Lifting mechanism, material roll actuation device and handling robot

Abstract

A lifting mechanism, a material roll actuation device and a handling robot. The lifting mechanism comprises a top plate (100), a bottom plate (200), a driving assembly (300) and a scissor assembly (400), wherein the top plate (100) and the bottom plate (200) are arranged opposite each other; the scissor assembly (400) is connected between the top plate (100) and the bottom plate (200); and the driving assembly (300) is configured to drive a plurality of scissor sliding blocks (410) of the scissor assembly (400) to slide on the top plate (100) and the bottom plate (200) in a set direction, such that the scissor assembly (400) acts to lift and lower the top plate (100). The lifting mechanism further comprises a jacking link (500), wherein a first end of the jacking link (500) is slidably arranged on the bottom plate (200), and a second end of the jacking link (500) is hinged to the scissor assembly (400). When the top plate (100) is lifted to a set height by means of the scissor assembly (400), the jacking link (500) is perpendicular to the bottom plate (200), thereby improving the overall stability of the lifting mechanism.

Description

Lifting mechanism, coil actuator and handling robot Technical Field

[0001] This application relates to the field of material transportation, specifically to a lifting mechanism, a material roll execution device including the lifting mechanism, and a handling robot including the material roll execution device. Background Technology

[0002] Material rolls are characterized by their large length and circular shape. When using a handling robot to perform material transfer on the material rolls, extra attention needs to be paid to the stability of the material rolls on the handling robot.

[0003] Material handling robots typically consist of a mobile chassis and a material reel actuator mounted on the chassis. The material reel actuator has a compartment for carrying materials. Typically, the material reel actuator can be raised or lowered; during material reel transfers, the actuator needs to be controlled to ascend or descend. Summary of the Invention

[0004] This application provides a lifting mechanism, a roll-operated device including the lifting mechanism, and a handling robot including the roll-operated device.

[0005] As a first aspect of this application, a lifting mechanism is provided, the lifting mechanism including a top plate, a bottom plate, a drive assembly, and a scissor assembly. The top plate and the bottom plate are disposed opposite to each other, and the scissor assembly is connected between the top plate and the bottom plate. The drive assembly is used to drive a plurality of scissor sliders of the scissor assembly to slide in a predetermined direction on the top plate and the bottom plate respectively, so as to activate the scissor assembly and realize the lifting and lowering of the top plate. The lifting mechanism further includes a lifting link, the first end of the lifting link is slidably disposed on the bottom plate, and the second end of the lifting link is hinged to the scissor assembly. When the scissor assembly lifts the top plate to a predetermined height, the lifting link is perpendicular to the bottom plate.

[0006] Optionally, the drive assembly is connected to at least one of the plurality of scissor sliders and is used to drive the at least one scissor slider to slide, thereby actuating the scissor assembly and realizing the lifting and lowering of the top plate; or the drive assembly is connected to the lifting link and is used to drive the lifting link to slide, thereby actuating the scissor assembly and realizing the lifting and lowering of the top plate.

[0007] Optionally, the lifting link includes a lifting link body and a link slider. The first end of the lifting link body is hinged to the link slider, the link slider is formed as the first end of the lifting link, and the second end of the lifting link body is formed as the second end of the lifting link. The link slider is slidably disposed on the base plate.

[0008] Optionally, the drive assembly includes a lead screw assembly, which is fixedly connected to the base plate, and the connecting rod slider is slidably disposed on the lead screw of the lead screw assembly; a through hole is formed on the connecting rod slider, and the lead screw passes through the through hole so that the connecting rod slider is sleeved on the lead screw, and the diameter of the through hole is larger than the diameter of the lead screw.

[0009] Optionally, the lifting mechanism further includes a linkage position sensor, which is used to generate corresponding prompt information based on the position of the linkage slider.

[0010] Optionally, the lifting mechanism further includes a slider guide rail that matches the connecting rod slider. The connecting rod position sensor includes a baffle, a first photoelectric sensor, a second photoelectric sensor, and a third photoelectric sensor. The first, second, and third photoelectric sensors are sequentially arranged on the slider guide rail. The baffle is arranged on the connecting rod slider, and when the connecting rod slider slides along the slider guide rail to the corresponding position, the baffle can be inserted between the light emitting surface and the light receiving surface of one of the first, second, and third photoelectric sensors corresponding to that position. The distance between the first and second photoelectric sensors is less than the distance between the second and third photoelectric sensors. When the lifting connecting rod moves to the position of the third photoelectric sensor, the lifting connecting rod is perpendicular to the base plate.

[0011] Optionally, the lifting mechanism further includes a first limiting block and a second limiting block. The first limiting block is disposed on the side of the first photoelectric sensor away from the second photoelectric sensor, so as to abut against the connecting rod slider when the connecting rod slider slides past the first photoelectric sensor. The second limiting block is disposed on the side of the third photoelectric sensor away from the second photoelectric sensor, so as to abut against the connecting rod slider when the connecting rod slider slides past the third photoelectric sensor.

[0012] Optionally, the scissor lift assembly includes a plurality of sub-scissor lift assemblies arranged side by side along a first direction, the scissor lift sliders of the plurality of sub-scissor lift assemblies being located on the same side, and the lifting link being disposed between two adjacent sub-scissor lift assemblies.

[0013] Optionally, the sub-scissor lift assembly includes multiple scissor lifts connected sequentially along the lifting direction of the lifting mechanism. Each scissor lift includes two scissor arms that are cross-hinged. The second end of the lifting link is hinged to one scissor arm of the scissor lift disposed on the base plate. The hinge point between the lifting link and the scissor arm is located between the cross hinge point of the scissor lift and the hinge point between the scissor arm and the base plate.

[0014] Optionally, the lifting mechanism further includes a distance sensor for detecting the distance between the top plate and the bottom plate.

[0015] Optionally, the distance sensor includes a pull-cord sensor, with its two ends respectively disposed on the top plate and the bottom plate.

[0016] As a second aspect of this application, a material roll execution device is provided, the material roll execution device including the lifting mechanism provided in the first aspect of this application, wherein the material roll execution device further includes a material roll carrier, the material roll carrier being disposed on the bearing surface of the top plate of the lifting mechanism, the material roll carrier being used to carry materials.

[0017] Optionally, the material roll execution device further includes a material buffer assembly, which includes two guide legs and two guide plates. The two guide plates correspond one-to-one with the two guide legs. The two guide legs are spaced apart on the movable chassis and are located on the outside of the material roll carrier. The first end of the guide plate is fixed to the end of the corresponding guide leg away from the movable chassis, and the second end of the guide plate extends in the direction away from the guide leg. The distance between the second ends of the two guide plates is greater than the distance between the first ends of the two guide plates.

[0018] Optionally, the coil carrier includes a carrier plate and at least one compartment pair, the compartment pair being disposed on the surface of the carrier plate opposite to the top plate, the compartment pair including two compartments, and the two compartments being spaced apart along the length direction of the carrier plate.

[0019] As a third aspect of this application, a handling robot is provided, the handling robot including a mobile chassis and at least one material roll execution device, the material roll execution device being disposed on the mobile chassis, wherein at least one of the material roll execution devices is the material roll execution device provided in the second aspect of this application, and the base plate is disposed on the mobile chassis.

[0020] Optionally, the at least one reel execution device includes two reel execution devices, which are a full reel execution device and an empty reel execution device, respectively. The empty reel execution device is the reel execution device provided in the second aspect of this application.

[0021] Optionally, the full roll actuator is located in the middle of the mobile chassis, and the empty roll actuator is located in front of the full roll actuator.

[0022] In the lifting mechanism provided in this application, the top plate of the lifting mechanism can bear weight, and the bottom plate is fixed to the mounting foundation during installation. After the scissor lift assembly raises the top plate to a set height (that is, the maximum lifting height of the scissor lift assembly), the lifting of the top plate stops. When material is placed on the top plate, the lifting linkage is in a vertical state, and the lifting linkage can work together with the scissor lift assembly to support the material, improving the overall stability of the lifting mechanism. Attached Figure Description

[0023] The present application will be further described below with reference to the accompanying drawings.

[0024] Figure 1 is a three-dimensional structural diagram of a lifting mechanism provided in one embodiment of this application.

[0025] Figure 2 is a schematic diagram of the lifting state of the lifting mechanism provided in one embodiment of this application.

[0026] Figure 3 is a schematic diagram of the top plate structure.

[0027] Figure 4 is a schematic diagram of the base plate.

[0028] Figure 5 is a schematic diagram of the lifting mechanism after the top plate has been removed.

[0029] Figure 6 is a schematic diagram of the combined state of the lead screw and connecting rod slider.

[0030] Figure 7 is a schematic diagram of a roll-running device provided in one embodiment of this application.

[0031] Figure 8 is a schematic diagram of a roll execution device provided in another embodiment of this application.

[0032] Figure 9 is a schematic diagram of a handling robot provided in one embodiment of this application. Reference numerals: 100: Top plate; 200: Bottom plate; 300: Drive assembly; 400: Scissor lift assembly; 410: Scissor lift slider; 420: Sub-scissor lift assembly; 421: Scissor lift; 4210: Scissor lift arm; 500: Lifting link; 510: Lifting link body; 520: Link slider; 521: Baffle; 541: First photoelectric sensor; 542: Second photoelectric sensor; 543: Third photoelectric sensor; 310: Lead screw; 320: Lead screw seat; 330: Motor; 110: First slide rail component; 120: First... 210: Hinge seat; 220: Second slide rail; 230: Second hinge seat; 240: Lead screw seat mounting component; 510a: Guide rail groove; 510b: First sub-link body; 600: Second sub-link body; 710: Moving chassis; 720: Bearing plate; 800: Bin; 810: Material buffer assembly; 820: Guide leg; 900: Guide plate; 910: Distance sensor; 921: Cable mounting end; 922: Sensor body; 1000: Protective telescopic cover; 1100: Full roll actuator. Detailed Implementation

[0033] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described are intended to explain this application and should not be construed as limiting it.

[0034] The terms "an embodiment," "example," or "example" used in this specification refer to a particular feature, structure, or characteristic described in connection with the embodiment itself that may be included in at least one embodiment disclosed in this application. The phrase "in an embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment.

[0035] Ensuring the stability of the material coil actuator during the lifting process has been a long-standing pursuit in this field.

[0036] As a first aspect of the embodiments of this application, a lifting mechanism is provided. As shown in Figures 1 and 2, the lifting mechanism includes a top plate 100, a bottom plate 200, a drive assembly 300, and a scissor lift assembly 400. The top plate 100 and the bottom plate 200 are disposed opposite to each other, and the scissor lift assembly 400 is connected between the top plate 100 and the bottom plate 200.

[0037] The drive assembly 300 is used to drive the multiple scissor sliders 410 of the scissor assembly 400 to slide in a set direction on the top plate 100 and the bottom plate 200, so as to make the scissor assembly 400 move and realize the lifting and lowering of the top plate 100.

[0038] The lifting mechanism also includes a lifting link 500, the first end of which is slidably mounted on the base plate 200, and the second end of which is hinged to the scissor lift assembly 400. When the scissor lift assembly 400 lifts the top plate 100 to a set height, the lifting link 500 is perpendicular to the base plate 200.

[0039] The top plate 100 of the lifting mechanism can bear weight. During installation, the base plate 200 is fixed to the mounting foundation. After the scissor lift assembly 400 lifts the top plate 100 to a set height (i.e., the maximum lifting height of the scissor lift assembly 400), lifting of the top plate 100 stops. When materials are placed on the top plate 100, the lifting linkage 500 is in a vertical position. The lifting linkage 500, together with the scissor lift assembly 400, supports the materials, improving the overall stability of the lifting mechanism.

[0040] The vertical position of the lifting linkage 500 is the dead point of the lifting mechanism. At this dead point, no matter how heavy the load on the top plate 100 is, the lifting mechanism will not fall freely, thus improving the overall stability of the lifting mechanism.

[0041] It should be noted that the specific value of the set height can be determined according to the application scenario of the lifting mechanism. As an optional implementation, the lifting mechanism can be used in the material handling device of a handling robot.

[0042] In this embodiment, the specific structure of the lifting link 500 is not specifically limited, as long as the lifting link 500 is rod-shaped and can provide stable support when perpendicular to the base plate 200. As an optional embodiment, as shown in Figures 1 and 2, the lifting link 500 includes a lifting link body 510 and a link slider 520. The first end of the lifting link body 510 is hinged to the link slider 520, the link slider 520 is formed as the first end of the lifting link 500, the second end of the lifting link body 510 is formed as the second end of the lifting link 500, and the link slider 520 is slidably disposed on the base plate 200.

[0043] The lifting and lowering of the scissor lift assembly 400 can cause the connecting rod slider 520 to slide on the base plate 200; or, the sliding of the connecting rod slider 520 on the base plate 200 can cause the scissor lift assembly 400 to lift and lower.

[0044] In this embodiment, the specific structure of the lifting link body 510 is not specifically limited. To improve overall strength, as shown in FIG5, the lifting link body 510 may include a first sub-link body 510a and a second sub-link body 510b, which are arranged side by side and spaced apart. The two ends of the first sub-link body 510a and the second sub-link body 510b are respectively fixedly connected by connecting shafts.

[0045] In this embodiment, no special limitation is made on how the connecting rod slider 520 slides on the base plate 200. For example, a slide rail matching the connecting rod slider 520 can be provided on the base plate 200. Another example is that a groove matching the connecting rod slider 520 can be provided on the base plate 200.

[0046] In this embodiment, the specific structure of the drive component 300 is not specifically limited, as long as the drive component 300 can drive the scissor slider 410 of the scissor lift assembly 400 or the connecting rod slider 520 of the lifting link 500 to move linearly. In some embodiments, the drive component 300 can be connected to at least one of the multiple scissor sliders 410 and used to drive the scissor slider 410 to slide, thereby driving the scissor lift assembly 400 to move and realize the lifting and lowering of the top plate 100. In this case, the scissor slider 410 is the driving member and the lifting link 500 is the driven member. In other embodiments, the drive component 300 can be connected to the lifting link 500 and used to drive the lifting link 500 to slide, thereby driving the scissor lift assembly 400 to move and realize the lifting and lowering of the top plate 100. In this case, the lifting link 500 is the driving member and the scissor slider 410 is the driven member.

[0047] The drive assembly 300 may include, for example, a piston cylinder or a lead screw assembly. To simplify the structure, the following description will use the lifting linkage 500 as the driving member, the scissor block slider 410 as the driven member, and the drive assembly 300 including the lead screw assembly as an example.

[0048] Optionally, the drive assembly 300 may include a lead screw assembly. As shown in FIG2, the lead screw assembly is fixedly connected to the base plate 200, and the connecting rod slider 520 is slidably disposed on the lead screw 310 of the lead screw assembly.

[0049] As shown in Figure 6, a through hole is formed on the connecting rod slider 520, and the lead screw 310 passes through the through hole so that the connecting rod slider 520 is sleeved on the lead screw 310. The diameter of the through hole is larger than the diameter of the lead screw 310.

[0050] In this embodiment, the lead screw assembly has a lead screw seat 320 at one end, which is fixedly mounted on the base plate 200. In this embodiment, the connecting rod slider 520 is slidable between the two ends of the lead screw assembly. For example, the drive assembly 300 may include a motor 330 (e.g., a servo motor). The lead screw assembly may be connected to the motor 330 of the drive assembly 300 via a reducer (e.g., a planetary reducer) and a coupling. The motor 330 can provide rotational motion to the lead screw assembly, which can be converted into sliding of the connecting rod slider 520 on the lead screw assembly, thereby driving the scissor lift assembly 400 to move and achieve the lifting and lowering of the top plate 100. In other words, when the drive assembly 300 includes a lead screw assembly, the sliding of the connecting rod slider 520 on the lead screw assembly drives the scissor lift assembly 400 to move and achieve the lifting and lowering of the top plate 100.

[0051] To improve the stability of the connection, as shown in Figure 4, a lead screw seat mounting component 230 is also provided on the top surface of the base plate 200. The lead screw seat 320 is connected to the lead screw seat mounting component 230 to fix the lead screw assembly on the base plate 200.

[0052] In order to control the lifting height of the lifting mechanism, as an optional implementation, the lifting mechanism may also include a linkage position sensor, which is used to generate corresponding prompt information based on the position of the linkage slider 520.

[0053] In this embodiment, the recipient of the prompt information is not specifically limited. As an optional implementation, the drive assembly 300 includes a motor, and the linkage position sensor is electrically connected to the motor of the drive assembly 300. In this case, the prompt information can be sent to the motor of the drive assembly 300, and the motor of the drive assembly 300 determines whether to continue operating based on the received signal. For example, when the lifting linkage 500 slides to be perpendicular to the base plate 200, the linkage position sensor generates a corresponding signal and sends it to the motor of the drive assembly 300, thereby stopping the motor from driving the scissor lift assembly 400 to continue rising.

[0054] As shown in Figures 1 and 2, the lifting mechanism may further include a slider guide rail 530 that matches the connecting rod slider 520. The connecting rod position sensor includes a baffle 521, a first photoelectric sensor 541, a second photoelectric sensor 542, and a third photoelectric sensor 543. The first photoelectric sensor 541, the second photoelectric sensor 542, and the third photoelectric sensor 543 are sequentially arranged on the slider guide rail 530. The baffle 521 is arranged on the connecting rod slider 520, and when the connecting rod slider 520 slides along the slider guide rail 530 to the corresponding position, the baffle 521 can be inserted between the light emitting surface and the light receiving surface of one of the first photoelectric sensor 541, the second photoelectric sensor 542, and the third photoelectric sensor 543 corresponding to that position.

[0055] The distance between the first photoelectric sensor 541 and the second photoelectric sensor 542 is less than the distance between the second photoelectric sensor 542 and the third photoelectric sensor 543.

[0056] When the lifting link 500 moves to the third photoelectric sensor 543, the lifting link 500 is perpendicular to the base plate 200.

[0057] In this embodiment, the second photoelectric sensor 542 corresponds to the initial position state. In the initial position state, the baffle 521 is inserted between the light emitting surface and the light receiving surface of the second photoelectric sensor 542. If an abnormality occurs, the connecting slider 520 of the lifting linkage 500 cannot maintain the initial position state and continues to slide until the baffle 521 is inserted between the light emitting surface and the light receiving surface of the first photoelectric sensor 541. The signal of the first photoelectric sensor 541 changes, which is equivalent to an alarm of the lifting mechanism. When the drive assembly 300 receives the signal from the first photoelectric sensor 541 corresponding to the alarm of the lifting mechanism, it stops driving the lifting mechanism to continue to descend.

[0058] As an optional implementation, the lifting mechanism further includes a first limiting block, which is disposed on the side of the first photoelectric sensor 541 opposite to the second photoelectric sensor 542, to abut against the connecting rod slider 520 if it slides beyond the first photoelectric sensor 541. If the first photoelectric sensor 541 malfunctions, the connecting rod slider 520 continues to move in the negative limit direction (i.e., away from the first photoelectric sensor 541), and the connecting rod slider 520 abuts against the first limiting block, which will trigger an overcurrent alarm in the motor of the drive assembly 300, preventing further descent of the lifting mechanism.

[0059] If the third photoelectric sensor 543 is triggered (i.e., the baffle is inserted between the light reflecting surface and the light receiving surface of the third photoelectric sensor 543), the signal generated by the third photoelectric sensor 543 is also equivalent to an alarm of the lifting mechanism, and the drive assembly 300 stops driving the lifting mechanism to continue to rise.

[0060] Optionally, the lifting mechanism further includes a second limiting block, which is disposed on the side of the third photoelectric sensor 543 away from the second photoelectric sensor 542, to abut against the connecting rod slider 520 if the connecting rod slider 520 slides beyond the third photoelectric sensor 543. In the event of a malfunction of the third photoelectric sensor 543, the connecting rod slider 520 continues to move in the positive limit direction (i.e., away from the third photoelectric sensor 543), and the connecting rod slider 520 abuts against the second limiting block, which will trigger an overcurrent alarm in the motor of the drive assembly 300, preventing further lifting by the lifting mechanism.

[0061] As shown in Figure 4, a guide rail groove 240 for accommodating the slider guide rail 530 can also be formed on the top surface of the base plate 200.

[0062] The photoelectric sensor includes a light-emitting surface and a light-receiving surface facing each other. When there is no obstruction between the light-emitting and light-receiving surfaces, the light emitted from the light-emitting surface can reach the light-receiving surface, and the photoelectric sensor generates a first sensing signal. When the baffle 521 is inserted between the light-emitting and light-receiving surfaces, the light emitted from the light-emitting surface cannot reach the light-receiving surface, and the photoelectric sensor generates a second sensing signal.

[0063] In this embodiment, the first photoelectric sensor 541 is located on the slider side of the scissor lift assembly 400, and the third photoelectric sensor 543 is located on the hinge side of the scissor lift assembly 400. The first photoelectric sensor 541 represents the lowest limit position of the scissor lift assembly 400, the second photoelectric sensor 542 represents the initial position of the scissor lift assembly 400, and the third photoelectric sensor 543 represents the highest limit position of the scissor lift assembly 400.

[0064] When the baffle 521 is inserted into the first photoelectric sensor 541, it indicates that the scissor lift assembly 400 has been lowered to its lowest limit position, and the drive assembly 300 should stop operating.

[0065] In this embodiment, the specific structure of the scissor lift assembly 400 is not specifically limited. Optionally, the scissor lift assembly 400 includes a plurality of sub-scissor lift assemblies 420 arranged side by side along a first direction (horizontal direction) D1, the scissor lift sliders 410 of the plurality of sub-scissor lift assemblies 420 being located on the same side, and the lifting link 500 being disposed between two adjacent sub-scissor lift assemblies 420.

[0066] It should be noted that each sub-scissor lift assembly 420 includes two scissor lift sliders 410, which are respectively disposed on the top plate 100 and the bottom plate 200, and the scissor lift sliders 410 of multiple sub-scissor lift assemblies 420 are all located on the same side. The more sub-scissor lift assemblies 420 there are, the more stable the support for the top plate 100 will be.

[0067] Placing the lifting link 500 between two adjacent sub-scissor lift assemblies 420 can improve the compactness of the lifting mechanism and prevent the lifting link 500 from being interfered with by external components.

[0068] To increase the lifting stroke of the lifting mechanism, optionally, as shown in Figure 2, the sub-scissor lift assembly 420 includes a multi-stage scissor lift 421, which are connected sequentially along the lifting direction of the lifting mechanism.

[0069] The scissor lift 421 includes two scissor arms 4210 that are cross-hinged. The second end of the lifting link 500 is hinged to one of the scissor arms 4210 of the scissor lift 421, which is mounted on the base plate 200. The hinge point between the lifting link 500 and the scissor arm 4210 is located between the cross hinge point of the scissor lift 421 and the hinge point between the scissor arm 4210 and the base plate 200.

[0070] In the multi-stage scissor lift 421 of the same sub-scissor lift assembly 420, the scissor arms 4210 of adjacent scissor lifts are hinged together.

[0071] In this embodiment, the number of scissor lift stages is not specifically limited. As an optional implementation, the sub-scissor lift assembly 420 may include two-stage scissor lift stages 421. Furthermore, in this embodiment, the scissor lift assembly 400 includes two sub-scissor lift assemblies 420.

[0072] To achieve linear lifting of the top plate 100, optionally, as shown in Figure 1, the lifting mechanism further includes a distance sensor 900, which is used to detect the distance between the top plate 100 and the bottom plate 200. By detecting the distance between the top plate 100 and the bottom plate 200 in real time through the distance sensor 900, the rotational speed of the motor of the drive assembly 300 can be controlled, thereby achieving linear lifting of the top plate 100.

[0073] As an optional implementation, the distance sensor 900 may include a pull-cord sensor, with its two ends respectively disposed on the top plate 100 and the bottom plate 200. As shown in FIG2, the pull-cord mounting end 921 of the pull-cord sensor is disposed on the bottom surface of the top plate 100, and the sensor body 922 of the pull-cord sensor is disposed on the top surface of the bottom plate 200.

[0074] Because the lifting stroke of the scissor lift assembly 400 is relatively large, in order to improve the structural compactness of the lifting mechanism, the wiring 910 of the distance sensor 900 can optionally be set as a spiral spring wire.

[0075] To protect components such as the scissor lift assembly 400, lifting link 500, and drive assembly 300, the lifting mechanism may optionally include a protective telescopic cover 1000, which is connected between the top plate 100 and the bottom plate 200. Components such as the scissor lift assembly 400, lifting link 500, and drive assembly 300 are all housed within the protective telescopic cover 1000.

[0076] As an optional implementation, as shown in Figure 8, the protective telescopic cover 1000 can be a bellows cover.

[0077] In this embodiment of the application, no special limitation is made on how the scissor block 410 is slidably disposed on the top plate 100 and the bottom plate 200.

[0078] As shown in Figure 3, a plurality of first sliding grooves 110 are provided on the bottom surface of the top plate 100, and a plurality of scissor sliders 410 connected to the top plate 100 are slidably disposed in the plurality of first sliding grooves 110. As shown in Figure 4, a plurality of second sliding grooves 210 are provided on the top surface of the bottom plate 200, and a plurality of scissor sliders 410 connected to the bottom plate 200 are slidably disposed in the plurality of second sliding grooves 210. In other embodiments, a plurality of first guide rails may be provided on the bottom surface of the top plate 100, and a plurality of scissor sliders 410 connected to the top plate 100 may be slidably disposed in the plurality of first guide rails; a plurality of second guide rails may be provided on the top surface of the bottom plate 200, and a plurality of scissor sliders 410 connected to the bottom plate 200 may be slidably disposed in the plurality of second guide rails. This application does not impose any special limitations on this.

[0079] In addition, a plurality of first hinge seats 120 are provided on the bottom surface of the top plate 100, which are used to hinge with the corresponding scissor arms. A plurality of second hinge seats 220 are also provided on the top surface of the bottom plate 200, which are used to hinge with the corresponding scissor arms.

[0080] As a second aspect of this application, as shown in Figures 7 and 8, a material roll execution device is provided. The material roll execution device includes the lifting mechanism provided in the first aspect of this application. The material roll execution device further includes a material roll carrier disposed on the bearing surface of the top plate 100 of the lifting mechanism for bearing materials. In the embodiments of this application, the bearing surface of the top plate 100 is opposite to the bottom surface of the top plate 100.

[0081] As described above, the top plate 100 of the lifting mechanism can bear weight. During installation, the base plate 200 is fixed to the mounting foundation. After the scissor lift assembly 400 lifts the top plate 100 to a set height (i.e., the maximum lifting height of the scissor lift assembly 400), lifting of the top plate 100 stops. When materials are placed on the top plate 100, the lifting linkage 500 is in a vertical position. The lifting linkage 500, together with the scissor lift assembly 400, supports the materials, improving the overall stability of the lifting mechanism.

[0082] In this embodiment, the specific structure of the roll carrier is not specifically limited. For example, the roll carrier includes a support plate 710 and at least one pair of compartments. The pair of compartments is disposed on the surface of the support plate 710 facing away from the top plate 100, and the two compartments 720 of the pair are spaced apart along the length of the support plate 710. When transporting materials (e.g., rolls), the roll is located on the support plate 710, and the compartments 720 in the pair can limit and support the roll, while the support plate 710 and the compartments 720 jointly support the roll. Because the contact area between the support plate 710 and the roll is large, it can bear most of the weight of the roll, effectively preventing the roll from deforming under its own weight.

[0083] As an optional implementation, the top plate 100 is centrally positioned on the bottom surface of the support plate 710 to provide more stable support for the support plate 710.

[0084] Optionally, the material roll execution device may further include a material buffer assembly 800, as shown in FIG9. The material buffer assembly 800 includes two guide legs 810 and two guide plates 820. The two guide plates 820 correspond one-to-one with the two guide legs 810. The two guide legs 810 are spaced apart on the movable chassis 600 and are respectively located on the outside of the material roll carrier. The first end of the guide plate 820 is fixed to the end of the corresponding guide leg 810 away from the movable chassis 600. The second end of the guide plate 820 extends in the direction away from the guide leg 810. The distance between the second ends of the two guide plates 820 is greater than the distance between the first ends of the two guide plates 820.

[0085] During the process of placing the roll into the roll execution device, the guide plate 820 can guide the roll onto the bearing surface of the top plate 100.

[0086] As a third aspect of this application, as shown in FIG9, a handling robot is provided, the handling robot including a mobile chassis 600 and at least one material roll execution device, the material roll execution device being disposed on the mobile chassis 600, wherein at least one of the material roll execution devices is the material roll execution device provided in the second aspect of this application, and the base plate 200 is disposed on the mobile chassis 600.

[0087] Optionally, the handling robot includes two material roll execution devices, namely a full material roll execution device 1100 and an empty material roll execution device, wherein the empty material roll execution device is the material roll execution device provided in the second aspect of this application.

[0088] Optionally, the full-load roll execution device 1100 is located in the middle of the mobile chassis 600, and the empty-load roll execution device is located in front of the full-load roll execution device 1100. The full-load roll execution device 1100 carries a full roll, and the empty-load roll execution device carries an empty roll. By placing the full-load roll execution device 1100 in the middle of the mobile chassis 600, the handling robot moves more stably when the full-load roll execution device 1100 is loaded with a full roll.

[0089] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Those skilled in the art should understand that this application includes, but is not limited to, the content described in the accompanying drawings and the specific embodiments above. Any modifications that do not depart from the functional and structural principles of this application will be included within the scope of the claims.

Claims

1. A lifting mechanism, the lifting mechanism comprising a top plate (100), a bottom plate (200), a drive assembly (300), and a scissor lift assembly (400), wherein: The top plate (100) and the bottom plate (200) are disposed opposite to each other, and the scissor lift assembly (400) is connected between the top plate (100) and the bottom plate (200). The drive assembly (300) is used to drive the plurality of scissor sliders (410) of the scissor assembly (400) to slide along a predetermined direction on the top plate (100) and the bottom plate (200), respectively, so as to activate the scissor assembly (400) and realize the lifting and lowering of the top plate (100). The lifting mechanism is characterized in that it further includes a lifting link (500), the first end of which is slidably disposed on the base plate (200), and the second end of which is hinged to the scissor lift assembly (400). When the scissor lift assembly (400) lifts the top plate (100) to a set height, the lifting link (500) is perpendicular to the base plate (200).

2. The lifting mechanism according to claim 1, characterized in that, The drive assembly (300) is connected to at least one of the plurality of scissor sliders (410) and is used to drive the at least one scissor slider to slide, thereby actuating the scissor assembly (400) and realizing the lifting and lowering of the top plate (100); or The drive assembly (300) is connected to the lifting link (500) and is used to drive the lifting link (500) to slide, so as to drive the scissor lift assembly (400) to move and realize the lifting and lowering of the top plate (100).

3. The lifting mechanism according to claim 1, characterized in that, The lifting link (500) includes a lifting link body (510) and a link slider (520). The first end of the lifting link body (510) is hinged to the link slider (520). The link slider (520) is formed as the first end of the lifting link (500), and the second end of the lifting link body (510) is formed as the second end of the lifting link (500). The connecting rod slider (520) is slidably mounted on the base plate (200).

4. The lifting mechanism according to claim 3, characterized in that, The drive assembly (300) includes a lead screw assembly, which is fixedly connected to the base plate (200), and the connecting rod slider (520) is slidably disposed on the lead screw (310) of the lead screw assembly; A through hole is formed on the connecting rod slider (520), and the lead screw (310) passes through the through hole so that the connecting rod slider (520) is sleeved on the lead screw (310). The diameter of the through hole is larger than the diameter of the lead screw (310).

5. A lifting mechanism according to claim 3 or 4, characterised in that, The lifting mechanism also includes a linkage position sensor, which is used to generate corresponding prompt information based on the position of the linkage slider (520).

6. A lifting mechanism according to claim 5, characterised in that The lifting mechanism further includes a slider guide rail (530) that matches the connecting rod slider (520), wherein, The linkage position sensor includes a baffle (521), a first photoelectric sensor (541), a second photoelectric sensor (542), and a third photoelectric sensor (543). The first photoelectric sensor (541), the second photoelectric sensor (542), and the third photoelectric sensor (543) are sequentially arranged on the slider guide rail (530). The baffle (521) is arranged on the linkage slider (520). When the linkage slider (520) slides along the slider guide rail (530) to the corresponding position, the baffle (521) can be inserted between the light emitting surface and the light receiving surface of one of the first photoelectric sensor (541), the second photoelectric sensor (542), and the third photoelectric sensor (543) corresponding to that position. The distance between the first photoelectric sensor (541) and the second photoelectric sensor (542) is less than the distance between the second photoelectric sensor (542) and the third photoelectric sensor (543); When the lifting link (500) moves to the third photoelectric sensor (543), the lifting link (500) is perpendicular to the base plate (200).

7. A lifting mechanism according to claim 6, characterised in that The lifting mechanism further includes a first limiting block and a second limiting block, wherein... The first limiting block is disposed on the side of the first photoelectric sensor (541) away from the second photoelectric sensor (542) so as to abut against the connecting rod slider (520) when the connecting rod slider (520) slides beyond the first photoelectric sensor (541); The second limiting block is disposed on the side of the third photoelectric sensor (543) away from the second photoelectric sensor (542) so as to abut against the connecting rod slider (520) when the connecting rod slider (520) slides past the third photoelectric sensor (543).

8. The lifting mechanism according to any one of claims 1 to 7, characterized in that, The scissor lift assembly (400) includes a plurality of sub-scissor lift assemblies (420) arranged side by side along a first direction, the scissor lift sliders (410) of the plurality of sub-scissor lift assemblies (420) being located on the same side, and the lifting link (500) being disposed between two adjacent sub-scissor lift assemblies (420).

9. The lifting mechanism according to claim 8, characterized in that, The sub-scissor lift assembly (420) includes multiple scissor lifts (421), which are connected sequentially along the lifting direction of the lifting mechanism. Each stage of the scissor lift includes two scissor arms (4210) that are cross-hinged. The second end of the lifting link (500) is hinged to one scissor arm of the scissor lift disposed on the base plate (200). The hinge point between the lifting link (500) and the scissor arm is located between the cross hinge point of the scissor lift and the hinge point between the scissor arm and the base plate (200).

10. The lifting mechanism according to any one of claims 1 to 9, characterized in that The lifting mechanism also includes a distance sensor (900) for detecting the distance between the top plate (100) and the bottom plate (200).

11. A lifting mechanism according to claim 10, characterised in that The distance sensor (900) includes a pull rope sensor, with its two ends respectively disposed on the top plate (100) and the bottom plate (200).

12. A web handling apparatus characterized by, The material roll execution device includes the lifting mechanism as described in any one of claims 1 to 11, and the material roll execution device further includes a material roll carrier, which is disposed on the bearing surface of the top plate of the lifting mechanism, and the material roll carrier is used to carry materials.

13. The web handling apparatus of claim 12, wherein, The material roll execution device further includes a material buffer assembly (800), wherein, The material buffer assembly (800) includes two guide legs (810) and two guide plates (820). The two guide plates (820) correspond one-to-one with the two guide legs (810). The two guide legs are spaced apart on the movable chassis (600) and are located on the outside of the material roll carrier. The first end of the guide plate (820) is fixed to the end of the corresponding guide leg (810) away from the movable chassis. The second end of the guide plate (820) extends in the direction away from the guide leg (810). The distance between the second ends of the two guide plates (820) is greater than the distance between the first ends of the two guide plates (820).

14. The web handling apparatus of claim 12 or 13, wherein, The coil carrier includes a carrier plate (710) and at least one compartment pair. The compartment pair is disposed on the surface of the carrier plate (710) away from the top plate (100). The compartment pair includes two compartments (720), and the two compartments (720) are spaced apart along the length direction of the carrier plate (710).

15. A handling robot comprising a mobile chassis (600) and at least one coil handling device arranged on the mobile chassis (600), characterized in that, At least one of the said roll execution devices is the roll execution device according to any one of claims 12 to 14, and the base plate (200) is disposed on the movable chassis (600).

16. The transport robot of claim 15, wherein, The at least one material roll execution device includes two material roll execution devices, and the two material roll execution devices are a full material roll execution device (1100) and an empty material roll execution device, wherein the empty material roll execution device is the material roll execution device according to any one of claims 12 to 14.

17. The transport robot of claim 16, wherein, The full roll actuator (1100) is located in the middle of the mobile chassis (600), and the empty roll actuator is located in front of the full roll actuator (1100).

Images