Multistage linear lifting mechanism and humanoid robot

Abstract

The invention belongs to the technical field of humanoid robots, and particularly relates to a multistage linear lifting mechanism and a humanoid robot. The first-stage column body is fixedly connected with the bottom mounting piece; the second-stage column body is arranged on the first-stage column body in a sliding manner; the third-stage column body is arranged in the second-stage column body in a sliding manner; the driving device comprises an electric cylinder fixed on the bottom mounting piece and a servo motor connected with the electric cylinder, and the output end of the electric cylinder is connected with the second-stage column body through an electric cylinder connecting piece and a second-stage column connecting piece; the driving device drives the second-stage column body to move relative to the first-stage column body, and drives the third-stage column body to move at the speed twice the moving speed of the second-stage column body through the transmission mechanism. The novel structural layout is adopted, the dynamic upsetting moment resistance of the mechanism is greatly improved, the occupied space of the mechanism is reduced, and the operation speed of the mechanism during action execution is increased.

Description

Technical Field

[0001] The invention belongs to the technical field of humanoid robots, and in particular relates to a multi-stage linear lifting mechanism and a humanoid robot. Background Art

[0002] Humanoid robots are one of the most promising and attractive branches in the field of robotics. They can adapt to more complex terrain conditions, have a more flexible working space and rapid movement capabilities, and can accomplish more complex tasks, such as handling, precise grasping, contact detection and other segmented scenarios.

[0003] At present, the lifting mechanism of the robot is mainly a lifting sliding platform, but the humanoid robot has a large mass, and the center of gravity changes and offsets greatly during the execution of the action, resulting in a large dynamic overturning moment. The lifting sliding platform is difficult to meet the large anti-dynamic overturning moment. At the same time, it occupies a large space in the retracted state, and the speed is too slow when performing the lifting action, which cannot meet the needs of humanoid robots.

[0004] In addition, there are also multi-stage lifting cylinders used for robot lifting. The entire pneumatic system occupies a large space. During the operation of the cylinder, there is a risk of mutual interference between the various groups of air paths, and it cannot be guaranteed that when the cylinder is lifted or lowered, the cylinder bodies of each stage will perform actions in the specified sequence. Most of the current multi-stage cylinders cannot accurately control the multi-stage lifting stroke and cannot meet the needs of humanoid robots. Summary of the invention

[0005] Purpose of the invention: The purpose of the present invention is to address the deficiencies of the prior art and to provide a multi-stage linear lifting mechanism and a humanoid robot, which adopt a new structural layout, greatly improve the mechanism's ability to resist dynamic overturning torque, reduce the space occupied by the mechanism, and improve the mechanism's operating speed when performing actions.

[0006] Technical solution: The multi-stage linear lifting mechanism and humanoid robot of the present invention include a bottom mounting member, which is used to be fixedly connected to the robot mobile chassis; a top mounting member, which is used to be fixedly connected to the robot body; a primary column, which is fixedly connected to the bottom mounting member; a secondary column, which is slidably arranged in the primary column; and a tertiary column, which is slidably arranged in the secondary column. A driving device, comprising an electric cylinder fixed on the bottom mounting member and a servo motor connected to the electric cylinder, wherein the output end of the electric cylinder is connected to an electric cylinder connector, and the electric cylinder connector is connected to the secondary column through a secondary column connector; A transmission mechanism, comprising a support sprocket (11) and a tension sprocket (4) arranged on the secondary column (18), and a transmission chain (8) meshing with the support sprocket (11) and the tension sprocket (4), wherein the transmission chain (8) is fixedly connected to the primary column (2) and the tertiary column (15) respectively via a connecting plate chain (9) and a connecting plate chain mounting member (10); The driving device drives the secondary column (18) to move relative to the primary column (2), and the transmission mechanism drives the tertiary column (15) to move at a speed twice that of the secondary column (18).

[0007] To further improve the above technical solution, it also includes: a primary guide rail, fixed on the primary column; a primary slider, fixed on the secondary column, and slidingly cooperates with the primary guide rail; a secondary guide rail, fixed on the secondary column; a secondary slider, fixed on the tertiary column, and slidingly cooperates with the secondary guide rail.

[0008] Further, the primary column is arranged on the periphery of the bottom mounting member, the secondary column is arranged inside the primary column, and is connected to two opposite inner sides of the primary column through two groups of the primary sliders and the primary guide rails; the tertiary column is arranged inside the secondary column, and is connected to the inner side of the secondary column through two groups of the secondary guide rails and the secondary sliders; the connection direction of the primary slider and the primary guide rail is perpendicular to the connection direction of the secondary guide rail and the secondary slider.

[0009] It also includes: a primary column shell, fixed on the bottom mounting member, and used to cover the primary column; a secondary column shell, connected to the secondary column through a secondary column shell connecting member, and the secondary column shell moves synchronously with the secondary column; a tertiary column shell, fixedly connected to the top mounting member, and the tertiary column shell moves synchronously with the tertiary column.

[0010] Furthermore, it also includes: a support member fixed on the bottom mounting member; a support buffer pad fixed on the support member, used to provide support and buffer when the mechanism is retracted.

[0011] Furthermore, the supporting buffer pad is made of PU material.

[0012] Furthermore, the servo motor is provided with a brake device, and a motor protection shell is provided on the outside of the servo motor.

[0013] Furthermore, it also includes a plurality of pairs of photoelectric sensors, which are respectively arranged on the primary column, the secondary column, and the tertiary column, and are used to detect position changes between any two structures.

[0014] Furthermore, a plurality of groups of top side reinforcing ribs and top front reinforcing ribs are arranged below the top mounting member.

[0015] Further, the support sprocket is mounted on the secondary column via a support sprocket mounting piece, and the tensioning sprocket is adjustably mounted on the secondary column via a tensioning sprocket mounting piece.

[0016] The humanoid robot is composed of the multi-stage linear lifting mechanism, wherein the multi-stage linear lifting mechanism is fixedly connected to the robot mobile chassis via a bottom mounting member, and the multi-stage linear lifting mechanism is fixedly connected to the robot body via a top mounting member.

[0017] Beneficial effect: Compared with the prior art, the advantages of the present invention are: the present invention adopts a new structural layout, the secondary column is located in the primary column, and is the key structure responsible for bearing and supporting the tertiary column. It not only plays the role of intermediate support, but also can telescopic movement, and bear the larger load in the whole mechanism; two sets of guide rail slider combinations are arranged on the front and rear sides between the secondary column and the primary column, and each set has two secondary guide rails and corresponding secondary sliders. These guide rails and sliders ensure that the secondary column has good linear movement when telescoping, and evenly disperse the load through the distribution of the sliders to avoid tilting and vibration problems caused by eccentric loads. The tertiary column is the top part of the entire telescopic system. Usually, after the secondary column is fully extended, the tertiary column is synchronously extended at twice the extension speed of the secondary column. The design of the tertiary column is light, but it needs to ensure that it is stable enough to support the robot load above. Two sets of guide rail sliders are arranged between the tertiary column and the secondary column, forming a symmetrical structural configuration. Several sliders are installed on each side of the guide rail to ensure that the tertiary column remains stable during the telescoping process and avoids left and right tilting.

[0018] The combination of multiple sets of guide rails and sliders effectively disperses the load of the column, especially under eccentric load or dynamic conditions, and can effectively resist the overturning moment. The sliding direction of the guide rail slider between the tertiary column and the secondary column is perpendicular to the sliding direction of the guide rail slider between the secondary column and the primary column. The layout method effectively reduces the occupied space of the mechanism, ensures the smoothness of movement, reduces the shaking or displacement problems during the extension and retraction process, and improves the operating speed of the mechanism when executing the action; the symmetrical setting can effectively offset the dynamic overturning moment caused by the eccentric load of the robot body weight, and enhance the balance and stability during operation.

[0019] The present invention has a wide range of applications and can be applied to a variety of scenarios that require lifting. The mechanical fixed structure is highly reliable, stable and not easily damaged. The lifting mechanism has a simple structure, is easy to assemble and has a low cost. A support buffer pad is arranged to reduce the impact when the mechanism is retracted, and at the same time provide effective support for the mechanism when it is retracted, reduce the load on the transmission chain and servo motor when they are fully retracted, and increase the service life of the mechanism. Multiple pairs of sensors are arranged in the mechanism to detect the specific lifting position of the mechanism and achieve more precise position control. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a vertical cross-sectional view of the multi-stage linear lifting mechanism of the present invention; Figure 2 is a front cross-sectional view of the multi-stage linear lifting mechanism of the present invention; Figure 3 is a transverse cross-sectional view of the multi-stage linear lifting mechanism of the present invention; Figure 4 is a side view of the multi-stage linear lifting mechanism of the present invention; Figure 5 It is a schematic diagram of the installation of the humanoid robot body of the present invention.

[0021] In the figure: 100-humanoid robot body; 200-robot three-stage linear lifting mechanism; 1-first-stage column housing; 2-first-stage column; 3-first-stage guide rail; 4-tensioning sprocket; 5-tensioning sprocket mounting piece; 6-first-stage slider; 7-third-stage column housing; 8-transmission chain; 9-connecting plate chain; 10-connecting plate connecting mounting piece; 11-support sprocket; 12-support sprocket mounting piece; 13-top mounting piece; 14-top front reinforcement rib; 15-third-stage column; 16-electric cylinder connecting piece; 17-secondary column connecting piece; 18-secondary column; 19-secondary column housing; 20-line installation cover; 21-servo motor; 22-motor protection shell; 23-electric cylinder; 24-support buffer pad; 25-support piece; 26-bottom mounting piece 27-secondary slider; 28-secondary column housing connecting piece; 29-secondary guide rail; 30-top side reinforcement rib. DETAILED DESCRIPTION

[0022] The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the protection scope of the present invention is not limited to the embodiments.

[0023] Example 1: Figure 5 In the multi-stage linear lifting mechanism and humanoid robot shown, the bottom mounting member 26 is fixedly mounted to the robot mobile chassis, and the top mounting member 13 is fixedly mounted to the robot body.

[0024] like Figures 1 to 4As shown, multiple groups of top side reinforcing ribs 30 and top front reinforcing ribs 14 are arranged under the top mounting member 13, which effectively improve the overall stability and structural strength of the structure, the primary column 2 is fixedly connected to the bottom mounting member 26, the primary column shell 1 is fixedly connected to the bottom mounting member 26, the support member 25 is fixedly connected to the bottom mounting member 26, the support buffer pad 24 is fixedly connected to the support member 25, and the support buffer pad 24 is made of PU material. While achieving support, it also has a certain buffering effect to reduce the impact of work, the electric cylinder 23 is fixedly connected to the bottom mounting member 26, the servo motor 21 is fixedly connected to the electric cylinder 23, the servo motor 21 is equipped with a brake device, the output end of the electric cylinder 23 is fixedly connected to the electric cylinder connector 16, the electric cylinder connector 16 is connected to the secondary column connector 17, the secondary column connector 17 is fixedly connected to the secondary column 18, the primary guide rail 3 is fixedly connected to the primary column 2, the primary slider 6 is fixedly connected to the secondary column 18, and the secondary guide rail 29 is fixedly connected to the secondary column The body 18 is fixedly connected, the secondary slider 27 is fixedly connected to the tertiary column 15, two groups of primary guide rails 3 and primary sliders 6 are arranged in front and behind the secondary column 18 and the primary column 2, and two groups of secondary guide rails 29 and secondary sliders 27 are arranged on the left and right sides between the tertiary column 15 and the secondary column 18. When the mechanism is overloaded, the guide rails bear the overturning moment. The structure of multiple groups of guide rails effectively improves the load and resistance to dynamic overturning moment of the mechanism, and also enhances the stability of the mechanism during operation. The tensioning sprocket mounting member 5 is connected to the secondary column 18 and an adjusting bolt is arranged therebetween. The upper and lower positions of the tensioning wheel mounting member 5 can be adjusted by adjusting the screw-in depth of the adjusting bolt, thereby driving the upper and lower positions of the tensioning wheel 4 to realize the tensioning function. The tensioning sprocket 5 is connected to the tensioning sprocket mounting member 5, the supporting sprocket mounting member 12 is fixedly connected to the secondary column 18, the supporting sprocket 11 is connected to the supporting sprocket mounting member 12, and the transmission chain 8 is installed with the supporting sprocket 11 and the tensioning sprocket 4. The transmission chain 8 is fixedly connected to the primary column 2 and the tertiary column 15 through the connecting plate chain 9 and the connecting plate chain mounting member 10, wherein the connecting plate chain 9 and the connecting plate chain mounting member 10 are two groups, and the connecting plate chain 9 in each group is installed on the connecting plate chain mounting member 10 and connected to the transmission chain 8, and the two groups of connecting plate chain mounting members 10 are fixedly connected to the primary column 2 and the tertiary column 15, respectively. Multiple pairs of sensors are arranged on the primary column 2, the secondary column 18, and the tertiary column 15 in the mechanism to detect the position change between the two structures, and more accurate position control is achieved by detecting the specific lifting position of the mechanism.

[0025] The specific working process of this mechanism is as follows: the bottom mounting part 26 is fixedly installed on the robot mobile chassis, and the top mounting part 13 is fixedly installed on the robot body. When it is necessary to perform a lifting action, the servo motor 21 operates to drive the electric cylinder 23 to perform an extension action. The output end of the electric cylinder 23 pushes the secondary column 18 upward through the electric cylinder connector 16 and the secondary column connector 17. Under the action of the transmission chain 8, the support sprocket 11, the tensioning sprocket 4 and the connectors between them, the tertiary column extends upward at twice the extension speed of the secondary column. During the extension process, the secondary column housing 19 and the secondary column 18 are extended synchronously, and the tertiary column housing 7 and the tertiary column 15 are extended synchronously. During the process, they can stop at any position within the travel range according to the robot's action requirements; when it is necessary to perform a retraction action, the servo motor 21 operates to drive the electric cylinder 23 to perform a retraction action, and the electric cylinder 23 The output end pushes the secondary column 18 to retract downward through the electric cylinder connector 16 and the secondary column connector 17. Under the action of the transmission chain 8, the support sprocket 11, the tensioning sprocket 4 and the connectors between them, the tertiary column retracts downward at twice the extension speed of the secondary column. During the retraction process, the secondary column housing 19 retracts synchronously with the secondary column 18, and the tertiary column housing 7 retracts synchronously with the tertiary column 15. During the process, it can stop at any position within the travel range according to the robot's action requirements. When retracting to the lowest point, a support buffer pad 24 is arranged underneath to reduce the impact of the mechanism when it is retracted, and at the same time provide effective support for the mechanism when it is retracted, reduce the load on the transmission chain 8 and the servo motor 21 when they are in the fully retracted state, and increase the service life of the mechanism. Multiple pairs of sensors are arranged in the mechanism to detect the specific lifting position of the mechanism and achieve more precise position control.

[0026] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the present invention itself. Various changes in form and details may be made without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A multi-stage linear lifting mechanism, characterized in that: include: A bottom mounting member (26) for fixedly connecting to the mobile chassis of the robot; A top mounting member (13) is used for being fixedly connected to the robot body; A primary column (2) fixedly connected to the bottom mounting member (26); A secondary column (18) slidably disposed on the primary column (2); A third column (15) slidably disposed in the second column (18); The driving device comprises an electric cylinder (23) fixed on the bottom mounting member (26) and a servo motor (21) connected to the electric cylinder (23), wherein the output end of the electric cylinder (23) is connected to an electric cylinder connecting member (16), and the electric cylinder connecting member (16) is connected to the secondary column (18) via a secondary column connecting member (17); A transmission mechanism, comprising a support sprocket (11) and a tension sprocket (4) arranged on the secondary column (18), and a transmission chain (8) meshing with the support sprocket (11) and the tension sprocket (4), wherein the transmission chain (8) is fixedly connected to the primary column (2) and the tertiary column (15) respectively via a connecting plate chain (9) and a connecting plate chain mounting member (10); The driving device drives the secondary column (18) to move relative to the primary column (2), and the transmission mechanism drives the tertiary column (15) to move at a speed twice that of the secondary column (18).

2. The multi-stage linear lifting mechanism according to claim 1, characterized in that: Also includes: A primary guide rail (3) fixed on the primary column (2); A primary slider (6) is fixed on the secondary column (18) and is slidably engaged with the primary guide rail (3); A secondary guide rail (29) fixed on the secondary column (18); The secondary sliding block (27) is fixed on the tertiary column (15) and is slidably matched with the secondary guide rail (29).

3. The multi-stage linear lifting mechanism according to claim 1, characterized in that: The primary column (18) is arranged on the periphery of the upper edge of the bottom mounting member (26); the secondary column (18) is arranged inside the primary column (18) and is connected to two opposite inner sides of the primary column (16) through two groups of the primary sliders (6) and the primary guide rails (3); the tertiary column (15) is arranged inside the secondary column (18) and is connected to the inner side of the secondary column (18) through two groups of the secondary guide rails (29) and the secondary sliders (27); the connection direction of the primary sliders (6) and the primary guide rails (3) is perpendicular to the connection direction of the secondary guide rails (29) and the secondary sliders (27).

4. The multi-stage linear lifting mechanism according to claim 1, characterized in that: Also includes: A primary column housing (1) fixed to the bottom mounting member (26) and used for covering the primary column body (2); A secondary column housing (19) is connected to the secondary column body (18) via a secondary column housing connecting piece (28), and the secondary column housing (19) and the secondary column body (18) move synchronously; The third-level column housing (7) is fixedly connected to the top mounting member (13), and the third-level column housing (7) moves synchronously with the third-level column body (15).

5. The multi-stage linear lifting mechanism according to claim 1, characterized in that: Also includes: A support member (25) fixed on the bottom mounting member (26); The support buffer pad (24) is fixed on the support member (25) and is used to provide support and buffer when the mechanism is retracted; the support buffer pad (24) is made of PU material.

6. The multi-stage linear lifting mechanism according to claim 1, characterized in that: The servo motor (21) is provided with a brake device, and a motor protection shell (22) is provided on the outside of the servo motor (21).

7. The multi-stage linear lifting mechanism according to claim 1, characterized in that: It also includes a plurality of pairs of photoelectric sensors, which are respectively arranged on the primary column (2), the secondary column (18), and the tertiary column (15) and are used to detect position changes between any two structures.

8. The multi-stage linear lifting mechanism according to claim 1, characterized in that: A plurality of groups of top side reinforcing ribs (30) and top front reinforcing ribs (14) are arranged below the top mounting member (13).

9. The multi-stage linear lifting mechanism according to claim 1, characterized in that: The supporting sprocket (11) is mounted on the secondary column (18) via a supporting sprocket mounting piece, and the tensioning sprocket (4) is adjustably mounted on the secondary column (18) via a tensioning sprocket mounting piece (5).

10. A humanoid robot comprising the multi-stage linear lifting mechanism according to any one of claims 1 to 9, characterized in that: The multi-stage linear lifting mechanism is fixedly connected to the robot moving chassis via a bottom mounting member (26), and the multi-stage linear lifting mechanism is used to be fixedly connected to the robot body via a top mounting member (13).

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