Lift and mobile robot including same

Abstract

This lift comprises: a lifting block; a lifting recess which is formed at the lower surface of the lifting block, and which includes a first inclined surface and a second inclined surface that are inclined with respect to the lower surface of the lifting block and are symmetrical to each other; a first moving block which can slide with respect to the first inclined surface of the lifting recess, and which includes a first moving inclined surface corresponding to the first inclined surface; a second moving block which can slide with respect to the second inclined surface of the lifting recess, and which includes a second moving inclined surface corresponding to the second inclined surface; a driving device for simultaneously moving the first moving block and the second moving block in opposite directions; and a base plate which is provided below the first moving block and the second moving block, and which supports the first moving block and the second moving block so as to move on a straight line. When the first moving block and the second moving block move farther apart, the lifting block is lifted and, when the first moving block and the second moving block move closer together, the lifting block is lowered.

Description

Lifts and mobile robots equipped with them

[0001] The present disclosure relates to a lift and a mobile robot equipped with the lift.

[0002] Mobile robots are widely used in various fields such as manufacturing, logistics, and service.

[0003] For example, mobile robots can transport various items, such as materials or parts, to workers or consumers.

[0004] The mobile robot may include a lift that can adjust the height of objects to facilitate loading and unloading of objects.

[0005] The lift is installed on the top of the mobile robot, and can adjust the height of the object according to the height of the loading location and the height of the removal location.

[0006] In particular, the mobile robot can move heavy objects loaded on a lift to a retrieval location, and then lift the heavy objects with the lift to unload them at the retrieval location.

[0007] A lift according to one or more embodiments of the present disclosure may include: an elevating block; an elevating groove formed on a lower surface of the elevating block and including a first inclined surface and a second inclined surface that are inclined with respect to the lower surface of the elevating block and are symmetrical to each other; a first moving block that is installed to be slidably movable with respect to the first inclined surface of the elevating groove and includes a first moving inclined surface corresponding to the first inclined surface; a second moving block that is installed to be slidably movable with respect to the second inclined surface of the elevating groove and includes a second moving inclined surface corresponding to the second inclined surface; a driving device that simultaneously moves the first moving block and the second moving block to move away from each other or toward each other; and a base plate that is installed below the first moving block and the second moving block and supports the first moving block and the second moving block to move in a straight line. When the driving device moves the first moving block and the second moving block to move away from each other, the elevating block can rise. When the driving device moves the first moving block and the second moving block closer to each other, the lifting block can be lowered.

[0008] According to one or more embodiments of the present disclosure, the cross-section of the lifting groove may be formed as an equilateral trapezoid or an isosceles triangle.

[0009] According to one or more embodiments of the present disclosure, the driving device may include: a bidirectional lead screw coupled to the first moving block and the second moving block; a motor that rotates the bidirectional lead screw; and a power transmission device installed between the motor and the bidirectional lead screw.

[0010] According to one or more embodiments of the present disclosure, the driving device may further include a guide shaft installed parallel to the bidirectional lead screw between the first moving block and the second moving block.

[0011] According to one or more embodiments of the present disclosure, the driving device may further include a first guide shaft installed parallel to the bidirectional lead screw between the first moving block and the second moving block on one side of the bidirectional lead screw; and a second guide shaft installed parallel to the bidirectional lead screw between the first moving block and the second moving block on the other side of the bidirectional lead screw.

[0012] According to one or more embodiments of the present disclosure, the motor may include a brake.

[0013] According to one or more embodiments of the present disclosure, the lift may further include a pair of base guides. One of the pair of base guides may be positioned between the base plate and the first movable block, and the other of the pair of base guides may be positioned between the base plate and the second movable block.

[0014] According to one or more embodiments of the present disclosure, the pair of base guides may each include a guide block and a guide rail. The guide block may be installed on the lower surface of the first moving block or the lower surface of the second moving block, and the guide rail may be installed on the upper surface of the base plate.

[0015] According to one or more embodiments of the present disclosure, the lift may further include first and second inclined guides installed between the first inclined surface of the elevating groove and the first moving inclined surface of the first moving block; and third and fourth inclined guides installed between the second inclined surface of the elevating groove and the second moving inclined surface of the second moving block.

[0016] According to one or more embodiments of the present disclosure, the first, second, third, and fourth inclined guides may each include a guide block and a guide rail. The guide rail of each of the first and second inclined guides may be installed on the first inclined surface of the lifting groove, the guide rail of each of the third and fourth inclined guides may be installed on the second inclined surface of the lifting groove, the guide block of each of the first and second inclined guides may be installed on the first moving inclined surface of the first moving block, and the guide block of each of the third and fourth inclined guides may be installed on the second moving inclined surface of the second moving block.

[0017] According to one or more embodiments of the present disclosure, the first inclined surface and the second inclined surface of the lifting groove may be formed at an angle of 30 degrees to 45 degrees with respect to the upper surface of the lifting block, respectively.

[0018] According to one or more embodiments of the present disclosure, the lift may further include a slide plate installed on each of the first inclined surface and the second inclined surface of the lifting groove; and a moving slide plate installed on each of the first moving inclined surface of the first moving block and the second moving inclined surface of the second moving block.

[0019] A mobile robot according to one or more embodiments of the present disclosure may include a main body configured to autonomously navigate; and a lift installed on an upper surface of the main body. The lift may include: an elevating block; an elevating groove formed on a lower surface of the elevating block and including a first inclined surface and a second inclined surface that are inclined with respect to the lower surface of the elevating block and are symmetrical to each other; a first moving block installed to be able to slide relative to the first inclined surface of the elevating groove and including a first moving inclined surface corresponding to the first inclined surface; a second moving block installed to be able to slide relative to the second inclined surface of the elevating groove and including a second moving inclined surface corresponding to the second inclined surface; a driving device that simultaneously moves the first moving block and the second moving block so that they move away from each other or approach each other; and a base plate installed on an upper surface of the main body below the first moving block and the second moving block and supporting the first moving block and the second moving block so that they move in a straight line. When the driving device moves the first moving block and the second moving block away from each other, the lifting block can rise, and when the driving device moves the first moving block and the second moving block closer to each other, the lifting block can descend.

[0020] The above-described and other aspects, features, and advantages of the embodiments of the present disclosure will become more apparent from the following description taken in conjunction with the accompanying drawings. In the accompanying drawings:

[0021] FIG. 1 is a perspective view illustrating a lift according to one or more embodiments of the present disclosure.

[0022] FIG. 2 is an exploded perspective view showing a lift according to one or more embodiments of the present disclosure.

[0023] Fig. 3 is a cross-sectional view showing the lift of Fig. 1 cut along line AA.

[0024] Fig. 4 is a cross-sectional view showing the lift of Fig. 1 cut along line BB.

[0025] FIG. 5 is a perspective view showing a state in which a lifting block is removed from a lift according to one or more embodiments of the present disclosure.

[0026] FIG. 6 is a bottom perspective view of a lifting block of a lift according to one or more embodiments of the present disclosure.

[0027] FIG. 7 is a front view showing a state in which the lifting block of a lift according to one or more embodiments of the present disclosure is positioned at the lowest point.

[0028] FIG. 8 is a front view showing a state in which a lifting block of a lift according to one or more embodiments of the present disclosure is positioned at the highest point.

[0029] FIG. 9 is a perspective view showing a state in which a lifting block of a lift according to one or more embodiments of the present disclosure is positioned at the highest point.

[0030] FIG. 10 is a perspective view showing a state in which a lifting block is removed from a lift according to one or more embodiments of the present disclosure.

[0031] FIG. 11 is a perspective view showing a state in which a lifting block is removed from a lift according to one or more embodiments of the present disclosure.

[0032] FIG. 12 is a front view showing a lift according to one or more embodiments of the present disclosure.

[0033] FIG. 13 is a perspective view showing a mobile robot having a lift according to one or more embodiments of the present disclosure.

[0034] FIG. 14 is a front view showing a state in which a lift plate of a mobile robot equipped with a lift according to one or more embodiments of the present disclosure is positioned at the lowest point.

[0035] FIG. 15 is a front view showing a state in which a lift plate of a mobile robot equipped with a lift according to one or more embodiments of the present disclosure is positioned at the highest point.

[0036] FIG. 16 is a block diagram of a mobile robot having a lift according to one or more embodiments of the present disclosure.

[0037] It should be understood that the various embodiments and terms used in this document are not intended to limit the technical features described in this document to specific embodiments, but rather include various modifications, equivalents, or alternatives of the embodiments.

[0038] In connection with the description of the drawings, similar reference numerals may be used for similar or related components.

[0039] The singular form of a noun corresponding to an item may include one or more of said items, unless the relevant context clearly indicates otherwise.

[0040] In this document, each of the phrases "A or B", "at least one of A and B", "at least one of A or B", "A, B, or C", "at least one of A, B, and C", and "at least one of A, B, or C" may include any one of the items listed together in that phrase, or all possible combinations thereof.

[0041] The term "and / or" includes any combination of a plurality of related described elements or any one of a plurality of related described elements.

[0042] Terms such as "first," "second," or "first" or "second" may be used simply to distinguish one component from another and do not qualify the components in any other respect (e.g., importance or order).

[0043] When a component (e.g., a first component) is referred to as being "coupled" or "connected" to another component (e.g., a second component), with or without the terms "functionally" or "communicatively," it means that the component can be connected to the other component directly (e.g., wired), wirelessly, or through a third component.

[0044] The terms "include" or "have" are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in this document, but do not preclude the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0045] When a component is said to be “connected,” “coupled,” “supported,” or “in contact with” another component, this includes not only cases where the components are directly connected, coupled, supported, or in contact, but also cases where the components are indirectly connected, coupled, supported, or in contact through a third component.

[0046] When we say that a component is "on" another component, this includes not only cases where the component is in contact with the other component, but also cases where there is another component between the two components.

[0047] In addition, terms such as 'front end', 'rear end', 'upper end', 'lower end', 'top end', and 'bottom end' used in the present disclosure are defined based on the drawings, and the shape and position of each component are not limited by these terms.

[0048] The present disclosure relates to a lift capable of minimizing shaking of an elevator block (10) and a load when the elevator block (10) is raised, and a mobile robot including such a lift.

[0049] Hereinafter, a lift (1) according to one or more embodiments of the present disclosure will be described with reference to FIGS. 1 to 5.

[0050] FIG. 1 is a perspective view showing a lift (1) according to one or more embodiments of the present disclosure. FIG. 2 is an exploded perspective view showing a lift (1) according to one or more embodiments of the present disclosure. FIG. 3 is a cross-sectional view showing the lift (1) of FIG. 1 taken along line AA. FIG. 4 is a cross-sectional view showing the lift (1) of FIG. 1 taken along line BB. FIG. 5 is a perspective view showing a state in which an elevator block (10) is removed from a lift (1) according to one or more embodiments of the present disclosure.

[0051] Referring to FIGS. 1 to 5, a lift (1) according to one or more embodiments of the present disclosure may include a lifting block (10), a first moving block (20), a second moving block (30), a base plate (40), and a driving device (50).

[0052] The lift (1) is formed so that an object loaded on the upper surface of the lifting block (10) can be moved vertically by moving the lifting block (10) vertically with respect to the floor of the lift (1).

[0053] The lifting block (10) may be formed in a roughly rectangular shape. The upper surface (10a) of the lifting block (10) may be formed as a plane. An lifting plate may be installed on the upper surface (10a) of the lifting block (10).

[0054] An elevation groove (11) may be formed on the lower surface of the elevation block (10). The elevation groove (11) may include a first inclined surface (12) and a second inclined surface (13) facing each other. The first inclined surface (12) and the second inclined surface (13) may be formed on both sides of the elevation groove (11). The first inclined surface (12) and the second inclined surface (13) may be formed symmetrically with respect to the upper surface (10a) of the elevation block (10) and at a certain angle. That is, the elevation groove (11) may include a first inclined surface (12) and a second inclined surface (13) that are inclined with respect to the upper surface (10a) of the elevation block (10) and are symmetrical with respect to each other.

[0055] The first inclined surface (12) and the second inclined surface (13) of the lifting groove (11) may be formed to have the same inclination. For example, the first inclined surface (12) and the second inclined surface (13) may be formed to have an angle (θ) of about 30 degrees to about 45 degrees with respect to the upper surface (10a) of the lifting block (10).

[0056] The cross-section of the lifting groove (11) can be formed as an equilateral trapezoid or an isosceles triangle. Accordingly, the upper end of the first inclined surface (12) and the upper end of the second inclined surface (13) of the lifting groove (11) are adjacent to or in contact with each other at the center of the lifting block (10), and the lower end of the first inclined surface (12) and the lower end of the second inclined surface (13) are adjacent to both sides of the lifting block (10). In the present embodiment, the lifting groove (11) is formed to have a cross-section of an equilateral trapezoid.

[0057] The first inclined surface (12) and the second inclined surface (13) of the lifting groove (11) can be formed on the lower surface of the lifting block (10) along the entire length of the lifting block (10). For example, the first inclined surface (12) and the second inclined surface (13) of the lifting groove (11) can be formed from the left end to the right end of the lower surface of the lifting block (10).

[0058] In another embodiment, as illustrated in FIG. 6, the first inclined surface (12) and the second inclined surface (13) of the lifting groove (11) may be formed only on both ends of the lower surface of the lifting block (10). That is, the first inclined surface (12) and the second inclined surface (13) of the lifting groove (11) may be formed on the left end and the right end of the lower surface of the lifting block (10). The portion between the left end and the right end of the lower surface of the lifting block (10) may be removed. By forming the lifting groove (11) in this manner, the weight of the lifting block (10) can be reduced.

[0059] FIG. 6 is a bottom perspective view of a lifting block (10) of a lift (1) according to one or more embodiments of the present disclosure.

[0060] Referring to Fig. 6, the lifting groove (11) may include a left lifting groove (111) and a right lifting groove (112) spaced apart from each other by a certain distance. That is, the lifting block (10) may include a left lifting groove (111) and a right lifting groove (112).

[0061] The first inclined surface (12) may include a first left inclined surface (121) and a first right inclined surface (122). The first left inclined surface (121) is formed in the left lifting groove (111), and the first right inclined surface (122) is formed in the right lifting groove (112). Therefore, the first left inclined surface (121) and the first right inclined surface (122) are spaced apart from each other by a certain distance.

[0062] The second slope (13) may include a second left slope (131) and a second right slope (132). The second left slope (131) is formed in the left lifting groove (111), and the second right slope (132) is formed in the right lifting groove (112). Therefore, the second left slope (131) and the second right slope (132) are spaced apart from each other by a certain distance.

[0063] The second left slope (131) faces the first left slope (121) and is formed to have the same slope as the first left slope (121). The second right slope (132) faces the first right slope (122) and is formed to have the same slope as the first right slope (122).

[0064] The first left inclined surface (121) and the second left inclined surface (131) can form a left elevation groove (111). The first right inclined surface (122) and the second right inclined surface (132) can form a right elevation groove (112). In other words, the elevation block (10) can include a first left inclined surface (121), a second left inclined surface (131), a first right inclined surface (122), and a second right inclined surface (132) formed on the lower surface.

[0065] Referring again to FIGS. 1 to 5, the first moving block (20) and the second moving block (30) can be installed to be positioned in the lifting groove (11) of the lifting block (10). That is, the first moving block (20) and the second moving block (30) can be positioned in the lifting groove (11) below the lifting block (10). The first moving block (20) and the second moving block (30) can be formed to support the lifting block (10) and move the lifting block (10) in a vertical direction.

[0066] The first moving block (20) can be installed so as to be able to slide relative to the first inclined surface (12) of the lifting groove (11). The first moving block (20) can include a first moving inclined surface (21) corresponding to the first inclined surface (12) of the lifting groove (11).

[0067] The first moving block (20) may be formed in an approximately rectangular shape. The first moving block (20) may be formed to have a length corresponding to the lifting block (10).

[0068] When the first inclined surface (12) of the lifting block (10) is formed to include a first left inclined surface (121) and a first right inclined surface (122), the first moving inclined surface (21) of the first moving block (20) may include a first left moving inclined surface (211) and a first right moving inclined surface (212). The first left moving inclined surface (211) may correspond to the first left inclined surface (121), and the first right moving inclined surface (212) may correspond to the first right inclined surface (122).

[0069] Accordingly, the first left moving slope (211) of the first moving block (20) can slide along the first left moving slope (121) of the lifting block (10), and the first right moving slope (212) of the first moving block (20) can slide along the first right moving slope (122) of the lifting block (10).

[0070] The second moving block (30) can be installed so as to be able to slide relative to the second inclined surface (13) of the lifting groove (11). The second moving block (30) can include a second moving inclined surface (31) corresponding to the second inclined surface (13) of the lifting groove (11).

[0071] The second moving block (30) may be formed in an approximately rectangular shape. The second moving block (30) may be formed to have a length corresponding to that of the lifting block (10). The second moving block (30) may be formed to have the same length as the first moving block (20). The second moving block (30) may be formed to have the same shape as the first moving block (20).

[0072] When the second inclined surface (13) of the lifting block (10) is formed to include a second left inclined surface (131) and a second right inclined surface (132), the second moving inclined surface (31) of the second moving block (30) may include a second left moving inclined surface (311) and a second right moving inclined surface (312). The second left moving inclined surface (311) may correspond to the second left inclined surface (131), and the second right moving inclined surface (312) may correspond to the second right inclined surface (132).

[0073] Accordingly, the second left moving slope (311) of the second moving block (30) can slide along the second left moving slope (131) of the lifting block (10), and the second right moving slope (312) of the second moving block (30) can slide along the second right moving slope (132) of the lifting block (10).

[0074] A first slope guide (61) and a second slope guide (62) may be installed between the first slope (12) of the elevator home (11) and the first moving slope (21) of the first moving block (20). The first slope guide (61) and the second slope guide (62) may be installed in parallel and spaced apart from each other by a certain distance.

[0075] For example, when the first inclined surface (12) of the lifting groove (11) includes a first left inclined surface (121) and a first right inclined surface (122), the first inclined guide (61) may be installed between the first left inclined surface (121) of the lifting groove (11) and the first left moving inclined surface (211) of the first moving block (20), and the second inclined guide (62) may be installed between the first right inclined surface (122) of the lifting groove (11) and the first right moving inclined surface (212) of the first moving block (20).

[0076] A third slope guide (63) and a fourth slope guide (64) can be installed between the second slope (13) of the elevator home (11) and the second moving slope (31) of the second moving block (30). The third slope guide (63) and the fourth slope guide (64) can be installed in parallel and spaced apart from each other by a certain distance.

[0077] For example, when the second inclined surface (13) of the lifting groove (11) includes a second left inclined surface (131) and a second right inclined surface (132), the third inclined guide (63) may be installed between the second left inclined surface (131) of the lifting groove (11) and the second left moving inclined surface (311) of the second moving block (30), and the fourth inclined guide (64) may be installed between the second right inclined surface (132) of the lifting groove (11) and the second right moving inclined surface (312) of the second moving block (30).

[0078] The first, second, third, and fourth inclined guides (61, 62, 63, 64) may each include a guide block and a guide rail. The guide rail may be installed on the first inclined surface (12) and the second inclined surface (13) of the lifting groove (11), and the guide block may be installed on the first moving inclined surface (21) of the first moving block (20) and the second moving inclined surface (31) of the second moving block (30).

[0079] For example, the first slope guide (61) may include a first slope guide rail (611) and a first slope guide block (612), and the second slope guide (62) may include a second slope guide rail (621) and a second slope guide block (622).

[0080] The first inclined guide rail (611) may be installed on the first left inclined surface (121) of the lifting block (10), and the second inclined guide rail (621) may be installed on the first right inclined surface (122) of the lifting block (10). The first inclined guide rail (611) and the second inclined guide rail (621) are spaced apart from each other by a certain distance and are installed parallel to each other on the first inclined surface (12) of the lifting groove (11) of the lifting block (10).

[0081] The first slope guide block (612) may be installed on the first left movement slope (211) of the first moving block (20), and the second slope guide block (622) may be installed on the first right movement slope (212) of the first moving block (20). The first slope guide block (612) and the second slope guide block (622) are spaced apart from each other by a certain distance and installed parallel to each other on the first movement slope (21) of the first moving block (20).

[0082] The first slope guide block (612) is installed so as to be able to slide along the first slope guide rail (611), and the second slope guide block (622) is installed so as to be able to slide along the second slope guide rail (621). Accordingly, the first moving block (20) can move in a straight line along the first slope guide rail (611) and the second slope guide rail (621) installed on the first slope surface (12) of the lifting block (10) by the first slope guide block (612) and the second slope guide block (622).

[0083] The third slope guide (63) may include a third slope guide rail (631) and a third slope guide block (632), and the fourth slope guide (64) may include a fourth slope guide rail (641) and a fourth slope guide block (642).

[0084] The third slope guide rail (631) may be installed on the second left slope (131) of the lifting block (10), and the fourth slope guide rail (641) may be installed on the second right slope (132) of the lifting block (10). The third slope guide rail (631) and the fourth slope guide rail (641) are spaced apart from each other by a certain distance and installed parallel to each other on the second slope (13) of the lifting groove (11) of the lifting block (10).

[0085] The third slope guide block (632) may be installed on the second left movement slope (311) of the second movement block (30), and the fourth slope guide block (642) may be installed on the second right movement slope (312) of the second movement block (30). The third slope guide block (632) and the fourth slope guide block (642) are spaced apart from each other by a certain distance and installed parallel to each other on the second movement slope (31) of the second movement block (30).

[0086] The third slope guide block (632) is installed so as to be able to slide along the third slope guide rail (631), and the fourth slope guide block (642) is installed so as to be able to slide along the fourth slope guide rail (641). Accordingly, the second moving block (30) can move in a straight line along the third slope guide rail (631) and the fourth slope guide rail (641) installed on the second slope surface (13) of the lifting block (10) by the third slope guide block (632) and the fourth slope guide block (642).

[0087] Accordingly, the lifting block (10) can slide linearly up and down relative to the first moving block (20) and the second moving block (30) by the first, second, third, and fourth inclined guides (61, 62, 63, 64).

[0088] The first moving block (20) and the second moving block (30) can be installed on the upper surface of the base plate (40). The first moving block (20) and the second moving block (30) can be installed to slide relative to the upper surface of the base plate (40). The first moving block (20) and the second moving block (30) can move in a straight line.

[0089] The base plate (40) is installed under the first moving block (20) and the second moving block (30), and can support the first moving block (20) and the second moving block (30) to move in a straight line.

[0090] The driving device (50) may be configured to move the first moving block (20) and the second moving block (30). The driving device (50) may be configured to simultaneously move the first moving block (20) and the second moving block (30) in opposite directions. The driving device (50) is configured to move the first moving block (20) and the second moving block (30) the same distance in opposite directions. The first moving block (20) and the second moving block (30) may be moved in opposite directions in a straight line by the driving device (50).

[0091] When the first moving block (20) and the second moving block (30) move away from each other by the driving device (50), the lifting block (10) can rise, and when the first moving block (20) and the second moving block (30) move closer to each other by the driving device (50), the lifting block (10) can descend.

[0092] The base plate (40) can be formed to support the first moving block (20), the second moving block (30), and the driving device (50).

[0093] A pair of base guides (41) may be installed between the base plate (40) and the first and second moving blocks (20 and 30). The pair of base guides (41) may support the first moving block (20) and the second moving block (30) to slide relative to the base plate (40). The pair of base guides (41) may be installed parallel to the upper surface of the base plate (40) and may be spaced apart from each other by a certain distance.

[0094] A pair of base guides (41) may each include a guide rail (411) and two guide blocks (412, 413).

[0095] A pair of guide rails (411) are installed on the upper surface of the base plate (40). The pair of guide rails (411) are spaced apart from each other by a certain distance and installed parallel to each other.

[0096] A pair of guide blocks (412, 413) can be installed on the lower surface of the first moving block (20) or the second moving block (30).

[0097] For example, a pair of first guide blocks (412) may be installed on the lower surface of the first moving block (20). The pair of first guide blocks (412) are installed spaced apart from each other by the same distance as the pair of guide rails (411). The pair of first guide blocks (412) may be installed below the first left inclined surface (121) and the first right inclined surface (122) of the first moving block (20).

[0098] A pair of first guide blocks (412) are installed so as to be able to slide along a pair of guide rails (411). Accordingly, the first moving block (20) can move in a straight line along a pair of guide rails (411) installed on the base plate (40) by the pair of first guide blocks (412).

[0099] A pair of second guide blocks (413) can be installed on the lower surface of the second moving block (30). The pair of second guide blocks (413) are installed spaced apart from each other by the same distance as the pair of guide rails (411). The pair of second guide blocks (413) can be installed below the second left inclined surface (131) and the second right inclined surface (132) of the second moving block (30).

[0100] A pair of second guide blocks (413) are installed so as to be able to slide along a pair of guide rails (411). Accordingly, the second moving block (30) can move in a straight line along a pair of guide rails (411) installed on the base plate (40) by the pair of second guide blocks (413).

[0101] A first guide block (412) and a second guide block (413) are installed on one guide rail (411) so as to be able to slide.

[0102] The first moving block (20) and the second moving block (30) can slide relative to the upper surface of the base plate (40) by a pair of base guides (41).

[0103] The driving device (50) may include a bi-directional lead screw (70) and a motor (51).

[0104] The bidirectional lead screw (70) is formed so that the first moving block (20) and the second moving block (30) can move the same distance in opposite directions. The first moving block (20) and the second moving block (30) can move in opposite directions in a straight line by the bidirectional lead screw (70).

[0105] A bidirectional lead screw (70) can be installed on a base plate (40). The bidirectional lead screw (70) is installed so as to be supported at both ends on the upper surface of the base plate (40). For example, both ends of the bidirectional lead screw (70) can be rotatably supported by a pair of bearings (75). That is, both ends of the bidirectional lead screw (70) can be installed so as to be supported by a pair of bearing blocks (74) installed on the upper surface of the base plate (40). A bearing (75) is installed on each of the pair of bearing blocks (74).

[0106] A bidirectional lead screw (70) is coupled to the first moving block (20) and the second moving block (30), and is formed so that the first moving block (20) and the second moving block (30) can be moved simultaneously in opposite directions a certain distance.

[0107] A bidirectional lead screw (70) includes a first male thread portion (71), a second male thread portion (72), and a central portion (73). The first male thread portion (71) and the second male thread portion (72) may be formed on both sides of the central portion (73). The first male thread portion (71) and the second male thread portion (72) are formed in opposite spiral directions. For example, when the first male thread portion (71) is formed as a right-hand thread, the second male thread portion (72) may be formed as a left-hand thread.

[0108] The first moving block (20) is screw-connected to the first male screw portion (71) of the bidirectional lead screw (70), and the second moving block (30) is screw-connected to the second male screw portion (72). Therefore, when the bidirectional lead screw (70) rotates, the first moving block (20) and the second moving block (30) can move linearly in opposite directions.

[0109] The first moving block (20) may include a first nut (24) that is screw-connected with a first male screw portion (71) of a bidirectional lead screw (70). The first nut (24) may be fixed to a nut hole (23) formed to penetrate the first moving block (20) in the width direction. When the bidirectional lead screw (70) rotates, the first nut (24) connected to the first male screw portion (71) may move linearly along the bidirectional lead screw (70). When the first nut (24) moves, the first moving block (20) moves linearly along the bidirectional lead screw (70).

[0110] The second moving block (30) may include a second nut (34) that is screw-connected with the second male screw portion (72) of the bidirectional lead screw (70). The second nut (34) may be fixed to a nut hole (33) formed to penetrate the second moving block (30) in the width direction. When the bidirectional lead screw (70) rotates, the second nut (34) connected to the second male screw portion (72) may move linearly along the bidirectional lead screw (70). When the second nut (34) moves, the second moving block (30) moves linearly along the bidirectional lead screw (70).

[0111] Since the first male screw portion (71) and the second male screw portion (72) are formed in opposite spiral directions, when the bidirectional lead screw (70) rotates, the first nut (24) and the second nut (34) move in opposite directions. Accordingly, the first moving block (20) and the second moving block (30) also move in opposite directions.

[0112] The motor (51) is formed to be able to rotate a bidirectional lead screw (70). The motor (51) may include a motor shaft (52) that rotates bidirectionally. When power is applied to the motor (51), the motor shaft (52) can rotate.

[0113] The motor (51) may include a brake (53). The brake (53) may be configured to block rotation of the motor shaft (52) when power applied to the motor (51) is turned off. That is, the brake (53) may be configured to not operate when power is applied to the motor (51), and to operate when power is not applied to the motor (51). When the brake (53) operates, the motor shaft (52) cannot rotate, and when the brake (53) does not operate, the motor shaft (52) can rotate.

[0114] The driving device (50) may include a power transmission device (80).

[0115] A power transmission device (80) may be installed between a motor (51) and a bidirectional lead screw (70). The power transmission device (80) is configured to transmit the rotational power of the motor (51) to the bidirectional lead screw (70). The power transmission device (80) is configured to reduce the rotational speed of the motor (51) transmitted to the bidirectional lead screw (70) and increase the driving power. That is, the power transmission device (80) may be configured as a reducer.

[0116] One end of the bidirectional lead screw (70) and the motor shaft (52) of the motor (51) can be connected by a power transmission device (80).

[0117] In the present embodiment, the power transmission device (80) includes a driving pulley (81), a driven pulley (82), and a belt (83). The driving pulley (81) is installed on the motor (51), and the driven pulley (82) is installed on the bidirectional lead screw (70). The belt (83) connects the driving pulley (81) and the driven pulley (82) so that the rotation of the driving pulley (81) is transmitted to the driven pulley (82).

[0118] For example, the driving pulley (81) is installed on the motor shaft (52) and can rotate integrally with the motor shaft (52). The driven pulley (82) is installed on one end of the bidirectional lead screw (70) and can rotate integrally with the bidirectional lead screw (70). The belt (83) is installed to connect the driving pulley (81) and the driven pulley (82). Therefore, when the driving pulley (81) rotates, the driven pulley (82) rotates.

[0119] The pitch circle diameter of the driven pulley (82) is formed to be larger than the pitch circle diameter of the driving pulley (81). Therefore, the rotational speed of the motor shaft (52) can be reduced and transmitted to the bidirectional lead screw (70).

[0120] In the present embodiment, a belt power transmission device (80) is used as the power transmission device. However, the power transmission device (80) applicable to the present disclosure is not limited to this. Various types of power transmission devices may be used as the power transmission device (80). For example, a gear power transmission device may be used as the power transmission device (80).

[0121] The driving device (50) may include a guide shaft (90).

[0122] The guide shaft (90) can be installed on the base plate (40). The guide shaft (90) can be installed on the upper surface of the base plate (40) in parallel with the bidirectional lead screw (70). The guide shaft (90) is installed so as to be supported at both ends on the upper surface of the base plate (40). For example, both ends of the guide shaft (90) can be fixed by a pair of support brackets (91).

[0123] The guide shaft (90) is formed to guide the linear movement of the first moving block (20) and the second moving block (30). The first moving block (20) and the second moving block (30) can be installed to slide along the guide shaft (90).

[0124] The first moving block (20) may include a pair of first guide bushes (27). The pair of first guide bushes (27) may be installed in bush holes (26) formed in the first moving block (20). The bush holes (26) may be formed to penetrate the first moving block (20). The bush holes (26) may be formed at a certain distance from the nut holes (23).

[0125] A pair of first guide bushes (27) can be installed at both ends of the bush holes (26) of the first moving block (20). The pair of first guide bushes (27) are formed so as to be able to slide along a guide shaft (90). Accordingly, the first moving block (20) can slide along a guide shaft (90) installed on the base plate (40) by the pair of first guide bushes (27).

[0126] The second moving block (30) may include a pair of second guide bushes (37). The pair of second guide bushes (37) may be installed in bush holes (36) formed in the second moving block (30). The bush holes (36) may be formed to penetrate the second moving block (30). The bush holes (36) may be formed at a certain distance from the nut holes (33).

[0127] A pair of second guide bushes (37) can be installed at both ends of the bush holes (36) of the second moving block (30). The pair of second guide bushes (37) are formed to be able to slide along the guide shaft (90). Accordingly, the second moving block (30) can slide along the guide shaft (90) installed on the base plate (40) by the pair of second guide bushes (37).

[0128] Therefore, the first moving block (20) and the second moving block (30) can move in a straight line along the guide shaft (90).

[0129] Hereinafter, the operation of a lift (1) according to one or more embodiments of the present disclosure will be described with reference to FIGS. 7 to 9.

[0130] Fig. 7 is a front view showing a state in which the lifting block (10) of a lift (1) according to one or more embodiments of the present disclosure is positioned at the lowest point. Fig. 8 is a front view showing a state in which the lifting block (10) of a lift (1) according to one or more embodiments of the present disclosure is positioned at the highest point. Fig. 9 is a perspective view showing a state in which the lifting block (10) of a lift (1) according to one or more embodiments of the present disclosure is positioned at the highest point.

[0131] Referring to FIGS. 1 and 7, the lifting block (10) of the lift (1) is positioned at the lowest point. In other words, the height (H1) from the upper surface of the base plate (40) to the upper surface (10a) of the lifting block (10) is the lowest. At this time, the first moving block (20) and the second moving block (30) are positioned adjacent to the center line (CL) of the lifting groove (11). In other words, the first moving block (20) and the second moving block (30) are positioned adjacent to the upper end of the lifting groove (11).

[0132] Specifically, the first slope guide block (612) installed on one side of the first moving slope (21) of the first moving block (20) is positioned adjacent to the upper end of the first slope guide rail (611) installed on one side of the first slope (12) of the elevating block (10). In addition, the second slope guide block (622) installed on the other side of the first moving slope (21) of the first moving block (20) is positioned adjacent to the upper end of the second slope guide rail (621) installed on the other side of the first slope (12) of the elevating block (10).

[0133] The third slope guide block (632) installed on one side of the second moving slope (31) of the second moving block (30) is positioned adjacent to the upper end of the third slope guide rail (631) installed on one side of the second slope (13) of the elevating block (10). In addition, the fourth slope guide block (642) installed on the other side of the second moving slope (31) of the second moving block (30) is positioned adjacent to the upper end of the fourth slope guide rail (641) installed on the other side of the second slope (13) of the elevating block (10).

[0134] A pair of first guide blocks (412) installed on the lower surface of the first moving block (20) and a pair of second guide blocks (413) installed on the lower surface of the second moving block (30) are positioned adjacent to the center of a pair of guide rails (411) installed on the base plate (40).

[0135] That is, when the first moving block (20) and the second moving block (30) are positioned adjacent to the center line (CL) of the lifting home (11), the first guide block (412) installed in the first moving block (20) and the second guide block (413) installed in the second moving block (30) are positioned closest to each other.

[0136] In this state, when power is applied to the motor (51), the motor shaft (52) rotates in one direction. When the motor shaft (52) rotates, the drive pulley (81) rotates integrally. The rotation of the motor shaft (52) is transmitted to the bidirectional lead screw (70) by the drive pulley (81), the belt (83), and the driven pulley (82), causing the bidirectional lead screw (70) to rotate in one direction.

[0137] When the bidirectional lead screw (70) rotates in one direction, the first nut (24) and the second nut (34) coupled to the first screw portion (71) and the second screw portion (72) of the bidirectional lead screw (70) move in opposite directions along the first screw portion (71) and the second screw portion (72) of the bidirectional lead screw (70). When the first nut (24) and the second nut (34) move in opposite directions, the first moving block (20) and the second moving block (30) move in opposite directions.

[0138] For example, in Fig. 7, when the first moving block (20) moves to the left (arrow A1), the second moving block (30) moves to the right (arrow A2) and moves away from the first moving block (20). At this time, the movements of the first moving block (20) and the second moving block (30) can be guided by a pair of base guides (41) installed on the base plate (40).

[0139] For example, the first moving block (20) can move to the left (arrow A1) along a pair of guide rails (411) installed on the base plate (40) by a pair of first guide blocks (412) installed on the lower surface. The second moving block (30) can move to the right (arrow A2) along a pair of guide rails (411) installed on the base plate (40) by a pair of second guide blocks (413) installed on the lower surface.

[0140] When the first moving block (20) and the second moving block (30) move away from each other, the lifting block (10) installed on the upper side of the first moving block (20) and the second moving block (30) rises. That is, when the first moving block (20) and the second moving block (30) move away from each other, the lifting block (10) moves vertically upward with respect to the first moving block (20) and the second moving block (30).

[0141] The state in which the lifting block (10) is raised to its maximum, that is, the state in which the lifting block (10) is located at the highest height (H2), is illustrated in FIGS. 8 and 9.

[0142] Referring to FIGS. 8 and 9, the lifting block (10) of the lift (1) is positioned at the highest point. In other words, the height (H2) from the upper surface of the base plate (40) to the upper surface (10a) of the lifting block (10) is the highest. At this time, the first moving block (20) and the second moving block (30) are positioned adjacent to both sides (10b, 10c) of the lifting block (10). In other words, the first moving block (20) and the second moving block (30) are positioned adjacent to the lower end of the lifting groove (11).

[0143] Specifically, the first slope guide block (612) installed on one side of the first moving slope (21) of the first moving block (20) is positioned adjacent to the lower end of the first slope guide rail (611) installed on one side of the first slope (12) of the elevating block (10). In addition, the second slope guide block (622) installed on the other side of the first moving slope (21) of the first moving block (20) is positioned adjacent to the lower end of the second slope guide rail (621) installed on the other side of the first slope (12) of the elevating block (10).

[0144] The third slope guide block (632) installed on one side of the second moving slope (31) of the second moving block (30) is positioned adjacent to the lower end of the third slope guide rail (631) installed on one side of the second slope (13) of the elevating block (10). In addition, the fourth slope guide block (642) installed on the other side of the second moving slope (31) of the second moving block (30) is positioned adjacent to the lower end of the fourth slope guide rail (641) installed on the other side of the second slope (13) of the elevating block (10).

[0145] A pair of first guide blocks (412) installed on the lower surface of the first moving block (20) and a pair of second guide blocks (413) installed on the lower surface of the second moving block (30) are positioned adjacent to both ends of a pair of guide rails (411) installed on the base plate (40).

[0146] That is, when the first moving block (20) and the second moving block (30) are positioned adjacent to both sides (10b, 10c) of the lifting block (10), the pair of first guide blocks (412) installed on the first moving block (20) and the pair of second guide blocks (413) installed on the second moving block (30) are positioned furthest from each other. That is, the pair of first guide blocks (412) are positioned adjacent to one end of the pair of guide rails (411), and the pair of second guide blocks (413) are positioned adjacent to the other end of the pair of guide rails (411). Accordingly, the first moving block (20) is positioned adjacent to one end of the pair of guide rails (411), and the second moving block (30) is positioned adjacent to the other end of the pair of guide rails (411).

[0147] In this state, when the motor shaft (52) is rotated in the opposite direction, the bidirectional lead screw (70) is rotated in the opposite direction by the power transmission device (80).

[0148] When the bidirectional lead screw (70) rotates in the opposite direction, the first nut (24) and the second nut (34) coupled to the first screw portion (71) and the second screw portion (72) of the bidirectional lead screw (70) move in opposite directions along the first screw portion (71) and the second screw portion (72) of the bidirectional lead screw (70). When the first nut (24) and the second nut (34) move in opposite directions, the first moving block (20) and the second moving block (30) move in opposite directions.

[0149] For example, in Fig. 8, when the first moving block (20) moves to the right (arrow A3), the second moving block (30) moves to the left (arrow A4) and becomes closer to the first moving block (20). At this time, the movements of the first moving block (20) and the second moving block (30) can be guided by a pair of base guides (41) installed on the base plate (40).

[0150] When the first moving block (20) and the second moving block (30) come closer to each other, the lifting block (10) installed on the upper side of the first moving block (20) and the second moving block (30) is lowered. That is, when the first moving block (20) and the second moving block (30) move in a direction that brings them closer to each other, the lifting block (10) moves downward in a vertical direction with respect to the first moving block (20) and the second moving block (30).

[0151] In the above, the case where the driving device (50) includes one guide shaft (90) has been described, but the present disclosure is not limited thereto.

[0152] The drive device (50) of the lift (1) according to one or more embodiments of the present disclosure may not include a guide shaft (90). Such a drive device (50) is illustrated in FIG. 10.

[0153] FIG. 10 is a perspective view showing a state in which an elevator block (10) is removed from a lift (1) according to one or more embodiments of the present disclosure.

[0154] Referring to FIG. 10, the driving device (50) may include a bidirectional lead screw (70), a motor (51), and a power transmission device (80).

[0155] A bidirectional lead screw (70) can be installed on a base plate (40). The bidirectional lead screw (70) is installed so that both ends are supported on the upper surface of the base plate (40). For example, both ends of the bidirectional lead screw (70) can be installed so as to be supported by a pair of bearing blocks (74) installed on the upper surface of the base plate (40). A bearing is installed on each of the pair of bearing blocks (74).

[0156] A bidirectional lead screw (70) is coupled to the first moving block (20) and the second moving block (30), and is formed so that the first moving block (20) and the second moving block (30) can be moved simultaneously in opposite directions a certain distance.

[0157] The bidirectional lead screw (70) includes a first male screw portion (71), a second male screw portion (72), and a central portion (73). The first male screw portion (71) and the second male screw portion (72) can be formed on both sides of the central portion (73). The first male screw portion (71) and the second male screw portion (72) are formed in opposite spiral directions. The first moving block (20) is screw-connected to the first male screw portion (71) of the bidirectional lead screw (70), and the second moving block (30) is screw-connected to the second male screw portion (72). Therefore, when the bidirectional lead screw (70) rotates, the first moving block (20) and the second moving block (30) can move linearly in opposite directions.

[0158] The first moving block (20) may include a first nut (24) that is screw-connected with the first male screw portion (71) of the bidirectional lead screw (70). The first nut (24) may be fixed to a nut hole formed to penetrate the first moving block (20) in the width direction. The nut hole may be formed at the center of the length direction of the first moving block (20).

[0159] When the bidirectional lead screw (70) rotates, the first nut (24) coupled to the first male screw portion (71) can move linearly along the first male screw portion (71). When the first nut (24) moves, the first moving block (20) moves linearly along the bidirectional lead screw (70).

[0160] The second moving block (30) may include a second nut (34) that is screw-connected with the second male screw portion (72) of the bidirectional lead screw (70). The second nut (34) may be fixed to a nut hole formed to penetrate the second moving block (30) in the width direction. The nut hole may be formed in the center in the length direction of the second moving block (30).

[0161] When the bidirectional lead screw (70) rotates, the second nut (34) coupled to the second male screw portion (72) can move linearly along the second screw portion (72). When the second nut (34) moves, the second moving block (30) moves linearly along the bidirectional lead screw (70).

[0162] Since the first male screw portion (71) and the second male screw portion (72) are formed in opposite spiral directions, when the bidirectional lead screw (70) rotates, the first nut (24) and the second nut (34) move in opposite directions. Accordingly, the first moving block (20) and the second moving block (30) also move in opposite directions.

[0163] The motor (51) is formed so as to be able to rotate the bidirectional lead screw (70). The power transmission device (80) is formed so as to be able to transmit the rotational power of the motor (51) to the bidirectional lead screw (70). Since the motor (51) and the power transmission device (80) are the same or similar to those in the above-described embodiment, a detailed description thereof will be omitted.

[0164] A pair of base guides (41) may be installed on the lower side of the first moving block (20) and the second moving block (30). Since the pair of base guides (41) are the same as or similar to the above-described embodiment, a detailed description thereof is omitted.

[0165] An elevation block (10) may be installed on the upper side of the first moving block (20) and the second moving block (30). The elevation block (10) may be formed in the same or similar manner as the above-described embodiment, and thus a detailed description thereof will be omitted.

[0166] The drive device (50) of the lift (1) according to one or more embodiments of the present disclosure may include two guide shafts. Such a drive device (50) is illustrated in FIG. 11.

[0167] FIG. 11 is a perspective view showing a state in which an elevator block (10) is removed from a lift (1) according to one or more embodiments of the present disclosure.

[0168] Referring to FIG. 11, the driving device (50) may include a bidirectional lead screw (70), a motor (51), a power transmission device (80), a first guide shaft (90), and a second guide shaft (90').

[0169] A bidirectional lead screw (70) can be installed on a base plate (40). The bidirectional lead screw (70) is installed so that both ends are supported on the upper surface of the base plate (40). For example, both ends of the bidirectional lead screw (70) can be installed so as to be supported by a pair of bearing blocks (74) installed on the upper surface of the base plate (40). A bearing is installed on each of the pair of bearing blocks (74).

[0170] A bidirectional lead screw (70) is coupled to the first moving block (20) and the second moving block (30), and is formed so that the first moving block (20) and the second moving block (30) can be moved simultaneously in opposite directions a certain distance.

[0171] The bidirectional lead screw (70) includes a first male screw portion (71), a second male screw portion (72), and a central portion (73). The first male screw portion (71) and the second male screw portion (72) are formed in opposite spiral directions. The first moving block (20) is screw-connected to the first male screw portion (71) of the bidirectional lead screw (70), and the second moving block (30) is screw-connected to the second male screw portion (72). Therefore, when the bidirectional lead screw (70) rotates, the first moving block (20) and the second moving block (30) can move linearly in opposite directions.

[0172] The first moving block (20) may include a first nut (24) that is screw-connected with the first male screw portion (71) of the bidirectional lead screw (70). The first nut (24) may be fixed to a nut hole formed to penetrate the first moving block (20) in the width direction. The nut hole may be formed at the center in the length direction of the first moving block (20).

[0173] When the bidirectional lead screw (70) rotates, the first nut (24) coupled to the first male screw portion (71) can move linearly along the first male screw portion (71). When the first nut (24) moves, the first moving block (20) moves linearly along the bidirectional lead screw (70).

[0174] The second moving block (30) may include a second nut (34) that is screw-connected with the second male screw portion (72) of the bidirectional lead screw (70). The second nut (34) may be fixed to a nut hole formed to penetrate the second moving block (30) in the width direction. The nut hole may be formed in the center in the length direction of the second moving block (30).

[0175] When the bidirectional lead screw (70) rotates, the second nut (34) coupled to the second male screw portion (72) can move linearly along the second male screw portion (72) of the bidirectional lead screw (70). When the second nut (34) moves, the second moving block (30) moves linearly along the bidirectional lead screw (70).

[0176] Since the first male screw portion (71) and the second male screw portion (72) are formed in opposite spiral directions, when the bidirectional lead screw (70) rotates, the first nut (24) and the second nut (34) move in opposite directions. Accordingly, the first moving block (20) and the second moving block (30) also move in opposite directions.

[0177] The motor (51) is formed so as to be able to rotate the bidirectional lead screw (70). The power transmission device (80) is formed so as to be able to transmit the rotational power of the motor (51) to the bidirectional lead screw (70). Since the motor (51) and the power transmission device (80) are the same or similar to those in the above-described embodiment, a detailed description thereof will be omitted.

[0178] The first guide shaft (90) and the second guide shaft (90') can be installed on the base plate (40). The first guide shaft (90) and the second guide shaft (90') can be installed symmetrically on both sides of the bidirectional lead screw (70). The first guide shaft (90) and the second guide shaft (90') can be installed on the upper surface of the base plate (40) parallel to the bidirectional lead screw (70).

[0179] The first guide shaft (90) and the second guide shaft (90') are installed so as to be supported at both ends on the upper surface of the base plate (40). For example, both ends of the first guide shaft (90) and both ends of the second guide shaft (90') can be fixed by a pair of support brackets (91, 91'), respectively.

[0180] The first guide shaft (90) and the second guide shaft (90') are formed to guide the linear movement of the first moving block (20) and the second moving block (30). The first moving block (20) and the second moving block (30) can be installed to slide along the first guide shaft (90) and the second guide shaft (90').

[0181] The first moving block (20) may include two bushing holes. The two bushing holes may be formed on both sides of the nut hole. The two bushing holes may be formed a certain distance apart from the nut hole. The two bushing holes may be formed to penetrate the first moving block (20).

[0182] The first moving block (20) may include two pairs of first guide bushes (27, 27') installed in two bush holes. A pair of first guide bushes (27, 27') may be installed at both ends of one bush hole.

[0183] The two pairs of first guide bushes (27, 27') are formed to be able to slide along the first guide shaft (90) and the second guide shaft (90'). Accordingly, the first moving block (20) can slide along the first guide shaft (90) and the second guide shaft (90') by the two pairs of first guide bushes (27, 27').

[0184] The second moving block (30) may include two bushing holes. The two bushing holes may be formed on both sides of the nut hole. The two bushing holes may be formed a certain distance apart from the nut hole. The two bushing holes may be formed to penetrate the second moving block (30).

[0185] The second moving block (30) may include two pairs of second guide bushes (37, 37') installed in two bush holes. A pair of second guide bushes (37, 37') may be installed at both ends of one bush hole.

[0186] The two pairs of second guide bushes (37, 37') are formed to be able to slide along the first guide shaft (90) and the second guide shaft (90'). Accordingly, the second moving block (30) can slide along the first guide shaft (90) and the second guide shaft (90') by the two pairs of second guide bushes (37, 37').

[0187] Therefore, when the bidirectional lead screw (70) rotates, the first moving block (20) and the second moving block (30) can move in a straight line along the first guide shaft (90) and the second guide shaft (90').

[0188] A pair of base guides (41) may be installed on the lower side of the first moving block (20) and the second moving block (30). Since the pair of base guides (41) are the same as or similar to the above-described embodiment, a detailed description thereof is omitted.

[0189] An elevation block (10) may be installed on the upper side of the first moving block (20) and the second moving block (30). Since the elevation block (10) is the same as or similar to the above-described embodiment, a detailed description thereof is omitted.

[0190] In the above, the sliding movement between the lifting block (10) and the first moving block (20) and the sliding movement between the lifting block (10) and the second moving block (30) are illustrated and described as being performed by guides. However, the lift (1) according to one or more embodiments of the present disclosure is not limited to the guide in performing the sliding movement between the lifting block (10) and the moving blocks (20, 30), and various sliding methods may be applied.

[0191] For example, sliding movement between the lifting block (10) and the first moving block (20) and sliding movement between the lifting block (10) and the second moving block (30) can be performed by a sliding plate. Such a lift (1) is illustrated in Fig. 12.

[0192] FIG. 12 is a front view showing a lift (1) according to one or more embodiments of the present disclosure.

[0193] Referring to FIG. 12, a lift (1) according to one or more embodiments of the present disclosure may include a lifting block (10), a first moving block (20), a second moving block (30), a base plate (40), and a driving device (50).

[0194] The lifting block (10) according to the present embodiment includes a first inclined surface (12) and a second inclined surface (13) formed in an lifting groove (11). A first slide plate (601) is installed on the first inclined surface (12), and a second slide plate (602) is installed on the second inclined surface (13).

[0195] A first moving slide plate (603) is installed on the first moving slope (21) of the first moving block (20). The first moving slide plate (603) of the first moving block (20) is formed to be able to slide relative to the first slide plate (601) of the first inclined surface (12) of the lifting block (10).

[0196] A second moving slide plate (604) is installed on the second moving slope (31) of the second moving block (30). The second moving slide plate (604) of the second moving block (30) is formed to be able to slide relative to the second slide plate (602) of the second slope (13) of the lifting block (10).

[0197] The first slide plate (601), the second slide plate (602), the first movable slide plate (603), and the second movable slide plate (604) may be formed of a material with low friction. For example, the first slide plate (601), the second slide plate (602), the first movable slide plate (603), and the second movable slide plate (604) may be formed of Teflon.

[0198] The first slide plate (601), the second slide plate (602), the first moving slide plate (603), and the second moving slide plate (604) can be formed in a thin flat plate shape.

[0199] The other structures of the lifting block (10), the first moving block (20), and the second moving block (30) are the same or similar to those of the above-described embodiment, so a detailed description is omitted.

[0200] Since the base plate (40) and the driving device (50) are the same or similar to the above-described embodiment, a detailed description is omitted.

[0201] As another example, the first slide plate (601) and the first movable slide plate (603) may be formed as a slide rail structure. In addition, the second slide plate (602) and the second movable slide plate (604) may be formed as a slide rail structure.

[0202] As another example, the first inclined surface (12) and the second inclined surface (13) of the lifting block (10), the first moving inclined surface (21) of the first moving block (20), and the second moving inclined surface (31) of the second moving block (30) can be surface-treated to enable sliding movement.

[0203] In addition, a lubricating material, non-lubricating tape, grease, paint, etc. can be applied to minimize friction between the first inclined surface (12) of the lifting block (10) and the first moving inclined surface (21) of the first moving block (20) and between the second inclined surface (13) of the lifting block (10) and the second moving inclined surface (31) of the second moving block (30).

[0204] A lift (1) according to one or more embodiments of the present disclosure having a structure as described above can stably support the lifting block (10) by having the first moving block (20) and the second moving block (30) spaced the farthest horizontally from the bottom of the lifting block (10) when the lifting block (10) is at its highest height, thereby minimizing shaking of the lifting block (10). Accordingly, a lift (1) according to one or more embodiments of the present disclosure can minimize shaking of the lifting block (10) and the load when the lifting block (10) is raised.

[0205] In addition, since the lift (1) according to one or more embodiments of the present disclosure uses a bidirectional lead screw (70) to raise and lower the lifting block (10), the lifting block (10) can be prevented from lowering by its own weight even when the power is turned off.

[0206] A lift (1) according to one or more embodiments of the present disclosure having the above-described structure can be installed on a mobile robot (100).

[0207] FIG. 13 is a perspective view showing a mobile robot (100) equipped with a lift (1) according to one or more embodiments of the present disclosure. FIG. 14 is a front view showing a state in which the lift plate of the mobile robot (100) equipped with a lift (1) according to one or more embodiments of the present disclosure is positioned at the lowest point. FIG. 15 is a front view showing a state in which the lift plate of the mobile robot (100) equipped with a lift (1) according to one or more embodiments of the present disclosure is positioned at the highest point. FIG. 16 is a block diagram of a mobile robot (100) equipped with a lift (1) according to one or more embodiments of the present disclosure.

[0208] Referring to FIGS. 13 to 16, a mobile robot (100) according to one or more embodiments of the present disclosure may include a main body (110) and a lift (1).

[0209] The lift (1) is installed on the upper surface of the main body (110). When the base plate (40) is fixed to the upper surface of the main body (110), the lift (1) can be installed on the main body (110).

[0210] The lift (1) may include a height sensor (5) that can recognize when the lifting block (10) is at the highest point and when the lifting block (10) is at the lowest point.

[0211] A lifting plate (101) may be installed on the upper surface of the lift (1), i.e., the upper surface (10a) of the lifting block (10). The lifting plate (101) may be formed in a size and shape corresponding to the upper surface of the main body (110). For example, the lifting plate (101) may be formed as a roughly rectangular flat plate. The lifting plate (101) may be installed on the upper surface of the lifting block (10) using a plurality of bolts.

[0212] The main body (110) is formed so as to be able to move the lift (1) to a designated location. In other words, the lift (1) can be moved to a designated location by autonomous driving by the main body (110).

[0213] The main body (110) may include a moving device (111), a position recognition sensor (112), a communication unit (113), and a processor (119).

[0214] The moving device (111) may be formed to be able to move the mobile robot (100) on the driving surface. For example, the moving device (111) may include a pair of driving wheels (1111) and a plurality of auxiliary wheels (1112). The pair of driving wheels (1111) and the plurality of auxiliary wheels (1112) may be installed on the lower surface of the main body (110). The pair of driving wheels (1111) may be rotatably installed on the left and right sides of the lower surface of the main body (110). The plurality of auxiliary wheels (1112) may be installed on the front and rear of the pair of driving wheels (1111).

[0215] However, the structure of the moving device (111) is not limited to a plurality of wheels. Moving devices of various structures can be used as long as they can move the mobile robot (100).

[0216] The position recognition sensor (112) is formed so that the mobile robot (100) can recognize its own position. The mobile robot (100) can recognize its own position using the position recognition sensor (112). For example, a sensor capable of recognizing the current position of the mobile robot (100), such as an image sensor or a lidar sensor, can be used as the position recognition sensor (112).

[0217] The communication unit (113) may be configured to wirelessly communicate with external devices such as servers, mobile devices, etc. For example, the communication unit (113) may receive information about the location and height of the destination from the external device.

[0218] The communication unit (113) can be wirelessly connected to an external device through various mobile communication methods such as Bluetooth, WiFi, 4G, and 5G.

[0219] The processor (119) is configured to control the mobile robot (100). For example, the processor (119) may be configured to control the mobile device (111), the position recognition sensor (112), the lift (1), and the communication unit (113).

[0220] The processor (119) can control the moving device (111) to move the mobile robot (100). The processor (119) can recognize the current location of the mobile robot (100) using the position recognition sensor (112). The processor (119) can move the mobile robot (100) to the destination using the position recognition sensor (112) and the moving device (111).

[0221] The processor (119) can control the motor (51) of the lift (1) to adjust the height of the lifting plate (101). The processor (119) can recognize whether the lifting block (10) is located at the highest or lowest point through the height sensor (5).

[0222] For example, when the mobile robot (100) is moving, the processor (119) can control the lift (1) so that the elevator plate (101) is at the lowest height. That is, as shown in FIG. 14, the processor (119) can control the motor (51) of the lift (1) so that the elevator block (10) is positioned at the lowest point.

[0223] When the mobile robot (100) arrives at the destination, the processor (119) can control the lift (1) so that the height of the elevator plate (101) matches the height of the destination. For example, as illustrated in FIG. 15, the processor (119) can control the motor (51) of the lift (1) so that the elevator block (10) is positioned at the highest point.

[0224] The processor (119) may be a central processing unit (CPU), an application processor (APU), a graphics processing unit (GPU), a neural network processing unit (NPU), an image signal processor (ISP), a sensor hub processor, a communication processor (CP), or a hardware accelerator configured to perform functions and operations described by software or software modules stored in at least one built-in memory or an external memory device.

[0225] Memory can store various data used by the processor. This data may include input or output data for software and related instructions. Memory may include volatile or nonvolatile memory. Alternatively, memory may include both volatile and nonvolatile memory.

[0226] While the present disclosure has been illustrated and described above with reference to various embodiments, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the scope of the present disclosure as defined by the appended claims and their equivalents.

Claims

1. Elevating block; An elevator groove formed on the lower surface of the elevator block and including a first inclined surface and a second inclined surface that are inclined with respect to the lower surface of the elevator block and are symmetrical to each other; A first moving block that is installed so as to be able to slide relative to the first inclined surface of the above-mentioned elevator home and includes a first moving inclined surface corresponding to the first inclined surface; A second moving block that is installed so as to be able to slide on the second inclined surface of the above-mentioned elevator home and includes a second moving inclined surface corresponding to the second inclined surface; A driving device that moves the first moving block and the second moving block simultaneously to move them away from each other or closer to each other; and A base plate is installed below the first moving block and the second moving block and supports the first moving block and the second moving block to move in a straight line; A lift in which, when the driving device moves the first moving block and the second moving block away from each other, the lifting block rises, and when the driving device moves the first moving block and the second moving block closer to each other, the lifting block descends.

2. In paragraph 1, A lift in which the cross section of the above-mentioned elevator home is formed as an equilateral trapezoid or an isosceles triangle.

3. In paragraph 1, The above driving device, A bidirectional lead screw coupled with the first moving block and the second moving block; a motor for rotating the above bidirectional lead screw; and A lift, comprising a power transmission device installed between the motor and the bidirectional lead screw.

4. In paragraph 3, The above driving device, A lift further comprising a guide shaft installed parallel to the bidirectional lead screw between the first moving block and the second moving block.

5. In paragraph 3, The above driving device, A first guide shaft installed parallel to the bidirectional lead screw between the first moving block and the second moving block on one side of the bidirectional lead screw; and A lift further comprising a second guide shaft installed parallel to the bidirectional lead screw between the first moving block and the second moving block on the other side of the bidirectional lead screw.

6. In paragraph 3, The above motor includes a brake, a lift.

7. In paragraph 1, A lift further comprising a pair of base guides, one of the pair of base guides being positioned between the base plate and the first moving block, and the other of the pair of base guides being positioned between the base plate and the second moving block.

8. In paragraph 7, The above pair of base guides are each A guide block installed on the lower surface of the first moving block or the lower surface of the second moving block; and A lift, comprising: the guide rail installed on the upper surface of the base plate; 9. In paragraph 1, First and second slope guides installed between the first slope of the above-mentioned elevator home and the first moving slope of the above-mentioned first moving block; and A lift further comprising third and fourth inclined guides installed between the second inclined surface of the above-described elevator home and the second moving inclined surface of the above-described second moving block.

10. In paragraph 9, The above first, second, third, and fourth slope guides each include a guide block and a guide rail, The guide rails of each of the first slope guide and the second slope guide are installed on the first slope surface of the lifting groove, and the guide rails of each of the third slope guide and the fourth slope guide are installed on the second slope surface of the lifting groove. A lift, wherein the guide blocks of each of the first slope guide and the second slope guide are installed on the first moving slope surface of the first moving block, and the guide blocks of each of the third slope guide and the fourth slope guide are installed on the second moving slope surface of the second moving block.

11. In paragraph 1, A lift, wherein the first inclined surface and the second inclined surface of the above-mentioned elevator home are each formed at an angle of 30 to 45 degrees with respect to the upper surface of the above-mentioned elevator block.

12. In paragraph 1, A slide plate installed on each of the first and second inclined surfaces of the above-mentioned elevator home; and A lift further comprising: a moving slide plate installed on each of the first moving slope of the first moving block and the second moving slope of the second moving block.

13. A body formed to drive autonomously; and A lift installed on the upper surface of the above main body; The above lift, Elevator block; An elevator groove formed on the lower surface of the elevator block and including a first inclined surface and a second inclined surface that are inclined with respect to the lower surface of the elevator block and are symmetrical to each other; A first moving block that is installed so as to be able to slide relative to the first inclined surface of the above-mentioned elevator home and includes a first moving inclined surface corresponding to the first inclined surface; A second moving block that is installed so as to be able to slide on the second inclined surface of the above-mentioned elevator home and includes a second moving inclined surface corresponding to the second inclined surface; A driving device that moves the first moving block and the second moving block simultaneously to move them away from each other or closer to each other; and A base plate is installed on the upper surface of the main body below the first moving block and the second moving block, and supports the first moving block and the second moving block so that they move in a straight line; A mobile robot in which when the driving device moves the first moving block and the second moving block away from each other, the lifting block rises, and when the driving device moves the first moving block and the second moving block closer to each other, the lifting block descends.

14. In paragraph 13, A mobile robot, wherein the cross section of the above-mentioned elevator home is formed as an equilateral trapezoid or an isosceles triangle.

15. In paragraph 13, The above driving device, A bidirectional lead screw coupled with the first moving block and the second moving block; a motor for rotating the above bidirectional lead screw; and A mobile robot, comprising a power transmission device installed between the motor and the bidirectional lead screw.

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