A lifting device

Abstract

This utility model discloses a lifting device, comprising a first driving component, a first rotating arm with one end fixed to the output shaft of the first driving component, a first transmission component rotatably disposed at the other end of the first rotating arm, a second rotating arm with one end fixed to the first transmission component, a second transmission component rotatably disposed at the other end of the second rotating arm, a third rotating arm with its lower end fixed to the second transmission component, and a support platform disposed at the top of the third rotating arm. The first rotating arm is provided with a first transmission module that drives the first transmission component to rotate, and the second rotating arm is provided with a second transmission module that drives the second transmission component to rotate. This utility model, through integrated transmission design, achieves the core effects of single-drive multi-stage linkage, stable lifting, and automatic horizontal maintenance, while also reducing energy consumption and cost.

Description

Technical Field

[0001] This utility model belongs to the field of robot technology, and in particular relates to a lifting device. Background Technology

[0002] Lifting arms are widely used in robotics, industry, service sector and other fields. They can perform a series of related operations such as lifting or placing objects, which greatly improves the accuracy of lifting stroke and reduces labor costs, thus promoting the development of unmanned and intelligent systems in various fields.

[0003] In the prior art, there are various structures for lifting arms. For example, a dual-motor lifting arm disclosed in application publication number CN116002558A can achieve lifting action, but it uses two motors, each of which is connected to a swing arm and a pull rod, which makes the structure of the entire lifting arm complex and increases the production cost.

[0004] For example, CN108356814A discloses an inspection robot that includes a lifting mechanism. The lifting mechanism includes a large arm, a small arm, a first pushing component, and a second pushing component. The first pushing component drives the large arm to rotate to achieve the lifting action, and the second pushing component drives the small arm to rotate to achieve the lifting action. The first pushing component can work simultaneously or independently to enable the entire lifting mechanism to complete the lifting or lowering process. In this solution, there are two pushing components, the first pushing component and the second pushing component. Each pushing component includes a pushing motor and a pushing rod. Such a design makes the structure of the entire lifting mechanism complex and increases the production cost.

[0005] Therefore, it is necessary to provide a lifting device to solve the above-mentioned technical problems. Utility Model Content

[0006] The main purpose of this utility model is to provide a lifting device that, through integrated transmission design, achieves the core effects of single-drive multi-level linkage, stable lifting and automatic horizontal maintenance, while also reducing energy consumption and cost.

[0007] This utility model achieves the above-mentioned objective through the following technical solution: a lifting device, comprising a first driving member, a first rotating arm with one end fixed to the output shaft of the first driving member, a first transmission member rotatably disposed at the other end of the first rotating arm, a second rotating arm with one end fixed to the first transmission member, a second transmission member rotatably disposed at the other end of the second rotating arm, a third rotating arm with its lower end fixed to the second transmission member, and a support platform disposed at the top of the third rotating arm. The first rotating arm is provided with a first transmission module that drives the first transmission member to rotate, and the second rotating arm is provided with a second transmission module that drives the second transmission member to rotate.

[0008] Furthermore, the first transmission component includes a first rotating shaft and a first gear fixed to one end of the first rotating shaft, and the second rotating arm is fixed to the other end of the first rotating shaft.

[0009] Furthermore, the second transmission component includes a second rotating shaft and a second gear fixed to one end of the second rotating shaft, and the third rotating arm is fixed to the other end of the second rotating shaft.

[0010] Furthermore, the first transmission module includes a third gear fixed on a fixed base of the first drive member and a first rack with one end meshing with the third gear, the other end of the first rack meshing with the first gear, and the first rack being slidably mounted on the first rotating arm via a first slider.

[0011] Furthermore, the second transmission module includes a first support shaft fixed at one end to the first rotating arm, a fourth gear fixed at the other end of the first support shaft, and a second rack that meshes with the fourth gear at one end, and the other end of the second rack meshes with the second gear. The second rack is slidably mounted on the second rotating arm via a second slider.

[0012] Furthermore, the first rotating arm has a first clearance opening at one end and a second clearance opening at the other end. The output shaft of the first drive component is installed in the first clearance opening, and the first rotating shaft is installed in the second clearance opening. The first rotating shaft has a bearing on its outer periphery that contacts the second clearance opening.

[0013] Furthermore, the first rotating arm is provided with a first connecting plate at the first clearance opening, and the first rotating arm is fixed to the output shaft of the first driving member through the first connecting plate.

[0014] Furthermore, a first sensor is provided on the first connecting plate, and a corresponding sensing sheet for the first sensor is provided on the mounting base of the first driving component.

[0015] Furthermore, a first receiving space is formed inside the first rotating arm, and a second receiving space is formed inside the second rotating arm. Limiting blocks for limiting the first rack are provided at both ends of the first receiving space.

[0016] Furthermore, one end of the second rotating arm is provided with a third clearance opening and the other end is provided with a fourth clearance opening. The first support shaft is installed in the third clearance opening and the second rotating shaft is installed in the fourth clearance opening.

[0017] Compared with the prior art, the advantages of the lifting device of this utility model are as follows:

[0018] (1) A single first drive unit (gear motor) is used to drive the first rotating arm and the second rotating arm through the gear-rack module. The first transmission module (third gear + first rack) and the second transmission module (fourth gear + second rack) control the rotation of the first gear and the second gear respectively. Only one first drive unit is needed to realize the synchronous lifting of the multi-stage rotating arm, which reduces the number of drive units and also reduces energy consumption and cost.

[0019] (2) Both the first and second rotating arms are equipped with a receiving space to integrate the transmission module (gear, rack, slider) inside the receiving space. Limiting blocks are set at both ends of the receiving space to prevent the rack from hitting the inner wall. The enclosed receiving space prevents dust and debris from interfering with the transmission components and extends the service life. The limiting blocks limit the rack travel and buffer the impact force to prevent damage to the inner wall of the rotating arm.

[0020] (3) The horizontal state of the bearing platform is controlled by the gear ratio. The number of teeth of the third gear: the number of teeth of the first gear = 64:32, the number of teeth of the fourth gear: the number of teeth of the second gear = 20:40, and the gear ratio is consistent (both are 2:1). By matching the gear ratio, the second rotating arm compensates for the swing angle of the first rotating arm. The third rotating arm can be kept vertical without the need for an additional leveling mechanism, so that the bearing platform is in a horizontal state. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the lifting device according to an embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of the lifting device according to an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the lifting device according to an embodiment of the present invention;

[0024] Figure 4 This is an embodiment of the present utility model. Figure 2 Schematic diagram of the structure at point A;

[0025] Figure 5 This is an embodiment of the present utility model. Figure 2 Schematic diagram of the structure at point B;

[0026] Figure 6 This is an embodiment of the present utility model. Figure 3 Schematic diagram of the structure at point C;

[0027] Figure 7 This is an embodiment of the present utility model. Figure 3 Schematic diagram of the structure at point D;

[0028] Figure 8This is a schematic diagram of the lifting device of this utility model without the first rotating arm and the second rotating arm;

[0029] Figure 9 This is a schematic diagram of the structure of the first rotating arm in an embodiment of the present invention;

[0030] Figure 10 This is a schematic diagram of the structure of the second rotating arm in an embodiment of the present invention;

[0031] The numbers in the image represent:

[0032] 100 - Lifting device;

[0033] 1-Base; 2-First driving component; 21-Output shaft; 22-Fixed seat;

[0034] 3-First rotating arm, 31-First receiving space, 32-First clearance opening, 33-First connecting plate, 34-First sensor, 35-Sensing sheet, 36-Second clearance opening, 37-Second connecting plate, 38-Limiting block;

[0035] 4-First transmission component, 41-First rotating shaft, 42-First gear, 43-First mounting block;

[0036] 5-Second rotating arm, 51-Second receiving space, 52-Third clearance opening, 53-Fourth clearance opening;

[0037] 6-Second transmission component, 61-Second rotating shaft, 62-Second gear, 63-Second mounting block;

[0038] 7-Third rotating arm; 8-Lever platform;

[0039] 9-First transmission module, 91-Third gear, 92-First rack, 93-First slider;

[0040] 10-Second transmission module, 101-First support shaft, 102-Fourth gear, 103-Second rack, 104-Second slider; 11-Wire. Detailed Implementation

[0041] Please refer to Figures 1-10This embodiment is a lifting device 100, which includes a base 1, a first driving member 2 disposed on the base 1, a first rotating arm 3 with one end fixed to the output shaft 21 of the first driving member 2, a first transmission member 4 rotatably disposed at the other end of the first rotating arm 3, a second rotating arm 5 with one end fixed to the first transmission member 4, a second transmission member 6 rotatably disposed at the other end of the second rotating arm 5, a third rotating arm 7 with its lower end fixed to the second transmission member 6, and a support platform 8 disposed at the top of the third rotating arm 7. The first rotating arm 3 is provided with a first transmission module 9 that drives the first transmission member 4 to rotate, and the second rotating arm 5 is provided with a second transmission module 10 that drives the second transmission member 6 to rotate.

[0042] In this embodiment, the first driving component 2 is a geared motor, which includes an internal output shaft 21 and a fixed seat 22 located on the outer periphery of the output shaft 21.

[0043] The first rotating arm 3 and the second rotating arm 5 have the same or similar structures. The first rotating arm 3 has a first receiving space 31 inside, and the second rotating arm 5 has a second receiving space 51 inside. The first receiving space 31 and the second receiving space 51 extend along the length direction of the first rotating arm 3 and the second rotating arm 5, respectively.

[0044] The first transmission component 4 includes a first rotating shaft 41 and a first gear 42 fixed to one end of the first rotating shaft 41. A second rotating arm 5 is fixed to the other end of the first rotating shaft 41. When the first gear 42 rotates, the second rotating arm 5 can rotate together. In order to make the second rotating arm 5 more firmly fixed to one end of the first rotating shaft 41, a first mounting block 43 is connected to the first rotating shaft 41. The first mounting block 43 and the second rotating arm 5 are fixedly connected.

[0045] The second transmission component 6 includes a second rotating shaft 61 and a second gear 62 fixed to one end of the second rotating shaft 61. A third rotating arm 7 is fixed to the other end of the second rotating shaft 61. When the second gear 62 rotates, the third rotating arm 7 can rotate together. To make the third rotating arm 7 more securely fixed to one end of the second rotating shaft 61, a second mounting block 63 is connected to the first rotating shaft 41. The second mounting block 63 and the third rotating arm 7 are fixedly connected.

[0046] The first transmission module 9 includes a third gear 91 fixed on the fixed base 22 of the first driving member 2 and a first rack 92 with one end meshing with the third gear 91 and the other end meshing with the first gear 42. The first rack 92 is slidably mounted on the first rotating arm 3 via a first slider 93. Limiting blocks 38 are provided at both ends of the first rotating arm 3 to limit the first rack 92. The limiting blocks 38 are located at both ends of the first receiving space 31. The limiting blocks 38 can limit the first rack 92 and also prevent the first rack 92 from directly impacting the inner wall of the first rotating arm 3, thus preventing damage to the first rotating arm 3. The first slider 93 is fixed to the top of the receiving space 31 of the first rotating arm 3. The first rack 92 and the third gear 91 are both located inside the first receiving space 31. Installing the third gear 91, the first rack 92, and the first slider 93 inside the first receiving space 31 can prevent dust, debris, and other foreign objects from falling onto the third gear 91, the first rack 92, and the first slider 93, thus affecting the transmission of the first rack 92. When the first driving member 2 drives the first rotating arm 3 to rotate, the first rack 92 meshes with the third gear 91 for transmission. At the same time, the first rack 92 can drive the first gear 42 to rotate, thereby driving the second rotating arm 5 to rotate together.

[0047] The second transmission module 10 includes a first support shaft 101 fixed at one end to the first rotating arm 3, a fourth gear 102 fixed at the other end of the first support shaft 101, and a second rack 103 meshing with the fourth gear 102 at one end and meshing with the second gear 62 at the other end. The second rack 103 is slidably mounted on the second rotating arm 5 via a second slider 104. The second slider 104 is fixed to the top of the second receiving space 51 of the second rotating arm 5. The second rack 103 and the fourth gear 102 are both located inside the second receiving space 51. By installing the fourth gear 102, the second rack 103, and the second slider 104 inside the receiving space 31, dust, debris, and other foreign matter can be prevented from falling onto the fourth gear 102, the second rack 103, and the second slider 104, thus affecting the transmission of the second rack 103. One end of the first support shaft 101 is fixed to the first rotating arm 3, and the other end passes through the inside of the first rotating shaft 41 and extends into the inside of the second receiving space 51. The fourth gear 102 is fixed to one end of the first support shaft 101 and is located inside the second receiving space 51. A through hole for the first support shaft 101 to pass through is correspondingly provided inside the first rotating shaft 41. When the second rotating arm 5 rotates, the second rack 103 meshes with the fourth gear 102 for transmission. At the same time, the second rack 103 can drive the second gear 62 to rotate, thereby driving the third rotating arm 7 to rotate together.

[0048] The first rotating arm 3 has a first clearance opening 32 at one end and a second clearance opening 36 at the other end. The output shaft 21 of the first driving member 2 extends into the first clearance opening 32 to realize the installation of the output shaft 21 and the first rotating arm 3. The first rotating shaft 41 extends into the second clearance opening 36 to realize the installation of the first rotating shaft 41 and the first rotating arm 3. The first rotating shaft 41 has a bearing on its outer periphery that contacts the second clearance opening 36 so that the first rotating shaft 41 can ensure the stability of rotation.

[0049] The first rotating arm 3 is provided with a first connecting plate 33 at the first clearance opening 32. The first connecting plate 33 is fixed in the receiving space 31, and the first rotating arm 3 is fixed to the output shaft 21 of the first driving member 2 through the first connecting plate 33. In order to accurately monitor the rotation angle of the first rotating arm 3, a first sensor 34 is provided on the first connecting plate 33. Correspondingly, a sensing plate 35 for sensing by the first sensor 34 is provided on the fixing seat 22 of the first driving member 2.

[0050] The first rotating arm 3 is provided with a second connecting plate 37 at the position of the second clearance opening 36. The second connecting plate 37 and the first support shaft 101 are engaged by a groove and a protrusion to facilitate the fixed installation of the second connecting plate 37 and the first support shaft 101, thereby achieving the fixed installation of the first support shaft 101 and the first rotating arm 3.

[0051] The second rotating arm 5 has a third clearance opening 52 at one end and a fourth clearance opening 53 at the other end. The first support shaft 101 is installed in the third clearance opening 52 so that the fourth gear 102 is located inside the second accommodating space 51. The second rotating shaft 61 is installed in the fourth clearance opening 53.

[0052] If the support platform 8 needs to remain horizontal, that is, the third rotating arm 7 needs to remain vertical, then the swing angles of the first rotating arm 3 and the second rotating arm 5 need to be consistent. In this embodiment, this is controlled by the gear ratio. The number of teeth of the third gear 91, the first gear 42, the fourth gear 102, and the second gear 62 are 64, 32, 20, and 40, respectively. The gear ratio of the third gear 91 and the first gear 42 is consistent with the gear ratio of the second gear 62 and the fourth gear 102, which means that the swing angles of the first rotating arm 3 and the second rotating arm 5 are consistent, so that the support platform 8 always remains horizontal.

[0053] In this embodiment, since a camera is placed on the support platform 8, the camera will be connected to some wires 11. The wires 11 are threaded through the lifting device 100, that is, the wires 11 are threaded from the base 1 into the first rotating arm 3, from the first rotating arm 3 into the second rotating arm 5, from the second rotating arm 5 into the third rotating arm 7, and finally connected to the camera. Therefore, a wire channel is formed inside the lifting device 100 for the wires 11 to pass through. In other embodiments, the wire channel can be set as needed.

[0054] When the lifting device 100 provided in this solution is applied, when the first driving member 2 drives the first rotating arm 3 to rotate, that is, the first lifting arm 3 will perform lifting and lowering actions. At this time, the first rack 92 meshes with the third gear 91 for transmission. At the same time, the first rack 92 can drive the first gear 42 to rotate, thereby driving the second rotating arm 5 to rotate together, that is, the second lifting arm 5 will perform lifting and lowering actions. At this time, the second rack 103 meshes with the fourth gear 102 for transmission. At the same time, the second rack 103 can drive the second gear 62 to rotate, thereby driving the third rotating arm 7 to rotate together. Since the swing angles of the first rotating arm 3 and the second rotating arm 5 are consistent, the third rotating arm 7 always remains in a vertical state, so the support platform 8 can remain in a horizontal state, which is convenient for placing or installing other structures on the support platform 8.

[0055] The lifting device 100 is equipped with only one second drive component 2, which enables the linkage of the first rotating arm 3 and the second rotating arm 5. This allows them to simultaneously rise to the highest position and simultaneously descend to the lowest position. The drive method is simple, the structure is simple, and the cost is low. Therefore, the lifting device provided in this solution, through its integrated transmission design, achieves the core effects of single-drive multi-stage linkage, stable lifting, and automatic horizontal maintenance. It is suitable for scenarios requiring precise positioning and horizontal load-bearing capacity (such as automated equipment and logistics platforms).

[0056] The above descriptions are merely some embodiments of this utility model. For those skilled in the art, various modifications and improvements can be made without departing from the inventive concept of this utility model, and all such modifications and improvements fall within the protection scope of this utility model.

Claims

1. A lifting device, characterized by: It includes a first driving member, a first rotating arm with one end fixed to the output shaft of the first driving member, a first transmission member rotatably disposed at the other end of the first rotating arm, a second rotating arm with one end fixed to the first transmission member, a second transmission member rotatably disposed at the other end of the second rotating arm, a third rotating arm with its lower end fixed to the second transmission member, and a support platform disposed at the top of the third rotating arm. The first rotating arm is provided with a first transmission module that drives the first transmission member to rotate, and the second rotating arm is provided with a second transmission module that drives the second transmission member to rotate.

2. A lifting device as claimed in claim 1, characterised in that: The first transmission component includes a first rotating shaft and a first gear fixed to one end of the first rotating shaft, and the second rotating arm is fixed to the other end of the first rotating shaft.

3. A lifting device as claimed in claim 1, characterised in that: The second transmission component includes a second rotating shaft and a second gear fixed to one end of the second rotating shaft, and the third rotating arm is fixed to the other end of the second rotating shaft.

4. A lifting device as claimed in claim 2, characterised in that: The first transmission module includes a third gear fixed on a fixed base of the first drive member and a first rack with one end meshing with the third gear, the other end of the first rack meshing with the first gear, and the first rack being slidably mounted on the first rotating arm via a first slider.

5. A lifting device as claimed in claim 3, characterised in that: The second transmission module includes a first support shaft fixed at one end to the first rotating arm, a fourth gear fixed at the other end of the first support shaft, and a second rack that meshes with the fourth gear at one end. The other end of the second rack meshes with the second gear. The second rack is slidably mounted on the second rotating arm via a second slider.

6. A lifting device as described in claim 4, characterized in that: The first rotating arm has a first clearance opening at one end and a second clearance opening at the other end. The output shaft of the first drive component is installed in the first clearance opening, and the first rotating shaft is installed in the second clearance opening. The first rotating shaft has a bearing on its outer periphery that contacts the second clearance opening.

7. A lifting device as described in claim 6, characterized in that: The first rotating arm is provided with a first connecting plate at the first clearance opening, and the first rotating arm is fixed to the output shaft of the first driving member through the first connecting plate.

8. A lifting device as described in claim 7, characterized in that: The first connecting plate is provided with a first sensor, and the mounting base of the first driving component is provided with a corresponding sensing plate for the first sensor to sense.

9. A lifting device as described in claim 4, characterized in that: The first rotating arm has a first receiving space inside, the second rotating arm has a second receiving space inside, and the first receiving space has limiting blocks at both ends to limit the first rack.

10. A lifting device as described in claim 5, characterized in that: The second rotating arm has a third clearance opening at one end and a fourth clearance opening at the other end. The first support shaft is installed in the third clearance opening, and the second rotating shaft is installed in the fourth clearance opening.

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