CN222512784U - Lifting mechanism and automated warehouse - Google Patents

Abstract

The utility model discloses a jacking mechanism and an automated warehouse, which relate to the field of automated warehousing and are used to increase the service life of the jacking mechanism. The jacking mechanism includes a scissor-type mechanism, a driving mechanism and an auxiliary lifting mechanism. The scissor-type mechanism includes a plurality of rotatably connected rods; the scissor-type mechanism includes a contracted state and an expanded state, and the scissor-type mechanism switches between the contracted state and the expanded state through the relative rotation of the plurality of rods. The driving mechanism is connected to the scissor-type mechanism to drive the scissor-type mechanism to switch between the contracted state and the expanded state. The auxiliary lifting mechanism is connected to the scissor-type mechanism, and the auxiliary lifting mechanism is constructed to apply a force having a component in the expansion direction of the scissor-type mechanism to the scissor-type mechanism during the process of the scissor-type mechanism switching from the contracted state to the expanded state. The above scheme increases the service life of the jacking mechanism.

Description

Jacking mechanism and automatic warehouse

Technical Field

The utility model relates to the field of automatic storage, in particular to a jacking mechanism and an automatic warehouse.

Background

The carrying trolley is necessary equipment in an automatic warehouse, comprises a chassis and an upper loading mechanism, has a navigation function, and can automatically plan a path in the warehouse. Meanwhile, the loading mechanism has a lifting function, and can lift a feed box or other goods, so that the objects can be mutually transferred between the storage position and the trolley.

The inventor finds that the prior art has at least the following problems that the prior carrying trolley has short service life and is easy to damage.

Disclosure of utility model

The utility model provides a jacking mechanism and an automatic warehouse, which are used for prolonging the service life of the jacking mechanism.

The embodiment of the utility model provides a jacking mechanism, which comprises the following components:

The scissors mechanism comprises a plurality of rods which are rotatably connected, wherein the scissors mechanism comprises a contracted state and an expanded state, and the scissors mechanism is switched between the contracted state and the expanded state through the relative rotation of the rods;

A drive mechanism drivingly connected to the scissor mechanism for driving the scissor mechanism to switch between the contracted state and the expanded state, and

And an auxiliary lifting mechanism connected with the scissor mechanism, wherein the auxiliary lifting mechanism is configured to apply a force with a component towards the unfolding direction of the scissor mechanism to the scissor mechanism during the process of switching the scissor mechanism from a contracted state to an unfolded state.

In some embodiments, the auxiliary lifting mechanism comprises:

the mounting seat is fixedly connected with one rod piece of the shearing fork mechanism and comprises a mounting through hole;

The connecting shaft comprises a shaft body, a first end part and a second end part, wherein the first end part and the second end part are fixed at two ends of the shaft body in a dispersing way, the shaft body passes through the mounting through hole, the first end part and the second end part are positioned at the outer side of the mounting through hole, and

An elastic piece clamped between the mounting seat and the second end part;

The elastic piece is compressed when the scissor mechanism is in a contracted state, and is reset when the scissor mechanism is in an expanded state.

In some embodiments, the scissor mechanism is configured to be symmetrical, and the scissor mechanism is provided with two or more auxiliary lifting mechanisms, each of which is symmetrically arranged relative to the symmetry axis of the scissor mechanism itself.

In some embodiments, the scissor mechanism comprises two sets of linkages, each set of linkages comprising:

one end of the first connecting rod is connected with the driving mechanism;

The middle part of the second connecting rod is rotatably connected with the middle part of the first connecting rod, and one end of the second connecting rod is configured to be rotatably connected with the chassis;

A third link having one end rotatably connected to the other end of the first link and the other end configured to be rotatably and slidably connected to the tray assembly, and

And the middle part of the fourth connecting rod is rotatably connected with the middle part of the third connecting rod, one end of the fourth connecting rod is rotatably connected with the other end of the second connecting rod, and the other end of the fourth connecting rod is configured to be rotatably connected with the tray assembly.

In some embodiments, each set of the linkages further comprises:

And the intermediate link mechanism is arranged between the first link and the third link, and between the second link and the fourth link.

In some embodiments, the drive mechanism comprises:

a power source configured to provide rotational power;

a screw rod transmission mechanism in driving connection with the power source to convert the rotation power of the power source into linear power, and

And the driving plate is arranged between one ends of the first connecting rods of the two sets of connecting rod mechanisms so as to push the first rod pieces of the scissor fork mechanisms to translate.

In some embodiments, the scissor mechanism further comprises a reinforcing component, wherein the reinforcing component is rotatably connected with the two sets of connecting rod mechanisms, and the auxiliary lifting mechanism is mounted on the reinforcing component.

In some embodiments, the jacking mechanism further comprises:

the chassis, the fork mechanism of cutting is installed in the chassis.

In some embodiments, the jacking mechanism further comprises:

A travelling mechanism arranged on the chassis, and

The driving wheel mechanism is arranged on the chassis to drive the jacking mechanism to walk.

In some embodiments, the drive wheel mechanism comprises:

The floating seat assembly comprises a first seat body, a second seat body and a buffer mechanism, wherein the first seat body is arranged on the chassis, the second seat body is arranged on the first seat body through the buffer mechanism, and

And the driving wheel is arranged on the second seat body.

In some embodiments, the cushioning mechanism comprises:

the first connecting piece is fixedly arranged on the first seat body;

The second connecting piece is arranged at intervals with the first connecting piece and fixedly connected with the second seat body;

A connecting rod assembly connecting the first and second connecting members and forming a four-bar linkage together with the first and second connecting members, and

And the spring assembly is arranged between the first connecting piece and the second connecting piece so as to play a role in buffering when the second connecting piece moves up and down relative to the first connecting piece.

In some embodiments, the connecting shaft of the auxiliary lifting mechanism abuts the first connector when the scissor mechanism is in the contracted state.

In some embodiments, the jacking mechanism further comprises:

The tray assembly comprises a tray body, a hinge part, a slideway and a sliding block, wherein the hinge part and the slideway are arranged at the bottom of the tray body in a scattered manner, the sliding block is movably arranged in the slideway, a third connecting rod of the shearing fork mechanism is rotatably connected with the sliding block, and a fourth connecting rod of the shearing fork mechanism is rotatably connected with the hinge part.

In some embodiments, the tray assembly further comprises:

and the anti-slip strip is arranged on the bearing surface of the tray body.

In some embodiments, the auxiliary lifting mechanism is in a reset state when the scissor mechanism is in a deployed state;

In the process that the scissor mechanism is switched from the unfolding state to the shrinkage state, the auxiliary lifting mechanism is acted by the scissor mechanism, and the auxiliary lifting mechanism is switched from the resetting state to the compression state.

The embodiment of the utility model provides an automatic warehouse, which comprises the jacking mechanism provided by any technical scheme of the utility model.

The jacking mechanism provided by the technical scheme comprises a shearing fork mechanism, a driving mechanism and an auxiliary lifting mechanism. During lifting of the scissor mechanism, namely switching from the contracted state to the expanded state, the auxiliary lifting mechanism provides additional assistance for the scissor mechanism, so that the scissor is not only driven by the driving mechanism, but also subjected to auxiliary force in a direction different from that of the driving force. The direction of the auxiliary force has a component along the unfolding direction of the scissor mechanism, so that the scissor mechanism is easier to switch from a contracted state to an unfolded state, the load of the driving mechanism is reduced, the service life of the driving mechanism is longer, the power is smaller, and the service life of the jacking mechanism is prolonged.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model and do not constitute a limitation on the utility model. In the drawings:

fig. 1 is a schematic diagram of a jacking mechanism in a contracted state according to an embodiment of the present utility model.

Fig. 2 is a schematic diagram of a lifting mechanism in an unfolded state according to an embodiment of the present utility model.

Fig. 3 is a schematic perspective view illustrating a connection relationship between a scissor structure and a driving mechanism of a lifting mechanism according to an embodiment of the present utility model.

Fig. 4 is another perspective view illustrating a connection relationship between a scissor structure and a driving mechanism of a lifting mechanism according to an embodiment of the present utility model.

Fig. 5 is a schematic perspective view of a scissors structure of a lifting mechanism in a contracted state according to an embodiment of the present utility model.

Fig. 6 is a schematic front view of a scissors structure of a lifting mechanism in a contracted state according to an embodiment of the present utility model.

Fig. 7 is a schematic perspective view of an auxiliary lifting mechanism of a lifting mechanism in a reset state according to an embodiment of the present utility model.

Fig. 8 is a schematic perspective view of an auxiliary lifting mechanism of a lifting mechanism in a compressed state according to an embodiment of the present utility model.

Fig. 9 is a schematic perspective view of a chassis, a travelling mechanism and a driving wheel mechanism of a lifting mechanism according to an embodiment of the present utility model.

Fig. 10 is a schematic perspective view of a driving wheel mechanism of a lifting mechanism according to an embodiment of the present utility model.

Fig. 11 is a schematic perspective view of a tray assembly of a lifting mechanism according to an embodiment of the present utility model.

Reference numerals:

1. A scissors mechanism; 2, a driving mechanism, 3, an auxiliary lifting mechanism, 4, a chassis, 5, a travelling mechanism, 6, a driving wheel mechanism, 7, and a tray assembly;

11. 12, a reinforcing component;

111. First connecting rod 112, second connecting rod 113, third connecting rod 114, fourth connecting rod 115, intermediate connecting rod mechanism;

21. the device comprises a power source, a screw rod transmission mechanism, a driving plate, a first synchronous pulley, a synchronous belt, a second synchronous pulley, a screw rod and a driving plate, wherein the driving plate is arranged at the front end of the power source;

31. mounting seat, 32, connecting shaft, 33, elastic piece, 311, mounting through hole, 321, shaft body, 322, first end, 323, second end;

61. 62, driving wheel;

611. 612, second seat, 613, buffer mechanism;

6131. 6132, second connecting piece, 6133, connecting rod component, 6134, spring component;

71. the device comprises a tray body, a hinging part, 73, a slideway, 74, a sliding block, 75, an anti-slip strip, 76 and a locating pin.

Detailed Description

The technical scheme provided by the utility model is described in more detail below with reference to fig. 1 to 11. The description of the exemplary embodiments is merely illustrative, and is in no way intended to limit the disclosure, its application, or uses. The present disclosure may be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that the relative arrangement of parts and steps, the composition of materials, numerical expressions and numerical values set forth in these embodiments should be construed as exemplary only and not limiting unless specifically stated otherwise.

The terms "first," "second," and the like, as used in this disclosure, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises" and the like means that elements preceding the word encompass the elements recited after the word, and not exclude the possibility of also encompassing other elements.

In this disclosure, when a particular device is described as being located between a first device and a second device, there may or may not be an intervening device between the particular device and either the first device or the second device. When it is described that a particular device is connected to other devices, the particular device may be directly connected to other devices without intervening devices, or may be directly connected to other devices without intervening devices.

All terms (including technical or scientific terms) used in this disclosure have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs, unless specifically defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but should be part of the specification where appropriate.

The dimensions of the various elements shown in the figures are not drawn to actual scale. In the drawings, common components or similar components are denoted by the same reference numerals, and repetitive description thereof will be omitted as appropriate.

Referring to fig. 1, an embodiment of the present utility model provides a lifting mechanism, which includes a scissor mechanism 1, a driving mechanism 2, and an auxiliary lifting mechanism 3. The scissor mechanism 1 comprises a plurality of rods which are rotatably connected, the scissor mechanism 1 comprises a contracted state and an expanded state, the scissor mechanism 1 is switched between the contracted state and the expanded state through the relative rotation of the plurality of rods, the driving mechanism 2 is in driving connection with the scissor mechanism 1 to drive the scissor mechanism 1 to switch between the contracted state and the expanded state, the auxiliary lifting mechanism 3 is connected with the scissor mechanism 1, and the auxiliary lifting mechanism 3 is configured to apply a force with a component towards the expanding direction of the scissor mechanism 1 to the scissor mechanism 1 during the process of switching the scissor mechanism 1 from the contracted state to the expanded state. The auxiliary lifting mechanism 3 includes a compressed state and a reset state.

When the scissor mechanism 1 is in the contracted state, the auxiliary lifting mechanism 3 is in the compressed state. When the scissor mechanism 1 is in the unfolded state, the auxiliary lifting mechanism 3 is in the reset state. Specifically, during the process of switching the scissor mechanism 1 from the expanded state to the contracted state, the auxiliary lifting mechanism 3 receives the force of the scissor mechanism 1, and the auxiliary lifting mechanism 3 is switched from the reset state to the compressed state.

Wherein the unfolding direction of the scissor mechanism 1 is along the height direction of the scissor mechanism 1. When the scissors mechanism 1 is in a contracted state, the scissors mechanism 1 is shortest in height, and when the scissors mechanism 1 is in an expanded state, the scissors mechanism 1 is greatest in height. The direction H shown in fig. 6 is the direction in which the scissor mechanism 1 is deployed, and is also the height direction of the scissor mechanism 1.

In some embodiments, the auxiliary lifting mechanism 3 comprises a reset state and a compressed state. When the scissor mechanism 1 is in the expanded state, the auxiliary lifting mechanism 3 is in the reset state, and during the process of switching the scissor mechanism 1 from the expanded state to the contracted state, the auxiliary lifting mechanism 3 is subjected to the acting force of the scissor mechanism 1 (specifically, the pressing force of the scissor mechanism 1 and a first connecting piece 6131 which is described later and jointly pressing the auxiliary lifting mechanism 3) and the auxiliary lifting mechanism 3 is switched from the reset state to the compressed state.

The scissor mechanism 1 is located between a tray assembly 7 described below and the chassis 4, the chassis 4 carrying the scissor mechanism 1, the tray assembly 7 being lifted as the scissor mechanism 1 is switched between retracted and extended conditions, and the items located on top of the tray assembly 7 also being lifted with the tray assembly 7.

The scissor mechanism 1 is a whole formed by rotatably connecting a plurality of connecting rods, and the scissor mechanism 1 can be contracted and expanded. The contraction and expansion of the scissor mechanism 1 are realized through the change of the included angle between the connecting rods.

Referring to fig. 1 to 4, a specific implementation of the scissors mechanism 1 is described below.

Referring to fig. 1 and 2, the scissors mechanism 1 comprises two sets of linkage 11. The two sets of linkage 11 are symmetrically arranged with respect to the central axis L of the scissor mechanism 1.

The scissor mechanism 1 includes two sets of link mechanisms 11, each set of link mechanisms 11 including a first link 111, a second link 112, a third link 113, and a fourth link 114. One end of the first link 111 is connected to the driving mechanism 2, and the middle part of the second link 112 is rotatably connected to the middle part of the first link 111. One end of the second link 112 is configured to be rotatably connected to the chassis 4, in particular through the hinge seat 40, and one end of the third link 113 is rotatably connected to the other end of the first link 111, and the other end of the third link 113 is configured to be rotatably and slidably connected to the tray assembly 7. The middle portion of the fourth link 114 is rotatably connected to the middle portion of the third link 113, one end of the fourth link 114 is rotatably connected to the other end of the second link 112, and the other end of the fourth link 114 is configured to be rotatably connected to the tray assembly 7.

Here, taking the scissor mechanism 1 as an example, two sets of link mechanisms 11 are arranged, the structures of the two sets of link mechanisms are identical, the two sets of link mechanisms 11 are distributed at two edges of the tray assembly 7 in the width direction, and the two link mechanisms 11 enable the tray assembly 7 to be more in stress positions and more balanced in stress.

Referring to fig. 3 and 4, the first link 111 and the third link 113 are hinged at the ends, the first link 111 and the second link 112 are hinged at the middle, the second link 112 and the fourth link 114 are hinged at the ends, the third link 113 and the fourth link 114 are hinged at the middle, and the entire link mechanism 11 is substantially a plurality of X-shaped end hinges.

The number of links may be set according to the distance the scissor mechanism 1 is to be lifted, here four links are provided for each link mechanism 11 as an example. More links may be provided as desired. In some embodiments, each set of linkages 11 further includes an intermediate linkage (not shown) mounted between the first and third links 111 and 113, and the second and fourth links 112 and 114. The intermediate link structure is also a structure forming an X-shape. The middle connecting rod mechanism is arranged, so that the lifting range of the scissor mechanism 1 can be increased, and the lifting requirement of a higher height range can be realized.

Returning to fig. 1 or 2, one end of each of the first links 111 of the two sets of link mechanisms 11 is connected to the driving mechanism 2, and the driving mechanism 2 applies a force to the two first links 111 to retract and expand the scissor mechanism 1. The driving mechanism 2 applies a force F1 to the two first links 111 to move the first links 111 horizontally, the direction of the force F1 being along the surface of the chassis 4. The force F2 exerted by the auxiliary lifting mechanism 3 on the scissor mechanism 1 has an upward component that is perpendicular to the surface of the chassis 4. The upward component of force F1 and force F2 is perpendicular.

When the scissor mechanism 1 is in a contracted state, the included angle of the connecting rod of the whole mechanism is minimum, and the shape of the scissor mechanism 1 is difficult to change. In the process of switching the scissor mechanism 1 from the contracted state to the expanded state, the driving mechanism 2 is required to provide a larger driving force, and by arranging the auxiliary lifting mechanism 3, the scissor mechanism 1 is easier to switch from the contracted state to the expanded state, so that the driving force of the driving mechanism 2 is reduced, and the driving mechanism 2 can be miniaturized and has low power.

With continued reference to fig. 3-4, the scissor mechanism 1 further includes a stiffening assembly 12, the stiffening assembly 12 being rotatably coupled to both sets of linkages 11, and the auxiliary lifting mechanism 3 being mounted to the stiffening assembly 12. The reinforcing members 12 may be rods, ribs, or the like. The number of the reinforcing components 12 is one or more, and a plurality of reinforcing components are distributed at different positions of the two sets of link mechanisms 11, so that the two sets of link mechanisms 11 form a whole through the reinforcing components 12, synchronously shrink and synchronously expand, and the structure strength of the scissor mechanism 1 is better, and the bearing capacity is higher.

Referring to fig. 5 to 8, in some embodiments, the auxiliary lifting mechanism 3 includes a mount 31, a connection shaft 32, and an elastic member 33. The mounting seat 31 is fixedly connected with one rod piece of the scissor mechanism 1. The mounting seat 31 comprises a mounting through hole 311, the connecting shaft 32 comprises a shaft body 321, a first end portion 322 and a second end portion 323, the first end portion 322 and the second end portion 323 are fixed at two ends of the shaft body 321 in a dispersing mode, the shaft body 321 penetrates through the mounting through hole 311, the first end portion 322 and the second end portion 323 are located outside the mounting through hole 311, and the elastic piece 33 is clamped between the mounting seat 31 and the second end portion 323. Wherein the elastic member 33 is compressed when the scissors mechanism 1 is in the contracted state, and the elastic member 33 is restored when the scissors mechanism 1 is in the expanded state.

Specifically, the mounting seat 31 of the auxiliary lifting mechanism 3 is fixedly connected with the reinforcing component 12 of the scissor mechanism 1, the reinforcing component 12 is provided with a mounting hole (not shown in the figure), and the mounting seat 31 is mounted in the mounting hole of the reinforcing component 12. Mount 31 moves synchronously with stiffening assembly 12, stiffening assembly 12 and mount 31 being relatively stationary.

Referring to fig. 7, when the auxiliary lifting mechanism 3 is in the reset state, the elastic member 33 is in the reset state, the mounting seat 31 abuts against the first end 322 of the connecting shaft 32, and the elastic member 33 is located between the mounting seat 31 and the second end 323 of the connecting shaft 32.

Referring to fig. 8, when the auxiliary lifting mechanism 3 is in a compressed state, and the scissor mechanism 1 is also in a contracted state, the mounting seat 31 is closest to the chassis 4 described later, the mounting seat 31 is fixed to the scissor mechanism 1, and the mounting seat 31 is located approximately in the middle of the connecting shaft 32. The other end of the connecting shaft 32 abuts against a first seat 611 of the driving wheel mechanism 6 described later, and is also fixed. The elastic member 33 is located between the second end of the connecting shaft 32 and the mounting seat 31, the length of the elastic member 33 is the shortest, and the elastic member 33 is in a compressed state.

The principle of action of the auxiliary lifting mechanism 3 is described below. When the scissor assembly is in a contracted state, the top end of the connecting shaft 32 of the auxiliary lifting mechanism 3 is staggered from the connecting rods of the scissor mechanism 1, so that the top end of the connecting shaft 32 abuts against the top surface of a first seat body 611 of a floating seat assembly 61 described below. The elastic member 33 of the auxiliary lifting mechanism 3 is in a compressed state. In the process of lifting and lowering the scissor mechanism 1, at the initial time, the scissor mechanism 1 receives the driving force of the driving mechanism 2, but the direction of the driving force is along the horizontal direction, and the deformation direction of the scissor mechanism 1 is along the vertical direction, so that the scissor mechanism 1 is difficult to deform, the mounting seat 31 and the scissor mechanism 1 are relatively static, and the mounting seat 31 also has a tendency to move upwards. Since the elastic member 33 of the auxiliary lifting mechanism 3 is in a compressed state, the elastic member 33 always applies the force F2 to the mounting seat 31, which causes the mounting seat 31 to be upwardly biased, the force F2 is transmitted to the scissor mechanism 1 along the mounting seat 31, so that the scissor mechanism 1 is also subjected to the force F2. Under the combined action of the horizontal force F1 applied by the driving mechanism 2 and the upward force F2 applied by the elastic member 33, the load of the driving source is reduced, and the scissor mechanism 1 can be smoothly switched from the contracted state to the expanded state, thus achieving the ascent of the tray assembly 7 mounted to the scissor mechanism 1.

When the drive mechanism 2 applies a force F1 in the opposite direction to the scissor mechanism 1, the scissor mechanism 1 will switch from the extended state to the contracted state, in which process no assistance of the auxiliary lifting mechanism 3 is required. In this process, under the action of the acting force F1 provided by the driving mechanism 2, the scissor mechanism 1 is switched from the unfolded state to the contracted state, the scissor structure drives the auxiliary lifting mechanism 3to move downward wholly, after moving downward to a certain extent, the connecting shaft 32 of the auxiliary lifting mechanism 3 abuts against the first seat 611 of the driving mechanism 6 described later, the connecting shaft 32 cannot move downward any more, at this time, the scissor mechanism 1 continues to deform towards the contracted state, the mounting seat 31 of the auxiliary lifting mechanism 3 is fixedly connected with the scissor mechanism 1, so that the mounting seat 31 moves downward relative to the connecting shaft 32, and the elastic piece 33 between the mounting seat 31 and the connecting shaft 32 is compressed, so that the auxiliary lifting mechanism 3 is switched from the reset state to the compressed state, i.e. the state illustrated in fig. 8. The auxiliary lifting mechanism 3 in the compressed state provides assistance for the next switching of the scissor mechanism 1 from the contracted state to the expanded state, due to the elastic force of the elastic member 33.

With continued reference to fig. 3 or 4, the scissors mechanism 1 is configured to be symmetrical. The scissor mechanism 1 is provided with two or more auxiliary lifting mechanisms 3, and each auxiliary lifting mechanism 3 is symmetrically arranged relative to the symmetry axis of the scissor mechanism 1. The two auxiliary lifting mechanisms 3 can adopt the same structure, the two auxiliary lifting mechanisms 3 synchronously act, no additional driving part is required to be arranged, and the auxiliary lifting mechanisms 3 can be switched from a reset state to a contraction state by directly utilizing the driving mechanism 2 of the jacking mechanism.

Referring to fig. 7 or 8, in order to make the installation of the elastic member 33 more stable, the installation seat 31 is provided with a concave cavity, the opening direction of which faces the elastic member 33, one end of the elastic member 33 abuts against the bottom of the concave cavity, and the other end of the elastic member 33 abuts against the second end 323 of the connection shaft 32.

Returning to fig. 1 to 4, the drive mechanism 2 includes a power source 21, a screw transmission mechanism 22, and a drive plate 23. The power source 21 is configured to provide rotational power, and the power source 21 is, for example, a motor. The screw transmission mechanism 22 is in driving connection with the power source 21 to convert the rotation power of the power source 21 into linear power, and the driving plate 23 is arranged between one ends of the first links 111 of the two sets of link mechanisms 11 to push the first rod members of the scissor mechanism 1 to translate.

Referring to fig. 3 and 4, the transmission path of the power source 21 to the driving plate 23 is embodied as a motor, and the power source 21 is embodied as a motor. The motor drives the speed reducer to rotate, the speed reducer drives the first synchronous pulley 24 to rotate, the first synchronous pulley 24 drives the synchronous belt 25 to rotate, and the synchronous belt 25 drives the second synchronous pulley 26 to rotate. The second synchronous pulley 26 is fixedly connected with the lead screw 27, and the second synchronous pulley 26 drives the lead screw 27 to synchronously rotate. The drive plate 23 is slidably mounted to the lead screw 27, changing the rotation of the lead screw 27 into linear motion of the drive plate 23. The driving plate 23 is fixedly connected with the first connecting rod 111 of the scissor mechanism 1, and the first connecting rod 111 is driven to synchronously and linearly move by the linear movement of the driving plate 23. Since one end of the second link 112 is hinged to the chassis 4, the second link 112 can only rotate. The distance between one end of the first link 111 and one end of the second link 112 becomes smaller and smaller during the rectilinear movement of the first link 111, which enables the deformation of the scissor mechanism 1 from the contracted state to the expanded state, and thus the ascent of the tray assembly 7 mounted on the top of the scissor mechanism 1. In the process, the auxiliary lifting mechanism 3 automatically provides assistance, no additional operation is needed, and the operation is very convenient. The motor moves reversely to drive the scissor mechanism 1 to deform from an expanded state to an contracted state, so that the tray assembly 7 arranged at the top of the scissor mechanism 1 is lowered.

Referring to fig. 9, the jacking mechanism further includes a chassis 4, and the scissor mechanism 1 is mounted to the chassis 4. The chassis 4 is approximately flat, very thin, the weight of the chassis 4 is light, and under the condition that the lifting capacity of the lifting mechanism is unchanged, more bearing capacity can be distributed to the tray assembly 7 by adopting the lighter chassis 4, so that the tray assembly 7 can bear heavier objects.

With continued reference to fig. 9, the jacking mechanism further comprises a running gear 5 and a drive wheel mechanism 6. The travelling mechanism 5 is mounted on the chassis 4. The travelling mechanism 5 may specifically be a universal wheel, and each universal wheel is mounted on the chassis 4 through a universal wheel mounting seat 50. The chassis 4 is substantially rectangular, and universal wheels are provided at both corners and one side of the chassis 4. The driving wheel mechanism 6 is installed on the chassis 4 to drive the climbing mechanism to walk. The driving wheel mechanism 6 is specifically two or more, and by way of example, two driving wheel mechanisms 6 are provided, and the two driving wheel mechanisms 6 may be mounted on opposite sides of the chassis 4 and near the middle position of the chassis 4. This arrangement makes the chassis 4 more stable in motion.

Referring to fig. 10, the drive wheel mechanism 6 includes a floating seat assembly 61 and a drive wheel 62. The floating seat assembly 61 includes a first seat body 611, a second seat body 612, and a cushioning mechanism 613, the first seat body 611 is mounted to the chassis 4, and the first seat body 611 is fixed. The second base 612 is mounted on the first base 611 via a buffer mechanism 613, and the driving wheel 62 is mounted on the second base 612. The second base 612 can swing up and down relative to the first base 611, so as to drive the driving wheel 62 to swing up and down. The structure ensures that the driving wheel mechanism 6 has good vibration reduction effect when passing through a bumpy road surface, so that articles placed on the tray assembly 7 are not easy to slide off and skew.

Referring to fig. 10, the damping mechanism 613 includes a first connector 6131, a second connector 6132, a connecting rod assembly 6133, and a spring assembly 6134. The first connector 6131 is fixedly mounted to the first base 611, and may be specifically bolted or welded. The second connector 6132 is spaced from the first connector 6131. Both the first connector 6131 and the second connector 6132 may employ flat plates. The second connector 6132 is fixedly connected with the second base 612, and specifically, may be bolted or welded. The first connector 6131 and the second connector 6132 are connected, and the four-bar mechanism 11 is formed together with the first connector 6131 and the second connector 6132, and the moving track of the second seat 612 is along a straight line. The spring assembly 6134 is mounted between the first connector 6131 and the second connector 6132 to provide a cushioning effect as the second connector 6132 translates up and down relative to the first connector 6131. The spring assembly 6134 includes a guide post 6134a and one or more springs 6134b.

Referring to fig. 1, 2 and 11, in some embodiments, the jacking mechanism further comprises a tray assembly 7. The tray assembly 7 includes a tray body 71, a hinge 72, a slide 73, and a slider 74. The tray 71 may be a flat plate. The tray 71 may be provided with positioning elements, such as positioning holes or pins 76, in particular, to facilitate accurate positioning of the goods on the tray 71. The hinge 72 and the slideway 73 are dispersedly mounted on the bottom of the tray 71, and the slider 74 is movably mounted in the slideway 73. The stroke of the slider 74 is related to the lifting distance of the scissor mechanism 1. The third link 113 of the scissor mechanism 1 is rotatably connected to the slider 74, and the fourth link 114 of the scissor mechanism 1 is rotatably connected to the hinge 72. Referring to fig. 1 and 2, when the scissor mechanism 1 is in the contracted state, the slider 74 is located at one end of the chute. When the scissor mechanism 1 is in the unfolded state, the slider 74 is located at the other end of the chute.

With continued reference to fig. 11, the tray assembly 7 further includes a cleat 75, the cleat 75 being mounted to the bearing surface of the tray 71. The number of the anti-slip strips 75 may be two or more, and the plurality of anti-slip strips 75 are distributed on the bearing surface of the tray 71. The anti-slip strips 75 increase the friction between the article and the tray 71.

The embodiment of the utility model also provides an automatic warehouse, which comprises the jacking mechanism provided by any technical scheme of the utility model.

The jacking mechanism provided by the technical scheme is compact in mechanism, the jacking mechanism needs to lift and bear goods frequently in the running process of the cabin, and the jacking mechanism provided by the technical scheme is provided with the auxiliary lifting mechanism 3, so that the lifting of the goods is more labor-saving, and the service life of the jacking mechanism is longer.

In the description of the present utility model, it should be understood that the terms "center," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate description of the present utility model and simplify the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the protection of the present utility model. When the absolute position of the object to be described is changed, the relative positional relationship may be changed accordingly.

In the description of the present utility model, each technical feature may be combined with other technical features as possible.

It should be noted that the above-mentioned embodiments are merely for illustrating the technical solution of the present utility model, and not for limiting the same, and although the present utility model has been described in detail with reference to the above-mentioned embodiments, it should be understood by those skilled in the art that the technical solution described in the above-mentioned embodiments may be modified or some technical features may be equivalently replaced, and these modifications or substitutions do not make the essence of the corresponding technical solution deviate from the spirit and scope of the technical solution of the embodiments of the present utility model.

Claims (16)

1. A jacking mechanism, comprising:

the scissors mechanism (1) comprises a plurality of rods which are rotatably connected, wherein the scissors mechanism (1) comprises a contracted state and an expanded state, and the scissors mechanism (1) is switched between the contracted state and the expanded state through the relative rotation of the rods;

A driving mechanism (2) in driving connection with the scissor mechanism (1) for driving the scissor mechanism (1) to switch between the contracted state and the expanded state, and

-An auxiliary lifting mechanism (3) connected to the scissor mechanism (1), the auxiliary lifting mechanism (3) being configured to apply a force to the scissor mechanism (1) with a component in a direction of deployment of the scissor mechanism (1) during a switching of the scissor mechanism (1) from a contracted state to a deployed state, wherein the auxiliary lifting mechanism (3) comprises a compressed state and a reset state.

2. Jacking mechanism according to claim 1, characterized in that the auxiliary lifting mechanism (3) comprises:

The mounting seat (31) is fixedly connected with one rod piece of the scissor mechanism (1), and the mounting seat (31) comprises a mounting through hole (311);

A connecting shaft (32) comprising a shaft body (321), a first end (322) and a second end (323), wherein the first end (322) and the second end (323) are fixed at two ends of the shaft body (321) in a dispersing way, the shaft body (321) passes through the mounting through hole (311), the first end (322) and the second end (323) are positioned at the outer side of the mounting through hole (311), and

An elastic member (33) interposed between the mount (31) and the second end (323);

Wherein the elastic member (33) is compressed when the scissors mechanism (1) is in a contracted state, and the elastic member (33) is restored when the scissors mechanism (1) is in an expanded state.

3. Jacking mechanism according to claim 1, characterized in that the scissors mechanism (1) is constructed symmetrically, the scissors mechanism (1) being fitted with two or more numbers of auxiliary lifting mechanisms (3), each auxiliary lifting mechanism (3) being arranged symmetrically with respect to the symmetry axis of the scissors mechanism (1) itself.

4. Jacking mechanism according to claim 1, characterized in that the scissor mechanism (1) comprises two sets of linkage mechanisms (11), each set of linkage mechanisms (11) comprising:

A first link (111) having one end connected to the drive mechanism (2);

A second link (112), the middle part of the second link (112) being rotatably connected with the middle part of the first link (111), one end of the second link (112) being configured to be rotatably connected with the chassis (4);

a third link (113) having one end rotatably connected to the other end of the first link (111) and the other end configured to be rotatably and slidably connected to the tray assembly (7), and

And a fourth link (114), wherein the middle part of the fourth link (114) is rotatably connected with the middle part of the third link (113), one end of the fourth link (114) is rotatably connected with the other end of the second link (112), and the other end of the fourth link (114) is configured to be rotatably connected with the tray assembly (7).

5. The jacking mechanism as claimed in claim 4, wherein each set of said linkage (11) further comprises:

An intermediate link mechanism installed between the first link (111) and the third link (113), the second link (112), and the fourth link (114).

6. Jacking mechanism according to claim 4, wherein the drive mechanism (2) comprises:

A power source (21) configured to provide rotational power;

A screw transmission mechanism (22) in driving connection with the power source (21) to convert the rotation power of the power source (21) into linear power, and

And a driving plate (23) is arranged between one ends of the first connecting rods (111) of the two sets of connecting rod mechanisms (11) so as to push the first rod piece of the scissor mechanism (1) to translate.

7. The jacking mechanism according to claim 4, wherein the scissor mechanism (1) further comprises a reinforcing component (12), the reinforcing component (12) is rotatably connected with two sets of connecting rod mechanisms (11), and the auxiliary lifting mechanism (3) is mounted on the reinforcing component (12).

8. The jacking mechanism of claim 1, further comprising:

The shearing fork mechanism (1) is arranged on the chassis (4).

9. The jacking mechanism of claim 8, further comprising:

a travelling mechanism (5) mounted on the chassis (4), and

And the driving wheel mechanism (6) is arranged on the chassis (4) to drive the jacking mechanism to walk.

10. Jacking mechanism according to claim 9, wherein the drive wheel mechanism (6) comprises:

A floating seat assembly (61) comprises a first seat body (611), a second seat body (612) and a buffer mechanism (613), wherein the first seat body (611) is installed on a chassis (4), the second seat body (612) is installed on the first seat body (611) through the buffer mechanism (613), and

And a drive wheel (62) mounted to the second base (612).

11. The jacking mechanism of claim 10, wherein the cushioning mechanism (613) comprises:

A first connector (6131) fixedly mounted to the first base body (611);

The second connecting piece (6132) is arranged at intervals with the first connecting piece (6131), and the second connecting piece (6132) is fixedly connected with the second seat body (612);

A connecting rod assembly (6133) connecting the first connecting piece (6131) and the second connecting piece (6132) and forming a four-bar mechanism (11) together with the first connecting piece (6131) and the second connecting piece (6132), and

And a spring assembly (6134) installed between the first connecting piece (6131) and the second connecting piece (6132) to play a role of buffering when the second connecting piece (6132) translates up and down relative to the first connecting piece (6131).

12. Jacking mechanism according to claim 11, characterized in that the connecting shaft (32) of the auxiliary lifting mechanism (3) abuts the first connecting piece (6131) when the scissor mechanism (1) is in a contracted state.

13. The jacking mechanism of claim 1, further comprising:

The tray assembly (7) comprises a tray body (71), a hinge part (72), a slideway (73) and a sliding block (74), wherein the hinge part (72) and the slideway (73) are arranged at the bottom of the tray body (71) in a scattered mode, the sliding block (74) is movably arranged in the slideway (73), a third connecting rod (113) of the scissor mechanism (1) is rotatably connected with the sliding block (74), and a fourth connecting rod (114) of the scissor mechanism (1) is rotatably connected with the hinge part (72).

14. The jacking mechanism according to claim 13, wherein the tray assembly (7) further comprises:

And an anti-slip strip (75) mounted on the bearing surface of the tray body (71).

15. Jacking mechanism according to claim 1, characterized in that the auxiliary lifting mechanism (3) comprises a reset state and a compressed state;

When the scissor mechanism (1) is in a unfolding state, the auxiliary lifting mechanism (3) is in a resetting state;

During the process that the scissor mechanism (1) is switched from the unfolding state to the folding state, the auxiliary lifting mechanism (3) receives the acting force of the scissor mechanism (1), and the auxiliary lifting mechanism (3) is switched from the resetting state to the compressing state.

16. An automated warehouse comprising the jacking mechanism of any one of claims 1-15.