Forward-tilting type double-slide-way folding lifting mechanism

Abstract

The invention provides a forward-tilting type double-slide-way folding lifting mechanism which comprises a scissor-fork type folding frame, the scissor-fork type folding frame is provided with an upper fixing plate, a lower fixing plate and a scissor-fork type connecting rod assembly, a lifting assembly for driving the scissor-fork type connecting rod assembly to ascend and descend is installed on the lower fixing plate, and flexible adjustment of the height of a robot is achieved. The top end of the upper fixing plate is hinged to a forward-inclining bottom plate, a telescopic piece is connected between the forward-inclining bottom plate and the upper fixing plate, the forward-inclining angle can be adjusted, flexibility is improved to cope with different tasks, a centering guide assembly at the bottom end of the upper fixing plate is in sliding fit with a cross rotating shaft at the top end of a connecting rod assembly, lifting stability is ensured, gravity center shifting is avoided, and the stability of the robot is improved; according to the mechanism, through the design of the shear fork type folding frame and the cooperation of all parts, the robot can conduct stable height adjustment and forward inclination angle adjustment according to the distance of objects and the actual working condition, and the working performance and the adaptive capacity of the robot are greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a forward-leaning double-slideway folding lifting mechanism. Background Art

[0002] The application of robot technology in production and life is becoming more and more extensive. For families, robots can be used for education and companionship; in factories, robots can replace some dangerous jobs. At present, most existing robots use mechanical arms to execute commands to grab objects. However, in the field of domestic services, the working scenes are complex and diverse. Such robots are usually difficult to adjust their own height and forward tilt angle according to the placement of objects. In addition, during the lifting process of the robot, the center of gravity of the lifting mechanism is easy to shift, which greatly affects its stability during work and is difficult to meet the actual application needs. For example, in a home environment, the placement of objects is often different in height and distance. Traditional robots may not be able to accurately grab these objects, resulting in unsatisfactory service results. In factories and other environments, the operational flexibility of robots is required to be higher. If the robot cannot adjust the height and forward tilt angle according to the actual situation, it may affect the work efficiency and quality, and even fail to complete certain specific tasks. Therefore, there is an urgent need for a technical solution that can adjust the lifting and forward tilt angle of the robot while maintaining good stability during lifting. Summary of the invention

[0003] The object of the present invention is to provide a forward-inclined double-slide folding lifting mechanism, which can adjust the stable height and inclination angle of a mechanical arm.

[0004] The present invention provides a forward-inclined double-slide folding and lifting mechanism, comprising a scissors-type folding frame, the scissors-type folding frame comprising an upper fixed plate, a lower fixed plate and a scissors-type connecting rod assembly, the top and bottom ends of the scissors-type connecting rod assembly are respectively slidably hinged with the upper fixed plate and the lower fixed plate, a lifting assembly for driving the scissors-type connecting rod assembly to rise and fall is installed on the top end of the lower fixed plate, a centering guide assembly is installed on the bottom end of the upper fixed plate, a cross shaft at the top end of the scissors-type connecting rod assembly is slidably engaged on the centering guide assembly, the top end of the upper fixed plate is hinged with a forward-inclined bottom plate, a fixing frame for installing a mechanical arm is fixedly installed on the top end of the forward-inclined bottom plate, and a telescopic member is hingedly connected between the forward-inclined bottom plate and the upper fixed plate.

[0005] Furthermore, the scissor-type connecting rod assembly includes two groups of symmetrically arranged scissor-type folding connecting rod groups, and the two groups of scissor-type folding connecting rod groups are connected by a connecting shaft.

[0006] Furthermore, four slideways are provided at the bottom end of the upper fixed plate and the top end of the lower fixed plate, a slider is installed in each of the slideways, and the top and bottom ends of the scissor-type folding connecting rod group are respectively hingedly installed on the corresponding sliders.

[0007] Furthermore, the lifting assembly includes a mounting plate mounted between two groups of the scissor-type folding connecting rod groups, a motor is installed on the top of the mounting plate, a ball screw is rotatably installed between the mounting plate and the lower fixed plate, a screw nut is cooperated with the ball screw, the ball screw is transmission-connected to the motor, a guide connecting column is overlapped on the top of the screw nut, and both ends of the guide connecting column are respectively inserted into the cross holes at the bottom end of the scissor-type folding connecting rod group.

[0008] Furthermore, the motor and the ball screw are connected via a coupling.

[0009] Furthermore, the mounting plate is mounted on the top of the lower fixing plate through four optical axes.

[0010] Furthermore, the centering guide assembly includes a guide tube, a guide groove parallel to the axis of the guide tube is opened on one side of the guide tube close to the scissors-type link, the cross shaft at the top of the scissors-type link group is slidably installed in the guide groove, and stabilizing plates corresponding to the two groups of the scissors-type folding link groups are symmetrically suspended at the bottom end of the upper fixed plate, and the guide tube is fixedly connected to the stabilizing plate.

[0011] Furthermore, a U-shaped mounting frame is provided between the top end of the forward-inclined bottom plate and the bottom end of the upper fixed plate, and the upper and lower ends of the telescopic member are respectively hingedly mounted on the two U-shaped mounting frames.

[0012] Furthermore, the telescopic member is a telescopic cylinder or a push rod motor.

[0013] Furthermore, the sliding blocks are each provided with an articulated frame for mounting a connecting rod.

[0014] The beneficial effects of this technical solution are: through the design of the scissor-type folding frame, the lifting assembly is used to drive the scissor-type connecting rod assembly to rise and fall, so that the height of the robot can be flexibly adjusted. Secondly, the forward-tilting bottom plate is hinged at the top of the upper fixed plate, and the telescopic parts are hingedly connected between the forward-tilting bottom plate and the upper fixed plate, so that the robot can adjust the forward tilt angle according to the distance of the object and the actual working situation, improve flexibility, and ensure that various tasks can be completed for different situations. The centering guide assembly at the bottom of the upper fixed plate and the cross shaft at the top of the scissor-type connecting rod assembly slide together to ensure the stability of the lifting process, avoid the problem of center of gravity offset, and can greatly improve the stability of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0017] Figure 2 It is a schematic diagram of the execution structure for the forward leaning action in the present invention.

[0018] Figure 3 It is a schematic structural diagram of the upper fixing plate and the lower fixing plate of the present invention.

[0019] Figure 4 It is a schematic structural diagram of the scissor-type folding frame in the present invention.

[0020] Figure 5 It is a schematic diagram of the structure of the lifting assembly in the present invention.

[0021] Figure 6 It is a schematic structural diagram of the centering guide assembly in the present invention.

[0022] Explanation of the accompanying drawings: 1-lower fixed plate, 2-scissor-type folding connecting rod group, 3-upper fixed plate, 4-slide, 5-slider, 6-articulated frame, 7-connecting shaft, 8-cross hole, 9-forward tilting bottom plate, 10-telescopic member, 11-fixed frame, 12-U-shaped mounting frame, 13-mounting plate, 14-motor, 15-ball screw, 16-screw nut, 17-optical axis, 18-guide connecting column, 19-stabilizing plate, 20-guide tube, 21-guide groove, 22-cross rotating shaft. DETAILED DESCRIPTION

[0023] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of 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.

[0024] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0025] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined. In addition, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] Example 1

[0027] like Figure 1-Figure 6 As shown, the present invention provides a forward-leaning double-slide folding and lifting mechanism, including a scissor-type folding frame, the scissor-type folding frame includes an upper fixed plate 3, a lower fixed plate 1 and a scissor-type connecting rod assembly, the top and bottom ends of the scissor-type connecting rod assembly are respectively slidably hinged with the upper fixed plate 3 and the lower fixed plate 1, wherein: the scissor-type connecting rod assembly includes two groups of symmetrically arranged scissor-type folding connecting rod groups 2, and the two groups of scissor-type folding connecting rod groups 2 are connected by a connecting shaft 7; four slides 4 are provided at the bottom end of the upper fixed plate 3 and the top end of the lower fixed plate 1, each slide 4 is installed with a slider 5, and the slider 5 is provided with an articulated frame 6 for installing a connecting rod, and the connecting rod ends at the top and bottom ends of the scissor-type folding connecting rod group 2 are installed on the articulated frame 6.

[0028] A lifting assembly for driving the lifting of the scissor-type connecting rod assembly is installed at the top of the lower fixed plate 1. The lifting assembly includes a mounting plate 13 mounted between two groups of scissor-type folding connecting rod groups 2. The mounting plate 13 is mounted on the top of the lower fixed plate 1 through four optical axes 17. A motor 14 is installed at the top of the mounting plate 13. A ball screw 15 is rotatably installed between the mounting plate 13 and the lower fixed plate 1. The axis of the ball screw 15 is parallel to the axis of the optical axis 17. A lead screw nut 16 is installed on the ball screw 15. The ball screw 15 and the motor 14 are connected by a coupling. A guide connecting column 18 is overlapped at the top of the lead screw nut 16. The guide connecting column 18 and the lead screw nut 16 are fixedly connected. Both ends of the guide connecting column 18 are respectively inserted into the cross hole 8 at the bottom end of the scissor-type folding connecting rod group 2. The lead screw nut 16 is driven to rise and fall by the ball screw 15. The setting of the guide connecting column 18 limits the rotation of the lead screw nut 16.

[0029] The bottom end of the upper fixed plate 3 is installed with a centering guide assembly, which includes a guide tube 20. A guide groove 21 parallel to the axis of the guide tube 20 is opened on the side close to the scissors-type connecting rod. A cross shaft 22 is rotatably installed in the cross hole 8 at the top of the scissors-type connecting rod group. The other end of the cross shaft 22 is slidably installed in the guide groove 21. Stabilizing plates 19 corresponding to the two groups of scissors-type folding connecting rod groups 2 are symmetrically suspended at the bottom end of the upper fixed plate 3. The guide tube 20 is fixedly connected to the stabilizing plate 19, and the suspended stabilizing plate 19 stabilizes the lower end position of the guide tube 20.

[0030] In order to realize the forward tilting movement of the robotic arm, a forward tilting base plate 9 is hinged at the top end of the upper fixed plate 3, and a U-shaped mounting frame 12 is provided between the top end of the forward tilting base plate 9 and the bottom end of the upper fixed plate 3. The upper and lower ends of the telescopic member 10 are respectively hingedly mounted on the two U-shaped mounting frames 12. The fixed frame 11 for installing the robotic arm is fixedly mounted on the top end of the forward tilting base plate 9. The telescopic member 10 is hingedly connected between the forward tilting base plate 9 and the upper fixed plate 3. The telescopic member 10 can be a telescopic cylinder or a push rod motor 14, and the specific situation can be selected according to actual needs.

[0031] This technical solution uses the design of a scissor-type folding frame and uses a lifting assembly to drive the scissor-type connecting rod assembly to lift and lower, so as to realize flexible adjustment of the robot height. Secondly, a forward tilting bottom plate 9 is hinged at the top of the upper fixed plate 3, and a telescopic member 10 is hingedly connected between the forward tilting bottom plate 9 and the upper fixed plate 3, so that the robot can adjust the forward tilting angle according to the distance of the object and the actual working conditions, improve flexibility, and ensure that various tasks can be completed for different situations. The centering guide assembly at the bottom of the upper fixed plate 3 and the cross shaft 22 at the top of the scissor-type connecting rod assembly slide in cooperation, ensuring the stability of the lifting process, avoiding the problem of center of gravity offset, and greatly improving the stability of the robot.

[0032] 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 forward-leaning double-slide folding lifting mechanism, characterized in that: The scissors-type folding frame includes an upper fixed plate, a lower fixed plate and a scissors-type connecting rod assembly, the top and bottom ends of the scissors-type connecting rod assembly are respectively slidably hinged with the upper fixed plate and the lower fixed plate, the top end of the lower fixed plate is installed with a lifting assembly for driving the scissors-type connecting rod assembly to rise and fall, the bottom end of the upper fixed plate is installed with a centering guide assembly, the cross shaft at the top end of the scissors-type connecting rod assembly is slidably engaged with the centering guide assembly, the top end of the upper fixed plate is hinged with a forward-inclined bottom plate, a fixing frame for installing a mechanical arm is fixedly installed on the top end of the forward-inclined bottom plate, and a telescopic member is hingedly connected between the forward-inclined bottom plate and the upper fixed plate.

2. The forward-leaning double-slide folding lifting mechanism according to claim 1, characterized in that: The scissor-type connecting rod assembly comprises two groups of symmetrically arranged scissor-type folding connecting rod groups, and the two groups of scissor-type folding connecting rod groups are connected by a connecting shaft.

3. The forward-leaning double-slide folding lifting mechanism according to claim 2, characterized in that: Four slideways are provided at the bottom end of the upper fixed plate and the top end of the lower fixed plate, and a slider is installed in each of the slideways. The top and bottom ends of the scissor-type folding connecting rod group are respectively hingedly installed on the corresponding sliders.

4. The forward-leaning double-slide folding lifting mechanism according to claim 2, characterized in that: The lifting assembly includes a mounting plate mounted between two groups of the scissor-type folding connecting rod groups, a motor is mounted on the top of the mounting plate, a ball screw is rotatably mounted between the mounting plate and the lower fixed plate, a lead screw nut is mounted on the ball screw, the ball screw is transmission-connected to the motor, a guide connecting column is overlapped on the top of the lead screw nut, and both ends of the guide connecting column are respectively inserted into the cross holes at the bottom end of the scissor-type folding connecting rod group.

5. The forward-leaning double-slide folding lifting mechanism according to claim 4, characterized in that: The motor and the ball screw are connected via a coupling.

6. The forward-leaning double-slide folding lifting mechanism according to claim 4, characterized in that: The mounting plate is mounted on the top of the lower fixing plate through four optical axes.

7. The forward-leaning double-slide folding lifting mechanism according to claim 2, characterized in that: The centering guide assembly includes a guide tube, and a guide groove parallel to the axis of the guide tube is opened on one side of the guide tube close to the scissor-type connecting rod. The cross shaft at the top of the scissor-type connecting rod group is slidably installed in the guide groove. The bottom end of the upper fixed plate is symmetrically suspended with stabilizing plates corresponding to the two groups of the scissor-type folding connecting rod groups, and the guide tube is fixedly connected to the stabilizing plate.

8. The forward-leaning double-slide folding lifting mechanism according to claim 2, characterized in that: A U-shaped mounting frame is provided between the top end of the forward-inclined bottom plate and the bottom end of the upper fixed plate, and the upper and lower ends of the telescopic member are respectively hingedly mounted on the two U-shaped mounting frames.

9. The forward-leaning double-slide folding lifting mechanism according to claim 1, characterized in that: The telescopic member is a telescopic cylinder or a push rod motor.

10. The forward-leaning double-slide folding lifting mechanism according to claim 3, characterized in that: The sliding blocks are each provided with an articulated frame for installing a connecting rod.

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