Lifting robot

Abstract

The lifting robot comprises a wheel type chassis, rolling wheels are installed at the bottom of the wheel type chassis, and a lifting device is installed on the upper portion of the wheel type chassis; the upper part of the top mounting piece is connected with a trunk assembly; a mechanical arm is mounted on the trunk assembly; the upper portion of the trunk assembly is connected with a head assembly. Through the robot, the problem that the operating space range in the height direction of a wheeled robot is limited is solved, the operating space in the horizontal direction is adjustable, the gravity center of the whole robot can be adjusted in the horizontal direction, and stability is enhanced; the problem that energy consumption is wasted when a robot lifting device is in a non-working state and used for keeping the weight of the robot lifting device is solved. The harm such as impact caused by abnormal power failure of an execution element of the robot lifting device or power loss under other conditions is overcome; and the reliability of the robot is improved.

Description

Technical Field

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

[0002] Mobile robots are divided into two categories: chassis-type and foot-type (bipedal, quadrupedal). Foot-type robots move by legs and feet and work with arms (or single arm); chassis-type robots move by wheeled chassis and work with arms (or single arm). At present, most chassis-type robots have fixed trunks, and use the movement of the chassis to achieve horizontal movement and the movement of the arms to achieve different height spaces. The height of the trunk and the length of the arm determine the height operating space of the robot. Different heights of trunks are selected for different application scenarios to meet the application of different height operation scenarios; but this method has poor flexibility. In view of the shortcomings of the fixed trunk solution, there is a lifting trunk solution, and its structural types include lifting column type, guide rail type and other forms, which can increase the height direction The operating space, but this lifting structure often occupies a large height space. The higher the lifting stroke, the larger the height space occupied, which makes the lowest operating position of the arm rise. The installation of this lifting device increases the height operating space of the arm, but sacrifices the lowest operating position of the arm, resulting in the arm being unable to operate on the ground or even near the ground. For example, the patent document disclosed in patent number "201711174128.X" has the above-mentioned deficiencies.

[0003] The above-mentioned fixed trunk or lifting trunk solution also has a defect of poor stability. Since operations in different positions are achieved through the movement of the arms, when one arm or both arms are extended forward, or one arm is extended sideways, the overall center of gravity of the robot will change with the movement of the arm. When the center of gravity position caused by the arm and the external load it receives exceeds the chassis support point, the robot will tilt. To avoid this tilt, the entire machine needs to be additionally weighted to ensure the stability of the robot within the load range. Summary of the invention

[0004] To achieve the above object, the technical solution of the present invention is:

[0005] A lifting robot is provided, comprising a wheeled chassis, rollers are installed at the bottom of the wheeled chassis, and a lifting device is installed at the top of the wheeled chassis;

[0006] The lifting device includes a bottom mounting member, the bottom mounting member is connected to a first parallel link assembly via a rotating shaft assembly, the first parallel link assembly is connected to a movable mounting member via a rotating shaft assembly; the movable mounting member is connected to a second parallel link assembly via a rotating shaft assembly, the second parallel link assembly is connected to a top mounting member via a rotating shaft assembly;

[0007] A torso assembly is connected to the upper portion of the top mounting member;

[0008] A robotic arm is mounted on the torso assembly;

[0009] The upper part of the torso component is connected with the head component.

[0010] As a further improvement, a linear actuator is installed inside the first parallel link assembly.

[0011] As a further improvement, a linear actuator is installed inside the second parallel linkage assembly.

[0012] As a further improvement, the installation angle of the linear actuator inside the first parallel link assembly and the second parallel link assembly is adjustable.

[0013] As a further improvement, the linear actuator includes a housing and an energy storage spring; a power element is installed inside the housing; one end of the energy storage spring is installed on the housing, and the other end is installed on the power element; a first mounting hole assembly is provided on the end of the power element where the energy storage spring is mounted; and a second mounting hole assembly is provided on the end of the linear actuator away from the first mounting hole assembly.

[0014] As a further improvement, the linear actuator is connected to the bottom mounting member via a first mounting hole assembly; the end of the linear actuator away from the first mounting hole assembly is connected to the movable mounting member via a second mounting hole assembly and a rotating shaft assembly.

[0015] As a further improvement, at the connection between the first parallel link assembly and the bottom mounting member, a roller needle is installed on the edge of the middle outer wall of the shaft assembly, and the roller needle is located in the ear piece of the bottom mounting member.

[0016] As a further improvement, at the connection between the first parallel link assembly and the movable mounting piece, a roller needle is installed on the edge of the middle outer wall of the shaft assembly, and the roller needle is located in the ear piece of the movable mounting piece.

[0017] As a further improvement, the connection between the first connecting rod of the first parallel connecting rod assembly and the bottom mounting member is coaxial with the connection between the linear actuator and the bottom mounting member.

[0018] As a further improvement, the connection point between the first parallel link of the first connecting rod and the movable mounting member is coaxial with the connection point between the linear actuator and the movable mounting member.

[0019] As a further improvement, the first parallel link assembly and the second parallel link assembly have the same structure.

[0020] As a further improvement, the power element includes a motor mounted on the second mounting hole assembly;

[0021] A reducer, mounted on the motor and located inside the housing;

[0022] A screw shaft, mounted on the reducer;

[0023] A lead screw nut is mounted on the lead screw shaft away from the reducer end.

[0024] As a further improvement, the second mounting hole assembly is fixed to the lead screw nut by threads.

[0025] The above technical solution of the present invention has the following beneficial effects:

[0026] Through this robot, the problem of limited operating space range in the height direction of the wheeled robot is solved, vertical 0-height operation is achieved, the horizontal operating space is adjustable, and the center of gravity of the whole machine can be adjusted horizontally, thereby enhancing stability; the problem of energy waste in the robot lifting device when not working to maintain its own weight is solved; the hazards such as impact caused by abnormal power failure or loss of power of the robot lifting device actuator are overcome; and the reliability of the robot is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a schematic diagram of the overall structure of a lifting robot in the lowest state of the present invention;

[0028] Figure 2 This is a schematic diagram of the overall structure of a lifting robot in the highest state of the present invention;

[0029] Figure 3 A cross-sectional view of the lifting device of the present invention Figure 1 ;

[0030] Figure 4 A cross-sectional view of the lifting device of the present invention Figure 2 ;

[0031] Figure 5 For the present invention Figure 4 A magnified view of the shaft assembly of the structure A;

[0032] Figure 6 It is a diagram of the two extreme retracted positions of the linear actuator of the present invention;

[0033] Figure 7 The linear actuator of the present invention is extended to two extreme positions;

[0034] Figure 8 is a cross-sectional view of a linear actuator of the present invention;

[0035] Fig. 9 This is a diagram of the left extreme position of the center of gravity of the lifting device of the present invention;

[0036] Fig.10 This is a diagram of the right extreme position of the center of gravity of the lifting device of the present invention;

[0037] Fig.11This is a front view of the lifting device of the present invention in the lowest state;

[0038] Fig.12 It is a side view of the lifting device of the present invention in the lowest state;

[0039] Fig.13 It is a top view of the lifting device of the present invention in the lowest state;

[0040] Fig.14 This is a front view of the lifting device of the present invention in the highest state;

[0041] Fig.15 It is a side view of the lifting device of the present invention in the highest state;

[0042] Fig.16 It is a top view of the lifting device of the present invention in the highest state;

[0043] Fig.17 The structure of the lifting device of the present invention is simplified as follows: Figure 1 ;

[0044] Fig.18 The connection relationship between the first parallel link assembly and the linear actuator of the lifting device of the present invention is shown in FIG. Figure 1 ;

[0045] Fig.19 The connection relationship between the second parallel link assembly and the linear actuator of the lifting device of the present invention is shown in FIG. Figure 1 ;

[0046] Fig. 20 The structure of the lifting device of the present invention is simplified as follows: Figure 2 ;

[0047] Fig.21 The connection relationship between the first parallel link assembly and the linear actuator of the lifting device of the present invention in the lowest state is shown in FIG. Figure 2 ;

[0048] Fig. 22 The connection relationship between the second parallel link assembly and the linear actuator of the lifting device of the present invention is shown in FIG. Figure 2 . DETAILED DESCRIPTION

[0049] The following examples further illustrate the content of the present invention, but should not be construed as limiting the present invention. Without departing from the spirit and substance of the present invention, modifications or substitutions made to the methods, steps or conditions of the present invention all fall within the scope of the present invention.

[0050] The embodiments of the present invention are described in detail below with reference to the accompanying drawings and examples.

[0051] See also Figures 1 to 21As shown in FIG. A, a lifting robot disclosed in the present invention comprises a wheeled chassis 5, a roller is installed at the bottom of the wheeled chassis 5, and a lifting device 1 is installed on the upper part of the wheeled chassis 5;

[0052] For example, the entire robot is installed on a chassis, and a number of wheels are installed under the chassis to drive the entire robot to move.

[0053] The lifting device 1 comprises a bottom mounting member 101, one side of the bottom mounting member 101 is connected to a first parallel link assembly 102 via a rotating shaft assembly, one side of the first parallel link assembly 102 is connected to a movable mounting member 103 via a rotating shaft assembly; one side of the movable mounting member 103 is connected to a second parallel link assembly 104 via a rotating shaft assembly, one side of the second parallel link assembly 104 is connected to a top mounting member 105 via a rotating shaft assembly;

[0054] For example, the bottom mounting member 101 is mounted on the wheeled chassis 5; Figure 1 , 2As shown, a first parallel link assembly 102 is installed on one side of the bottom mounting member 101; the bottom mounting member 101 and the first parallel link assembly 102 are connected by multiple rotating shaft assemblies (two groups are provided in the figure); the first parallel link assembly 102 is composed of two groups of parallel links, each group of parallel links is provided with connecting holes at both ends, and the two ends are respectively connected to the bottom mounting member 101 and the movable mounting member 103 through the connecting holes; when connected, they are connected by a rotating shaft 107. Each group of parallel links is respectively connected to the bottom mounting member 101 and the movable mounting plate 103 through two groups of rotating shafts, and a needle roller is provided between the rotating shaft 107 and the parallel links and the movable mounting plate, and the needle roller 110 is located in the ear of the movable mounting plate. A needle roller is provided between the rotating shaft 107 and the parallel links and the bottom mounting member 101, and the needle roller 110 is located in the ear of the bottom mounting member 101. The structure of the second parallel link assembly 104 is the same as that of the first parallel link assembly 102. The second parallel link assembly 104 is also connected to the top mounting member 105 and the movable mounting plate 103 in the same manner. At this time, the needle roller 110 is located in the ear pieces of the top mounting member 105 and the movable mounting member 103 respectively. As shown in Figure A, the shaft assembly includes a shaft 107, a needle roller 110 installed in the ear piece of the bottom mounting member 101 or the movable mounting plate 103 or the top mounting member 105, and a limit plate 108 (including a connecting rod limit plate and an actuator limit plate) between the two ends of the connecting hole of the connecting rod or linear actuator 106 and the bottom mounting member 101 or the movable mounting member 103 or the top mounting member 105. The first parallel link assembly 102 and the second parallel link assembly 104 are arranged in the horizontal direction, and the two sets of parallel link mechanisms are connected by a movable mounting plate. Each set of parallel connecting rods is connected to the movable mounting plate through two sets of rotating shafts, and a roller needle is arranged between the rotating shaft, the parallel connecting rod and the movable mounting plate, and the roller needle is located in the ear piece of the movable mounting plate. The two connecting holes of the linear actuator 105 are fixedly connected to the bottom mounting member 101, the top mounting member 105 and the movable mounting member 103 through two shafts and bearings respectively.

[0055] In some embodiments of the present invention, the upper portion of the top mounting member 105 is connected to a trunk component 2 ; a robotic arm 4 is mounted on the trunk component 2 ; and the upper portion of the trunk component 2 is connected to a head component 3 .

[0056] In some embodiments of the present invention, a linear actuator 106 is installed inside the first parallel linkage assembly 102 .

[0057] For example, the first parallel link assembly 102 is formed by connecting two parallel links, and the two parallel links are respectively connected to the bottom mounting member 101 and the movable mounting member 103. A linear actuator 106 is provided between the two parallel links, and connecting holes are provided at both ends of the linear actuator 106. The two ends of the linear actuator 106 are respectively connected to the bottom mounting member 101 and the movable mounting member 103 or the top mounting member 105 and the movable mounting member 103 through a rotating shaft assembly. Figure 4 As shown, when the linear actuator 106 is connected to the bottom mounting member 101 or the movable mounting member 103 or the top mounting member 105, two of the four connections when the connecting rod is connected to the bottom mounting member 101 or the movable mounting member 103 or the top mounting member 105 are coaxial (coaxial part, the linear actuator 106 is in the first parallel linkage assembly 102 or the second parallel linkage assembly 104).

[0058] In some embodiments of the present invention, a linear actuator 106 is installed inside the second parallel linkage assembly 104 .

[0059] In some embodiments of the present invention, the installation angle of the linear actuator 106 inside the first parallel linkage assembly 102 and the second parallel linkage assembly 104 is adjustable.

[0060] In some embodiments of the present invention, the linear actuator 106 includes a housing 1061 and an energy storage spring 1062; a power element 1063 is installed inside the housing 1061; one end of the energy storage spring 1062 is installed on the housing 1061, and the other end is installed on the power element 1063; a first mounting hole assembly 1064 is provided at the end of the power element 1063 where the energy storage spring 1062 is installed; and a second mounting hole assembly 1065 is provided on the end of the linear actuator 106 away from the first mounting hole assembly 1064.

[0061] For example, the two mounting holes of the linear actuator 106 are installed colinearly with the two short-side rotating shafts of the first and second parallel link assemblies. The linear actuator 106 extends to drive the first parallel link assembly 102 or the second parallel link assembly 104 to lower; the linear actuator 106 retracts to drive the first parallel link assembly 102 or the second parallel link assembly 104 to rise. When the lifting device 1 is subjected to a vertical downward external load transmitted by the top mounting member 105, the linear actuator 106 is subjected to a tensile force. The energy storage spring 1062 is a tension spring, one end of which is fixed to the housing 1061 of the linear actuator, and the other end is connected to the telescopic shaft of the linear actuator 106, such as Figure 5 , 6The linear actuator 106 is shown in two states of extension and retraction. When the linear actuator 106 is extended, the energy storage spring 1062 is stretched, and the tension of the external load on the energy storage spring 1062 is borne jointly by the power element 1063 of the linear actuator 106 and the energy storage spring 1062. The stiffness and installation load of the energy storage spring 1062 can be determined according to the expected external load, and its size is set to enable the energy storage spring to support the weight of the torso, arms, head and the lifting device itself. Thereby reducing the energy consumption of the linear actuator, and playing the role of mitigating the impact when the actuator loses power abnormally, thereby improving safety and reliability. The linear actuator 106 utilizes the elastic energy storage characteristics of the energy storage spring 1062 to reduce the working energy consumption of the lifting device and improve reliability;

[0062] In some embodiments of the present invention, the linear actuator 106 is connected to the bottom mounting member 101 through the first mounting hole assembly 1064; the end of the linear actuator 106 away from the first mounting hole assembly 1064 is connected to the movable mounting member 103 through the second mounting hole assembly 1065 and the rotating shaft assembly.

[0063] In some embodiments of the present invention, at the connection between the first parallel link assembly 102 and the bottom mounting member 101 , a roller needle 110 is installed on the edge of the middle outer wall of the shaft assembly, and the roller needle 110 is located in the ear piece of the bottom mounting member 101 .

[0064] In some embodiments of the present invention, the power element 1063 includes a motor 1066 mounted on a second mounting hole assembly; a reducer 1067 mounted on the motor 1066 and located inside the housing 1061; a screw shaft 1068 mounted on the reducer 1067; and a screw nut 1069 mounted on the screw shaft 1068 away from the end of the reducer 1067.

[0065] For example, the actuator is composed of a motor 1066, a reducer 1067, a screw shaft 1068, a screw nut 1069, a housing 1061, an energy storage spring 1062, a first mounting hole 1064, a second mounting hole 1065 and a connecting member thereof. The linear actuator is powered by a motor, which is transmitted to the screw shaft through a reducer, and the rotational power of the motor is converted into linear power through the screw shaft and the screw nut. The second mounting hole is fixedly connected to the screw nut through a thread to output the power.

[0066] In some embodiments of the present invention, the second mounting hole assembly 1065 is fixed to the lead screw nut 1069 by threads.

[0067] In some embodiments of the present invention, at the connection between the first parallel link assembly 102 and the movable mounting member 103 , a needle roller 110 is installed on the edge of the middle outer wall of the shaft assembly, and the needle roller 110 is located in the ear piece of the movable mounting member 103 .

[0068] In some embodiments of the present invention, a connection point between the first link 1021 of the first parallel linkage assembly 102 and the bottom mounting member 101 is coaxial with a connection point between the linear actuator 106 and the bottom mounting member 101 .

[0069] In some embodiments of the present invention, a connection point between the first parallel link 1022 of the first link 1021 and the movable mounting member 103 is coaxial with a connection point between the linear actuator 106 and the movable mounting member 103 .

[0070] In some embodiments of the present invention, the first parallel linkage assembly 102 and the second parallel linkage assembly 104 have the same structure. Figure 9-15 As shown, the first parallel link assembly 102 and the second parallel link assembly 104 can be arranged horizontally in parallel, and multiple levels of lifting can be set according to the lifting stroke.

[0071] In some embodiments of the present invention, Figure 8 , 9 As shown, the first parallel link assembly 102 and the second parallel link assembly 104 can move independently, and the horizontal movement components that can be realized are: the lifting device adjusts the left extreme position of the center of gravity, and the lifting device adjusts the right extreme position of the center of gravity. The horizontal forward and backward translation movement of the robot trunk, head and arms is realized, the horizontal operation space range is increased, and the center of gravity can be adjusted. The first parallel link assembly 102 and the second parallel link assembly 104 can move independently, and a certain range of horizontal forward and backward movement can be realized.

[0072] like Fig.16 As shown, in this installation mode, when the lifting device receives an external load Fm, the load on the two linear actuators is a tensile load. When the first parallel link assembly 102 and the second parallel link assembly 104 are both lifted, at this time, the lifting height of the first parallel link assembly 102 is H and the length is L2, the angle between the first parallel link assembly 102 and the horizontal plane is α, the angle between the first parallel link assembly 102 and the horizontal plane is β, and the angle between the first parallel link assembly 102 and the linear actuator 106 is θ; the linear actuator 106 provided with the power element 1063 and the energy storage spring 1062 is extended by a length s.

[0073] like Fig.16The structure shown in FIG. 1 is the structure adopted by the present invention. The linear actuator 106 is respectively installed at the A and D connection points of the first parallel link assembly 102 and the C and E points of the second parallel link assembly 104; in this installation mode, when the lifting device receives an external load Fm, the loads on the two linear actuators are tensile loads. Fig.17 , 18 The figure shows a simplified diagram of the connection relationship between the two-link assembly and the linear actuator in the lowest state of the lifting device. In the lowest state, the two linear actuators are in the longest state, the actuators are retracted, the link mechanism rotates along the arrow, and the lifting device rises.

[0074] like Fig.19 As shown, the linear actuator 106 is respectively installed at the B and C connection points of the first parallel link assembly 102 and the D and F points of the second parallel link assembly 104; in this installation mode, when the lifting device receives an external load Fm, the loads on the two linear actuators are compression loads. Fig. 20 , 21 The figure shows the connection relationship between the two-link assembly and the linear actuator in the lowest state of the lifting device. In the lowest state, the two linear actuators are in the shortest state, the actuators are extended, the connecting rod mechanism rotates along the arrow, and the lifting device rises.

[0075] From the above two installation positions of the linear actuator, it can be seen that when the lifting device is in the lowest position, the initial length of the actuator of the two installation methods is the same. The difference is that when the lifting device is raised, the actuator of the first installation form is retracted, and the actuator of the second installation form is extended. Therefore, the actuator of the first installation form is in the longest state when it is in the horizontal position; the actuator of the second installation form is in the shortest state when it is in the horizontal state. Under the same connecting rod size conditions, the second installation form allows a larger actuator space size than the first installation form. By switching different linear actuator installation forms, the horizontal operating space can be adjusted.

[0076] In some embodiments of the present invention, the installation angle of the linear actuator 106 inside the first parallel linkage assembly 102 and the second parallel linkage assembly 104 is adjustable. The load on the linear actuator is pressure, and the installation angle of the linear actuator can be adjusted according to different lifting strokes and requirements (which can be adjusted from Fig.16 The style installation shown becomes Fig.19 When the first parallel link assembly or / and the first parallel link assembly are in the lowest state, the operation of objects on the ground is realized, thereby realizing the vertical direction zero height operation; the lowest working position is achieved, and the ground or even the space near the ground can be operated.

[0077] The present invention adopts a parallel link structure (for example, the first parallel link assembly 102 and the second parallel link assembly 104 in the double link structure), which can be flexibly applied according to the needs, single link, double link or multi-link (parallel link assemblies and movable mounting parts can be increased or reduced to continuously increase or decrease the achievable height), and different maximum lifting strokes can be achieved without changing the minimum height;

[0078] The actuator of the present invention adopts an energy storage spring, which can effectively reduce the lifting power consumption;

[0079] The actuator of the present invention has a spring energy storage device, which can reduce the impact when an unexpected power failure or other abnormal situation occurs and causes the power to be unable to be output, thereby improving the reliability of the whole machine.

[0080] The parallel linkage mechanism described in the present invention is two-stage (two parallel linkage assemblies), and similarly may be one-stage (one parallel linkage assembly), three-stage (three parallel linkage assemblies, each parallel linkage assembly is connected by a movable mounting part) or multiple-stage (multiple parallel linkage assemblies, each parallel linkage assembly is connected by a movable mounting part).

[0081] In the structural scheme described in the present invention, the linear actuator retracts, the lifting device rises, and the load on the linear actuator is tension; when the installation position of the linear actuator changes, the linear actuator extends, the lifting device rises, and the load on the linear actuator is pressure. It can be flexibly selected according to different lifting strokes and installation spaces.

[0082] The spring described in the present invention is a tension spring, and a compression spring may also be used to implement the function of the present invention, and different pre-tension forces or pre-pressure forces may be selected according to different energy storage requirements.

[0083] To sum up, through this robot, the problem of limited operating space range in height direction of wheeled robots is solved, vertical 0 height operation is realized, horizontal operating space is adjustable, and the center of gravity of the whole machine can be adjusted horizontally, thereby enhancing stability; the problem of energy waste of the robot lifting device in the non-working state to maintain its own weight is solved; the hazards such as impact caused by abnormal power failure or loss of power of the actuator of the robot lifting device are overcome; and the reliability of the robot is improved.

[0084] The above-described embodiments are merely descriptions of preferred implementation modes of the present invention and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A lifting robot, comprising a wheeled chassis (5), wherein a roller is installed at the bottom of the wheeled chassis (5), characterized in that: A lifting device (1) is installed on the upper part of the wheeled chassis (5); The lifting device (1) comprises a bottom mounting member (101), wherein the bottom mounting member (101) is connected to a first parallel link assembly (102) via a rotating shaft assembly, wherein the first parallel link assembly (102) is connected to a movable mounting member (103) via a rotating shaft assembly; wherein the movable mounting member (103) is connected to a second parallel link assembly (104) via a rotating shaft assembly, wherein the second parallel link assembly (104) is connected to a top mounting member (105) via a rotating shaft assembly; The upper part of the top mounting member (105) is connected to a trunk assembly (2); A mechanical arm (4) is mounted on the trunk component (2); The upper part of the trunk component (2) is connected to a head component (3); A linear actuator (106) is installed inside each of the first parallel link assembly (102) and the second parallel link assembly (104); The installation angle of the linear actuator (106) inside the first parallel link assembly (102) and the second parallel link assembly (104) is adjustable.

2. A lifting robot according to claim 1, characterized in that: The linear actuator (106) comprises a housing (1061) and an energy storage spring (1062); a power element (1063) is installed inside the housing (1061); one end of the energy storage spring (1062) is installed on the housing (1061), and the other end is installed on the power element (1063); a first mounting hole assembly (1064) is provided at the end of the power element (1063) on which the energy storage spring (1062) is installed; and a second mounting hole assembly (1065) is provided on the end of the linear actuator (106) away from the first mounting hole assembly (1064).

3. A lifting robot according to claim 2, characterized in that: The linear actuator (106) is connected to the bottom mounting member (101) via the first mounting hole assembly (1064); the end of the linear actuator (106) away from the first mounting hole assembly (1064) is connected to the movable mounting member (103) via the second mounting hole assembly (1065) and the rotating shaft assembly.

4. The lifting robot according to claim 1, characterized in that: At the connection point between the first parallel link assembly (102) and the bottom mounting member (101), a roller needle (110) is installed on the edge of the middle outer wall of the rotating shaft assembly, and the roller needle (110) is located in the ear piece of the bottom mounting member (101).

5. The lifting robot according to claim 1, characterized in that: At the connection between the first parallel connecting rod assembly (102) and the movable mounting member (103), a roller needle (110) is installed on the edge of the middle outer wall of the rotating shaft assembly, and the roller needle (110) is located in the ear piece of the movable mounting member (103).

6. The lifting robot according to claim 1, characterized in that: The connection point between the first connecting rod (1021) of the first parallel connecting rod assembly (102) and the bottom mounting member (101) is coaxial with the connection point between the linear actuator (106) and the bottom mounting member (101).

7. The lifting robot according to claim 6, characterized in that: The connection point between the first parallel connecting rod (1022) of the first connecting rod (1021) and the movable mounting member (103) is coaxial with the connection point between the linear actuator (106) and the movable mounting member (103).

8. The lifting robot according to claim 2, characterized in that: The power element (1063) comprises a motor (1066) mounted on the second mounting hole assembly; A reducer (1067), mounted on the motor (1066) and located inside the housing (1061); A screw shaft (1068) mounted on the reducer (1067); A screw nut (1069) is mounted on the screw shaft (1068) at the end away from the reducer (1067).

9. The lifting robot according to claim 8, characterized in that: The second mounting hole assembly (1065) is fixed to the lead screw nut (1069) via threads.

10. The lifting robot according to claim 1, characterized in that: The first parallel link assembly (102) and the second parallel link assembly (104) have the same structure.

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