Lifting mechanism and robot device using the same

Abstract

The present invention relates to the technical field of lifting mechanisms, and discloses a lifting mechanism and a robot device using the lifting mechanism. The lifting mechanism includes a load-bearing platform and three toothed belts. One end of the toothed belt is connected to the load-bearing platform, and the other end is connected to a storage assembly. The three toothed belts can be transmitted from the storage assembly, and two of them are meshed with each other to form a rigid straight rod to lift the load-bearing platform; the three toothed belts can further be transmitted to the storage assembly, and separated from each other to lower the load-bearing platform. The toothed belt includes a main body arranged in a plane, and the opposite sides of the main body are respectively provided with a plurality of meshing teeth spaced from each other by tooth grooves, and the meshing teeth have a first meshing portion, and the first meshing portion is bent relative to the main body toward the adjacent toothed belt to be inserted into the tooth groove on the adjacent toothed belt and mesh with the meshing teeth on the adjacent toothed belt. In the above manner, the present invention can improve the smoothness of the lifting process and can provide stable support.

Description

Technical Field

[0001] The present invention relates to the technical field of lifting mechanisms, and in particular to a lifting mechanism and a robot device using the lifting mechanism. Background Art

[0002] At present, lifting mechanisms are widely used. Specifically, communication equipment and sensor equipment such as antennas, microphones, cameras, and related detection instruments can be installed on the lifting mechanism, so that the communication equipment and sensor equipment installed thereon can be lifted or lowered by the lifting mechanism, and then the communication equipment and sensor equipment can be transported to a designated location for data collection.

[0003] However, the lifting mechanisms currently available on the market have poor smoothness during the lifting process due to unreasonable designs, and cannot provide a good and stable support for the equipment installed thereon. Summary of the invention

[0004] In view of this, the main technical problem to be solved by the present invention is to provide a lifting mechanism and a robot device using the lifting mechanism, which can improve the smoothness of the lifting process and provide stable support.

[0005] In order to solve the above technical problems, a technical solution adopted by the present invention is: to provide a lifting mechanism. The lifting mechanism includes a load-bearing platform and three toothed belts. One end of the toothed belt is connected to the load-bearing platform, and the other end is connected to the storage assembly. The three toothed belts can be transmitted from the storage assembly and meshed with each other in pairs to form a rigid straight rod to lift the load-bearing platform; the three toothed belts can further be transmitted to the storage assembly and separated from each other to lower the load-bearing platform. The toothed belt includes a main body arranged in a plane, and the opposite sides of the main body are respectively provided with a plurality of meshing teeth spaced from each other by tooth grooves, and the meshing teeth have a first meshing portion, and the first meshing portion is bent relative to the main body toward the adjacent toothed belt to be inserted into the tooth groove on the adjacent toothed belt and mesh with the meshing teeth on the adjacent toothed belt.

[0006] In one embodiment of the present invention, the toothed belt has a bend between the supporting platform and the storage component, the three toothed belts between the bend and the supporting platform are engaged with each other, and the three toothed belts between the bend and the storage component are separated from each other, and the bending angle of the toothed belt at the bend is α; the angle between the side edge of the main body at which the first engaging portion is relatively close to the position thereof and the extension direction of the main body at which the first engaging portion is located is β.

[0007] Among them, 90°-arcsin[sin(180°-α)*cos 30°]<β<90°.

[0008] In one embodiment of the present invention, the angle between the orthographic projection of the side edge of the main body at which the first meshing portion is relatively close to the first meshing portion and the intersection line of the reference plane and the main body at which the first meshing portion is located is γ, where 110°<γ<130°, and the reference plane is perpendicular to the extension direction of the main body at which the first meshing portion is located.

[0009] In one embodiment of the present invention, γ is 120°.

[0010] In one embodiment of the present invention, the meshing tooth further has a crown portion and a second meshing portion, the crown portion is connected to the main body and is arranged coplanarly with the main body, the first meshing portion and the second meshing portion are respectively arranged on opposite sides of the crown portion in the extension direction of the main body, and during the process of inserting the first meshing portion into the tooth groove on the adjacent toothed belt, the second meshing portion on the adjacent toothed belt can avoid the first meshing portion and mesh with the first meshing portion after insertion.

[0011] In one embodiment of the present invention, the second engagement portion is coplanarly disposed with the crown portion.

[0012] In one embodiment of the present invention, the second meshing portion is bent relative to the crown toward or away from the adjacent toothed belt, and a first connecting line is provided between the first meshing portion and the crown, a second connecting line is provided between the second meshing portion and the crown, and the first connecting line and the second connecting line are provided at an angle.

[0013] In one embodiment of the present invention, the first engaging portion is connected to a side edge of the main body along an extending direction of the main body.

[0014] In one embodiment of the present invention, the portion of the tooth groove adjacent to the meshing tooth is recessed inward to form an avoidance groove, and when the first meshing portion is inserted into the tooth groove on the adjacent toothed belt, the avoidance groove on the adjacent toothed belt can avoid the first meshing portion, wherein the avoidance groove is arc-shaped.

[0015] In order to solve the above technical problem, another technical solution adopted by the present invention is to provide a robot device. The robot device includes the lifting mechanism described in the above embodiment.

[0016] The beneficial effects of the present invention are as follows: Different from the prior art, the present invention provides a lifting mechanism and a robot device using the lifting mechanism. The three toothed belts of the lifting mechanism can be transmitted from the storage assembly and meshed with each other in pairs to form a rigid straight rod to lift the load-bearing platform; or can be transmitted to the storage assembly and separated from each other to lower the load-bearing platform. Among them, the process of the three toothed belts meshing with each other and separating is relatively smooth, which is conducive to improving the smoothness of the lifting process. In addition, the first meshing portion of the meshing teeth on each toothed belt is bent relative to the main body toward the adjacent toothed belt to be inserted into the tooth groove on the adjacent toothed belt and meshed with the meshing teeth on the adjacent toothed belt. Among them, the three toothed belts are meshed with each other through the meshing teeth, which can reduce the risk of separation between the toothed belts, so that the rigid straight rod formed by the meshing of the three toothed belts can provide stable support to the load-bearing platform. In addition, the cross-section of the rigid straight rod formed by the meshing of the three toothed belts is triangular, which can reduce the influence of the lateral force on the stability of the rigid straight rod, and further ensure that stable support can be provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present invention, and together with the specification are used to explain the principles of the present invention. In addition, these drawings and text descriptions are not intended to limit the scope of the present invention in any way, but to illustrate the concept of the present invention for those skilled in the art by reference to specific embodiments.

[0018] Figure 1 It is a structural schematic diagram of an embodiment of a lifting mechanism of the present invention;

[0019] Figure 2 is a schematic structural diagram of a first embodiment of a toothed belt of the present invention;

[0020] Figure 3 It is a structural schematic diagram of an embodiment of the toothed belt meshing form of the present invention;

[0021] Figure 4 is a schematic structural diagram of a second embodiment of a toothed belt of the present invention;

[0022] Figure 5 is a schematic structural diagram of a third embodiment of a toothed belt of the present invention;

[0023] Figure 6 is a schematic structural diagram of a fourth embodiment of a toothed belt of the present invention;

[0024] Figure 7 is a schematic structural diagram of a fifth embodiment of a toothed belt of the present invention;

[0025] Figure 8 It is a schematic structural diagram of an embodiment of a robot device of the present invention. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in combination with the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0027] In order to solve the technical problems that the lifting mechanism in the prior art has poor smoothness during the lifting process and cannot provide stable support, an embodiment of the present invention provides a lifting mechanism. The lifting mechanism includes a load-bearing platform and three toothed belts. One end of the toothed belt is connected to the load-bearing platform, and the other end is connected to the storage assembly. The three toothed belts can be transmitted from the storage assembly and meshed with each other in pairs to form a rigid straight rod to lift the load-bearing platform; the three toothed belts can further be transmitted to the storage assembly and separated from each other to lower the load-bearing platform. The toothed belt includes a main body arranged in a plane, and the opposite sides of the main body are respectively provided with a plurality of meshing teeth spaced from each other by tooth grooves. The meshing teeth have a first meshing portion, and the first meshing portion is bent relative to the main body toward the adjacent toothed belt to be inserted into the tooth groove on the adjacent toothed belt and mesh with the meshing teeth on the adjacent toothed belt. The following is a detailed description.

[0028] See also Figure 1 , Figure 1 It is a structural schematic diagram of an embodiment of a lifting mechanism of the present invention.

[0029] In one embodiment, the lifting mechanism 1 includes a carrier 11 and three toothed belts 12. One end of the toothed belt 12 is connected to the carrier 11, and the other end is connected to the storage assembly 13, that is, the three toothed belts 12 are connected to the carrier 11. The three toothed belts 12 can be transmitted from the storage assembly 13, and two of them are meshed with each other to form a rigid straight rod, and the rigid straight rod formed by the meshing can lift the carrier 11 and provide stable support. In addition, the three toothed belts 12 can further be transmitted to the storage assembly 13 and separated from each other, thereby lowering the carrier 11.

[0030] The support platform 11 is used to install communication equipment and sensor equipment such as antennas, microphones, cameras and related detection instruments. The three toothed belts 12 are designed to realize the lifting and lowering of the support platform 11, and then transport the communication equipment and sensor equipment installed on the support platform 11 to the designated location to perform corresponding operations, including information and data collection.

[0031] The storage assembly 13 is used to store and store the toothed belt 12, so that when the toothed belt 12 is required to mesh to form a rigid straight rod to lift the carrier 11, the toothed belt 12 can be output, that is, the toothed belt 12 can be driven out from the storage assembly 13; and when the carrier 11 needs to be lowered, the toothed belts 12 are separated from each other and retracted into the storage assembly 13, that is, the toothed belt 12 can be transmitted to the storage assembly 13 and retracted into the storage assembly 13. In a preferred embodiment, the storage assembly 13 may include a reel, and the toothed belt 12 is wound on the reel. The toothed belt 12 is unwound from the storage assembly 13 by the reel, and the toothed belt 12 is wound into the storage assembly 13 by the reel.

[0032] Preferably, each toothed belt 12 is housed by a different housing assembly 13 .

[0033] See also Figure 1 and Figure 2 , Figure 2 1 is a schematic structural diagram of a first embodiment of a toothed belt according to the present invention.

[0034] Specifically, the toothed belt 12 includes a main body 121 arranged in a plane, and a plurality of meshing teeth 123 spaced apart from each other by tooth grooves 122 are respectively provided on opposite sides of the main body 121. The meshing teeth 123 have a first meshing portion 124, and the first meshing portion 124 is bent relative to the main body 121 toward the adjacent toothed belt 12 to be inserted into the tooth groove 122 on the adjacent toothed belt 12 and mesh with the meshing teeth 123 on the adjacent toothed belt 12.

[0035] It can be seen from the above that since the three toothed belts 12 are meshed and separated with each other smoothly, it is helpful to improve the smoothness of the lifting process. In addition, the first meshing portion 124 of the meshing teeth 123 on the toothed belt 12 is meshed with the meshing teeth 123 on the adjacent toothed belt 12 after being inserted into the tooth groove 122 on the adjacent toothed belt 12, which can reduce the risk of the toothed belt 12 of the rigid straight rod part being separated from each other, thereby enabling the rigid straight rod formed by the meshing of the three toothed belts 12 to provide stable support to the support platform 11. In addition, the rigid straight rod formed by the meshing of the three toothed belts 12 has a triangular cross-section, which can reduce the influence of the lateral force on the stability of the rigid straight rod, and further ensure that stable support can be provided.

[0036] Furthermore, each of the three toothed belts 12 is perpendicular to its own extension direction (eg Figure 2 The dimensions of the toothed belts 12 are equal (indicated by the arrow X in the middle), that is, the widths of the toothed belts 12 are equal. In this way, the cross section of the rigid straight rod formed by the meshing of the three toothed belts 12 is further an equilateral triangle, which can greatly improve the stability of the rigid straight rod formed by the meshing in the lateral direction (i.e., the direction perpendicular to the axial direction of the rigid straight rod), and further ensure that stable support can be provided.

[0037] In one embodiment, the toothed belt 12 has a bend 125 between the carrier 11 and the storage assembly 13. The three toothed belts 12 between the bend 125 and the carrier 11 are meshed with each other, while the three toothed belts 12 between the bend 125 and the storage assembly 13 are separated from each other. Figure 3 That is to say, the three toothed belts 12 driven from the storage assembly 13 mesh with each other at the bend 125 to form a rigid straight rod, and the design of the bend 125 also facilitates the meshing of the toothed belts 12 with each other.

[0038] The bending angle of the toothed belt 12 at the bending point 125 is α. Figure 3 The first meshing portion 124 is relatively close to the side edge of the main body 121 where it (referring to the first meshing portion 124) is located and the extension direction of the main body 121 where it (referring to the first meshing portion 124) is located (as shown in FIG. Figure 2 As shown by the arrow Y in the middle, the angle between them is β. Figure 2 shown.

[0039] Among them, 90°-arcsin[sin(180°-α)*cos 30°]<β<90°.

[0040] It should be noted that if β is too large, the first meshing portion 124 will not be able to interfere with the meshing teeth 123 on the adjacent toothed belt 12 to form meshing; if β is too small, the first meshing portion 124 will collide with the meshing teeth 123 on the adjacent toothed belt 12 during the process of inserting into the tooth groove 122 on the adjacent toothed belt 12, thereby affecting the structural stability and service life of the lifting mechanism 1.

[0041] Please continue reading Figure 2 In one embodiment, the angle between the orthographic projection of the side edge of the main body 121 at the location where the first meshing portion 124 is relatively close to it (referring to the first meshing portion 124) and the intersection line of the reference plane Z and the main body 121 at the location where the first meshing portion 124 (referring to the first meshing portion 124) is γ. The reference plane Z is perpendicular to the extension direction of the main body 121 at the location where the first meshing portion 124 (referring to the first meshing portion 124) is located.

[0042] Specifically, Figure 2 As shown, the extension line of the orthographic projection of the side edge of the main body 121 at the position where the first meshing portion 124 is relatively close to it (referring to the first meshing portion 124) on the reference plane Z is a, the intersection line of the reference plane Z and the main body 121 at the position where the first meshing portion 124 (referring to the first meshing portion 124) is b, and the angle between a and b is γ, wherein 110°<γ<130°.

[0043] It should be noted that if γ is too large, the meshing effect between the first meshing portion 124 and the meshing teeth 123 on the adjacent toothed belt 12 will be poor, which is not conducive to ensuring the stability of the rigid straight rod formed by the meshing; if γ is too small, the first meshing portion 124 will collide with the meshing teeth 123 on the adjacent toothed belt 12 during the process of inserting into the tooth groove 122 on the adjacent toothed belt 12, thereby affecting the structural stability and service life of the lifting mechanism 1.

[0044] Furthermore, γ is preferably 120°, which can ensure a sufficient meshing effect and can also greatly reduce the risk of collision between the first meshing portion 124 and the meshing teeth 123 on the adjacent toothed belt 12 .

[0045] Furthermore, the portion of the tooth groove 122 adjacent to the meshing tooth 123 is recessed inward to form an avoidance groove 1221, such as Figure 2 When the first meshing portion 124 is inserted into the tooth groove 122 on the adjacent toothed belt 12, the avoidance groove 1221 on the adjacent toothed belt 12 can avoid the first meshing portion 124 (referring to the first meshing portion 124), so that the risk of the first meshing portion 124 (referring to the first meshing portion 124) colliding with the meshing teeth 123 on the adjacent toothed belt 12 can be reduced, which is beneficial to improving the structural stability of the lifting mechanism 1 and extending its service life.

[0046] It should be noted that, it is precisely because of the design of the avoidance groove 1221 that the upper limit of the angle of γ is allowed to be set to 130°.

[0047] Furthermore, the avoidance groove 1221 is preferably in an arc shape, such as a circular arc shape, etc. When the arc-shaped avoidance groove 1221 is used to form a rigid straight rod formed by the meshing of the toothed belt 12 to support the bearing platform 11, it can effectively alleviate the stress concentration phenomenon at the position where the meshing teeth 123 and the tooth grooves 122 are adjacent, which is further beneficial to improving the structural stability of the lifting mechanism 1 and extending its service life.

[0048] It should be noted that if Figure 4 As shown, Figure 4 The figure shows the situation when the first meshing portion 124 on the meshing tooth 123 is not bent. The angle between the side edge of the main body 121 at the position where the first meshing portion 124 is close to the first meshing portion 124 and the side edge of the main body 121 is θ1, and the angle between the connecting line between the first meshing portion 124 on the meshing tooth 123 and the crown 126 (to be described below) and the side edge of the main body 121 is θ2. Please refer to Figure 5 , the angle between the plane where the first meshing portion 124 is located and the plane where the crown portion 126 is located is θ3. The above-mentioned β and γ are jointly determined by θ1, θ2 and θ3, but β and γ are independent of each other and do not affect each other's values.

[0049] Please continue reading Figure 2 In one embodiment, the meshing teeth 123 further include a crown 126 and a second meshing portion 127, wherein the crown 126 is connected to the main body 121 and is disposed coplanarly with the main body 121, and the first meshing portion 124 and the second meshing portion 127 are disposed on opposite sides of the crown 126 in the extending direction of the main body 121. The first meshing portion 124 is closer to the support platform 11 than the second meshing portion 127. When the first meshing portion 124 is inserted into the tooth groove 122 on the adjacent toothed belt 12, the second meshing portion 127 on the adjacent toothed belt 12 can avoid the first meshing portion 124 and mesh with the first meshing portion 124 after insertion.

[0050] In one embodiment, the second engagement portion 127 may be disposed coplanarly with the crown portion 126. Figure 6 shown.

[0051] In an alternative embodiment, the second meshing portion 127 is bent relative to the crown 126 toward or away from the adjacent toothed belt 12, and a first connection line L1 is defined between the first meshing portion 124 and the crown 126, and a second connection line L2 is defined between the second meshing portion 127 and the crown 126, and the first connection line L1 and the second connection line L2 are defined at an angle, such as Figure 2 shown.

[0052] In another alternative embodiment, the first engagement portion 124 is connected to the side of the main body 121 along the extension direction of the main body 121, such as Figure 7 shown.

[0053] In summary, the lifting mechanism provided by the present invention has three toothed belts that can be transmitted from the storage assembly and meshed with each other in pairs to form a rigid straight rod to lift the load-bearing platform; or can be transmitted to the storage assembly and separated from each other to lower the load-bearing platform. Among them, the process of the three toothed belts meshing with each other and separating with each other is relatively smooth, which is conducive to improving the smoothness of the lifting process. In addition, the first meshing portion of the meshing teeth on each toothed belt is bent relative to the main body toward the adjacent toothed belt to be inserted into the tooth groove on the adjacent toothed belt and meshed with the meshing teeth on the adjacent toothed belt. Among them, the three toothed belts are meshed with each other through the meshing teeth, which can reduce the risk of separation between the toothed belts, so that the rigid straight rod formed by the meshing of the three toothed belts can provide stable support to the load-bearing platform. In addition, the rigid straight rod formed by the meshing of the three toothed belts has a triangular cross-section, which can reduce the influence of lateral force on the stability of the rigid straight rod, and further ensure that stable support can be provided.

[0054] See also Figure 8 , Figure 8 It is a schematic structural diagram of an embodiment of a robot device of the present invention.

[0055] In one embodiment, the robot device 2 includes a lifting mechanism 1. The robot device 2 may be a fire-fighting robot, etc., which is applied to specific scenarios such as rescue and emergency relief. The lifting mechanism 1 is equipped with the above-mentioned communication equipment and sensor equipment such as antennas, microphones, cameras, and related detection instruments, so that the robot device 2 can replace personnel to enter dangerous environments to perform corresponding operations.

[0056] The lifting mechanism 1 has been described in detail in the above embodiments and will not be described again here.

[0057] In addition, in the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", "stacked" and the like should be understood in a broad sense, for example, it can be fixedly connected, detachably connected, or integrated; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A lifting mechanism, characterized in that: The lifting mechanism comprises: Loading platform; Three toothed belts, one end of each toothed belt is connected to the carrying platform, and the other end is connected to the storage assembly, and the three toothed belts can be driven out from the storage assembly and meshed with each other in pairs to form a rigid straight rod to lift the carrying platform; the three toothed belts can further be transmitted to the storage assembly and separated from each other to lower the carrying platform; The toothed belt comprises a main body arranged in a plane, and a plurality of meshing teeth spaced from each other by tooth grooves are respectively arranged on opposite sides of the main body, and the meshing teeth have a first meshing portion, and the first meshing portion is bent relative to the main body toward the adjacent toothed belt to be inserted into the tooth groove on the adjacent toothed belt and mesh with the meshing teeth on the adjacent toothed belt; The toothed belt has a bend between the carrier platform and the storage assembly, the bend and the three toothed belts between the carrier platform are meshed with each other, while the three toothed belts between the bend and the storage assembly are separated from each other, and the bend angle of the toothed belt at the bend is α; The angle between the side edge of the main body at the position where the first engagement portion is relatively close to the first engagement portion and the extension direction of the main body at the first engagement portion is β, in, ; The angle between the orthographic projection of the side edge of the main body at the position where the first engaging portion is relatively close to the first engaging portion and the intersection line of the reference plane and the main body at the position where the first engaging portion is located is γ, wherein , the reference plane is perpendicular to the extension direction of the main body at the position of the first meshing portion.

2. The lifting mechanism according to claim 1, characterized in that: γ is .

3. The lifting mechanism according to any one of claims 1 to 2, characterized in that: The meshing tooth also has a crown portion and a second meshing portion, the crown portion is connected to the main body and is arranged coplanarly with the main body, the first meshing portion and the second meshing portion are respectively arranged on opposite sides of the crown portion in the extension direction of the main body, and in the process of the first meshing portion being inserted into the tooth groove on the adjacent toothed belt, the second meshing portion on the adjacent toothed belt can avoid the first meshing portion and mesh with the first meshing portion after insertion.

4. The lifting mechanism according to claim 3, characterized in that: The second engagement portion is disposed coplanarly with the crown portion.

5. The lifting mechanism according to claim 3, characterized in that: The second meshing portion is bent relative to the crown toward or away from the adjacent toothed belt, and a first connecting line is provided between the first meshing portion and the crown, a second connecting line is provided between the second meshing portion and the crown, and the first connecting line and the second connecting line are provided at an angle.

6. The lifting mechanism according to any one of claims 1 to 2, characterized in that: The first engaging portion is connected to a side edge of the main body along an extending direction of the main body.

7. The lifting mechanism according to any one of claims 1 to 2, characterized in that: The portion of the tooth groove adjacent to the meshing tooth is recessed inward to form an avoidance groove, and when the first meshing portion is inserted into the tooth groove on the adjacent toothed belt, the avoidance groove on the adjacent toothed belt can avoid the first meshing portion, wherein the avoidance groove is arc-shaped.

8. A robot device, characterized in that: The robotic device comprises the lifting mechanism according to any one of claims 1 to 7.

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