avoiding interference between the first connecting member 35 and the first connecting end.

[0132] See Figure 6 and Figure 8In some embodiments, the lifting assembly 3 further includes a second connecting shaft 34. The second connecting shaft 34 is located on the side of the drive shaft 21 facing the second lifting member 32. One end of the first connecting member 35 adjacent to the second lifting member 32 and the second connecting end are rotatably connected via the second connecting shaft 34, so as to realize the rotatable connection between the first connecting member 35 and the second connecting end through the second connecting shaft 34. The end of the first connecting member 35 adjacent to the second lifting member 32 can be rotatably connected or fixedly connected to the second connecting shaft 34.

[0133] The second connecting shaft 34 is configured to swing relative to the base and cause the second connecting end to swing relative to the support platform 1 when the first connecting member 35 moves relative to the support platform 1 toward or away from the second lifting member 32.

[0134] It should be understood that, since the first connecting member 35 is rotatably connected to the second lifting member 32 at one end and the second connecting end via the second connecting shaft 34, when the first connecting member 35 moves relative to the support platform 1 toward or away from the second lifting member 32 under the drive of the first connecting shaft 33, the first connecting member 35 will cause the second connecting shaft 34 to swing relative to the base. Since one end of the second lifting member 32 is movably connected to the support platform 1, and the second connecting end is rotatably connected to the second connecting shaft 34, when the second connecting shaft 34 swings, it will cause the connected second connecting end to swing relative to the support platform 1.

[0135] Therefore, by setting the second connecting shaft 34, when the first connecting member 35 moves relative to the support platform 1 toward or away from the second lifting member 32, the first connecting member 35 can drive the second connecting end to swing toward or away from the support platform 1 through the second connecting shaft 34, so that the support platform 1 can switch between the lifting position and the lowering position.

[0136] See Figure 6 and Figure 8 The second connecting shaft 34 has a limiting groove 331 at the position corresponding to the second connecting end. The second connecting end is sleeved on the second connecting shaft 34 and disposed within the corresponding limiting groove 331. This configuration allows for the rotational connection between the second connecting end and the second connecting shaft 34, while the limiting groove 331 restricts the axial movement of the second connecting end relative to the second lifting member 32 along the second connecting shaft 34, thus preventing interference between the second connecting end and the first connecting member 35.

[0137] Correspondingly, when the end of the first connecting member 35 adjacent to the second lifting member 32 is rotatably connected to the second connecting shaft 34, the second connecting shaft 34 also has a limiting groove 331 at the position corresponding to the first connecting member 35. The end of the first connecting member 35 adjacent to the second lifting member 32 is sleeved on the second connecting shaft 34 and disposed in the corresponding limiting groove 331. With this configuration, while achieving rotatable connection between the first connecting member 35 and the second connecting shaft 34, the limiting groove 331 can restrict the axial movement of the first connecting member 35 relative to the second lifting member 32 along the second connecting shaft 34, so as to avoid interference between the first connecting member 35 and the second connecting end.

[0138] See Figure 8 In some embodiments, the axial direction of the second connecting shaft 34 can be parallel to the axial direction of the first connecting shaft 33, so that when the first connecting member 35 moves relative to the second lifting member 32, it can drive the second connecting shaft 34 to swing relative to the base in the same direction as the rotation direction of the first connecting shaft 33, thereby driving the second connecting end to swing in the same direction as the swing direction of the first connecting end. This ensures that the second connecting end and the first connecting shaft 33 swing simultaneously toward or away from the support platform 1, thereby enabling the support platform 1 to switch between the lifting position and the lowering position.

[0139] See Figure 8 In some embodiments, the transmission assembly 4 includes a second connector 44. One end of the second connector 44 is configured to be rotatably mounted on the base, and the other end is rotatably connected to the second connecting shaft 34, so that the second connecting shaft 34 is oscillatingly disposed on the base, so that the second connecting shaft 34 oscillates relative to the base under the drive of the first connector 35.

[0140] It should be noted that when the second connecting shaft 34 swings relative to the base, it will also cause the second connecting piece 44 to swing relative to the base at the same time.

[0141] The transmission assembly 4 may include one second connector 44. Alternatively, the transmission assembly 4 may include at least two second connectors 44. The at least two second connectors 44 are distributed at both ends of the second connecting shaft 34.

[0142] Figure 6 The diagram shows that the transmission assembly 4 has two second connectors 44, but this does not constitute a limitation on the number of second connectors 44. In some embodiments, the number of second connectors 44 in the transmission assembly 4 may also be three, four, etc.

[0143] It should be noted that when the number of second connecting members 44 in the transmission assembly 4 is even, the number of second connecting members 44 at both ends of the second connecting shaft 34 can be equal. When the number of second connecting members 44 in the transmission assembly 4 is odd, the number of second connecting members 44 on one end of the second connecting shaft 34 can be more, while the number of second connecting members 44 on the other end can be less.

[0144] Compared to the second connector 44 being located at one end of the second connecting shaft 34, the present application embodiment, by distributing at least two second connectors 44 at both ends of the second connecting shaft 34, can increase the stability and rigidity of the second connecting shaft 34 when rotating relative to the base.

[0145] When at least two second connecting members 44 are distributed at both ends of the second connecting shaft 34, the second lifting member 32 and the first connecting member 35 are located in the middle region of the second connecting shaft 34. By defining the positions of the second connecting members 44, the second lifting member 32, and the first connecting member 35 on the second connecting shaft 34, while ensuring that the second lifting member 32 and the first connecting member 35 are installed on the second connecting shaft 34, the axial movement of the second lifting member 32 and the first connecting member 35 on the second connecting shaft 34 can be further restricted by the second connecting members 44.

[0146] See Figure 6 and Figure 8 The second connecting shaft 34 has a limiting groove 331 at the position corresponding to the second connecting member 44. The second connecting member 44 is sleeved on the second connecting shaft 34 and disposed within the corresponding limiting groove 331. This arrangement allows for the rotational connection between the second connecting member 44 and the second connecting shaft 34, while the limiting groove 331 restricts the axial movement of the second connecting member 44 relative to the base, thus preventing interference between the second connecting end and the first connecting member 35.

[0147] See Figure 6 and Figure 8 To enable the second connecting member 44 to be rotatably mounted on the base, in some embodiments, the transmission assembly 4 may further include a third connecting shaft 46. The axial direction of the third connecting shaft 46 is parallel to the axial direction of the drive shaft 21. The third connecting shaft 46 is configured to be mounted on the base, and the second connecting member 44 is rotatably connected to the third connecting shaft 46, so that the second connecting member 44 is rotatably mounted on the base via the third connecting shaft 46. The second connecting member 44 will drive the second connecting shaft 34 to swing relative to the base about the third connecting shaft 46. Furthermore, since the axial direction of the third connecting shaft 46 is parallel to the axial direction of the drive shaft 21, when the second connecting shaft 34 swings relative to the base about the third connecting shaft 46, it can also be ensured that the second connecting shaft 34 can swing relative to the base in the same direction as the rotation direction of the first connecting shaft 33.

[0148] The third connecting shaft 46 has a limiting groove 331 at the position corresponding to the second connecting member 44. One end of the second connecting member 44 adjacent to the base can be sleeved on the third connecting shaft 46 and disposed within the limiting groove 331. With this configuration, while achieving a rotatable connection between the second connecting member 44 and the third connecting shaft 46, the limiting groove 331 can restrict the axial movement of the second connecting member 44 along the third connecting shaft 46 when it swings relative to the base, so as to avoid affecting the swing of the second connecting member 44.

[0149] See Figure 6 and Figure 7 In some embodiments, the transmission assembly 4 may further include a third connector 45. One end of the third connector 45 is rotatably connected to the drive shaft 21, and the other end is rotatably connected to the first connecting shaft 33. For example, one end of the third connector 45 may be sleeved on the drive shaft 21, and the other end may be sleeved on the first connecting shaft 33, so as to realize the rotatable connection between the third connector 45, the first connecting shaft 33, and the drive shaft 21.

[0150] The first connector 35, the second connector 44, and the third connector 45 form the second linkage mechanism.

[0151] The second connecting rod mechanism also includes a base. The base can be considered as a fixing component of the second connecting rod mechanism. The second connecting rod mechanism can also be understood as another four-bar linkage in the lifting mechanism 100.

[0152] By setting the third connector 45, the first connecting shaft 33 is connected to the drive shaft 21, and the first connecting shaft 33 can rotate relative to the drive shaft 21 and the sun gear 41. At the same time, the displacement of the planet gear 42 relative to the sun gear 41 in the radial direction of the sun gear 41 can be restricted, so that the planet gear 42 is always meshed with the sun gear 41 and the planetary internal gear ring 43.

[0153] It should be understood that when the first connecting shaft 33 rotates around the sun gear 41, it will cause the third connecting member 45 to swing relative to the base. The swing direction of the third connecting member 45 is the same as that of the second connecting member 44.

[0154] When the first connecting shaft 33 rotates around the drive shaft 21, it can drive the two ends of the third connecting member 45 and the first lifting member 31 that are opposite to each other to swing relative to the support platform 1 in a direction that is closer to or farther away from each other, so as to change the included angle between the third connecting member 45 and the first lifting member 31, thereby changing the height of the end of the first lifting member 31 connected to the support platform 1 on the base (the installation height of the first connecting end on the base), so that the support platform 1 can switch between the lowering position and the lifting position.

[0155] For example, see Figure 6 and Figure 7When the support platform 1 is in the lowered position, the first connecting shaft 33 rotates around the sun gear 41 in the first direction under the drive of the planetary gear 42. This causes the opposite ends of the third connecting member 45 and the first lifting member 31 to swing away from each other relative to the support platform 1. At this time, the first connecting member 35 will move towards the side closer to the second lifting member 32, and through the second connecting shaft 34, it will also cause the opposite ends of the second connecting member 44 and the second lifting member 32 to swing away from each other relative to the support platform 1, so that the support platform 1 switches from the lowered position to the lifting position.

[0156] For example, see Figure 6 and Figure 7 When the support platform 1 is in the lifting position, the first connecting shaft 33 rotates around the sun gear 41 in the second direction under the drive of the planetary gear 42. This causes the opposite ends of the third connecting member 45 and the first lifting member 31 to swing towards each other relative to the support platform 1. At this time, the first connecting member 35 will move away from the second lifting member 32, and through the second connecting shaft 34, it will also cause the opposite ends of the second connecting member 44 and the second lifting member 32 to swing towards each other relative to the support platform 1, so that the support platform 1 switches from the lifting position to the lowering position.

[0157] See Figure 7 When the support platform 1 is in the lifting position, the included angle between the first lifting member 31 and the third connecting member 45 is a1.

[0158] See Figure 6 When the support platform 1 is in the descending position, the included angle between the first lifting component 31 and the third connecting component 45 is a2.

[0159] Where a1 > a2. This configuration ensures that when the support platform 1 is in the lifting position, the first connecting end is mounted at a relatively high height on the base, thus placing the support platform 1 in the lifting position. When the support platform 1 is in the lowering position, it ensures that the first connecting end is mounted at a relatively low height on the base, thus placing the support platform 1 in the lowering position.

[0160] Therefore, in this embodiment of the application, by controlling the rotation of the drive shaft 21, when the first connecting shaft 33 rotates in opposite directions under the drive of the planetary gear 42, the included angle between the first lifting member 31 and the third connecting member 45 will change between a1 and a2, which enables the support platform 1 to switch between the lifting position and the lowering position.

[0161] The angle between the second lifting member 32 and the second connecting member 44 is always equal to the angle between the first lifting member 31 and the second connecting member 44. This arrangement ensures that, regardless of the position of the support platform 1, the installation height of the first connecting end on the base is always equal to the installation height of the second connecting end on the base, thus ensuring that the support platform 1 is in a horizontal plane and enhancing the stability of the support platform 1 structure.

[0162] See Figure 5 The first lifting member 31, the first connecting member 35, and the planetary gear 42 are located at different axial positions on the first connecting shaft 33. Furthermore, the planetary gear 42 is positioned opposite the sun gear 41 on the first connecting shaft 33 to ensure that the planetary gear 42 meshes with the sun gear 41.

[0163] See Figure 7 When the transmission assembly 4 includes a third connector 45 and the planetary gear 42 is located on the first connecting shaft 33, the end of the first connecting shaft 33 can pass through and extend out of the planetary gear 42. In this case, the third connector 45 can be located at the end of the first connecting shaft 33, on the side of the planetary gear 42 away from the first connecting shaft 33. This arrangement, through the third connector 45, further restricts the upward movement of the planetary gear 42 along the axial direction of the first connecting shaft 33, ensuring the meshing effect between the planetary gear 42 and the sun gear 41.

[0164] Alternatively, when the transmission assembly 4 includes a third connector 45 and the planetary gear 42 is located on the first connecting shaft 33, the end of the first connecting shaft 33 may also pass through the interior of the planetary gear 42 without protruding from the planetary gear 42. In this case, the third connector 45 may be located at the end of the first connecting shaft 33 and on the side of the planetary gear 42 facing the first connecting shaft 33.

[0165] Alternatively, the transmission assembly 4 may also include at least two third connectors 45. In this case, the at least two third connectors 45 may be distributed at both ends of the first connecting shaft 33.

[0166] Figure 6 The diagram shows two third connectors 45 in the transmission assembly 4, but this does not constitute a limitation on the number of third connectors 45. In some embodiments, the number of third connectors 45 in the transmission assembly 4 may also be three, four, etc. The arrangement of the two third connectors 45 on the first connecting shaft 33 can be found in the relevant description of the second connector 44, and will not be repeated here.

[0167] Compared to the third connector 45 being located at one end of the first connecting shaft 33, the present application embodiment, by distributing at least two third connectors 45 at both ends of the first connecting shaft 33, can increase the stability of the first connecting shaft 33 when rotating relative to the sun gear 41 and the rigidity of the first connecting shaft 33.

[0168] When at least two third connecting members 45 are distributed at both ends of the first connecting shaft 33, the first lifting member 31 and the first connecting member 35 are located in the middle region of the first connecting shaft 33. This arrangement, while allowing the first lifting member 31 and the first connecting member 35 to be mounted on the first connecting shaft 33, also further restricts the axial movement of the first lifting member 31 and the first connecting member 35 on the first connecting shaft 33 via the third connecting members 45 at both ends.

[0169] See Figure 5 and Figure 8 The first connecting shaft 33 has a seventh limiting groove 331 at the position corresponding to the third connecting member 45. When the third connecting member 45 is sleeved on the first connecting shaft 33, it can also be disposed within the corresponding limiting groove 331. The drive shaft 21 has an eighth limiting groove 331 at the position corresponding to the third connecting member 45. When the third connecting member 45 is sleeved on the drive shaft 21, it can also be disposed within the corresponding limiting groove 331. With this configuration, while achieving rotatable connection between the third connecting member 45 and the first connecting shaft 33 and the drive shaft 21, the limiting grooves 331 can restrict the movement of the third connecting member 45 along the axial direction of the first connecting shaft 33 and the drive shaft 21 when it swings relative to the support platform 1, so as to avoid interference between the third connecting member 45 and the first lifting member 31 on the first connecting shaft 33 and other structures on the drive shaft 21.

[0170] See Figure 4 In some embodiments, the lifting mechanism 100 may further include a shielding member 8. Exemplarily, the shielding member 8 can be any structure capable of providing a shielding function, such as a baffle plate. The shielding member 8 is mounted on the same side of the sun gear 41 and the planet gears 42, and shields a portion of the structure of at least one of the sun gear 41 and the planet gears 42. By shielding the sun gear 41 and the planet gears 42, a portion of their structure can be prevented from being exposed on the outer surface of the handling equipment, thereby improving the safety of the handling equipment.

[0171] The number of shielding elements 8 can be one or more. For example, Figure 4 Two shielding members 8 are shown, one of which is fixed to the third connector 45, and the other is fixed to the internal gear ring bracket 30 of the lifting mechanism 100. The internal gear ring bracket 30 is used to fix the planetary internal gear ring 43. The two shielding members 8 can jointly shield the sun gear 41 and the planet gears 42 to further improve the safety of the handling equipment.

[0172] The shielding component 8 can be fixed to the third connector 45 or the internal gear ring bracket 30 by means of fasteners, snap-fit, or adhesive. For example, the fasteners can be screws, bolts, etc.

[0173] See Figure 1 and Figure 2In some embodiments, the lifting mechanism 100 may further include a connecting frame 20 and an internal gear ring support 30, with the planetary internal gear ring 43 disposed on the internal gear ring support 30. For example, the planetary internal gear ring 43 may be fixedly installed on the internal gear ring support 30 by means of fasteners, snap-fit, etc., so that the positions of the planetary internal gear ring 43 and the internal gear ring support 30 are relatively fixed, thereby ensuring the meshing effect of the sun gear 41 with the planetary internal gear ring 43 and the sun gear 41.

[0174] One end of the connecting frame 20 is rotatably connected to the internal gear ring bracket 30, and the other end is rotatably connected to the support platform 1 or the second lifting member 32. For example, one end of the connecting frame 20 can be rotatably connected to the internal gear ring bracket 30 by means of hinge, and the other end of the connecting frame 20 can also be rotatably connected to the support platform 1 or the second lifting member 32 by means of hinge.

[0175] By setting the connecting frame 20, the structural stability of the first linkage mechanism and the second linkage mechanism during movement can be enhanced, so that the lifting mechanism 100 can stably switch between the descending position and the lifting position.

[0176] See Figure 6 and Figure 8 The lifting mechanism 100 may further include a fourth connecting shaft 5, which is mounted on the side of the support platform 1 facing the lifting mechanism 100 (non-support surface 12). Both the connecting frame 20 and the second lifting member 32 are rotatably connected to the fourth connecting shaft 5, thereby achieving a rotatable connection between the connecting frame 20 and the second lifting member 32. Furthermore, the fourth connecting shaft 5 also enables a movable connection between the second lifting member 32 and the support platform 1.

[0177] For example, the ends of the connecting frame 20 and the second lifting member 32 that are close to each other can be sleeved on the fourth connecting shaft 5, so that the connecting frame 20 and the second lifting member 32 are rotatably connected to the fourth connecting shaft 5. In this case, the rotatable connection between the connecting frame 20 and the second lifting member 32 and the fourth connecting shaft 5 can be understood as a hinge.

[0178] It should be noted that the lifting mechanism 100 may also include a fifth connecting shaft 6, which is installed on the side of the support platform 1 facing the lifting assembly 3 (non-support surface 12). The first lifting member 31 is rotatably connected to the fifth connecting shaft 6 to realize the movable connection between the first lifting member 31 and the support platform 1.

[0179] In some embodiments, the lifting mechanism 100 may include a transmission assembly 4 and a lifting assembly 3. Since the support platform 1 typically has a through hole 13 in its center, the lifting assembly 3 can be located diagonally on the support platform 1 to ensure the stability of the support platform 1 during position switching. In this case, the drive assembly can be located at the end of the drive shaft 21.

[0180] See Figure 3 In some embodiments, the lifting mechanism 100 may further include two transmission components 4 and two lifting components 3. That is, the lifting mechanism 100 may include two lifting devices. In this case, the two transmission components 4 may be distributed at both ends of the drive shaft 21 in the axial direction, and each of the two transmission components 4 is respectively provided with a lifting component 3. The planetary gear 42 in the transmission component 4 is movably connected to the first lifting member 31 and the first connecting member 35 in the corresponding lifting component 3. In this way, when the drive shaft 21 rotates, it can drive the two transmission components 4 and the lifting components 3 to move simultaneously in the same direction, so that the support platform 1 can switch between a lowering position and a lifting position with the cooperation of the two lifting components 3 and the corresponding transmission components 4, thereby enhancing the stability of the support platform 1 when switching positions.

[0181] Furthermore, compared to the lifting mechanism 100 which includes one transmission component 4 and one lifting component 3, when the lifting mechanism 100 includes two transmission components 4 and two lifting components 3, both the transmission components 4 and the lifting components 3 can be located on the two side edges of the base, so that some components of the handling equipment can be mounted on the base between the two transmission components 4. In this way, without changing the dimensions of the lifting mechanism 100 and the handling equipment, some components of the handling equipment can be accommodated between the two lifting components when mounted on the base. For example, the drive unit 2, controller, power supply, and other components of the handling equipment can be mounted on the base and accommodated between the two transmission components 4.

[0182] In addition, since the movement of the two lifting components 3 is controlled by their corresponding transmission components 4, and the movement of the two transmission components 4 is independent of each other, the movement of the two lifting components 3 is also independent of each other and no long shaft transmission is required between them. This arrangement can shorten the length of the first connecting shaft 33, the second connecting shaft 34, the third connecting shaft 46, etc., thereby reducing the rotation space of the first connecting shaft 33 and the swing space of the second connecting shaft 34. This allows the base to accommodate some components of the handling equipment within the space between the two corresponding second connecting shafts 34, increasing the storage space for these components and facilitating the miniaturization of the handling equipment.

[0183] See Figure 7 In some embodiments, the lifting mechanism 100 may further include a fourth connector 7. The fourth connector 7 is disposed between the two lifting components 3 to connect the two lifting components 3. The fourth connector 7 enhances the structural stability of the lifting components 3 during movement, thereby supporting the stability of the platform 1 during position switching.

[0184] When the lifting mechanism 100 may include a fourth connector 7, the fourth connector 7 may be disposed between the second lifting members 32 of the two lifting assemblies 3 to connect the two second lifting members 32. Alternatively, the fourth connector 7 may also be disposed between the first lifting members 31 of the two lifting assemblies 3 to connect the two first lifting members 31.

[0185] See Figure 7 The lifting mechanism 100 may also include two fourth connecting members 7. One of the two fourth connecting members 7 may be located between the two first lifting members 31 to connect the two first lifting members 31, and the other may be located between the two second lifting members 32 to connect the two second lifting members 32.

[0186] In summary, the handling equipment of this application embodiment, through the setting of the lifting mechanism 100, enables the handling device of this application to select a smaller power drive device 2 to output a larger output torque when the load is the same, thereby improving the transmission efficiency of the drive device 2 and the lifting mechanism 100.

[0187] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0188] In the description of this application, it should be understood that the terms “comprising” and “having” as used herein, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, display structure, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are expressly listed, but may include other steps or units that are not expressly listed or that are inherent to such process, method, product, or device.

[0189] The term "and / or" used in this application is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0190] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0191] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A lifting mechanism, characterized by include: Support platform (1); The driving device (2) includes a drive shaft (21) located at the bottom of the support platform (1); A lifting assembly (3) is disposed at the bottom of the support platform (1); the lifting assembly (3) includes a first lifting member (31), a second lifting member (32) and a first connecting member (35), the first connecting member (35) being movably connected to one end of the first lifting member (31) and the second lifting member (32); the ends of the first lifting member (31) and the second lifting member (32) away from the first connecting member (35) are both movably connected to the support platform (1), and the first lifting member (31), the second lifting member (32), the first connecting member (35) and the support platform (1) form a first linkage mechanism; The transmission assembly (4) includes a sun gear (41), planet gears (42) and a planetary internal gear ring (43). The sun gear (41) is located on the drive shaft (21), and the planet gears (42) mesh between the sun gear (41) and the planetary internal gear ring (43). The sun gear (41) is configured to rotate on its own axis when the drive shaft (21) rotates, so as to drive the planet gears (42) to rotate on their own axis and around the sun gear (41). The first lifting member (31) and the first connecting member (35) are both movably connected to the planetary gear (42); the planetary gear (42) is configured to drive at least one of the first lifting member (31) and the first connecting member (35) to move relative to the support platform (1) and adjust the support height of the support platform (1) when rotating around the sun gear (41).

2. The lifting mechanism according to claim 1, characterized in that, The end of the first lifting member (31) connected to the first connecting member (35) is the first connecting end, and the end of the second lifting member (32) connected to the first connecting member (35) is the second connecting end; The planetary gear (42) is configured such that when it rotates around the sun gear (41) in two opposite directions, it can drive the first connecting end to swing relative to the support platform (1) while also driving the second connecting end to swing relative to the support platform (1) through the first connecting member (35), so that the support platform (1) switches between a descending position and a lifting position; the swing direction of the second connecting end is the same as that of the first connecting end; The support height of the support platform (1) in the lifting position is higher than that of the support platform (1) in the descending position.

3. The lifting mechanism according to claim 2, characterized in that, The lifting assembly (3) further includes a first connecting shaft (33), which is located on the side of the drive shaft (21) facing the support platform (1); The first connecting end is rotatably connected to the first connecting shaft (33), the first connecting shaft (33) passes through the planetary gear (42), and the planetary gear (42) can rotate relative to the first connecting shaft (33); The planetary gear (42) is configured to drive the first connecting shaft (33) to rotate around the drive shaft (21) when rotating, and to drive the first connecting end to swing relative to the support platform (1) through the first connecting shaft (33).

4. The lifting mechanism according to claim 3, characterized in that, The axial direction of the first connecting shaft (33) is parallel to the axial direction of the drive shaft (21), and the first connecting shaft (33) is rotatably mounted on the drive shaft (21).

5. The lifting mechanism according to claim 4, characterized in that, The first connector (35) is connected to the first connecting shaft (33) at one end adjacent to the first lifting member (31); the second connecting end is rotatably connected to the first connector (35); The first connecting shaft (33) is configured to, when rotating about the drive shaft (21), also drive the first connecting member (35) to move relative to the support platform (1) toward or away from the second lifting member (32), so that the second connecting end can swing relative to the support platform (1) through the first connecting member (35).

6. The lifting mechanism according to claim 5, characterized in that, The lifting assembly (3) further includes a second connecting shaft (34), which is located on the side of the drive shaft (21) facing the second lifting member (32); The first connector (35) is rotatably connected to the second lifting member (32) at one end and the second connecting end via the second connecting shaft (34); The second connecting shaft (34) is configured to swing relative to the base of the transport equipment and cause the second lifting member (32) to swing relative to the support platform (1) when the first connecting member (35) moves relative to the support platform (1) toward or away from the second lifting member (32).

7. The lifting mechanism according to claim 6, characterized in that, The axial direction of the second connecting shaft (34) is parallel to the axial direction of the first connecting shaft (33).

8. The lifting mechanism according to claim 7, characterized in that, The transmission assembly (4) includes a second connector (44), one end of which is configured to be rotatably mounted on the base, and the other end is rotatably connected to the second connecting shaft (34).

9. The lifting mechanism according to claim 8, characterized in that, The transmission assembly (4) includes at least two second connectors (44), which are distributed at both ends of the second connecting shaft (34); The second lifting member (32) and the first connecting member (35) are located in the middle region of the second connecting shaft (34).

10. The lifting mechanism according to claim 9, characterized in that, The transmission assembly (4) further includes a third connecting shaft (46), the axial direction of which is parallel to the axial direction of the second connecting shaft (34), the third connecting shaft (46) being configured to be mounted on the base, and the second connecting member (44) being rotatably connected to the third connecting shaft (46).

11. The lifting mechanism according to claim 8, characterized in that, The transmission assembly (4) further includes a third connector (45), one end of which is rotatably connected to the drive shaft (21) and the other end is rotatably connected to the first connecting shaft (33), and the first connector (35), the second connector (44) and the third connector (45) form a second linkage mechanism; When the first connecting shaft (33) rotates around the drive shaft (21), it can drive the two ends of the third connecting member (45) and the first lifting member (31) to swing relative to the support platform (1) in a direction that moves closer to or further away from each other.

12. The lifting mechanism according to any one of claims 1-11, characterized in that, It also includes a shielding member (8), which is installed on the same side of the sun gear (41) and the planet gear (42) and shields part of the structure of at least one of the sun gear (41) and the planet gear (42).

13. The lifting mechanism according to any one of claims 1-11, characterized in that, It also includes a connecting frame (20) and an internal gear ring support (30), wherein the planetary internal gear ring (43) is disposed on the internal gear ring support (30); One end of the connecting frame (20) is rotatably connected to the internal gear ring bracket (30), and the other end is rotatably connected to the support platform (1) or the second lifting member (32).

14. The lifting mechanism according to claim 13, characterized in that, It also includes a fourth connecting shaft (5), which is installed on the side of the support platform (1) facing the lifting assembly (3), and the connecting frame (20) and the second lifting member (32) are rotatably connected to the fourth connecting shaft (5).

15. The lifting mechanism according to any one of claims 1-11, characterized in that, The planetary internal gear ring (43) has an arc-shaped meshing rack (431), and the planetary gear (42) meshes with the meshing rack (431); When the planetary gear (42) rotates around the sun gear (41), it can roll along the meshing rack (431).

16. The lifting mechanism according to any one of claims 1-11, characterized in that, It includes two transmission components (4) and two lifting components (3). The two transmission components (4) are distributed at both ends of the drive shaft (21) in the axial direction, and each of the two transmission components (4) is provided with a lifting component (3). The planetary gear (42) in the transmission assembly (4) is movably connected to the first lifting member (31) and the first connecting member (35) in the corresponding lifting assembly (3).

17. The lifting mechanism according to claim 16, characterized in that, It also includes a fourth connector (7) disposed between the two lifting assemblies (3) to connect the two lifting assemblies (3).

18. The lifting mechanism according to any one of claims 1-11, characterized in that, The drive device (2) further includes a motor (22) and a drive assembly. The drive assembly is located in the middle or at the end of the drive shaft (21) and is connected to the motor (22). The drive assembly is configured to drive the drive shaft (21) to rotate under the drive of the motor (22).

19. The lifting mechanism according to claim 18, characterized in that, The driving component includes a chain driving component or a belt driving component.

20. The lifting mechanism according to claim 18, characterized in that, The drive device (2) further includes a speed reducer (23), which is connected between the motor (22) and the drive assembly.

21. A handling device, characterized in that, It includes a base, a walking mechanism, and a lifting mechanism as described in any one of claims 1-20, wherein the walking mechanism and the lifting mechanism are both disposed on the base.

Images