Multistage robot lifting device and lifting method

Abstract

The invention provides a multistage robot lifting device which comprises a driving module and a plurality of stages of lifting modules. The lifting modules comprise transmitting mechanisms and bayonet locks; the transmitting mechanisms comprise guide rails and conveying belts, top pulleys and bottom pulleys are respectively arranged at the upper ends and the lower ends of the guide rails, and the conveying belts bypass the top pulleys and the bottom pulleys; the conveying belts are clamped by the bayonet locks; and the transmitting mechanism of the first stage lifting module of the lifting modules is connected with the driving module, and the transmitting mechanism of the next stage lifting module is connected with the conveying belt of the last stage lifting module. The multiple stages of lifting modules are sequentially driven by the conveyer belts to operate, the lifting modules can move in the same distance at the same time, and the lifting and descending speed can be quickened.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a multi-stage robot lifting device and a lifting method. Background technique [0002] Lifting mechanisms are widely used in construction machinery. The lifting mechanisms of heavy machinery are generally bulky and difficult to control with high precision, so it is difficult to be widely used in the design of small and medium-sized robots. [0003] Chinese invention patent document CN102235840A "A Lifting System for Target Lifting Robot" describes a lifting system using spring control materials. The positioning method is switch positioning, and the pushing rod and relay post interact to complete the lifting function. This device is suitable for shooting targets In the application scenario where the target is either raised or retracted during the process, the target is lighter and the spring tube materials nested inside each other can meet the corresponding needs. This...

AI Technical Summary

Problems solved by technology

This solution is not suitable for application scenarios where continuous lifting is controlled by a central controller, and it is difficult to ensure the stability of the lifting mechanism when the load is heavy

[0004] Chinese Invention Patent Document CN104218486A "A Cleaning Device for Substation Insulation Columns" discloses a 3-level driven lifting mechanism, each level of the lifting mechanism consists of a screw and a driving device, and the sliding sleeves are used to connect between the levels. This device requires many motor drives, adversely affecting the energy-efficient and compact design of mobile robots that rely on battery power

[0005] Chinese Invention Patent Application CN104942826A "A Robot Lifting Device and Lifting Method" discloses a robot lifting scheme that uses a pull rope plus a multi-stage slide rail. It is suitable for larger robots, and its stability will be reduced for small robots with large telescopic distances. In addition, this invention patent application uses pull ropes for lifting and lowering. The pull ropes are used not only for lifting power transmission, but also as load-bearing ropes for each sliding arm. During the lifting process, the pull rope is easy to shake, making the robot's lifting not stable enough

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