Jacking device and robot

Abstract

A jacking device and a robot. The jacking device comprises a movable chassis (10), a bearing mechanism (20) and a lifting mechanism (30), wherein the bearing mechanism (20) is driven by the movable chassis (10) to move in a horizontal direction, and the bearing mechanism (20) comprises a first bearing mechanism (21) and a second bearing mechanism (22), the first bearing mechanism (21) and the second bearing mechanism (22) each comprising a vertical frame (221) and a bearing member (222), each vertical frame (221) comprising a first support (2211) and a second support (2212), each first support (2211) being provided with a first sliding portion (2213) and a second sliding portion (2214), a third sliding portion (2215) being provided on one side face of each second support (2212), and each bearing member (222) being provided with a first sliding fit portion (2221), a second sliding fit portion (2222) and a third sliding fit portion (2223) which respectively fit with the corresponding first sliding portion (2213), the corresponding second sliding portion (2214) and the corresponding third sliding portion (2215); the bearing member (222) of the first bearing mechanism (21) and the bearing member (222) of the second bearing mechanism (22) comprise first bearing portions (223) arranged on the same side, the first bearing portions (223) being arranged on the side close to the first supports (2211); and the lifting mechanism (30) is arranged on the vertical frames (221) and is configured to drive the bearing members (222) to move in a third direction.

Description

Lifting device and robot

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on December 22, 2023, with application number 202323527248.7, and invention name “Lifting device and robot”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of lifting devices, and in particular to a lifting device and a robot. Background Art

[0003] With the rapid development of economy and technology, the requirements for material handling are getting higher and higher, and handling equipment has basically become an indispensable tool.

[0004] Existing handling equipment is mainly performed by handling robots. To meet the needs of more specific fields, auxiliary devices such as lifting devices are installed on handling robots to enable the handling and stacking of materials at height. However, existing lifting devices cannot meet the requirements of large loads. Summary of the Invention

[0005] The purpose of the embodiments of the present application is to provide a lifting device and a robot to solve the problem that existing lifting devices cannot meet large load requirements. The specific technical solution is as follows:

[0006] The embodiment of the first aspect of the present application provides a lifting device, including a mobile chassis, a supporting mechanism and a lifting mechanism; the supporting mechanism is arranged on the mobile chassis and moves in a horizontal direction under the drive of the mobile chassis, the supporting mechanism includes a first supporting mechanism and a second supporting mechanism arranged at intervals along a first direction; the first supporting mechanism and the second supporting mechanism both include a stand and a supporting member, the stand includes a first bracket and a second bracket arranged at intervals along a second direction, the second direction is coplanar and perpendicular to the first direction, two adjacent side surfaces of the first bracket are respectively provided with a first sliding part and a second sliding part extending along a third direction, the third direction is parallel to the first direction Perpendicular to the second direction, one side surface of the second bracket is provided with a third sliding portion extending along the third direction, and the supporting member has a first sliding fitting portion, a second sliding fitting portion and a third sliding fitting portion that respectively cooperate with the first sliding portion, the second sliding portion and the third sliding portion, so that the supporting member is slidably connected to the vertical frame; the supporting member of the first supporting mechanism and the supporting member of the second supporting mechanism include a first bearing portion arranged on the same side, the first bearing portion is arranged on a side close to the first bracket, and the first bearing portion is used to support materials; the lifting mechanism is arranged on the vertical frame, for driving the supporting member to move along the third direction.

[0007] In some embodiments, the supporting member of the first supporting mechanism and the supporting member of the second supporting mechanism further include a second bearing portion disposed on the same side, and the second bearing portion is disposed on a side close to the second bracket.

[0008] In some embodiments, the first bearing portion is a groove arranged in the supporting member, and a first limiting member is provided on the outer side of the supporting member along the first direction, and at least a portion of the first limiting member is higher than the bottom surface of the groove to limit the movement of the material in the first direction.

[0009] In some embodiments, the first limiting member includes a first part and a second part arranged on both sides of the first part along the second direction, the first part is parallel to the first direction, the second part is perpendicular to the first direction, and the second part is fixedly connected to the supporting member.

[0010] In some embodiments, one of the first sliding portion, the second sliding portion, the third sliding portion and the first sliding fitting portion, the second sliding fitting portion, and the third sliding fitting portion is a slide rail, and the other is a slider.

[0011] In some embodiments, the lifting mechanism includes a lifting reduction motor, a lifting coupling, a lifting screw and a screw nut. The output shaft of the lifting reduction motor is connected to the lifting screw through the lifting coupling to drive the lifting screw to rotate. The screw nut is threadedly connected to the lifting screw, and the supporting member is connected to the screw nut.

[0012] In some embodiments, the lead screw nut includes a head and a rod that are connected to each other, the diameter of the head is larger than the diameter of the rod, the supporting member includes a connecting portion, the connecting portion has an opening, is sleeved on the rod through the opening, and abuts against the head, and the connecting portion is fixedly connected to the head.

[0013] In some embodiments, an elastic member is provided between the connecting portion and the head, and the elastic member and the connecting portion have a contoured structure.

[0014] In some embodiments, the elastic member is made of polyurethane, silicone or rubber.

[0015] In some embodiments, a weighing sensor is provided between the elastic member and the connecting portion, and the weighing sensor is sleeved on the rod portion.

[0016] In some embodiments, the mobile chassis includes a straight-moving mechanism and a first transverse mechanism and a second transverse mechanism arranged above the straight-moving mechanism, the first transverse mechanism is used to drive the first supporting mechanism to move along the first direction, the second transverse mechanism is used to drive the second supporting mechanism to move along the first direction, and the straight-moving mechanism is used to drive the first transverse mechanism and the second transverse mechanism to move along the second direction.

[0017] In some embodiments, the straight-moving mechanism includes a mounting frame, a first reduction motor arranged on the mounting frame, a first lead screw, a first nut sleeved on the first lead screw, and a first guide rail arranged on both sides of the first lead screw, and a second reduction motor, a second lead screw, a second nut sleeved on the second lead screw, and a second guide rail arranged on both sides of the second lead screw; a first sliding block is provided on the first guide rail, the first lead screw and the first guide rail are arranged along the second direction, the first transverse movement mechanism is connected to the first nut and the first sliding block, the first reduction motor drives the first nut to move along the second direction, and drives the first transverse movement mechanism to move synchronously; a second sliding block is provided on the second guide rail, the second lead screw and the second guide rail are arranged along the second direction, the second transverse movement mechanism is connected to the second nut and the second sliding block, the second reduction motor drives the second nut to move along the second direction, and drives the second transverse movement mechanism to move synchronously.

[0018] In some embodiments, the first transverse movement mechanism includes a third reduction motor, a third lead screw and a third nut sleeved on the third lead screw, a third guide rail provided on both sides of the third reduction motor, a third sliding block provided on the third guide rail, the first supporting mechanism is connected to the third nut and the third sliding block, the third reduction motor drives the third nut to move along the first direction, and drives the first supporting mechanism to move synchronously; the second transverse movement mechanism includes a fourth reduction motor, a fourth lead screw and a fourth nut sleeved on the fourth lead screw, a fourth guide rail provided on both sides of the fourth reduction motor, a fourth sliding block provided on the fourth guide rail, the second supporting mechanism is connected to the fourth nut and the fourth sliding block, the fourth reduction motor drives the fourth nut to move along the first direction, and drives the second supporting mechanism to move synchronously.

[0019] In some embodiments, two second limiting members are provided in the groove and are spaced apart along the second direction. The two second limiting members are arranged facing each other, and the distance between the two second limiting members gradually decreases from top to bottom.

[0020] An embodiment of the second aspect of the present application provides a robot comprising the lifting device described above.

[0021] In an embodiment of the present application, the movable chassis can drive the support mechanism to move horizontally, allowing the support mechanism to have a wider range of motion. The support mechanism includes a first support mechanism and a second support mechanism. The ends of the material are placed on the first bearing portions of the first and second support mechanisms, enabling the support mechanism to support the material. Two adjacent side surfaces of the first bracket are provided with a first sliding portion and a second sliding portion, respectively, extending in a third direction. One side surface of the second bracket is provided with a third sliding portion extending in the third direction. The support member includes a first sliding engagement portion, a second sliding engagement portion, and a third sliding engagement portion, respectively, which engage with the first, second, and third sliding portions. The first, second, and third sliding engagement portions extend in the third direction, allowing the support member to slide in the third direction. Therefore, with this arrangement, the support member can move in the first, second, and third directions, extending its range of motion and thus being suitable for a wider range of applications. The first bearing portion is provided on a side adjacent to the first bracket. Since the first bracket includes the first and second sliding portions on different sides, the connection area between the support member and the first bracket is larger, capable of withstanding greater stress, thereby meeting the greater load requirements of the first bearing portion.

[0022] Of course, any product implementing the present application does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0024] FIG1a is a schematic diagram of a lifting device provided in an embodiment of the present application;

[0025] Figure 1b is an enlarged view of Figure 1a at point B;

[0026] FIG2 is a schematic diagram of a first supporting mechanism of a lifting device provided in an embodiment of the present application;

[0027] FIG3 is a schematic diagram of a lifting device carrying materials provided in an embodiment of the present application;

[0028] FIG4 is a side view of the lifting device shown in FIG3;

[0029] FIG5a is a schematic diagram of a supporting member in a lifting device provided in an embodiment of the present application;

[0030] FIG5 b is a schematic diagram of a supporting member in another lifting device provided in an embodiment of the present application;

[0031] FIG6 is a schematic diagram of a central frame of a lifting device provided in an embodiment of the present application;

[0032] FIG7 a is a schematic diagram of a first supporting mechanism in another lifting device provided in an embodiment of the present application;

[0033] Figure 7b is an enlarged view of point C in Figure 7a;

[0034] FIG8 a is an axonometric view of another lifting device provided in an embodiment of the present application;

[0035] FIG8 b is a side view of another lifting device provided in an embodiment of the present application;

[0036] FIG9 is a schematic diagram of another lifting device provided in an embodiment of the present application cooperating with a first transverse movement mechanism and a second transverse movement mechanism;

[0037] FIG10 is a schematic diagram of another lifting device carrying materials provided in an embodiment of the present application;

[0038] FIG11 is a schematic diagram of a straight-moving mechanism in a lifting device provided in an embodiment of the present application;

[0039] FIG12 is a schematic diagram of a screw transmission in a straight-moving mechanism of a lifting device provided in an embodiment of the present application;

[0040] FIG13 is a schematic diagram of a first transverse movement mechanism in a lifting device provided in an embodiment of the present application;

[0041] FIG14 is a schematic diagram of the cooperation between the first transverse movement mechanism and the straight movement mechanism in the lifting device provided in an embodiment of the present application;

[0042] FIG15 is a schematic diagram of the screw transmission in the first transverse movement mechanism of the lifting device provided in an embodiment of the present application.

[0043] Reference numerals: Moving chassis 10; Straight-moving mechanism 11; Mounting frame 111; First reduction motor 112; First coupling 1121; First bearing seat 1122; First lead screw 113; First nut 114; First adapter block 1141; First guide rail 115; First sliding block 1151; Second reduction motor 116; Second lead screw 117; Second nut 118; Second guide rail 119; Second sliding block 1191; First transverse movement mechanism 12; Third reduction motor 121; Third coupling 1211; Third lead screw 122; Third bearing seat 1221; Third nut 123; Third adapter block 1231; Third guide rail 124; Third sliding block 1241; Second transverse movement mechanism 13; Fourth reduction motor 131; Fourth lead screw 132; Fourth nut 133; Fourth guide rail 134; Fourth sliding block 1341; Supporting mechanism 20; first supporting mechanism 21; second supporting mechanism 22; stand 221; first bracket 2211; first sliding portion 2213; second sliding portion 2214; second bracket 2212; third sliding portion 2215; connecting plate 2216; reinforcing rib 2217; first mounting plate 2218; second mounting plate 2219; supporting member 222; material sensor 2220; travel switch 2220a; first sliding fitting portion 2221; second sliding fitting portion 2222; third sliding fitting portion 2223; connecting portion 2224; opening 22241; barcode scanning camera 2225; first supporting portion 223; second limiting member 2231; second supporting portion 224; first limiting member 225; first portion 2251; second portion 2252; drag chain 23; Lifting mechanism 30; lifting reduction motor 31; lifting coupling 32; lifting screw 33; screw nut 34; head 341; rod 342; elastic member 40; weighing sensor 50; traveling base 60; traveling wheel 61; mobile chassis housing 71; supporting mechanism housing 72; traveling base housing 73; stretching dust cover 74; material A; first direction X; second direction Y; third direction Z. DETAILED DESCRIPTION

[0044] To make the objectives, technical solutions, and advantages of this application more clearly understood, the present application is further described below with reference to the accompanying drawings and examples. It is apparent that the described examples are only a portion of the embodiments of this application, and not all of them. All other embodiments derived by persons of ordinary skill in the art based on the examples in this application are intended to fall within the scope of protection of this application.

[0045] In order to solve the problem that the existing lifting device cannot meet the large load demand, an embodiment of the first aspect of the present application provides a lifting device, as shown in Figures 1a and 1b, Figure 1a is a schematic diagram of a lifting device provided by an embodiment of the present application; Figure 1b is an enlarged view of Figure 1a at B; the lifting device includes a mobile chassis 10, a supporting mechanism 20 and a lifting mechanism 30; the supporting mechanism 20 is arranged on the mobile chassis 10, and moves in the horizontal direction under the drive of the mobile chassis 10, the supporting mechanism 20 includes a first supporting mechanism 21 and a second supporting mechanism 22 arranged at intervals along a first direction X; the first supporting mechanism 21 and the second supporting mechanism 22 both include a stand 221 and a supporting member 222, the stand 221 includes a first bracket 2211 and a second bracket 2212 arranged at intervals along a second direction Y, the second direction Y is coplanar and perpendicular to the first direction X, and the two adjacent side surfaces of the first bracket 2211 are respectively provided with a The first sliding part 2213 and the second sliding part 2214, the third direction Z is perpendicular to the first direction X and the second direction Y, one side surface of the second bracket 2212 is provided with a third sliding part 2215 extending along the third direction Z, the supporting member 222 has a first sliding matching part 2221, a second sliding matching part 2222 and a third sliding matching part 2223 that respectively cooperate with the first sliding part 2213, the second sliding part 2214 and the third sliding part 2215, so that the supporting member 222 is slidably connected to the stand 221; the supporting member 222 of the first supporting mechanism 21 and the supporting member 222 of the second supporting mechanism 22 include a first bearing part 223 arranged on the same side, the first bearing part 223 is arranged on a side close to the first bracket 2211, as shown in Figure 2, the first bearing part 223 is used to support material A; as shown in Figure 1a, the lifting mechanism 30 is arranged on the stand 221, for driving the supporting member 222 to move along the third direction Z.

[0046] In the embodiment of the present application, as shown in Figures 1a, 2, and 3, Figure 2 is a schematic diagram of the first supporting mechanism of a lifting device provided in the embodiment of the present application; Figure 3 is a schematic diagram of a lifting device carrying material provided in the embodiment of the present application; the mobile chassis 10 can drive the supporting mechanism 20 to move horizontally, allowing the supporting mechanism 20 to have a wider range of movement. The supporting mechanism 20 includes a first supporting mechanism 21 and a second supporting mechanism 22. The ends of the material A are placed on the first supporting portions 223 of the first supporting mechanism 21 and the second supporting mechanism 22, so that the supporting mechanism 20 can carry the material A. The two adjacent side surfaces of the first bracket 2211 are respectively provided with a first sliding portion 2213 and a second sliding portion 2214 extending along the third direction Z, and one of the side surfaces of the second bracket 2212 is provided with a third sliding portion 2215 extending along the third direction Z. The supporting member 222 has a first sliding fitting portion 2221, a second sliding fitting portion 2222 and a third sliding fitting portion 2223 which respectively cooperate with the first sliding portion 2213, the second sliding portion 2214 and the third sliding portion 2215. The first sliding portion 2213, the second sliding portion 2214 and the third sliding fitting portion 2223 extend along the third direction Z, so that the supporting member 222 can slide along the third direction Z. Through the above arrangement, the supporting member 222 can move along the first direction X, the second direction Y and the third direction Z, with a larger range of motion, and the lifting device can be suitable for more application scenarios. Moreover, since the first bracket 2211 includes a first sliding portion 2213 and a second sliding portion 2214 on different sides, the first bearing portion 223 is arranged on a side close to the first bracket 2211, so that the connection area between the supporting member 222 and the first bracket 2211 is larger and can withstand greater stress, thereby meeting the greater load requirements of the first bearing portion 223.

[0047] Specifically, a first mounting plate 2218 is connected to the top end between the first bracket 2211 and the second bracket 2212 , so that when the supporting member 222 slides on the stand 221 , the first bracket 2211 and the second bracket 2212 are more stable.

[0048] More specifically, as shown in Figure 1a, the lifting device also has a code scanning camera 2225 and a controller (not shown in the figure). The controller is electrically connected to the code scanning camera 2225, the mobile chassis 10, the lifting mechanism 30, the straight mechanism 11, the first transverse mechanism 12 and the second transverse mechanism 13. The code scanning camera 2225 is arranged on the supporting member 222, and is used to scan the material, obtain the size and position of the material, and transmit the above information to the controller. The controller controls the mobile chassis 10, the lifting mechanism 30, the straight mechanism 11, the first transverse mechanism 12 and the second transverse mechanism 13 according to the size and position information of the material to adjust the position of the first load-bearing part 223 and / or the second load-bearing part 224.

[0049] The lifting device provided in the embodiment of the present application can be applied to AGV lithium battery industries such as mobile robots.

[0050] In some embodiments of the present application, the lifting device may also be provided with a second bearing portion 224. As shown in FIG1a, the supporting member 222 of the first supporting mechanism 21 and the supporting member 222 of the second supporting mechanism 22 also include a second bearing portion 224 arranged on the same side, and the second bearing portion 224 is arranged on a side close to the second bracket 2212.

[0051] In this embodiment of the present application, the supporting member 222 of the first supporting mechanism 21 and the supporting member 222 of the second supporting mechanism 22 also include a second bearing portion 224 disposed on the same side, thereby adding a supporting position to the lifting device and enabling it to carry more material A. Furthermore, the second bearing portion 224 is disposed near the second bracket 2212 and can support materials with smaller loads. The lifting device includes both a first bearing portion 223 for supporting larger loads and a second bearing portion 224 for supporting smaller loads. The first bearing portion 223 can be used to lift fully wound materials, while the second bearing portion 224 can be used to lift empty wound materials, thereby better meeting the requirements of the lifting device.

[0052] It should be noted that a fourth sliding portion (not shown) may also be provided on the second bracket 2212. The fourth sliding portion and the third sliding portion 2215 are respectively provided on two adjacent side surfaces. The supporting member has a fourth sliding matching portion (not shown) that matches the fourth sliding portion.

[0053] In some embodiments of the present application, as shown in Figures 3 and 4, Figure 4 is a side view of the lifting device shown in Figure 3; the first bearing portion 223 is a groove arranged on the supporting member 222, and along the first direction X, a first limiting member 225 is provided on the outer side of the supporting member 222, and at least a portion of the first limiting member 225 is higher than the bottom surface of the groove to limit the movement of material A along the first direction X.

[0054] In the embodiment of the present application, as shown in Figures 3 and 4, the first bearing portion 223 is a groove, and the material A is placed in the groove, which can make the material A more stable during movement. The first limiter 225 is provided on the outside of the supporting member 222, and at least a portion of the first limiter 225 is higher than the bottom surface of the groove. In other words, when the material A is placed on the first bearing portion 223, the first limiter 225 is located on the outside of the two ends of the material A along the first direction X. Therefore, when the supporting member 222 moves, the first limiter 225 can resist the two ends of the material A, thereby preventing the material A from moving, making the lifting or movement of the material A more stable.

[0055] Specifically, as shown in Figure 1b and Figure 3, the supporting member 222 is provided with a material sensor 2220, which is a press-type sensor. The press-type sensor includes a limit switch 2220a, and at least part of the limit switch 2220a is higher than the bottom surface of the groove. When material A is placed in the groove, material A presses the limit switch 2220a, so that the material sensor 2220 can detect whether there is material A on the groove, so as to determine whether to move and lift.

[0056] More specifically, as shown in Figures 3 and 4, the lifting device further includes a mobile chassis housing 71, a supporting mechanism housing 72, a walking base housing 73, and a stretchable dust cover 74. The mobile chassis housing 71 is mounted on the outside of the mobile chassis 10 to prevent dust from entering the interior of the mobile chassis 10. The supporting mechanism housing 72 is mounted on the outside of the supporting mechanism 20, exposing the first and second bearing parts of the supporting mechanism to the outside so that the first and second bearing parts of the supporting mechanism can carry external cargo. The walking base housing 73 is mounted on the outside of the walking base to prevent dust from entering the interior of the walking base. The stretchable dust cover 74 is mounted on the top of the mobile chassis housing 71 and is located on both sides of the bottom of the first supporting mechanism 21 and the second supporting mechanism 22. When the first transverse mechanism 12 drives the first supporting mechanism 21 to move along the first direction X, the stretchable dust cover 74 can follow the movement of the first supporting mechanism 21 to stretch or contract along the first direction X.

[0057] In some embodiments of the present application, the lifting device may have only the first bearing part 223 and no second bearing part 224, as shown in Figures 5a and 5b, Figure 5a is a schematic diagram of a supporting member in a lifting device provided in an embodiment of the present application; Figure 5b is a schematic diagram of a supporting member in another lifting device provided in an embodiment of the present application; the first limiting member 225 includes a first part 2251 and a second part 2252 arranged on both sides of the first part 2251 along the second direction Y, the first part 2251 is parallel to the first direction X, the second part 2252 is perpendicular to the first direction X, and the second part 2252 is fixedly connected to the supporting member 222.

[0058] In the embodiment of the present application, as shown in Figures 3, 5a and 5b, the second part 2252 is arranged on both sides of the first part 2251, the second part 2252 is connected to the supporting member 222, and the second part 2252 is perpendicular to the first direction X. Therefore, a gap is left between the first part 2251 and the supporting member 222. When the size of the material along the first direction X is larger than the size between the two supporting members 222, when material A is placed, material A will not interfere with the first limit member 225.

[0059] In some embodiments of the present application, as shown in FIG1a , one of the first sliding portion 2213 , the second sliding portion 2214 , the third sliding portion 2215 and the first sliding fitting portion 2221 , the second sliding fitting portion 2222 , and the third sliding fitting portion 2223 is a slide rail and the other is a slider.

[0060] In the embodiment of the present application, the slide rail plays a guiding and supporting role, and the formula of the slide rail slider can ensure the stability during the movement. Among them, the first sliding part 2213, the second sliding part 2214, and the third sliding part 2215 can be sliders, and the first sliding matching part 2221, the second sliding matching part 2222, and the third sliding matching part 2223 can be slide rails. Alternatively, the first sliding part 2213, the second sliding part 2214, and the third sliding part 2215 can be slide rails, and the first sliding matching part 2221, the second sliding matching part 2222, and the third sliding matching part 2223 can be sliders. This application does not limit this. As shown in Figure 1a, only the first sliding part 2213, the second sliding part 2214, and the third sliding part 2215 are slide rails, and the first sliding matching part 2221, the second sliding matching part 2222, and the third sliding matching part 2223 are sliders. By providing three sets of slide rail and slider matching mechanisms, the bearing capacity of the second supporting mechanism 22 can be improved to meet the high load requirements of on-site use.

[0061] In some embodiments of the present application, as shown in Figures 6 and 7a, Figure 6 is a schematic diagram of a vertical frame in a lifting device provided in an embodiment of the present application; Figure 7a is a schematic diagram of a first supporting mechanism in another lifting device provided in an embodiment of the present application; the lifting mechanism 30 includes a lifting reduction motor 31, a lifting coupling 32, a lifting screw 33 and a screw nut 34, the output shaft of the lifting reduction motor 31 is connected to the lifting screw 33 through the lifting coupling 32 to drive the lifting screw 33 to rotate, the screw nut 34 is threadedly connected to the lifting screw 33, and the supporting member 222 is connected to the screw nut 34.

[0062] In the embodiment of the present application, as shown in Figures 6 and 7a, the supporting member 222 is slidably connected to the lifting screw 33 through a nut, and the lifting reduction motor 31 drives the lifting screw 33 to rotate, thereby realizing that the screw nut 34 drives the supporting member 222 to slide on the lifting screw 33, thereby realizing the lifting and lowering movement of the supporting member 222 on the lifting screw 33.

[0063] 6 and 7a, the first bracket 2211 and the second bracket 2212 are provided with a connecting plate 2216, and the lifting and reducing motor 31 is placed on the connecting plate 2216. More specifically, the connecting plate 2216 is provided with reinforcing ribs 2217 on both sides along the third direction Z.

[0064] In some embodiments of the present application, as shown in Figures 5a and 5b, and Figures 7a and 7b, Figure 7b is an enlarged view of Figure 7a at point C; the screw nut 34 includes a head 341 and a rod 342 that are connected to each other, the diameter of the head 341 is larger than the diameter of the rod 342, the supporting member 222 includes a connecting portion 2224, the connecting portion 2224 has an opening 22241, the supporting member 222 is sleeved on the rod 342 through the opening 22241, and abuts against the head 341, and the connecting portion 2224 is fixedly connected to the head 341.

[0065] In the embodiment of the present application, the supporting member 222 is sleeved on the rod 342 of the screw nut 34 through the opening 22241 of the connecting portion 2224, and the connecting portion 2224 is fixedly connected to the head 341, so that the connecting portion 2224 is connected to both the rod 342 and the head 341 of the screw nut 34, so that the connection area between the connecting portion 2224 and the screw nut 34 is increased, thereby improving the connection strength.

[0066] In some embodiments of the present application, as shown in FIG. 5 a and FIG. 5 b , and FIG. 7 a and FIG. 7 b , an elastic member 40 is provided between the connecting portion 2224 and the head portion 341 , and the elastic member 40 and the connecting portion 2224 have a contoured structure.

[0067] In this embodiment of the present application, the elastic member 40 is disposed between the connecting portion 2224 of the support member 222 and the head portion 341 of the lead screw nut 34. This eliminates machining and installation errors between the support member 222 and the lead screw nut 34, and prevents lift jamming caused by machining and installation errors. The elastic member 40 and the connecting portion 2224 have a contoured structure, ensuring a tighter fit between the elastic member 40, the connecting portion 2224, and the rod portion 342.

[0068] In some embodiments of the present application, the elastic member 40 is made of polyurethane, silicone or rubber.

[0069] In the embodiments of this application, polyurethane, as an elastic member, has the following characteristics: a wide hardness range, high tensile strength / elongation, good shock absorption, wear resistance, and excellent low-temperature elasticity. Silicone and rubber both have a certain degree of elastic deformation capacity, and both have good elastic deformation capacity over a wide temperature range.

[0070] In some embodiments of the present application, as shown in FIG. 7 a and FIG. 7 b , a weighing sensor 50 is provided between the elastic member 40 and the connecting portion 2224 , and the weighing sensor 50 is sleeved on the rod portion 342 .

[0071] In the embodiment of the present application, as shown in Figures 3, 7a and 7b, a weighing sensor 50 is provided between the elastic member 40 and the connecting portion 2224. The weighing sensor 50 can detect the weight of the material A, so that the lifting device has a weighing function, thereby improving the intelligence of the lifting device.

[0072] In some embodiments of the present application, as shown in Figures 1a, 8a, 8b, 9 and 10, Figure 8a is an axial side view of another lifting device provided in an embodiment of the present application; Figure 8b is a side view of another lifting device provided in an embodiment of the present application; Figure 9 is a schematic diagram of another lifting device provided in an embodiment of the present application cooperating with a first transverse mechanism and a second transverse mechanism; Figure 10 is a schematic diagram of another lifting device provided in an embodiment of the present application carrying materials; the mobile chassis 10 includes a straight-moving mechanism 11 and a first transverse mechanism 12 and a second transverse mechanism 13 arranged above the straight-moving mechanism 11, the first transverse mechanism 12 is used to drive the first supporting mechanism 21 to move along the first direction X, the second transverse mechanism 13 is used to drive the second supporting mechanism 22 to move along the first direction X, and the straight-moving mechanism 11 is used to drive the first transverse mechanism 12 and the second transverse mechanism 13 to move along the second direction Y.

[0073] In the embodiment of the present application, the first transverse movement mechanism 12 and the second transverse movement mechanism 13 can respectively drive the first supporting mechanism 21 and the second supporting mechanism 22 to move along the first direction X. Therefore, by respectively controlling the first transverse movement mechanism 12 and the second transverse movement mechanism 13, the distance between the first supporting mechanism 21 and the second supporting mechanism 22 can be adjusted, thereby making the lifting device suitable for materials A of different sizes.

[0074] Specifically, as shown in Figure 10, a walking base 60 is also provided under the straight-moving mechanism 11. The walking base 60 includes walking wheels 61. The walking wheels 61 can drive the lifting device to move as a whole, so that the lifting device is easy to move. When there is too much material A or the weight is too heavy to move, the lifting device can be moved to be close to the material A, thereby successfully completing the installation of the material A.

[0075] In some embodiments of the present application, as shown in Figures 1a and 11, Figure 11 is a schematic diagram of a straight-moving mechanism in a lifting device provided in an embodiment of the present application; the straight-moving mechanism 11 includes a mounting frame 111, a first reduction motor 112 provided on the mounting frame 111, a first lead screw 113, a first nut 114 sleeved on the first lead screw 113, and first guide rails 115 provided on both sides of the first lead screw 113, and a second reduction motor 116 provided on the mounting frame 111, a second lead screw 117, a second nut 118 sleeved on the second lead screw 117, and second guide rails 119 provided on both sides of the second lead screw 117; a first sliding block 115 is provided on the first guide rail 115. 151, the first lead screw 113 and the first guide rail 115 are arranged along the second direction Y, the first transverse movement mechanism 12 is connected to the first nut 114 and the first sliding block 1151, the first reduction motor 112 drives the first nut 114 to move along the second direction Y, and drives the first transverse movement mechanism 12 to move synchronously; the second guide rail 119 is provided with a second sliding block 1191, the second lead screw 117 and the second guide rail 119 are arranged along the second direction Y, the second transverse movement mechanism 13 is connected to the second nut 118 and the second sliding block 1191, the second reduction motor 116 drives the second nut 118 to move along the second direction Y, and drives the second transverse movement mechanism 13 to move synchronously.

[0076] In the embodiment of the present application, as shown in FIG1a and FIG11, the first reduction motor 112 drives the first nut 114 to move along the second direction Y, thereby driving the first transverse mechanism 12 to move synchronously, and the second reduction motor 116 drives the second nut 118 to move along the second direction Y, and drives the second transverse mechanism 13 to move synchronously. By driving the first reduction motor 112 and the second reduction motor 116 at the same time, the first transverse mechanism 12 and the second transverse mechanism 13 can be moved synchronously, thereby adjusting the positions of the first transverse mechanism 12 and the second transverse mechanism 13 in the second direction Y. The first transverse mechanism 12 is slidably connected to the first guide rail 115 through the first sliding block 1151, and the second transverse mechanism 13 is slidably connected to the second guide rail 119 through the second sliding block 1191. The first guide rail 115 and the second guide rail 119 respectively guide the first transverse mechanism 12 and the second transverse mechanism 13 to prevent the first transverse mechanism 12 and the second transverse mechanism 13 from deviating during movement, thereby making the first transverse mechanism 12 and the second transverse mechanism 13 more stable during movement. In addition, the screw transmission method has a simple structure, is easy to operate, and has good adaptability to the transmission requirements of high strength and high rigidity.

[0077] 11 , each first guide rail 115 may correspond to two first sliding blocks 1151, thereby further improving the stability of the first transverse movement mechanism 12. Similarly, each second guide rail 119 may correspond to two second sliding blocks 1191, thereby further improving the stability of the second transverse movement mechanism 13.

[0078] More specifically, as shown in Figures 11 and 12, Figure 12 is a schematic diagram of the screw transmission in the straight-moving mechanism of the lifting device provided in an embodiment of the present application; the output shaft of the first reduction motor 112 is connected to the first screw 113 through a first coupling 1121, and the two ends of the first screw 113 are respectively provided with a first bearing seat 1122, and the first nut 114 is sleeved with a first adapter block 1141, and the first transverse mechanism 12 is connected to the first nut 114 through the first adapter block 1141. Similarly, the output shaft of the second reduction motor 116 is connected to the second screw 117 through a second coupling (not shown), and the two ends of the second screw 117 are respectively provided with a second bearing seat (not shown), and the second nut 118 is sleeved with a second adapter block (not shown), and the second transverse mechanism 13 is connected to the second nut 118 through the second adapter block.

[0079] In some embodiments of the present application, as shown in Figures 1a, 13 and 14, Figure 13 is a schematic diagram of the first transverse mechanism in the lifting device provided in the embodiment of the present application; Figure 14 is a schematic diagram of the cooperation between the first transverse mechanism and the straight mechanism in the lifting device provided in the embodiment of the present application; the first transverse mechanism 12 includes a third reduction motor 121, a third lead screw 122 and a third nut 123 sleeved on the third lead screw 122, a third guide rail 124 provided on both sides of the third reduction motor 121, a third sliding block 1241 is provided on the third guide rail 124, and the first supporting mechanism 21 is connected to the third nut 123 and the third sliding block 1241. The third reduction motor 121 drives the third nut 123 to move along the first direction X, and drives the first supporting mechanism 21 to move synchronously; the second transverse mechanism 13 includes a fourth reduction motor 131, a fourth lead screw 132 and a fourth nut 133 sleeved on the fourth lead screw 132, a fourth guide rail 134 provided on both sides of the fourth reduction motor 131, and a fourth sliding block 1341 is provided on the fourth guide rail 134. The second supporting mechanism 22 is connected to the fourth nut 133 and the fourth sliding block 1341. The fourth reduction motor 131 drives the fourth nut 133 to move along the first direction X, and drives the second supporting mechanism 22 to move synchronously.

[0080] In the embodiment of the present application, the third reduction motor 121 and the fourth reduction motor 131 provide power for the third lead screw 122 and the fourth lead screw 132. The third reduction motor 121 drives the third lead screw 122 to rotate, thereby realizing the movement of the third nut 123 along the third lead screw 122. Since the first supporting mechanism 21 is connected to the third nut 123, the third nut 123 can drive the first supporting mechanism 21 to move along the third lead screw 122; similarly, the fourth reduction motor 131 drives the fourth lead screw 132 to rotate, thereby realizing the movement of the fourth nut 133 along the fourth lead screw 132. Since the second supporting mechanism 22 is connected to the fourth nut 133, the fourth nut 133 can drive the first supporting mechanism 21 to move along the third lead screw 122; by controlling the first reduction motor 112 and the second reduction motor 116 to adjust the distance between the first supporting mechanism 21 and the second supporting mechanism 22, the lifting device provided in the embodiment of the present application can adapt to materials A of different sizes and has strong universality.

[0081] 2, 6 and 14, the lower ends of the first bracket 2211 and the second bracket 2212 are connected to a second mounting plate 2219, which is connected to the third nut 123. A drag chain 23 for accommodating cables is provided on the second mounting plate 2219.

[0082] More specifically, as shown in Figure 15, Figure 15 is a schematic diagram of the screw transmission in the first transverse movement mechanism of the lifting device provided in an embodiment of the present application; the output shaft of the third reduction motor 121 is connected to the third screw 122 through a third coupling 1211, and the two ends of the third screw 122 are respectively provided with a third bearing seat 1221, and the third nut 123 is provided with a third adapter block 1231, and the third transverse movement mechanism is connected to the third nut 123 through the third adapter block 1231.

[0083] 14 , each third guide rail 124 may correspond to two third sliding blocks 1241, thereby further improving the stability of the movement of the first supporting mechanism 21. Similarly, each fourth guide rail 134 may correspond to two fourth sliding blocks 1341, thereby further improving the stability of the movement of the second supporting mechanism 22.

[0084] In some embodiments of the present application, as shown in FIG2 , two second limiting members 2231 are provided in the groove and are spaced apart along the second direction Y. The two second limiting members 2231 are arranged facing each other, and the distance between the two second limiting members 2231 gradually decreases from top to bottom.

[0085] In the embodiment of the present application, as shown in Figures 2 and 3 , two second stoppers 2231 are spaced apart along the second direction Y. Placing the material A between the two second stoppers 2231 can prevent the ends of the two materials A from moving along the second direction Y, further improving the stability of the material A. The distance between the two second stoppers 2231 gradually decreases from top to bottom. When the material A is placed between the two second stoppers 2231 from top to bottom, it will not interfere with the second stoppers 2231.

[0086] An embodiment of the second aspect of the present application provides a robot comprising the above lifting device.

[0087] In the embodiment of the present application, the robot includes the above-described lifting device, wherein the mobile chassis 10 can drive the support mechanism 20 to move horizontally, thereby extending the range of motion of the support mechanism 20. The support mechanism 20 includes a first support mechanism 21 and a second support mechanism 22. The ends of the material are placed on the first support portions 223 of the first support mechanism 21 and the second support mechanism 22, thereby enabling the support mechanism 20 to support the material. The two adjacent side surfaces of the first bracket 2211 are respectively provided with a first sliding portion 2213 and a second sliding portion 2214 extending along the third direction Z. One of the side surfaces of the second bracket 2212 is provided with a third sliding portion 2215 extending along the third direction Z. The supporting member 222 has a first sliding fitting portion 2221, a second sliding fitting portion 2222 and a third sliding fitting portion 2223 which respectively cooperate with the first sliding portion 2213, the second sliding portion 2214 and the third sliding portion 2215. The first sliding portion 2213, the second sliding portion 2214 and the third sliding fitting portion 2223 extend along the third direction Z, so that the supporting member 222 can slide along the third direction Z. Therefore, through the above arrangement, the supporting member 222 can move along the first direction X, the second direction Y and the third direction Z, with a larger range of motion, and therefore can be suitable for more application scenarios. The first bearing portion 223 is arranged on a side close to the first bracket 2211. Since the first bracket 2211 includes a first sliding portion 2213 and a second sliding portion 2214 on different sides, the connection area between the supporting member 222 and the first bracket 2211 is larger, and can withstand greater stress, thereby being able to meet the large load requirements of the robot.

[0088] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A lifting device, characterized in that: include: Mobile chassis (10); a supporting mechanism (20), the supporting mechanism (20) being arranged on the mobile chassis (10) and being driven by the mobile chassis (10) to move in a horizontal direction, the supporting mechanism (20) comprising a first supporting mechanism (21) and a second supporting mechanism (22) being arranged at intervals along a first direction (X); The first supporting mechanism (21) and the second supporting mechanism (22) both comprise a stand (221) and a supporting member (222); the stand (221) comprises a first bracket (2211) and a second bracket (2212) arranged at intervals along a second direction (Y); the second direction (Y) is coplanar and perpendicular to the first direction (X); two adjacent side surfaces of the first bracket (2211) are respectively provided with a first sliding portion (2213) and a second sliding portion (2214) extending along a third direction (Z); the third direction (Z) is parallel to the first direction The second bracket (2212) is perpendicular to the second direction (X) and the second direction (Y), one side surface of the second bracket (2212) is provided with a third sliding portion (2215) extending along the third direction (Z), and the supporting member (222) has a first sliding matching portion (2221), a second sliding matching portion (2222) and a third sliding matching portion (2223) respectively matching with the first sliding portion (2213), the second sliding portion (2214) and the third sliding portion (2215), so that the supporting member (222) is slidably connected to the stand (221); The supporting member (222) of the first supporting mechanism (21) and the supporting member (222) of the second supporting mechanism (22) comprise a first bearing portion (223) arranged on the same side, the first bearing portion (223) being arranged on a side close to the first bracket (2211), and the first bearing portion (223) being used for supporting material (A); A lifting mechanism (30), wherein the lifting mechanism (30) is arranged on the stand (221) and is used to drive the supporting member (222) to move along the third direction (Z).

2. The lifting device according to claim 1, characterized in that: The supporting member (222) of the first supporting mechanism (21) and the supporting member (222) of the second supporting mechanism (22) further include a second bearing portion (224) arranged on the same side, and the second bearing portion (224) is arranged on a side close to the second bracket (2212).

3. The lifting device according to claim 1, characterized in that: The first bearing portion (223) is a groove arranged in the supporting member (222). Along the first direction (X), a first limiting member (225) is provided on the outer side of the supporting member (222). At least a part of the first limiting member (225) is higher than the bottom surface of the groove to limit the movement of the material (A) along the first direction (X).

4. The lifting device according to claim 3, characterized in that: The first limiting member (225) comprises a first part (2251) and a second part (2252) arranged on both sides of the first part (2251) along the second direction (Y), the first part (2251) is parallel to the first direction (X), the second part (2252) is perpendicular to the first direction (X), and the second part (2252) is fixedly connected to the supporting member (222).

5. The lifting device according to claim 1, characterized in that: One of the first sliding part (2213), the second sliding part (2214), the third sliding part (2215) and the first sliding fitting part (2221), the second sliding fitting part (2222), and the third sliding fitting part (2223) is a slide rail, and the other is a slider.

6. The lifting device according to any one of claims 1 to 5, characterized in that: The lifting mechanism (30) comprises a lifting reduction motor (31), a lifting coupling (32), a lifting screw (33) and a screw nut (34); the output shaft of the lifting reduction motor (31) is connected to the lifting screw (33) through the lifting coupling (32) to drive the lifting screw (33) to rotate; the screw nut (34) is threadedly connected to the lifting screw (33); and the supporting member (222) is connected to the screw nut (34).

7. The lifting device according to claim 6, characterized in that: The lead screw nut (34) comprises a head (341) and a rod (342) which are connected to each other, the diameter of the head (341) is larger than the diameter of the rod (342), the supporting member (222) comprises a connecting portion (2224), the connecting portion (2224) has an opening (22241), is sleeved on the rod (342) through the opening (22241), and is in abutment with the head (341), and the connecting portion (2224) is fixedly connected to the head (341).

8. The lifting device according to claim 7, characterized in that: An elastic member (40) is provided between the connecting portion (2224) and the head portion (341), and the elastic member (40) and the connecting portion (2224) have a contoured structure.

9. The lifting device according to claim 8, characterized in that: The elastic member (40) is made of polyurethane, silicone or rubber.

10. The lifting device according to claim 8, characterized in that: A weighing sensor (50) is provided between the elastic member (40) and the connecting portion (2224), and the weighing sensor (50) is sleeved on the rod portion (342).

11. The lifting device according to any one of claims 1 to 5, characterized in that: The mobile chassis (10) comprises a straight-moving mechanism (11) and a first transverse movement mechanism (12) and a second transverse movement mechanism (13) arranged above the straight-moving mechanism (11); the first transverse movement mechanism (12) is used to drive the first supporting mechanism (21) to move along the first direction (X); the second transverse movement mechanism (13) is used to drive the second supporting mechanism (22) to move along the first direction (X); and the straight-moving mechanism (11) is used to drive the first transverse movement mechanism (12) and the second transverse movement mechanism (13) to move along the second direction (Y).

12. The lifting device according to claim 11, characterized in that: The straight-moving mechanism (11) comprises a mounting frame (111), a first reduction motor (112) arranged on the mounting frame (111), a first lead screw (113), a first nut (114) sleeved on the first lead screw (113), and a first guide rail (115) arranged on both sides of the first lead screw (113); and a second reduction motor (116) arranged on the mounting frame (111), a second lead screw (117), a second nut (118) sleeved on the second lead screw (117), and a second guide rail (119) arranged on both sides of the second lead screw (117); A first sliding block (1151) is provided on the first guide rail (115); the first lead screw (113) and the first guide rail (115) are arranged along the second direction (Y); the first transverse movement mechanism (12) is connected to the first nut (114) and the first sliding block (1151); the first reduction motor (112) drives the first nut (114) to move along the second direction (Y) and drives the first transverse movement mechanism (12) to move synchronously; A second sliding block (1191) is provided on the second guide rail (119), the second lead screw (117) and the second guide rail (119) are arranged along the second direction (Y), the second transverse movement mechanism (13) is connected to the second nut (118) and the second sliding block (1191), and the second reduction motor (116) drives the second nut (118) to move along the second direction (Y) and drives the second transverse movement mechanism (13) to move synchronously.

13. The lifting device according to claim 11, characterized in that: The first transverse movement mechanism (12) comprises a third reduction motor (121), a third lead screw (122) and a third nut (123) sleeved on the third lead screw (122), third guide rails (124) arranged on both sides of the third reduction motor (121), a third sliding block (1241) being arranged on the third guide rails (124), the first supporting mechanism (21) being connected to the third nut (123) and the third sliding block (1241), the third reduction motor (121) driving the third nut (123) to move along the first direction (X), and driving the first supporting mechanism (21) to move synchronously; The second transverse movement mechanism (13) comprises a fourth reduction motor (131), a fourth lead screw (132) and a fourth nut (133) sleeved on the fourth lead screw (132), fourth guide rails (134) arranged on both sides of the fourth reduction motor (131), a fourth sliding block (1341) being arranged on the fourth guide rail (134), the second supporting mechanism (22) being connected to the fourth nut (133) and the fourth sliding block (1341), the fourth reduction motor (131) driving the fourth nut (133) to move along the first direction (X), and driving the second supporting mechanism (22) to move synchronously.

14. The lifting device according to claim 3 or 4, characterized in that: Two second position-limiting members (2231) are arranged in the groove and are spaced apart from each other along the second direction (Y). The two second position-limiting members (2231) are arranged facing each other, and the distance between the two second position-limiting members (2231) gradually decreases from top to bottom.

15. A robot, characterized in that: Comprising the lifting device according to any one of claims 1-14.

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