Scissor lift and mobile robot having the same
A scissor lift includes: a fixed plate; a lifting plate above the fixed plate; a pair of scissor arms between the fixed plate and the lifting plate and having an X shape, the pair of scissor arms including a first scissor arm and a second scissor arm, each of the first scissor arm and the second scissor arm including a fixed end fixed to the fixed plate and a moving end configured to move linearly with respect to the fixed plate; a motor configured to move the moving end of the first scissor arm and the moving end of the second scissor arm; a load reduction device configured to reduce a load applied to the motor in a case where the lifting plate descends, wherein the load reduction device includes a plurality of elastic bodies on the moving end of the first scissor arm and connected in series.
1 . A scissor lift comprising:
a fixed plate;
a lifting plate above the fixed plate;
a pair of scissor arms between the fixed plate and the lifting plate and having an X shape, the pair of scissor arms comprising a first scissor arm and a second scissor arm, each of the first scissor arm and the second scissor arm comprising a fixed end fixed to the fixed plate and a moving end configured to move linearly with respect to the fixed plate;
a motor configured to move the moving end of the first scissor arm and the moving end of the second scissor arm;
a load reduction device configured to reduce a load applied to the motor in a case where the lifting plate descends,
wherein the load reduction device comprises a plurality of elastic bodies on the moving end of the first scissor arm and connected in series, and
wherein the load reduction device further comprises:
a moving bracket connected to the moving end of the first scissor arm, wherein one end of the plurality of elastic bodies is connected to the moving bracket;
a plurality of engaging plates at another end of the plurality of elastic bodies and between the plurality of elastic bodies;
a plurality of stopping plates configured to selectively engage with the plurality of engaging plates; and
a string winder adjacent to the fixed end of the first scissor arm and comprising a string connected to an engaging plate furthest from the moving bracket among the plurality of engaging plates.
2 . The scissor lift of claim 1 , wherein the plurality of elastic bodies comprise:
a first elastic body, wherein one end of the first elastic body is connected to the moving bracket; and
a second elastic body connected in series to the first elastic body.
3 . The scissor lift of claim 2 , wherein the plurality of engaging plates comprise:
a first engaging plate between another end of the first elastic body and one end of the second elastic body; and
a second engaging plate at another end of the second elastic body and connected to the string of the string winder.
4 . The scissor lift of claim 3 , wherein the plurality of stopping plates comprise:
a first stopping plate configured to stop the first engaging plate; and
a second stopping plate spaced a defined distance away from the first stopping plate and configured to not stop the first engaging plate and to stop the second engaging plate.
5 . The scissor lift of claim 2 , wherein
the first elastic body and the second elastic body have a same spring constant as each other.
6 . The scissor lift of claim 2 , wherein
a spring constant of the first elastic body is greater than a spring constant of the second elastic body.
7 . The scissor lift of claim 1 , further comprising:
a stopping plate moving device comprising an actuator; and
a processor configured to control the stopping plate moving device to move the plurality of stopping plates according to a weight of an object on the lifting plate.
8 . The scissor lift of claim 7 , further comprising:
a weight detection sensor configured to measure the weight of the object on the lifting plate,
wherein the processor is further configured to control the stopping plate moving device based on a signal from the weight detection sensor.
9 . The scissor lift of claim 7 , further comprising:
a load detector configured to detect a size of the load applied to the motor,
wherein the processor is further configured to control the stopping plate moving device based on a signal from the load detector.
10 . The scissor lift of claim 1 , wherein
in a case where the lifting plate is located at a lowest height, all the plurality of engaging plates are stopped by the plurality of stopping plates.
11 . The scissor lift of claim 1 , wherein
in a case where the lifting plate is located at a highest height, the plurality of engaging plates are not stopped by the plurality of stopping plates.
12 . A mobile robot comprising:
a main body configured to travel autonomously; and
a scissor lift on an upper surface of the main body,
wherein the scissor lift comprises:
a fixed plate;
a lifting plate above the fixed plate;
a pair of scissor arms between the fixed plate and the lifting plate and having an X shape, the pair of scissor arms comprising a first scissor arm and a second scissor arm, each of the first scissor arm and the second scissor arm comprising a fixed end fixed to the fixed plate and a moving end configured to move linearly with respect to the fixed plate;
a motor configured to move the moving end of the first scissor arm and the moving end of the second scissor arm; and
a load reduction device configured to reduce a load applied to the motor in a case where the lifting plate descends, and
wherein the load reduction device comprises a plurality of elastic bodies, the plurality of elastic bodies comprising a first elastic body and a second elastic body that are on the moving end of the first scissor arm and connected in series,
wherein the load reduction device further comprises:
a moving bracket connected to the moving end of the first scissor arm, wherein one end of the plurality of elastic bodies is connected to the moving bracket;
a plurality of engaging plates at another end of the plurality of elastic bodies and between the plurality of elastic bodies;
a plurality of stopping plates configured to selectively engage with the plurality of engaging plates; and
a string winder adjacent to the fixed end of the first scissor arm and comprising a string connected to an engaging plate furthest from the moving bracket among the plurality of engaging plates.
13 . The mobile robot of claim 12 ,
wherein the plurality of engaging plates comprise:
a first engaging plate at another end of the first elastic body, wherein one end of the second elastic body is connected to the first engaging plate and the second elastic body is disposed in a straight line with the first elastic body;
a second engaging plate at another end of the second elastic body, and
wherein the plurality of stopping plates comprise:
a first stopping plate configured to stop the first engaging plate; and
a second stopping plate spaced apart from the first stopping plate by a defined distance, and the second stopping plate configured to not stop the first engaging plate and to stop the second engaging plate.
14 . The mobile robot of claim 13 , wherein
a spring constant of the first elastic body is greater than a spring constant of the second elastic body.
15 . A lift comprising:
a fixed plate;
a lifting plate above the fixed plate;
a scissor arm between the fixed plate and the lifting plate and having an X shape, the scissor arm comprising a fixed end fixed to the fixed plate and a moving end configured to move linearly with respect to the fixed plate;
a motor configured to move the moving end of the scissor arm;
a load reduction device configured to reduce a load applied to the motor in a case where the lifting plate descends,
wherein the load reduction device comprises a plurality of elastic bodies on the moving end of the scissor arm and connected in series, and
wherein the load reduction device further comprises:
a moving bracket connected to the moving end of the scissor arm, wherein one end of the plurality of elastic bodies is connected to the moving bracket;
a plurality of engaging plates at another end of the plurality of elastic bodies and between the plurality of elastic bodies;
a plurality of stopping plates configured to selectively engage with the plurality of engaging plates; and
a string winder adjacent to the fixed end of the scissor arm and comprising a string connected to an engaging plate furthest from the moving bracket among the plurality of engaging plates.
16 . The lift of claim 15 , wherein the plurality of elastic bodies comprise:
a first elastic body, wherein one end of the first elastic body is connected to the moving bracket; and
a second elastic body connected in series to the first elastic body.
17 . The lift of claim 16 , wherein the plurality of engaging plates comprise:
a first engaging plate between another end of the first elastic body and one end of the second elastic body; and
a second engaging plate at another end of the second elastic body and connected to the string of the string winder.
18 . The lift of claim 17 , wherein the plurality of stopping plates comprise:
a first stopping plate configured to stop the first engaging plate; and
a second stopping plate spaced a defined distance away from the first stopping plate and configured to not stop the first engaging plate and to stop the second engaging plate.