Lifting device, lifting method, handling robot and storage system

Abstract

Embodiments of the present application disclose a lifting device, a lifting method, a carrying robot and a warehouse system. The lifting device comprises a first frame body, a second frame body and a transmission assembly. The second frame body is movably connected with the first frame body along the height direction of the first frame body. The second frame body is used for being connected with a taking and placing assembly, and the taking and placing assembly is movable along the height direction of the first frame body. The transmission assembly comprises a first guide, a moving part and a traction part. The moving part is movably connected with the first frame body along the height direction of the first frame body, so as to drive the taking and placing assembly to move along the height direction of the first frame body. When the taking and placing assembly moves to a preset height, the taking and placing assembly is stopped against the second frame body and moves along the height direction of the first frame body synchronously with the second frame body. The lifting device can simplify the structure of the lifting device and reduce the cost of the lifting device.

Description

(19) State Intellectual Property Office (12) Invention Patent Application (10) Application Publication Number (43) Application Publication Date (21) Application Number 202411750763.8 (22) Application Date 2024.11.29 (71) Applicant Beijing Geek+ Technology Co., Ltd. Address 101, 1st to 10th Floor, Building 4, No. 30 Beiyuan Road, Chaoyang District, Beijing 100102, China (72) Inventors Qin Zhihui and Liang Yan (74) Patent Agency Beijing Qingyihua Intellectual Property Agency (General Partnership) 11201 Patent Attorney Sun Shihui (51) Int.Cl. B65G 1 / 04 (2006.01) B65G 1 / 127 (2006.01) B65G 1 / 137 (2006.01) (54) Invention Title: Lifting Device, Lifting Method, Handling Robot, and Warehousing System (57) Abstract: This application discloses a lifting device, a lifting method, a handling robot, and a warehousing system. The lifting device includes a first frame, a second frame, and a transmission assembly. The second frame is movably connected to the first frame along the height direction of the first frame. The second frame is used to connect to a pick-and-place assembly, and the pick-and-place assembly is movable along the height direction of the first frame. The transmission assembly includes a first guide, a moving member, and a traction member. The moving member is movably connected to the first frame along the height direction of the first frame to drive the pick-and-place assembly to move along the height direction of the first frame. When the pick-and-place assembly moves to a preset height, the pick-and-place assembly abuts against the second frame and moves synchronously with the second frame along the height direction of the first frame. The lifting device of this application can simplify the structure of the lifting device and reduce its cost. Claims 3 pages, Description 14 pages, Drawings 13 pages, CN 122101692 A 2026.05.29 CN 1 22 10 16 92 A 1. A lifting device, characterized in that it comprises: a first frame; a second frame, the second frame being movably connected to the first frame along the height direction of the first frame, the second frame being used to connect to a pick-and-place assembly, and the pick-and-place assembly being movable along the height direction of the first frame; a transmission assembly, the transmission assembly comprising a first guide, a moving member, and a traction member, the traction member being wound around the first guide and the moving member, and one end of the traction member being connected to the first frame, the other end of the traction member being connected to the pick-and-place assembly, the first guide being connected to the second frame, the moving member being movably connected to the first frame along the height direction of the first frame, so as to drive the pick-and-place assembly to move along the height direction of the first frame, and when the pick-and-place assembly moves to a preset height, the pick-and-place assembly abuts against the second frame and is connected to the first frame.2. The lifting device according to claim 1, characterized in that it further includes a driving mechanism and a transmission mechanism, the driving mechanism being driven by the transmission mechanism, the driving mechanism being used to drive the transmission mechanism to move, the transmission mechanism being driven by the moving member, and the transmission mechanism being used to drive the moving member to move along the height direction of the first frame. 3. The lifting device according to claim 2, characterized in that the transmission mechanism includes a first transmission wheel, a second transmission wheel, and a transmission member, the first transmission wheel and the second transmission wheel being arranged at intervals along the height direction of the first frame and both being rotatably connected to the first frame, the driving mechanism being driven by the first transmission wheel to drive the first transmission wheel to rotate, the transmission member being wound around the first transmission wheel and the second transmission wheel to cause the transmission member to move along the height direction of the first frame and the second transmission wheel to rotate, the transmission member being connected to the moving member to drive the moving member to move along the height direction of the first frame. 4. The lifting device according to claim 3, characterized in that it further includes a connecting block, the moving member and the transmission member being connected by the connecting block. 5. The lifting device according to claim 4, wherein one end of the transmission member is connected to one end of the connecting block, and the other end of the transmission member bypasses the first transmission wheel and the second transmission wheel and is connected to the other end of the connecting block. 6. The lifting device according to claim 5, wherein at least one end of the transmission member is provided with a connecting member, and the lifting device further includes a first elastic member, the two ends of which are respectively connected to the transmission member and the connecting member to provide elastic force toward the connecting block to the connecting member. 7. The lifting device according to claim 6, wherein the connecting block is provided with a connecting hole, the connecting member includes a connecting post and an abutment portion, the connecting post is inserted into the connecting hole, the abutment portion is disposed on the side of the connecting hole away from the transmission member, the first elastic member is sleeved on the connecting post, and the two ends of the first elastic member respectively abut against the connecting block and the abutment portion. 8. The lifting device according to claim 3, wherein the transmission assembly further includes a second guide member, the second guide member is connected to the first frame, and the traction member is sequentially wound around the moving member, the second guide member, and the first guide member. 9. The lifting device according to claim 8, characterized in that the transmission assembly further includes a third guide member, the third guide member being connected to the second frame and spaced apart from the first guide member along the height direction of the first frame, and the traction member being sequentially wound around the moving member, the second guide member, the third guide member, and the first guide member.On the guide member, when the moving member moves along the height direction of the first frame, the traction member drives the pick-and-place assembly to move along the height direction of the first frame. 10. The lifting device according to claim 9, wherein the first guide member is connected to the top of the second frame, the third guide member is connected to the bottom of the second frame, and the second guide member is connected to the top of the first frame. 11. The lifting device according to claim 9, wherein the first guide member, the second guide member, and the third guide member are all fixed pulleys, the moving member is a movable pulley, and the traction member is a traction rope. 12. The lifting device according to claim 11, wherein the second guide member and the second transmission wheel are coaxially arranged and rotatably connected to the same fixed shaft. 13. The lifting device according to claim 3, wherein the driving mechanism includes a drive motor, the drive motor is connected to the first transmission wheel to drive the first transmission wheel to rotate. 14. The lifting device according to claim 3, wherein the first transmission wheel and the second transmission wheel are both sprockets, and the transmission member is a chain. 15. The lifting device according to any one of claims 1-14, characterized in that it further comprises a counterweight block, the counterweight block being connected to the moving member, and the counterweight block being used to move together with the moving member when the moving member moves along the height direction of the first frame. 16. The lifting device according to any one of claims 1-14, characterized in that the second frame is provided with a stop portion, and the pick-and-place assembly abuts against the stop portion along the height direction of the first frame when it moves to the preset height. 17. The lifting device according to claim 16, characterized in that the second frame further comprises a frame body and a second elastic member, the two ends of the second elastic member being respectively connected to the frame body and the stop portion to provide elastic force towards the pick-and-place assembly to the stop portion. 18. The lifting device according to any one of claims 1-14, characterized in that before the pick-and-place assembly moves to the preset height, the moving member is used to move along a first direction so that the traction member drives the pick-and-place assembly to move along a second direction opposite to the first direction, the first direction being parallel to the height direction of the first frame. 19. The lifting device according to claim 18, characterized in that, before the pick-and-place assembly rises to a preset height, the moving member is used to descend along the height direction of the first frame, so that the traction member drives the pick-and-place assembly to rise along the height direction of the first frame; after the pick-and-place assembly rises to the preset height, the moving member is used to descend along the height direction of the first frame, so that the traction member drives the pick-and-place assembly and the second frame to simultaneously rise along the height direction of the first frame.The lifting mechanism is raised to a first target height; before the pick-and-place component descends to a preset height, the moving member is used to rise along the height direction of the first frame, so that the traction member drives the pick-and-place component and the second frame to descend synchronously along the height direction of the first frame; after the pick-and-place component descends to the preset height, the pick-and-place component disengages from the second frame, and the moving member is used to rise along the height direction of the first frame, so that the traction member drives the pick-and-place component to descend along the height direction of the first frame to a second target height. 20. A lifting method, characterized in that it is implemented by the lifting device according to any one of claims 1-19, the lifting method comprising: the moving member moves along a first direction, so that the traction member drives the pick-and-place component to move along a second direction opposite to the first direction, the first direction and the second direction being parallel to the height direction of the first frame; when the pick-and-place component moves to the preset height, the pick-and-place component abuts against the second frame; the moving member continues to move along the first direction, so that the traction member drives the pick-and-place component and the second frame to move synchronously along the second direction. 21. The lifting method according to claim 20, characterized in that it comprises: the moving member descending along the height direction of the first frame, so that the traction member drives the pick-and-place assembly to rise along the height direction of the first frame; when the pick-and-place assembly rises to a preset height, the pick-and-place assembly abuts against the second frame; the moving member continuing to descend along the height direction of the first frame, so that the traction member drives the pick-and-place assembly and the second frame to rise synchronously to a first target height along the height direction of the first frame; the moving member rising along the height direction of the first frame, so that the traction member drives the pick-and-place assembly and the second frame to descend synchronously along the height direction of the first frame; when the pick-and-place assembly descends below the preset height, the pick-and-place assembly disengages from the second frame; the moving member continuing to rise along the height direction of the first frame, so that the traction member drives the pick-and-place assembly to descend along the height direction of the first frame to a second target height. 22. A handling robot, characterized in that it comprises: a mobile chassis; a lifting device and a pick-and-place assembly, wherein the lifting device is the lifting device according to any one of claims 1-19, a first frame is connected to the mobile chassis, and the pick-and-place assembly is movably connected to a second frame along the height direction of the first frame. 23. A warehousing system, characterized in that it comprises: a shelf; a handling robot, wherein the handling robot is the handling robot according to claim 22, and the pick-and-place assembly is used to pick up and place goods on the shelf. Claims 3 / 3 pages 4 CN 122101692 ALifting Device, Lifting Method, Handling Robot and Warehousing System Technical Field

[0001] This application relates to the field of intelligent warehousing technology, specifically to a lifting device, lifting method, handling robot and warehousing system. Background Art

[0002] In order to improve the storage density of warehousing systems, the height of shelves is becoming increasingly higher. In order for handling robots to adapt to the height of shelves, the height of handling robots also needs to be increased to realize the picking and placing of goods on shelves. However, if the height of the handling robot is too high, it will affect its stability, travel speed, etc.

[0003] In order to solve the above problems, an innovative design has been made for the lifting device of the handling robot. For example, the lifting device includes a first frame, a second frame, a picking and placing component and a transmission component. The transmission component first drives the picking and placing component to move relative to the second frame along the height direction of the first frame. When the picking and placing component moves to the top of the second frame, the picking and placing component drives the second frame to move together relative to the first frame along the height direction of the first frame.

[0004] In related technologies, the transmission component includes a traction member and multiple pulleys. The traction member is wound around the multiple pulleys. By retracting and extending the traction member, the lifting and lowering of the picking and placing component is realized. Therefore, a dedicated retraction and deployment assembly for the traction component needs to be installed on the lifting device. The installation of this assembly leads to a complex structure and high cost for the lifting device.

[0005] This application aims to at least partially solve one of the problems in the related art.

[0006] To this end, a first aspect of the present application provides a lifting device, comprising:

[0007] a first frame;

[0008] a second frame, the second frame being movably connected to the first frame along the height direction of the first frame, the second frame being used to connect to a pick-and-place component, and the pick-and-place component being movable along the height direction of the first frame;

[0009] a transmission component, the transmission component comprising a first guide member, a moving member, and a traction member, the traction member being wound around the first guide member and the moving member, one end of the traction member being connected to the first frame, the other end of the traction member being connected to the pick-and-place component, the first guide member being connected to the second frame, the moving member being movably connected to the first frame along the height direction of the first frame, so as to drive the pick-and-place component to move along the height direction of the first frame, and when the pick-and-place component moves to a preset height, the pick-and-place component abuts against the second frame and moves synchronously with the second frame along the height direction of the first frame.

[0010] Optionally, the transmission assembly further includes a drive mechanism and a transmission mechanism. The drive mechanism is drively connected to the transmission mechanism, and the drive mechanism is used to drive the transmission mechanism to move. The transmission mechanism is drively connected to the moving member, and the transmission mechanism is used to drive the moving member to move along the height direction of the first frame.

[0011] Optionally, the transmission mechanism includes a first transmission wheel, a second transmission wheel, and a transmission member. The first transmission wheel and the second transmission wheel are arranged at intervals along the height direction of the first frame and are rotatably connected to the first frame. The driving mechanism is drivenly connected to the first transmission wheel to drive the first transmission wheel to rotate. The transmission member is wound around the first transmission wheel and the second transmission wheel to move the transmission member along the height direction of the first frame and to rotate the second transmission wheel. The transmission member is connected to the moving member to drive the moving member to move along the height direction of the first frame.

[0012] Optionally, the transmission assembly further includes a connecting block, and the moving member and the transmission member are connected through the connecting block.

[0013] Optionally, one end of the transmission member is connected to one end of the connecting block, and the other end of the transmission member bypasses the first transmission wheel and the second transmission wheel and is connected to the other end of the connecting block.

[0014] Optionally, at least one end of the transmission member is provided with a connecting member, and the lifting device further includes a first elastic member, which is connected between the transmission member and the connecting member to provide elastic force to the connecting member toward the connecting block.

[0015] Optionally, the connecting block is provided with a connecting hole, the connecting member includes a connecting post and an abutment portion, the connecting post is inserted into the connecting hole, the abutment portion is disposed on the side of the connecting hole away from the transmission member, the first elastic member is sleeved on the connecting post, and both ends of the first elastic member abut against the connecting block and the abutment portion, respectively.

[0016] Optionally, the transmission assembly further includes a second guide member, which is connected to the first frame, and the traction member is sequentially wound around the moving member, the second guide member, and the first guide member.

[0017] Optionally, the transmission assembly further includes a third guide member, which is connected to the second frame and spaced apart from the first guide member along the height direction of the first frame. The traction member is sequentially wound around the moving member, the second guide member, the third guide member, and the first guide member. When the moving member moves along the height direction of the first frame, the traction member drives the pick-and-place assembly to move along the height direction of the first frame.

[0018] Optionally, the first guide member is connected to the top of the second frame, the third guide member is connected to the bottom of the second frame, and the second guide member is connected to the top of the first frame.

[0019] Optionally, the first guide member, the second guide member, and the third guide member are all fixed pulleys, the moving member is a movable pulley, and the traction member is a traction rope.

[0020] Optionally, the second guide member and the second transmission wheel are coaxially arranged and rotatably connected to the same fixed shaft.

[0021] Optionally, the driving mechanism includes a drive motor connected to the first transmission wheel to drive the first transmission wheel to rotate.

[0022] Optionally, the lifting device further includes a counterweight block connected to the moving member. When the moving member moves along the height direction of the first frame, the counterweight block moves with the moving member.

[0023] Optionally, the second frame is provided with a stop portion. When the pick-up and place component moves to the preset height, it stops against the stop portion along the height direction of the first frame.

[0024] Optionally, the second frame includes a frame body and a second elastic member. The two ends of the second elastic member are respectively connected to the frame body and the stop portion to provide elastic force to the stop portion toward the pick-up and place component.

[0025] Optionally, before the pick-up and place component moves to the preset height, the moving member moves along a first direction so that the traction member drives the pick-up and place component to move along a second direction opposite to the first direction. The first direction is parallel to the height direction of the first frame.

[0026] Optionally, before the pick-and-place component rises to a preset height, the moving member is used to descend along the height direction of the first frame, so that the traction member drives the pick-and-place component to rise along the height direction of the first frame;

[0027] After the pick-and-place component rises to the preset height, the moving member is used to descend along the height direction of the first frame, so that the traction member drives the pick-and-place component and the second frame to rise synchronously along the height direction of the first frame to a first target height;

[0028] Before the pick-and-place component descends to the preset height, the moving member is used to rise along the height direction of the first frame, so that the traction member drives the pick-and-place component and the second frame to descend synchronously along the height direction of the first frame;

[0029] After the pick-and-place component descends to the preset height, the pick-and-place component disengages from the second frame, and the moving member is used to rise along the height direction of the first frame, so that the traction member drives the pick-and-place component to descend along the height direction of the first frame to a second target height.

[0030] A second aspect of the present application provides a lifting method, implemented by any of the lifting devices described above, the lifting method comprising:

[0031] the movable member moves along a first direction, such that the traction member drives the pick-and-place assembly to move along a second direction opposite to the first direction, the first direction and the second direction being parallel to the height direction of the first frame;

[0032] when the pick-and-place assembly moves to a preset height, the pick-and-place assembly abuts against the second frame;

[0033] the movable member continues to move along the first direction, such that the traction member drives the pick-and-place assembly and the second frame ...The second frame moves synchronously along the second direction.

[0034] Optionally, the lifting method includes:

[0035] The moving member descends along the height direction of the first frame, so that the traction member drives the pick-and-place component to rise along the height direction of the first frame;

[0036] When the pick-and-place component rises to a preset height, the pick-and-place component stops against the second frame;

[0037] The moving member continues to descend along the height direction of the first frame, so that the traction member drives the pick-and-place component and the second frame to rise synchronously along the height direction of the first frame to a first target height;

[0038] The moving member rises along the height direction of the first frame, so that the traction member drives the pick-and-place component and the second frame to descend synchronously along the height direction of the first frame;

[0039] When the pick-and-place component descends below the preset height, the pick-and-place component disengages from the second frame;

[0040] The moving member continues to rise along the height direction of the first frame, so that the traction member drives the pick-and-place component to descend along the height direction of the first frame to a second target height.

[0041] A third aspect of this application provides a handling robot, including:

[0042] a mobile chassis;

[0043] a lifting device and a pick-and-place assembly, wherein the lifting device is any of the lifting devices described above, a first frame is connected to the mobile chassis, and the pick-and-place assembly is movably connected to a second frame along the height direction of the first frame.

[0044] A fourth aspect of this application provides a warehousing system, including:

[0045] a shelf;

[0046] a handling robot, wherein the handling robot is any of the handling robots described above, and the pick-and-place assembly is used to pick up and place goods on the shelf.

[0047] The lifting device of this application, by movably connecting a second frame to the first frame along the height direction of the first frame, allows the second frame to move along the height direction of the first frame. By movably connecting the pick-and-place assembly to the second frame along the height direction of the first frame, the pick-and-place assembly can move relative to the second frame along the height direction of the first frame. By moving the pick-and-place component to a stop with the second frame when it reaches a preset height, the pick-and-place component and the second frame can move synchronously along the height direction of the first frame. By connecting the first guide of the transmission component to the second frame, the moving part of the transmission component (page 3 / 14, CN 122101692 A) moves along the height direction of the first frame, and the traction member of the transmission component is wound around the first guide and the moving part, with one end of the traction member connected to the first frame and the other end connected to the pick-and-place component, the traction member can drive the pick-and-place component to move along the height direction of the first frame during the movement of the moving part.The lifting component moves to a preset height, and when the lifting component moves to a preset height, the lifting component and the second frame stop against each other so that the lifting component and the second frame move synchronously along the height direction of the first frame.

[0048] Since the lifting component moves along the height direction of the first frame through the moving component, the traction component drives the lifting component along the height direction of the first frame, and drives the lifting component and the second frame to move synchronously along the height direction of the first frame, it is not necessary to retract the traction component. Therefore, the transmission component does not need to be equipped with a retraction component specifically for retracting the traction component. As a result, the structure of the transmission component can be simplified, thereby simplifying the structure of the lifting device and reducing the cost of the lifting device. Brief Description of the Drawings

[0049] FIG1 is a perspective view of the lifting device of the embodiment of the present application from a first perspective.

[0050] FIG2 is a partial enlarged view of point A in FIG1. ​​

[0051] FIG3 is an enlarged view of point B in FIG2.

[0052] FIG4 is a perspective view of the lifting device of the embodiment of the present application from a second perspective.

[0053] FIG5 is an enlarged view of point C in FIG4.

[0054] FIG6 is a perspective view of the lifting device of the present application with the cover removed from a first perspective.

[0055] FIG7 is an enlarged view of point D in FIG6.

[0056] FIG8 is a perspective view of the lifting device of the present application with the cover removed from a second perspective.

[0057] FIG9 is an enlarged view of point E in FIG8.

[0058] FIG10 is a perspective view of the lifting device of the present application with the cover and counterweight removed from the cover.

[0059] FIG11 is an enlarged view of point F in FIG10.

[0060] FIG12 is a lifting principle diagram of the lifting device of the present application.

[0061] FIG13 is a structural schematic diagram of the storage system of the present application.

[0062] Reference numerals:

[0063] 100, Lifting device;

[0064] 1, First frame; 11, Connecting member; 111, Connecting column; 112, Abutting part; 12, First elastic member; 13, Buffer position; 14, First guide wheel;

[0065] 2, Second frame; 21, Stopping part; 22, Second elastic member; 23, First guide rail; 24, Second guide rail; 25, Frame body; 26, Stopping block;

[0066] 3, Picking and placing assembly; 31, Pushing block; 311, Pushing part; 32, Second guide wheel;

[0067] 4, Transmission assembly; 41, First guide member; 42, Moving member; 43, Traction member; 44, Second guide member; 45, Third guide member;

[0068] 5, Cover;

[0069] 6. Transmission mechanism; 61. First transmission wheel; 62. Second transmission wheel; 63. Transmission component;

[0070] 7. Drive mechanism; 71. Drive motor;

[0071] 8. Connecting block; 9. Counterweight block;

[0072] 200. Mobile chassis;

[0073] 300. Shelf. Specification 4 / 14 pages 8 CN 122101692 A Detailed Embodiments

[0074] Embodiments of this application are described in detail below, examples of which are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0075] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," etc., indicating orientation or positional relationships are based on the orientation or positional relationships 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 limiting this application.

[0076] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0077] In this application, unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that can communicate with each other; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components or the interaction relationship between two components, unless otherwise explicitly specified. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0078] In this application, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact through an intermediate medium. Moreover, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. The terms "below," "under," and "beneath" can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal height than the second feature.

[0079] In this application, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example that are included in at least the present application.One embodiment or example. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, those skilled in the art can combine and integrate the different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0080] Currently, in order to improve the storage density of warehousing systems, the height of the shelves is increased from a first height (e.g., 4m) to a second height (e.g., 6m to 9m). However, if the height of the handling robot is directly increased to the second height, it will result in a higher overall height of the handling robot, poorer stability of the handling robot, and will affect the traveling speed of the handling robot, etc.

[0081] In order to ensure the stability of the handling robot, the lifting device of the handling robot has been improved. Specifically, the lifting device of the handling robot includes a first frame, a second frame, a pick-and-place component and a transmission component. The transmission component can drive the pick-and-place component to move relative to the second frame along the height direction of the first frame, and drive the second frame to move along the height direction of the first frame. When the height of the goods is lower than the first height, the pick-and-place component moves only along the height direction of the first frame, and the second frame does not need to move along the height direction of the first frame; when the height of the goods is higher than the first height, the pick-and-place component first moves along the height direction of the first frame, and stops at the second frame when the pick-and-place component moves to the first height, and then the pick-and-place component and the second frame move synchronously along the height direction of the first frame. In related technologies, the transmission component has the problems of complex structure and high cost, resulting in high cost of lifting devices, handling robots and warehousing systems. Specification 5 / 14 pages 9 CN 122101692 A

[0082] In view of the technical problems existing in related technologies, referring to Figures 1 to 12, the lifting device 100 of the embodiment of this application includes a first frame 1, a second frame 2 and a transmission component 4, the second frame 2 is movably connected to the first frame 1 along the height direction of the first frame 1. The pick-and-place component 3 is movably connected to the second frame 2 along the height direction of the first frame 1. The second frame 2 is used to connect with the pick-and-place component 3, and the pick-and-place component 3 is movable along the height direction of the first frame 1. The height direction of the first frame 1 can be the up-down direction as shown in the figure.

[0083] As shown in Figures 2 and 5, the transmission assembly 4 includes a first guide 41, a moving member 42, and a traction member 43. The traction member 43 is wound around the first guide 41 and the moving member 42, and one end of the traction member 43 is connected to the first frame 1, and the other end of the traction member 43 is connected to the pick-and-place assembly 3. The first guide 41 is connected to the second frame 2, and the second guide 44 is movably connected to the first frame 1 along the height direction of the first frame 1, so as to drive the pick-and-place assembly 3 to move along the height direction of the first frame 1. Pick-and-place assembly 3When the lifting device 100 moves to a preset height, it stops against the second frame 2. When the picking and placing component 3 moves to the preset height, the picking and placing component 3 and the second frame 2 move synchronously along the height direction of the first frame 1.

[0084] The preset height can be designed as needed. For example, the preset height is the same as the height of the second frame 2, which can be 4m. The first guide 41 is rotatably connected to the second frame 2, so that the first guide 41 can rotate relative to the second frame 2. For example, the first guide 41 and the second frame 2 are connected by bearings, bushings, etc.

[0085] The lifting device 100 of this application embodiment moves along the height direction of the first frame 1 by movably connecting the second frame 2 to the first frame 1 along the height direction of the first frame 1. The picking and placing component 3 moves along the height direction of the first frame 1 to the second frame 2, so that the picking and placing component 3 can move relative to the second frame 2 along the height direction of the first frame 1. By moving the pick-and-place component 3 to a preset height and stopping it against the second frame 2, the pick-and-place component 3 and the second frame 2 can move synchronously along the height direction of the first frame 1. By connecting the first guide 41 of the transmission component 4 to the second frame 2, the moving part 42 of the transmission component 4 moves along the height direction of the first frame 1, and the traction part 43 of the transmission component 4 is wound around the first guide 41 and the moving part 42, with one end of the traction part 43 connected to the first frame 1 and the other end of the traction part 43 connected to the pick-and-place component 3, the traction part 43 can drive the pick-and-place component 3 to move along the height direction of the first frame 1 during the movement of the moving part 42. When the pick-and-place component 3 moves to the preset height, the pick-and-place component 3 stops against the second frame 2, so that the pick-and-place component 3 and the second frame 2 move synchronously along the height direction of the first frame 1.

[0086] By moving the movable component 42 along the height direction of the first frame 1, the traction component 43 drives the pick-and-place component 3 along the height direction of the first frame 1, and drives the pick-and-place component 3 and the second frame 2 to move synchronously along the height direction of the first frame 1. Therefore, it is not necessary to retract or place the traction component 43. Thus, the transmission component 4 does not need to be equipped with a dedicated retraction or placement component for the traction component 43. This simplifies the structure of the transmission component 4, thereby simplifying the structure of the lifting device 100 and reducing the cost of the lifting device 100.

[0087] In some examples of the embodiments of this application, the first frame 1 and the second frame 2 can be made of rigid materials. For example, the first frame 1 and the second frame 2 can be made of stainless steel, aluminum alloy, cast iron, etc. Of course, the first frame 1 and the second frame 2 can also be made of non-metallic materials such as rigid plastic. This application does not limit this.

[0088] In some examples of the embodiments of this application, the traction component 43 can be made of flexible materials. For example, the traction component 43 is a nylon rope, cotton rope, or steel wire rope. This application does not limit this.

[0089] It is understood that the pick-and-place component 3 is used to pick up and place goods, wherein the goods can be material boxes, cargo boxes, original boxes, the goods themselves, etc.

[0090] In some examples of the embodiments of this application, the first frame 1 and the second frame 2 can be a gantry. For example, the first frame 1 includes two columns and a crossbeam. The crossbeam extends along the width direction of the first frame 1, the columns extend along the height direction of the first frame 1, and the two ends of the crossbeam are respectively connected to the top of the two columns. The width direction of the first frame 1 can be the left-right direction as shown on page 6 / 14 of the specification 10 CN 122101692 A in the figure.

[0091] For example, the crossbeam extends along the left-right direction, the two columns extend along the up-down direction, the two columns are arranged at intervals along the left-right direction, and the two ends of the crossbeam are respectively connected to the upper ends of the left and right columns.

[0092] In some examples of the embodiments of this application, the pick-and-place component 3 includes a pick-and-place mechanism and a lifting platform. The pick-and-place mechanism is disposed on the lifting platform, and the lifting platform is movably connected to the second frame 2 along the height direction of the first frame 1. The picking and placing mechanism is used to remove goods from the shelf or place goods on the shelf. The picking and placing component 3 can be a picking and placing component in the related technology, and this application embodiment does not limit it.

[0093] In some examples of the embodiments of this application, as shown in FIG2 and FIG3, the second frame 2 is provided with a stop part 21, and the picking and placing component 3 stops with the stop part 21 when it moves to a preset height.

[0094] For example, the picking and placing component 3 is provided with a pushing part 311. When the picking and placing component 3 moves to the preset height, the pushing part 311 stops with the stop part 21 facing upward. Then, when the picking and placing component 3 moves upward relative to the first frame 1, the pushing part 311 pushes the stop part 21 upward, so that the second frame 2 and the picking and placing component 3 move upward relative to the first frame 1 synchronously.

[0095] By providing a stop part 21 in the second frame 2 and a push part 311 in the pick-and-place component 3, when the pick-and-place component 3 moves to a preset height, the push part 311 and the stop part 21 stop along the height direction of the first frame 1, thereby achieving the stop between the pick-and-place component 3 and the second frame 2. This improves the reliability of the stop between the pick-and-place component 3 and the second frame 2, which is beneficial to improving the reliability of the lifting device 100.

[0096] In some other examples of embodiments of this application, the second frame 2 may not have a stop part 21, and the pick-and-place component 3 may not have a push part 311. In this case, when the pick-and-place component 3 moves to a preset height, the pick-and-place component 3 contacts the second frame 2 and generates frictional force along the height direction of the first frame 1. Utilizing the frictional force between the pick-and-place component 3 and the second frame 2, the second frame 2 and the pick-and-place component 3 move upwards relative to the first frame 1 synchronously.

[0097] In some examples of embodiments of this application, as shown in FIG2, the second frame 2 includes a frame body 25 and a second elastic member 22. The two ends of the second elastic member 22 are respectively connected to the frame body 25 and the stop portion 21 to provide an orientation for the stop portion 21.The elastic force of component 3 is released.

[0098] For example, the second frame 2 is provided with a stop block 26, which has an insertion hole extending in the vertical direction with the opening of the insertion hole facing downward. The stop part 21 includes a stop post and a fixing member. The stop post is inserted into the insertion hole, and the fixing member is provided on the lower side of the stop post and connected to the stop post. The two ends of the second elastic member 22 abut against the stop block 26 and the fixing member, respectively. The second elastic member 22 is used to provide a downward elastic force to the stop part 21. The second elastic member 22 can be a compression spring, a rubber cylinder, etc.

[0099] By configuring the second frame 2 to include the frame body 25 and the second elastic member 22, and the second elastic member 22 to provide elastic force to the stop part 21 toward the pick-and-place assembly 3, when the pushing part 311 abuts against the stop part 21, the second elastic member 22 provides elastic force to the stop part 21, absorbing the impact force when the pushing part 311 and the stop part 21 come into contact, thus playing a buffering role and preventing the impact force from being too large when the pushing part 311 and the stop part 21 abut against each other, which could lead to damage to either the second frame 2 or the pick-and-place assembly 3. This further improves the reliability of the lifting device 100.

[0100] In some other examples of embodiments of this application, the second elastic member 22 may not be provided, and the stop part 21 may be directly configured as an elastic member, for example, the stop part 21 may be made of materials such as rubber or silicone. In this case, when the pushing part 311 abuts against the stop part 21, the stop part 21 itself plays an elastic buffering role.

[0101] In some examples of embodiments of this application, as shown in FIG2, the stop portion 21 is provided at the top of the second frame 2.

[0102] For example, as shown in FIG2, the stop portion 21 is movably connected to the upper part of the frame body 25 along the height direction of the first frame 1. At this time, the push portion 311 of the pick-and-place assembly 3 will stop against the stop portion 21 of the second frame 2 when it moves to the upper part of the second frame 2. Specification 7 / 14 pages 11 CN 122101692 A

[0103] By providing the stop portion 21 at the top of the second frame 2, the push portion 311 of the pick-and-place assembly 3 will stop against the stop portion 21 of the second frame 2 when it moves to the top of the second frame 2, thereby increasing the moving height of the pick-and-place assembly 3 relative to the second frame 2 and increasing the moving range of the pick-and-place assembly 3 in the height direction of the first frame 1. Therefore, with the heights of the first frame 1 and the second frame 2 fixed, the pick-and-place assembly 3 can pick up and place goods at higher heights, thus increasing the usability of the lifting device 100.

[0104] In some examples of embodiments of this application, as shown in FIG3, the top of the pick-and-place assembly 3 is provided with a push block 31, which is connected to the traction member 43, and the top end of the push block 31 forms a push portion 311.

[0105] For example, as shown in FIG3, the push block 31 is disposed on the upper part of the pick-and-place assembly 3, and the upper end of the push block 31 forms a push portion.311. At this time, when the pushing part 311 and the stop part 21 stop, the entire pick-and-place assembly 3 is located below the stop part 21.

[0106] By providing a pushing block 31 on the top of the pick-and-place assembly 3, and connecting the pushing block 31 to the traction member 43, the top of the pushing block 31 forms a pushing part 311, so that when the pushing part 311 and the stop part 21 stop, the entire pick-and-place assembly 3 can be lower than the stop part 21, effectively avoiding collision between the pick-and-place assembly 3 and the stop part 21, and improving the reliability of the lifting device 100.

[0107] As shown in FIG7, the frame body 25 is provided with a first guide rail 23, and the first frame 1 is provided with a first guide wheel 14. The first guide wheel 14 is rotatably connected to the first frame 1, and the first guide wheel 14 is guided and cooperated with the first guide rail 23.

[0108] By guiding the first guide wheel 14 to the first guide rail 23, when the second frame 2 moves along the height direction of the first frame 1, the second frame 2 is prevented from tilting, which helps to improve the reliability of the lifting device 100.

[0109] As shown in FIG9, the second frame 2 is provided with a second guide rail 24, and the pick-and-place assembly 3 is provided with a second guide wheel 32. The second guide wheel 32 is rotatably connected to the second frame 2, and the second guide wheel 32 is guided to the second guide rail 24.

[0110] By guiding the second guide wheel 32 to the second guide rail 24, when the pick-and-place assembly 3 moves relative to the second frame 2 along the height direction of the first frame 1, the pick-and-place assembly 3 is prevented from tilting, which helps to improve the reliability of the lifting device 100.

[0111] As shown in FIG1 and FIG4, the lifting device 100 also includes a cover 5, which covers the outside of the first frame 1, and a part of the traction member 43 is disposed inside the cover 5.

[0112] The cover 5 is installed on the outside of the first frame 1, and a part of the traction member 43 is installed inside the cover 5, which can shield the traction member 43 and improve the safety of the lifting device 100.

[0113] In some examples of the embodiments of this application, as shown in FIG2, the lifting device 100 also includes a drive mechanism 7 and a transmission mechanism 6. The drive mechanism 7 is connected to the transmission mechanism 6 and is used to drive the transmission mechanism 6 to move. The transmission mechanism 6 is connected to the moving member 42 and is used to drive the moving member 42 to move along the height direction of the first frame 1.

[0114] By setting the drive mechanism 7 and the transmission mechanism 6, the lifting of the moving member 42 can be realized by the drive mechanism 7 and the transmission mechanism 6, thereby realizing the lifting of the lifting device 100, which is beneficial to improving the ease of use of the lifting device 100.

[0115] In some examples of embodiments of this application, as shown in Figures 1 and 8, when the first frame 1 and the second frame 2 are gantry frames, both the transmission assembly 4 and the transmission mechanism 6 are provided in two sets. The transmission assembly 4 and the transmission mechanism 6 are respectively provided on both sides of the gantry frame, and the transmission assembly 4 provided on the same side is connected to the transmission mechanism 6 in a transmission connection. The drive mechanism 7 can be provided in one or two sets, when the drive...When two sets of mechanism 7 are provided, the drive mechanism 7 corresponds one-to-one with the transmission mechanism 6, and the drive mechanism 7 is connected to the corresponding transmission mechanism 6. When one set of drive mechanism 7 is provided, the drive mechanism 7 is connected to the two sets of transmission mechanisms 6 through a transmission shaft, so that one set of drive mechanism 7 can drive the movement of the two sets of transmission mechanisms 6 simultaneously.

[0116] In some other examples of embodiments of this application, the transmission component 4, the transmission mechanism 6 and the drive mechanism 7 may also be provided as one set.

[0117] In some other examples of embodiments of this application, the drive mechanism 7 and the transmission mechanism 6 may not be provided, and the moving part 42 may be moved directly by manual pushing along the height direction of the first frame 1. Specification 8 / 14 pages 12 CN 122101692 A

[0118] In some examples of embodiments of this application, as shown in FIG5, FIG9, FIG11 and FIG12, the transmission mechanism 6 includes a first transmission wheel 61, a second transmission wheel 62 and a transmission member 63. The first transmission wheel 61 and the second transmission wheel 62 are arranged at intervals along the height direction of the first frame 1 and are rotatably connected to the first frame 1. The drive mechanism 7 is connected to the first transmission wheel 61 so that the drive mechanism 7 drives the first transmission wheel 61 to rotate. The transmission member 63 is wound around the first transmission wheel 61 and the second transmission wheel 62 so that the transmission member 63 moves along the height direction of the first frame 1 and the second transmission wheel 62 rotates. The transmission member 63 is connected to the moving member 42 so as to drive the moving member 42 to move along the height direction of the first frame 1.

[0119] By setting the transmission mechanism 6 to the above structure, the driving stability of the transmission mechanism 6 can be improved, thereby improving the lifting stability of the lifting device 100.

[0120] In some examples of embodiments of this application, as shown in Figures 5, 9, and 11, the first transmission wheel 61 and the second transmission wheel 62 are both sprockets, and the transmission component 63 is a chain.

[0121] By setting both the first transmission wheel 61 and the second transmission wheel 62 as sprockets and the transmission component 63 as a chain, it is beneficial to further improve the driving stability of the transmission mechanism 6 and the lifting stability of the lifting device 100.

[0122] In other examples of embodiments of this application, the first transmission wheel 61 and the second transmission wheel 62 can be pulleys, and the transmission component 63 can be a transmission belt; or, the first transmission wheel 61 and the second transmission wheel 62 are both gears, and the transmission component 63 can be a rack.

[0123] In some examples of embodiments of this application, as shown in Figures 4 and 6, the driving mechanism 7 includes a drive motor 71, which is connected to the first transmission wheel 61 to drive the first transmission wheel 61 to rotate.

[0124] For example, the first transmission wheel 61 is disposed at the bottom of the first frame 1, and the drive motor 71 is disposed at the bottom of the first frame 1. The drive motor 71 is connected to the first transmission wheel 61 in a transmission manner to drive the first transmission wheel 61 to rotate. When the first transmission wheel 61 rotates, the transmission component 63 moves in response to the rotation of the first transmission wheel 61, and the transmission component 63 drives the second transmission wheel 62 to rotate.

[0125] In some examples of embodiments of this application, as shown in Figures 5, 11, and 12, the lifting device 100 further includes a connecting block 8, and the moving member 42 and the transmission member 63 are connected through the connecting block 8.

[0126] By setting the connecting block 8, it is convenient to connect the moving member 42 and the transmission member 63.

[0127] In some examples of embodiments of this application, the moving member 42 can also be directly connected to the transmission member 63. For example, the moving member 42 and the transmission member 63 are directly connected through fasteners. The fasteners can be bolts, screws, etc.

[0128] In some examples of embodiments of this application, as shown in Figures 5 and 11, one end of the transmission member 63 is connected to one end of the connecting block 8, and the other end of the transmission member 63 passes around the first transmission wheel 61 and the second transmission wheel 62 and is connected to the other end of the connecting block 8. That is, the two ends of the transmission member 63 are connected through the connecting block 8.

[0129] By connecting the two ends of the transmission member 63 through the connecting block 8, it is convenient to adjust the length of the ring formed by the transmission member 63 and the connecting block 8, thereby making the transmission member 63 cooperate more reliably with the first transmission wheel 61 and the second transmission wheel 62, which is beneficial to improving the reliability of the lifting device 100.

[0130] In some examples of the embodiments of this application, the two ends of the transmission member 63 can also be directly connected. In this case, the transmission member 63 is a ring structure as a whole.

[0131] In some examples of the embodiments of this application, as shown in FIG5 and FIG11, at least one end of the transmission member 63 is provided with a connecting member 11 connecting block 8. The lifting device 100 of the drive mechanism 7 also includes a first elastic member 12. The two ends of the first elastic member 12 are respectively connected to the transmission member 63 and the connecting member 11 to provide elastic force to the connecting member 11 toward the connecting block 8. Connecting block 8.

[0132] For example, as shown in FIG5, the upper end of the transmission member 63 is provided with a connecting member 11, and both the connecting member 11 and the connecting block 8 are disposed on the lower side of the upper end of the transmission member 63. The connecting member 11 is movably connected to the connecting block 8 in the vertical direction. The first elastic member is used to provide a downward elastic force to the connecting member 11. Specification 9 / 14 pages 13 CN 122101692 A

[0133] By setting the connecting member 11 to be movable in the height direction of the first frame 1, and the first elastic member 12 is used to provide an elastic force to the connecting member 11 toward the connecting block 8, the tension of the transmission member 63 can be automatically realized by using the first elastic member 12, thereby improving the reliability of the transmission mechanism 6 and improving the reliability of the lifting device 100.

[0134] In some other examples of the embodiments of this application, a tensioning wheel can also be provided on the first frame 1, the tensioning wheel is rotatably connected to the first frame 1, and the transmission member 63 is wound around the tensioning wheel, thereby realizing the tension of the transmission member 63 by using the tensioning wheel.

[0135] In some examples of embodiments of this application, as shown in FIG5 and FIG11, the connecting block 8 is provided with a connecting hole, and the connecting member 11 is packaged.The device includes a connecting post 111 and an abutment portion 112. The connecting post 111 is inserted into the connecting hole, and the abutment portion 112 is located on the side of the connecting hole away from the transmission member 63. A first elastic member 12 is sleeved on the connecting post 111, and the two ends of the first elastic member 12 abut against the connecting block 8 and the abutment portion 112, respectively.

[0136] For example, the connecting hole extends in the vertical direction, the upper end of the transmission member 63 is located on the upper side of the connecting hole, and the abutment portion 112 is located on the lower side of the connecting hole. The first elastic member 12 is used to provide a downward elastic force to the transmission member 63. The transmission member 63 can be a compression spring, a rubber cylinder, etc.

[0137] By designing the connecting block 8 and the connecting member 11 as described above, it is convenient for the transmission member 63 and the connecting block 8 to be connected through the connecting member 11, which helps to reduce the cost of the lifting device 100.

[0138] In some examples of embodiments of this application, as shown in Figures 2, 5, 11 and 12, the transmission assembly 4 further includes a second guide 44, which is connected to the first frame 1, and the traction member 43 is sequentially wound around the moving member 42, the second guide 44 and the first guide 41.

[0139] The second guide 44 is rotatably connected to the first frame 1, so that the second guide 44 can rotate relative to the first frame 1. For example, the second guide 44 is connected to the first frame 1 by bearings, bushings, etc.

[0140] By setting the second guide 44, the overall length of the traction member 43 can be set to be longer, which can increase the movement range of the pick-and-place assembly 3 in the height direction of the first frame 1. Thus, the pick-and-place assembly 3 can pick up and place goods at higher heights, improving the application range of the lifting device 100.

[0141] In some examples of embodiments of this application, as shown in Figures 5, 11 and 12, the second guide 44 is coaxially arranged with the second transmission wheel 62 and rotatably connected to the same fixed shaft.

[0142] For example, the fixed shaft is fixedly connected to the first frame 1, and the second guide 44 and the second transmission wheel 62 are rotatably connected to the fixed shaft through bearings or bushings, respectively.

[0143] By allowing the second guide 44 and the second transmission wheel 62 to be rotatably connected to the same fixed shaft, it is beneficial to simplify the structure of the transmission assembly 4, further simplify the structure of the lifting device 100, and reduce the cost of the lifting device 100.

[0144] In some other examples of the embodiments of this application, the second guide 44 and the second transmission wheel 62 may be on different axes. In this case, the second guide 44 and the second transmission wheel 62 are rotatably connected to different fixed shafts.

[0145] In some examples of the embodiments of this application, as shown in Figures 5, 9, 11, and 12, the transmission assembly 4 further includes a third guide 45, which is connected to the second frame 2 and spaced apart from the first guide 41 along the height direction of the first frame 1. The traction member 43 is sequentially wound around the moving member 42, the second guide 44, the third guide 45, and the first guide 41.When the moving part 42 moves along the height direction of the first frame 1, the traction part 3 drives the pick-and-place assembly 3 to move along the height direction of the first frame 1.

[0146] The third guide part 45 is rotatably connected to the second frame 2, so that the third guide part 45 can rotate relative to the second frame 2. For example, the third guide part 45 and the second frame 2 are connected by bearings, bushings, etc.

[0147] By setting the third guide part 45, the overall length of the traction part 43 can be set to be longer, which can increase the movement range of the pick-and-place assembly 3 in the height direction of the first frame 1. As a result, the pick-and-place assembly 3 can pick up and place goods with higher heights, improving the application range of the lifting device 100.

[0148] In some examples of the embodiments of this application, as shown in FIG5, FIG9, FIG11 and FIG12, the first guide part 41 is connected to the top of the second frame 2, the third guide part 45 is connected to the bottom of the second frame 2, and the second guide part 44 is connected to the top of the first frame 1.

[0149] For example, the first guide 41 is connected to the upper part of the second frame 2, the third guide 45 is connected to the lower part of the second frame 2, and the second guide 44 is connected to the upper part of the first frame 1.

[0150] By setting the positions of the first guide 41, the second guide 44, and the third guide 45 as described above, the overall length of the traction member 43 can be set to be longer when the number of fixed pulleys is fixed, which can increase the movement range of the pick-and-place assembly 3 in the height direction of the first frame 1. Thus, the pick-and-place assembly 3 can pick up and place goods at higher heights, improving the usability of the lifting device 100.

[0151] In some examples of embodiments of this application, the first guide 41, the second guide 44, and the third guide 45 are all fixed pulleys, the moving member 42 is a movable pulley, and the traction member 43 is a traction rope.

[0152] By setting the first guide 41 and the third guide 45 as fixed pulleys, the moving member 42 as a movable pulley, and the traction member 43 as a traction rope, the transmission assembly 4 is made into a pulley assembly as a whole, which can reduce the volume and weight of the transmission assembly 4, thereby reducing the volume and weight of the lifting device 100.

[0153] In some examples of embodiments of this application, as shown in FIG2 and FIG4, the lifting device 100 further includes a counterweight 9, which is connected to the moving member 42. When the moving member 42 moves along the height direction of the first frame 1, the counterweight 9 is used to move with the moving member 42.

[0154] The counterweight 9 can be connected to the connecting block 8.

[0155] By connecting the counterweight 9 to the moving member 42, the counterweight 9 moves with the moving member 42. On the one hand, before the picking and placing component 3 moves to the preset height, when the picking and placing component 3 moves along the height direction of the first frame 1, the counterweight 9 can be used to balance the movement.The weight of the pick-and-place component 3 is such that even with a small output torque from the drive motor 71, the pick-and-place component 3 can be driven to move along the height direction of the first frame 1. On the other hand, after the pick-and-place component 3 has moved to a preset height, when the pick-and-place component 3 and the second frame 2 move synchronously along the height direction of the first frame 1, the counterweight 9 is used to balance a portion of the weight of the pick-and-place component 3 and the second frame 2, so that even with a small output torque from the drive motor 71, the pick-and-place component 3 and the second frame 2 can move synchronously along the height direction of the first frame 1. Thus, the moving speed of the pick-and-place component 3 can be increased when the power of the drive motor 71 is small, thereby improving the lifting efficiency of the lifting device 100.

[0156] In some examples of embodiments of this application, as shown in Figures 1, 4, 6, 8 and 10, the first frame 1 is provided with a plurality of buffer positions 13, which are arranged at intervals along the height direction of the first frame 1. The buffer positions 13 are used to buffer goods. The buffer positions 13 and the pick-and-place component 3 are respectively arranged on both sides of the thickness direction of the first frame 1. Wherein, the thickness direction of the first frame 1 can be the front-to-back direction as shown in the figure.

[0157] For example, the buffer position 13 is disposed on the rear side of the first frame 1, the second frame 2 is disposed on the front side of the first frame 1, and the pick-and-place component 3 is disposed on the front side of the second frame 2.

[0158] In some examples of embodiments of this application, before the pick-and-place component 3 moves to a preset height, the moving member 42 is used to move along a first direction so that the traction member 43 drives the pick-and-place component 3 to move along a second direction opposite to the first direction, the first direction being parallel to the height direction of the first frame 1.

[0159] For example, before the pick-and-place component 3 moves to a preset height, the moving member 42 is used to move downward so that the traction member 43 drives the pick-and-place component 3 to move upward.

[0160] In some examples of embodiments of this application, before the pick-and-place component 3 rises to a preset height, the moving part 42 is used to descend along the height direction of the frame 1, so that the traction part 43 drives the pick-and-place component 3 to rise along the height direction of the first frame 1;

[0161] After the pick-and-place component 3 rises to the preset height, the moving part 42 is used to descend along the height direction of the first frame 1, so that the traction part 43 drives the pick-and-place component 3 and the second frame 2 to rise synchronously along the height direction of the first frame 1 to a first target height;

[0162] Before the pick-and-place component 3 descends to the preset height, the moving part 42 is used to rise along the height direction of the first frame 1, so that the traction part 43 drives the pick-and-place component 3 and the second frame 2 to descend synchronously along the height direction of the first frame 1;

[0163] After the pick-and-place component 3 descends to a preset height, it disengages from the second frame 2, and the moving component 42 rises along the height direction of the first frame 1, so that the traction component 43 drives the pick-and-place component 3 to descend along the height direction of the first frame 1 to the second target height.

[0164] Wherein, the first target height is greater than the preset height, and less than or equal to the sum of the preset height and the height of the second frame 2; the second target height is less than the preset height.

[0165] As shown in Figure 13, in some specific application scenarios, the following example illustrates how the pick-and-place component 3 picks up multiple target goods from the shelf 300:

[0166] The pick-and-place component 3 first moves to the height of the first target goods, and then removes the first target goods from the shelf 300. After that, the pick-and-place component 3 places the first target goods on the first buffer position 13, which can be any buffer position 13; then the pick-and-place component 3 moves to the height of the second target goods, and then removes the second target goods from the shelf 300. After that, the pick-and-place component 3 places the second target goods on the second buffer position 13, which can be any buffer position 13 other than the first buffer position 13. Buffer positions can also be set at the bottom of the shelf 300, and the target goods picked up by the pick-and-place component 3 from the shelf 300 can also be placed on the buffer positions of the shelf 300. The target goods removed from the shelf 300 by the pick-and-place component 3 can also be placed on other storage locations of the shelf 300.

[0167] It is understood that the process of the pick-and-place component 3 placing multiple target goods on the shelf 300 is the same as or similar to the process of the pick-and-place component 3 removing multiple target goods from the shelf 300 in the above embodiment. For example, the pick-and-place component 3 first moves to the height of the first target goods, then removes the first target goods from the first buffer position 13, and then places the first target goods on the first storage location of the shelf 300, which can be any storage location of the shelf 300; then the pick-and-place component 3 moves to the height of the second target goods, then removes the second target goods from the second buffer position 13, and then places the second target goods on the second storage location of the shelf 300, which can be any storage location of the shelf 300 other than the first storage location. The pick-and-place component 3 can also remove the target goods from the buffer location of the shelf 300, or remove the target goods from other locations of the shelf 300 and place the removed target goods on the corresponding location of the shelf 300.

[0168] The lifting method of this application embodiment includes:

[0169] The moving component 42 moves along a first direction so that the traction component 43 drives the pick-and-place component 3 to move along a second direction opposite to the first direction, the first direction and the second direction being parallel to the height direction of the first frame 1;

[0170] When the pick-and-place component 3 moves to a preset height, the pick-and-place component 3 stops against the second frame 2;

[0171] The moving component 42 continues to move along the first direction so that the traction component 43 drives the pick-and-place component 3 and the second frame 2 to move synchronously along the second direction.

[0172] The lifting method of this embodiment moves the moving member 42 along the height direction of the first frame 1, causing the traction member 43 to drive the pick-and-place component 3 to move along the height direction of the first frame 1, and to drive the pick-and-place component 3 and the second frame 2 to move synchronously along the height direction of the first frame 1. This eliminates the need for retracting or extending the traction member 43, thus eliminating the need for a dedicated retracting or extending component for the transmission assembly 4. This simplifies the structure of the transmission assembly 4, thereby simplifying the structure of the lifting device 100 and reducing its cost.

[0173] Optionally, the lifting method of this application embodiment includes: the moving member 42 descends along the height direction of the first frame 1, so that the traction member 43 drives the pick-and-place component 3 to rise along the height direction of the first frame 1;

[0174] When the pick-and-place component 3 rises to a preset height, the pick-and-place component 3 stops against the second frame 2;

[0175] The moving member 42 continues to descend along the height direction of the first frame 1, so that the traction member 43 drives the pick-and-place component 3 and the second frame 2 to rise synchronously along the height direction of the first frame 1 to a first target height;

[0176] The moving member 42 rises along the height direction of the first frame 1, so that the traction member 43 drives the pick-and-place component 3 and the second frame 2 to descend synchronously along the height direction of the first frame 1;

[0177] When the pick-and-place component 3 descends below the preset height, the pick-and-place component 3 disengages from the second frame 2;

[0178] The moving member 42 continues to rise along the height direction of the first frame 1, so that the traction member 43 drives the pick-and-place component 3 to descend along the height direction of the first frame 1 to a second target height.

[0179] Wherein, the first target height is greater than the preset height, and less than or equal to the sum of the preset height and the height of the second frame 2; the second target height is less than the preset height.

[0180] The handling robot of this application embodiment includes a mobile chassis 200, a lifting device 100, and a pick-and-place component 3. The lifting device 100 is the lifting device 100 described in any of the above embodiments. The lifting device 100 is connected to the mobile chassis 200, and the pick-and-place component 3 is movably connected to the second frame 2 along the height direction of the first frame 1. Wherein, the mobile chassis 200 is used to drive the lifting device 100 to move.

[0181] Since the structure of the lifting device 100 is simplified and the cost of the lifting device 100 is reduced in this application embodiment, the handling robot of this application embodiment has a low cost.

[0182] In some specific application scenarios, the following example illustrates how a handling robot retrieves target goods from a high-rise shelf 300 (e.g., with a height greater than 4m):

[0183] After receiving order information or the location information of the target goods from the host computer, the handling robot moves its chassis 200 to move the lifting device 100 to the shelf 300 where the target goods are stored; then, the transmission component 4 of the lifting device 100 drives...The picking and placing component 3 first rises relative to the second shelf 2. When the picking and placing component 3 moves to a preset height, it rises synchronously with the second shelf 2 until it reaches the same height as the shelf where the target goods are located. Then, the picking and placing component 3 removes the target goods from the shelf 300. Next, the transmission component 4 of the lifting device 100 drives the picking and placing component 3 to descend synchronously with the second shelf 2. After the second shelf 2 reaches its lowest point, the picking and placing component 3 descends relative to the second shelf 2 to any of the buffer positions 13 for storage. When storing the goods in the buffer positions 13 on the higher shelf 300, the operation is reversed.

[0184] In some specific application scenarios, the following is an example of a handling robot retrieving target goods from a bottom shelf 300 (e.g., with a height less than or equal to 4m):

[0185] After receiving order information or target goods location information sent by the host computer, the handling robot moves the chassis 200 to move the lifting device 100 to the shelf 300 where the target goods are stored; then, the transmission component 4 of the lifting device 100 drives the pick-and-place component 3 to rise relative to the second frame 2, and the pick-and-place component 3 rises to the same height as the shelf where the target goods are located; then, the pick-and-place component 3 removes the target goods from the shelf 300; next, the transmission component 4 of the lifting device 100 drives the pick-and-place component 3 to descend relative to the second frame 2 to any one of the buffer positions 13 for storage. When storing the goods on the buffer position 13 on the lower shelf 300, the operation is reversed.

[0186] The warehousing system of this application embodiment includes a shelf 300 and a handling robot. The handling robot is the handling robot of any of the above embodiments, and the pick-and-place component 3 is used to pick up and place goods on the shelf 300. Specification page 13 / 14 17 CN 122101692 A

[0187] Because the handling robot of the present application embodiment has low cost, the warehousing system of the present application embodiment has low cost.

[0188] Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application. Variations, modifications, substitutions and modifications made by those skilled in the art to the above embodiments are all within the protection scope of the present application. Instruction manual, page 14 / 14, 18 CN 122101692 A, Figure 1; Instruction manual, Figure 1 / 13, page 19 CN 122101692 A, Figure 2; Instruction manual, Figure 2 / 13, page 20 CN 122101692 A, Figure 3; Instruction manual, Figure 3 / 13, page 21 CN 122101692 A, Figure 4; Instruction manual, Figure 4 / 13, page 22 CN 122101692 A, Figure 5; Instruction manual, Figure 5 / 13, page 23 CN 122101692 A, Figure 6; Instruction manual, Figure 6 / 13, page 24CN 122101692 A Figure 7, Appendix 7 / 13, Page 25 CN 122101692 A Figure 8, Appendix 8 / 13, Page 26 CN 122101692 A Figure 9, Appendix 9 / 13, Page 27 CN 122101692 A Figure 10, Appendix 10 / 13, Page 28 CN 122101692 A Figure 11, Appendix 11 / 13, Page 29 CN 122101692 A Figure 12, Appendix 12 / 13, Page 30 CN 122101692 A Figure 13, Appendix 13 / 13, Page 31 CN 122101692 A Invention Title: Lifting Device, Lifting Method, Handling Robot and Storage System Abstract: Embodiments of the present application disclose a lifting device, a lifting method, a handling robot and a storage system. The lifting device comprises a first frame body, a second frame body and a transmission assembly, wherein the second frame body is movably connected to the first frame body along a height direction of the first frame body, and is configured to be connected to a pick-and-place component, and the pick-and-place component can move along the height direction of the first frame body; the transmission assembly comprises a first guide member, a moving member and a traction member, wherein the moving member is movably connected to the first frame bodyalong the height direction of the first frame body to drive the pick-and-place component to move along the height direction of the first frame body, and the pick-and-place component abuts against the second frame body and moves synchronously with the second frame body along the height direction of the first frame body when the pick-and-place component moves to a preset height. The lifting device of the present application can simplify the structure of the lifting device and reduce the cost of the lifting device. Abstract

Claims

1. A lifting device, characterized in that, include: First frame; A second frame is movably connected to the first frame along the height direction of the first frame. The second frame is used to connect to a pick-and-place component, and the pick-and-place component is movable along the height direction of the first frame. A transmission assembly includes a first guide, a moving member, and a traction member. The traction member is wound around the first guide and the moving member, with one end connected to the first frame and the other end connected to the pick-and-place assembly. The first guide is connected to the second frame, and the moving member is movably connected to the first frame along its height direction to drive the pick-and-place assembly to move along its height direction. When the pick-and-place assembly moves to a preset height, it abuts against the second frame and moves synchronously with the second frame along its height direction.

2. The lifting device according to claim 1, characterized in that, It also includes a drive mechanism and a transmission mechanism. The drive mechanism is connected to the transmission mechanism and is used to drive the transmission mechanism to move. The transmission mechanism is connected to the moving part and is used to drive the moving part to move along the height direction of the first frame.

3. The lifting device according to claim 2, characterized in that, The transmission mechanism includes a first transmission wheel, a second transmission wheel, and a transmission component. The first transmission wheel and the second transmission wheel are arranged at intervals along the height direction of the first frame and are rotatably connected to the first frame. The driving mechanism is drivenly connected to the first transmission wheel so that the driving mechanism drives the first transmission wheel to rotate. The transmission component is wound around the first transmission wheel and the second transmission wheel so that the transmission component moves along the height direction of the first frame and the second transmission wheel rotates. The transmission component is connected to the moving component so as to drive the moving component to move along the height direction of the first frame.

4. The lifting device according to claim 3, characterized in that, It also includes a connecting block, through which the moving part and the transmission part are connected.

5. The lifting device according to claim 4, characterized in that, One end of the transmission component is connected to one end of the connecting block, and the other end of the transmission component bypasses the first transmission wheel and the second transmission wheel and is connected to the other end of the connecting block.

6. The lifting device according to claim 5, characterized in that, At least one end of the transmission component is provided with a connector, and the lifting device further includes a first elastic component, the two ends of which are respectively connected to the transmission component and the connector to provide elastic force to the connector toward the connecting block.

7. The lifting device according to claim 6, characterized in that, The connecting block is provided with a connecting hole, and the connecting member includes a connecting post and an abutment portion. The connecting post is inserted into the connecting hole, and the abutment portion is located on the side of the connecting hole away from the transmission member. The first elastic member is sleeved on the connecting post, and the two ends of the first elastic member abut against the connecting block and the abutment portion, respectively.

8. The lifting device according to claim 3, characterized in that, The transmission assembly further includes a second guide member, which is connected to the first frame, and the traction member is sequentially wound around the moving member, the second guide member, and the first guide member.

9. The lifting device according to claim 8, characterized in that, The transmission assembly further includes a third guide member, which is connected to the second frame and spaced apart from the first guide member along the height direction of the first frame. The traction member is sequentially wound around the moving member, the second guide member, the third guide member, and the first guide member. When the moving member moves along the height direction of the first frame, the traction member drives the pick-and-place assembly to move along the height direction of the first frame.

10. The lifting device according to claim 9, characterized in that, The first guide is connected to the top of the second frame, the third guide is connected to the bottom of the second frame, and the second guide is connected to the top of the first frame.

11. The lifting device according to claim 9, characterized in that, The first guide, the second guide, and the third guide are all fixed pulleys, the moving member is a movable pulley, and the traction member is a traction rope.

12. The lifting device according to claim 11, characterized in that, The second guide is coaxially arranged with the second transmission wheel and rotatably connected to the same fixed shaft.

13. The lifting device according to claim 3, characterized in that, The driving mechanism includes a drive motor, which is connected to the first transmission wheel to drive the first transmission wheel to rotate.

14. The lifting device according to claim 3, characterized in that, Both the first and second transmission wheels are sprockets, and the transmission component is a chain.

15. The lifting device according to any one of claims 1-14, characterized in that, It also includes a counterweight block, which is connected to the moving component. When the moving component moves along the height direction of the first frame, the counterweight block moves with the moving component.

16. The lifting device according to any one of claims 1-14, characterized in that, The second frame is provided with a stop part, and when the pick-up and put-down component moves to the preset height, it stops against the stop part along the height direction of the first frame.

17. The lifting device according to claim 16, characterized in that, The second frame also includes a frame body and a second elastic member. The two ends of the second elastic member are respectively connected to the frame body and the stop portion to provide elastic force to the stop portion toward the pick-up and put-down assembly.

18. The lifting device according to any one of claims 1-14, characterized in that, Before the pick-and-place assembly moves to a preset height, the moving member is used to move along a first direction so that the traction member drives the pick-and-place assembly to move along a second direction opposite to the first direction, the first direction being parallel to the height direction of the first frame.

19. The lifting device according to claim 18, characterized in that, Before the pick-and-place assembly rises to a preset height, the moving member is used to descend along the height direction of the first frame, so that the traction member drives the pick-and-place assembly to rise along the height direction of the first frame; After the pick-and-place component rises to a preset height, the moving component is used to descend along the height direction of the first frame, so that the traction component drives the pick-and-place component and the second frame to rise synchronously along the height direction of the first frame to the first target height; Before the pick-and-place assembly descends to a preset height, the moving component is used to rise along the height direction of the first frame, so that the traction component drives the pick-and-place assembly and the second frame to descend synchronously along the height direction of the first frame; After the pick-and-place component descends to a preset height, it disengages from the second frame, and the moving component is used to rise along the height direction of the first frame so that the traction component drives the pick-and-place component to descend along the height direction of the first frame to the second target height.

20. A lifting method, characterized in that, The lifting device as described in any one of claims 1-19, wherein the lifting method comprises: The moving component moves along a first direction so that the traction component drives the pick-and-place assembly to move along a second direction opposite to the first direction. The first direction and the second direction are parallel to the height direction of the first frame. When the pick-and-place component moves to the preset height, the pick-and-place component stops against the second frame; The moving component continues to move along the first direction, so that the traction component drives the pick-and-place assembly and the second frame to move synchronously along the second direction.

21. The lifting method according to claim 20, characterized in that, include: The moving component descends along the height direction of the first frame, so that the traction component drives the picking and placing assembly to rise along the height direction of the first frame; When the pick-and-place component rises to a preset height, the pick-and-place component stops against the second frame. The moving component continues to descend along the height direction of the first frame, so that the traction component drives the pick-and-place assembly and the second frame to rise synchronously along the height direction of the first frame to a first target height; The moving component rises along the height direction of the first frame, so that the traction component drives the pick-and-place assembly and the second frame to descend synchronously along the height direction of the first frame; When the pick-and-place component descends below a preset height, the pick-and-place component disengages from the second frame. The moving component continues to rise along the height direction of the first frame, so that the traction component drives the pick-and-place assembly to descend along the height direction of the first frame to the second target height.

22. A transport robot, characterized in that, include: Mobile chassis; A lifting device and a pick-and-place assembly, wherein the lifting device is the lifting device according to any one of claims 1-19, the first frame is connected to the mobile chassis, and the pick-and-place assembly is movably connected to the second frame along the height direction of the first frame.

23. A warehousing system, characterized in that, include: Shelves; A handling robot, wherein the handling robot is the handling robot of claim 22, and the picking and placing component is used to pick up and place goods on the shelf.

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