Lifting robot

Abstract

The invention relates to the technical field of mechanical automation, and particularly discloses a lifting robot which at least comprises a lifting arm, and the lifting arm at least comprises a fixed arm, a movable arm, a tool table, a first-stage lead screw, a first-stage lead screw nut, a first-stage traction mechanism, a second-stage lead screw, a second-stage lead screw nut, a second-stage traction mechanism and a driving mechanism. The lead screw is rotationally connected into the arm, and a first-stage lead screw nut is connected to the lead screw in a matched mode; the lead screw is rotationally connected into the fixed arm, and a second-stage lead screw nut is connected to the lead screw in a matched mode. The mechanism is used for driving the first-stage lead screw and the second-stage lead screw to rotate forwards and backwards. According to the lifting robot, first-stage lifting and second-stage lifting of the tool table can be independently controlled; in the first-stage lifting process of the tool table, the total height of the lifting arm is not changed, and the application range is wider; in the first-stage lifting process and the second-stage lifting process of the tool table, the positions of the first-stage lead screw and the second-stage lead screw do not change, and the structure is simpler.

Description

Technical Field

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

[0002] The robot with two-stage lifting structure generally uses a single-wire synchronous belt and other structures to achieve the lifting of the tool table. The important indicator of this kind of robot that needs to be used in a wide range is the controllability of the lifting movement. Although the lifting structure can be very simple, there are problems such as high cost of use and large device size.

[0003] For example, a mechanical arm disclosed in the Chinese utility model patent with announcement number CN220499185U, a multi-stage telescopic manipulator, a two-stage telescopic manipulator and equipment using the same disclosed in the Chinese utility model patent with announcement number CN216991986U, and a mechanical arm disclosed in the Chinese utility model patent with announcement number CN220783971U. The mechanical arms of the above-mentioned structural forms can all achieve two-stage or multi-stage lifting, and their common characteristics are that during the first-stage lifting movement, the total height of the mechanical arm will increase with the rise of the tool platform; during the second-stage lifting movement, the transmission screw of the first-stage lifting movement will also rise with the rise of the tool platform. Summary of the invention

[0004] The technical problem to be solved by the present invention is to solve the technical defects in the prior art that during the first-stage lifting process of the multi-stage lifting robot arm, the total height of the robot arm will increase together with the rise of the tool table, and during the second-stage lifting process, the transmission screw of the first-stage lifting movement will also rise together with the rise of the tool table.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: A lifting robot comprises at least a lifting arm, wherein the lifting arm comprises at least:

[0006] Fixed arm;

[0007] A movable arm, wherein the movable arm is slidably connected to the fixed arm along a length direction;

[0008] A tool bench, wherein the tool bench is slidably connected to the movable arm along the length direction;

[0009] A primary screw rod, the primary screw rod is rotatably connected in the fixed arm, and a primary screw rod nut is adapted to be connected to the primary screw rod;

[0010] A primary traction mechanism, through which the primary screw nut pulls the tool platform up and down;

[0011] A secondary screw rod, the secondary screw rod is rotatably connected in the fixed arm, and a secondary screw rod nut is adapted to be connected to the secondary screw rod;

[0012] A secondary traction mechanism, wherein the secondary screw nut pulls the movable arm up and down through the secondary traction mechanism;

[0013] A driving mechanism, used for driving the primary screw and the secondary screw to rotate forward and reversely;

[0014] Among them, during the first level of ascent of the tool platform, the first level screw rotates forward and the second level screw does not rotate; during the second level of ascent of the tool platform, the second level screw rotates forward and the first level screw rotates reversely; during the second level of descent of the tool platform, the second level screw rotates reversely and the first level screw rotates forward; during the first level of descent of the tool platform, the first level screw rotates reversely and the second level screw does not rotate.

[0015] In a preferred embodiment, the primary traction mechanism comprises:

[0016] A first transmission wheel is arranged on the top of the movable arm;

[0017] A second transmission wheel is arranged on the primary screw nut;

[0018] A first flexible transmission member, one end of which is fixedly connected to the tool platform, and the other end of which is fixed in the fixed arm after passing through the first transmission wheel and the second transmission wheel in sequence.

[0019] In a preferred embodiment, the first flexible transmission member is a synchronous belt, and the first transmission wheel and the second transmission wheel are synchronous belt wheels adapted to the synchronous belt; or, the first flexible transmission member is a chain, and the first transmission wheel and the second transmission wheel are sprocket wheels adapted to the chain; or, the first flexible transmission member is a rope, and the first transmission wheel and the second transmission wheel are rollers adapted to the rope.

[0020] In a preferred embodiment, the secondary traction mechanism comprises:

[0021] a third transmission wheel, disposed on the top of the fixed arm;

[0022] A fourth transmission wheel, arranged on the secondary screw nut;

[0023] A second flexible transmission member, one end of which is fixedly connected to the lower end of the movable arm, and the other end of which is fixed in the fixed arm after passing through the third transmission wheel and the fourth transmission wheel in sequence.

[0024] In a preferred embodiment, the second flexible transmission member is a synchronous belt, and the third transmission wheel and the fourth transmission wheel are synchronous belt wheels adapted to the synchronous belt; or, the second flexible transmission member is a chain, and the third transmission wheel and the fourth transmission wheel are sprocket wheels adapted to the chain; or, the second flexible transmission member is a rope, and the third transmission wheel and the fourth transmission wheel are rollers adapted to the rope.

[0025] In a preferred embodiment, a first guide mechanism that is mutually compatible is provided between the fixed arm and the movable arm; a second guide mechanism that is mutually compatible is provided between the tool table and the movable arm; a third guide mechanism that is mutually compatible is provided between the primary screw nut and the fixed arm; and a fourth guide mechanism that is mutually compatible is provided between the secondary screw nut and the fixed arm.

[0026] In a preferred embodiment, the driving mechanism comprises:

[0027] A primary screw gear, wherein the primary screw gear is coaxially fixedly connected to the primary screw;

[0028] A secondary screw gear, the secondary screw gear is meshed with the primary screw gear, and a clutch is provided between the secondary screw gear and the secondary screw;

[0029] The driving motor is used to drive the first-stage screw gear to rotate forward and reverse.

[0030] In a preferred embodiment, a driving gear is connected to the motor shaft of the driving motor, and the driving gear is meshed with the primary screw gear.

[0031] In a preferred embodiment, the clutch is an electromagnetic clutch, which comprises at least a first rotating layer and a second rotating layer coaxially arranged, wherein the first rotating layer is fixedly connected to the secondary screw gear, and the second rotating layer is fixedly connected to the secondary screw.

[0032] A preferred embodiment further includes a chassis mechanism, which includes at least a chassis and four sets of walking mechanisms arranged on the chassis, the lifting arm is arranged on the chassis, and the walking mechanism includes at least walking wheels, a walking drive module for driving the walking wheels to rotate, and a steering module for driving the walking wheels to turn.

[0033] In a preferred embodiment, the travel drive module includes a travel drive motor and a shell covering the travel drive motor, the travel wheel is rotatably connected to one end of the shell, and the output shaft of the travel drive motor is coaxially fixedly connected to the travel wheel.

[0034] In a preferred embodiment, the walking mechanism also includes a bracket and a support beam located below the bracket, the bracket is fixedly connected to the chassis, the walking drive module is installed at the lower part of the support beam, the steering module is installed at the upper part of the bracket and the output end of the steering module is connected to the upper end of the support beam.

[0035] In a preferred embodiment, the steering module includes a rotating shaft fixedly connected to the upper end of the support beam and a steering motor for driving the rotating shaft to rotate.

[0036] In a preferred embodiment, an encoder is disposed above one end of the rotating shaft away from the supporting beam.

[0037] In a preferred embodiment, the travel drive module is vertically movably connected to the support beam, a vertical guide mechanism is provided between the travel drive module and the support beam, and a shock-absorbing spring is provided between the support beam and the travel drive module.

[0038] Compared with the prior art, the lifting robot of the present application has the following beneficial effects:

[0039] (1) The first and second level lifting of the tool table can be independently controlled;

[0040] (2) During the first level of lifting, the total height of the lifting arm does not change, which makes the application more extensive;

[0041] (3) During the first-stage lifting and second-stage lifting of the tool table, the positions of the first-stage screw rod and the second-stage screw rod do not change, and the structure is simpler;

[0042] (4) The structure of the primary traction mechanism and the secondary traction mechanism can realize the lifting and lowering of the tool table at double speed;

[0043] (5) The structural form of the driving mechanism can realize the separate control of the first-stage lifting and the second-stage lifting through a single driving motor, which has the technical advantages of ingenious technical design and simple control.

[0044] (6) The chassis mechanism is equipped with a four-wheel drive and four-turn walking mechanism, which can autonomously realize on-the-spot turning, forward walking, backward walking, left translation and right translation, etc., to ensure that the lifting robot can complete various walking in complex environments and ensure its ability to adapt to various complex environments.

[0045] (7) The floating shock-absorbing structure formed by the walking drive module, the support beam and the shock-absorbing spring enables the walking wheels to achieve floating shock-absorbing when moving, assisting the lifting robot to walk on rough roads, ensuring that the walking wheels provide stable power, and enhancing the overall stability of the lifting robot during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 This is a schematic diagram of the structure of the lifting robot in this embodiment;

[0047] Figure 2 This is a structural schematic diagram of the tool platform of the lifting arm of the lifting robot in this embodiment being in the first-level lifting starting position;

[0048] Figure 3 for Figure 2 The structure shown is a schematic diagram of another perspective of the structure behind which the tool bench is hidden;

[0049] Figure 4 This is a structural schematic diagram of a tool platform of a lifting arm in the lifting robot of this embodiment being at a first-stage lifting end position;

[0050] Figure 5 This is a structural schematic diagram of the tool platform of the lifting arm of the lifting robot in this embodiment being in the secondary lifting starting position;

[0051] Figure 6 This is a structural schematic diagram of the tool platform of the lifting arm of the lifting robot in this embodiment being at the secondary lifting end position;

[0052] Figure 7 This is a schematic diagram of the structure of the secondary traction mechanism in the lifting robot of this embodiment;

[0053] Figure 8 Schematic diagram of the structure of the driving mechanism of the lifting robot in this embodiment;

[0054] Fig. 9 This is a schematic diagram of the connection between the secondary screw gear and the electromagnetic clutch in the lifting robot of this embodiment;

[0055] Fig.10 This is a schematic diagram of the structure of the chassis mechanism in the lifting robot of this embodiment;

[0056] Fig.11 It is a structural schematic diagram of the walking mechanism in the chassis mechanism of this embodiment;

[0057] Fig.12 It is a schematic diagram of the cross-sectional structure of the walking mechanism in the chassis mechanism of this embodiment. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0059] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "inside", "outside", etc. 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, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0060] In the description of the present invention, it should be noted that, unless otherwise clearly stipulated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, an integral connection, or a detachable connection; it can be the internal connection of two components; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0061] like Figure 1 As shown, a lifting robot of this embodiment includes a chassis mechanism 200 and a lifting arm 100 arranged on the chassis mechanism, wherein the lifting arm 100 includes a fixed arm 120 fixedly arranged on the chassis mechanism and a movable arm 110 slidably connected to the fixed arm along the length direction. A first guide mechanism adapted to each other is arranged between the movable arm 110 and the fixed arm 120. Preferably, in this embodiment, Figure 2 As shown, the first guide mechanism includes a first guide rail 1110 disposed on the movable arm and a guide groove disposed on the fixed arm and adapted to the first guide rail 1110 .

[0062] like Figure 2-Figure 4 As shown, in this embodiment, the lifting arm 100 is provided with a tool table 111 which is slidably connected to the movable arm 110 along the length direction, and a second guide mechanism which is adapted to each other is provided between the tool table 111 and the movable arm 110. Preferably, in this embodiment, the second guide mechanism includes a second guide rail 112 fixedly provided on the movable arm 110 and a second guide groove 1131 provided on the tool table bracket 113 and adapted to the second guide rail 112, wherein the tool table 111 is installed on the tool table bracket 113.

[0063] In this embodiment, the initial position of the tool table 111 when it rises one level is as follows: Figure 1-Figure 3 As shown in FIG. 1 , the movable arm 110 is at the lowest position and is within the height range of the fixed arm 120, and the tool table 111 is located at the lower end of the movable arm 110. The end position of the tool table 111 after the first level of ascent is as shown in FIG. Figure 4 As shown, the position of the movable arm 110 does not change, and the tool table 111 moves from the lowest position to the highest position.

[0064] In this embodiment, the structural principle of the one-stage lifting of the tool table 111 is as follows Figure 2-Figure 4 As shown, the lifting arm 100 further includes a primary screw 114, a primary screw nut 115 and a primary traction mechanism. The primary screw 114 is rotationally connected in the fixed arm 120, and the specific rotational connection method belongs to the conventional connection method in the field, for example, a rotational active connection with the fixed arm through a bearing, which is not limited in this embodiment. The primary screw 114 is adapted to be connected with a primary screw nut 115, and a third guide mechanism adapted to each other is provided between the primary screw nut 115 and the fixed arm. Specifically in this embodiment, as a preference, the third guide mechanism includes a third guide rail 116 fixedly provided in the fixed arm 120 and a guide groove provided on the primary screw nut 115 and adapted to the third guide rail 116.

[0065] In this embodiment, the driving mechanism drives the primary screw 114 to rotate, which drives the primary screw nut 115 to move linearly, and the primary screw nut 115 is pulled up and down by the primary traction mechanism to pull the tool platform 111.

[0066] In this embodiment, a preferred primary traction mechanism, such as Figure 2-Figure 4 As shown, it includes a first transmission wheel 118, a second transmission wheel 119 and a first flexible transmission member 117. The first transmission wheel 118 is arranged on the top of the movable arm 110, the second transmission wheel 119 is arranged on the primary screw nut 115, one end of the first flexible transmission member 117 is fixedly connected to the tool table bracket 113, and the other end is fixed in the fixed arm 120 after passing through the first transmission wheel 118 and the second transmission wheel 119 in sequence.

[0067] In this embodiment, the structure of the first-level traction mechanism is such that the travel and lifting speed of the tool platform 111 are twice that of the first-level screw nut 115, so that the tool platform can be lifted at twice the speed. In addition, during the first-level lifting of the tool platform, the total height of the lifting arm remains unchanged.

[0068] It should be noted that, in this embodiment, the structural form of the first flexible transmission member 117 has multiple options in the prior art. For example, when the first flexible transmission member 117 is a synchronous belt, the first transmission wheel 118 and the second transmission wheel 119 are synchronous pulleys adapted to the synchronous belt. When the first flexible transmission member is a chain, the first transmission wheel and the second transmission wheel are sprockets adapted to the chain. When the first flexible transmission member is a rope, the first transmission wheel and the second transmission wheel are rollers adapted to the rope. In short, the present application does not impose a sole restriction on the structural form that can be adopted.

[0069] In this embodiment, Figure 5As shown in FIG. 1 , the initial position of the tool bench 111 after the second-stage ascent is the end position of the first-stage ascent. In this state, the tool bench is located near the upper end of the movable arm 110. During the second-stage ascent, the relative position of the tool bench 111 on the movable arm 110 remains unchanged. The movable arm and the tool bench are lifted as a whole. The end position of the second-stage ascent is shown in FIG. Figure 6 As shown, the movable arm 110 rises to the upper limit position.

[0070] In this embodiment, the structural principle of the two-stage lifting is as follows Figure 7 As shown, the lifting arm also includes a secondary screw 121, a secondary screw nut 122 and a secondary traction mechanism, wherein the secondary screw 121 is rotatably connected to the fixed arm 120, and the specific rotatable connection method belongs to the conventional connection method in the field, for example, the secondary screw nut 122 is rotatably connected to the fixed arm through a bearing, which is not limited in this embodiment. The secondary screw nut 122 is adapted to be connected to the secondary screw 121, and a fourth guide mechanism adapted to each other is provided between the secondary screw nut 122 and the fixed arm, and the fourth guide mechanism includes a fourth guide rail 123 fixedly provided in the fixed arm and a guide groove provided on the secondary screw nut 122 and adapted to the fourth guide rail 123.

[0071] In this embodiment, the driving mechanism drives the secondary screw 121 to rotate, driving the secondary screw nut 122 to move linearly, and the secondary screw nut 122 pulls the movable arm up and down through the secondary traction mechanism.

[0072] In this embodiment, a preferred secondary traction mechanism, such as Figure 7 As shown, it includes a second flexible transmission member 126, a third transmission wheel 124 and a fourth transmission wheel 125. Among them, the third transmission wheel 124 is arranged on the top of the fixed arm 120, the fourth transmission wheel 125 is arranged on the secondary screw nut 122, one end of the second flexible transmission member 126 is fixedly connected to the lower end of the movable arm 110 through a fixing clamp 1 1261, and the other end is fixed in the fixed arm 120 through a fixing clamp 2 1262 after winding around the third transmission wheel 124 and the fourth transmission wheel 125 in sequence.

[0073] In this embodiment, the structural form of the secondary traction mechanism is similar to that of the primary traction mechanism, and the travel and lifting speed of the movable arm 110 are twice that of the secondary screw nut 122, so that the movable arm can be lifted and lowered at twice the speed. In addition, during the secondary lifting process, the rotation direction of the primary screw is opposite to that during the primary lifting process. Based on the structural form of the primary traction mechanism, during the lifting process of the movable arm, the relative position of the tool table on the movable arm remains unchanged, that is, during the secondary lifting process, the movable arm and the tool table are lifted and lowered as a whole.

[0074] It should be noted that, in this embodiment, the structural form of the second flexible transmission member is similar to that of the first flexible transmission member, and there are multiple options in the prior art. For example, when the second flexible transmission member is a synchronous belt, the third transmission wheel and the fourth transmission wheel are synchronous pulleys adapted to the synchronous belt. When the second flexible transmission member is a chain, the third transmission wheel and the fourth transmission wheel are sprockets adapted to the chain. When the second flexible transmission member is a rope, the third transmission wheel and the fourth transmission wheel are rollers adapted to the rope. In short, the present application does not impose a single restriction on the structural form that can be adopted.

[0075] The lifting arm of this embodiment works as follows: during the first level of ascent of the tool platform, the first level screw rotates forward and the second level screw does not rotate; during the second level of ascent of the tool platform, the second level screw rotates forward and the first level screw rotates reversely; during the second level of descent of the tool platform, the second level screw rotates reversely and the first level screw rotates forward; during the first level of descent of the tool platform, the first level screw rotates reversely and the second level screw does not rotate.

[0076] In this embodiment, a preferred driving mechanism, such as Figure 8 , Fig. 9 As shown, it includes a driving motor 10, a driving gear 11, a primary screw gear 12, a secondary screw gear 13 and an electromagnetic clutch 14. The driving gear 11 is connected to the motor shaft of the driving motor 10, the primary screw gear 12 is meshed with the driving gear 11, and the secondary screw gear 13 is meshed with the primary screw gear 12, so that the rotation directions of the secondary screw gear 13 and the primary screw gear 12 are always opposite.

[0077] In this embodiment, the primary screw gear 12 is coaxially fixedly connected with the primary screw 114, and the secondary screw gear 13 is connected with the secondary screw 121 through the electromagnetic clutch 14. Fig. 9 As shown, the electromagnetic clutch 14 includes a fixed base 143, a first rotating layer 141 fixedly connected to the secondary screw gear 13 through a key 15, and a second rotating layer 142 fixedly connected to the secondary screw gear 13. When the electromagnetic clutch is not powered, there is no friction between the first rotating layer and the second rotating layer, and the movement of the first rotating layer will not drive the second rotating layer. When the electromagnetic clutch is powered, the friction between the first rotating layer and the second rotating layer becomes larger, and the first rotating layer and the second rotating layer rotate as a whole.

[0078] Correspondingly, in the driving mechanism of this embodiment, during the first level of ascent of the tool bench, the driving motor drives the first level screw gear to drive the first level screw to rotate forward, and the second level screw gear rotates reversely. At this time, the electromagnetic clutch is not powered on, and the second level screw does not rotate. During the second level of ascent of the tool bench, the driving motor drives the first level screw gear to drive the first level screw to rotate reversely, the electromagnetic clutch is powered on, and the second level screw gear drives the second level screw to rotate forward. During the second level of descent of the tool bench, the driving motor drives the first level screw gear to drive the first level screw to rotate forward, the electromagnetic clutch is powered on, and the second level screw gear drives the second level screw to rotate reversely. During the first level of descent of the tool bench, the driving motor drives the first level screw gear to drive the first level screw to rotate reversely, the electromagnetic clutch is powered off, the second level screw gear rotates forward, and the second level screw does not rotate.

[0079] In this embodiment, the advantage of the driving mechanism is that the first-level lifting and second-level lifting processes of the tool table can be independently controlled by one driving motor, and the design is ingenious, the structure is simple, and the cost is lower.

[0080] The chassis mechanism 200 of this embodiment is as follows: Fig.10 As shown, it includes a chassis 210 and four groups of walking mechanisms arranged on the chassis, wherein the lifting arm 100 is arranged on the chassis 210. In this embodiment, the walking mechanism at least includes a walking wheel 220, a walking drive module for driving the walking wheel 220 to rotate, and a steering module for driving the walking wheel to turn. As a special feature of this embodiment, in this embodiment, the four groups of walking mechanisms are all provided with independent walking drive modules and steering modules, so as to realize the movement form of four-wheel drive and four-turn. Through the linkage of the walking drive module and the steering module, it can autonomously realize the movements such as turning in place, walking forward, walking backward, left translation and right translation, so as to ensure that the lifting robot can complete various walking in a complex environment and ensure the ability to adapt to various complex environments.

[0081] In this embodiment, as a preferred embodiment, Fig.11 , Fig.12 As shown, the travel drive module includes a travel drive motor 240 and a housing 241 covering the travel drive motor, the travel wheel 220 is rotatably connected to one end of the housing 241, and the output shaft of the travel drive motor 240 is coaxially fixedly connected to the travel wheel 220. Preferably, the travel drive motor 240 adopts a servo reduction motor.

[0082] In this embodiment, the walking mechanism further includes a bracket 211 and a support beam 212 located below the bracket, wherein the bracket 211 is fixedly connected to the chassis 210 , and the walking drive module is installed at the lower part of the support beam 212 .

[0083] In this embodiment, preferably, the walking drive module is vertically movably connected to the support beam 212, and a vertical guide mechanism is provided between the walking drive module and the support beam. Preferably, in this embodiment, the vertical guide mechanism includes a sleeve 251 and a guide shaft 252 that are axially nested and retractable, wherein the lower end of the sleeve 251 is connected to the housing 241, and the upper end of the guide shaft 252 is connected to the support beam 212. In addition, a shock-absorbing spring 250 is provided between the support beam and the walking drive module and is sleeved on the outside of the sleeve 251 and the guide shaft 252.

[0084] In this embodiment, the floating shock-absorbing structure formed by the walking drive module, the support beam and the shock-absorbing spring enables the walking wheels to achieve floating shock-absorbing when moving, assisting the lifting robot to walk on rough roads, ensuring that the walking wheels provide stable power, and enhancing the overall stability of the lifting robot during operation.

[0085] In this embodiment, the steering module is installed on the upper part of the bracket 211 and the output end of the steering module is connected to the upper end of the support beam 212. Preferably, in this embodiment, the steering module includes a rotating shaft 232 fixedly connected to the upper end of the support beam and a steering motor 230 for driving the rotating shaft to rotate. Preferably, the steering motor 230 drives the rotating shaft 232 to rotate through the harmonic rotating platform 231. It should be noted that the structural form in which the steering motor 230 drives the rotating shaft 232 to rotate through the harmonic rotating platform 231 is a prior art, and its specific structure is not described in detail in this embodiment. Of course, the steering motor 230 can also be used to directly drive the rotating shaft to rotate or to drive the rotating shaft to rotate through a conventional gear set, belt transmission structure, etc., and this application does not make the sole limitation.

[0086] Preferably, in the present embodiment, an encoder 233 is provided above one end of the rotating shaft 232 away from the supporting beam 212 via an encoder bracket 234, so as to achieve precise control of the steering.

[0087] Preferably, in this embodiment, a limit rod 213 for limiting the rotation limit position of the support beam 212 is provided on the bracket 211, so as to limit the extreme angle of the steering by mechanical limitation.

[0088] In short, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A lifting robot, comprising at least a lifting arm, characterized in that: The lifting arm at least comprises: Fixed arm; A movable arm, wherein the movable arm is slidably connected to the fixed arm along a length direction; A tool bench, wherein the tool bench is slidably connected to the movable arm along the length direction; A primary screw rod, the primary screw rod is rotatably connected in the fixed arm, and a primary screw rod nut is adapted to be connected to the primary screw rod; A primary traction mechanism, through which the primary screw nut pulls the tool platform up and down; A secondary screw rod, the secondary screw rod is rotatably connected in the fixed arm, and a secondary screw rod nut is adapted to be connected to the secondary screw rod; A secondary traction mechanism, wherein the secondary screw nut pulls the movable arm up and down through the secondary traction mechanism; A driving mechanism, used for driving the primary screw and the secondary screw to rotate forward and reversely; Among them, during the first level of ascent of the tool platform, the first level screw rotates forward and the second level screw does not rotate; during the second level of ascent of the tool platform, the second level screw rotates forward and the first level screw rotates reversely; during the second level of descent of the tool platform, the second level screw rotates reversely and the first level screw rotates forward; during the first level of descent of the tool platform, the first level screw rotates reversely and the second level screw does not rotate.

2. The lifting robot according to claim 1, characterized in that: The primary traction mechanism comprises: A first transmission wheel is arranged on the top of the movable arm; A second transmission wheel is arranged on the primary screw nut; A first flexible transmission member, one end of which is fixedly connected to the tool platform, and the other end of which is fixed in the fixed arm after passing through the first transmission wheel and the second transmission wheel in sequence.

3. The lifting robot according to claim 2, characterized in that: The first flexible transmission member is a synchronous belt, and the first transmission wheel and the second transmission wheel are synchronous belt wheels adapted to the synchronous belt; or, the first flexible transmission member is a chain, and the first transmission wheel and the second transmission wheel are sprocket wheels adapted to the chain; or, the first flexible transmission member is a rope, and the first transmission wheel and the second transmission wheel are rollers adapted to the rope.

4. The lifting robot according to claim 1, characterized in that: The secondary traction mechanism comprises: a third transmission wheel, disposed on the top of the fixed arm; A fourth transmission wheel, arranged on the secondary screw nut; A second flexible transmission member, one end of which is fixedly connected to the lower end of the movable arm, and the other end of which is fixed in the fixed arm after passing through the third transmission wheel and the fourth transmission wheel in sequence.

5. The lifting robot according to claim 4, characterized in that: The second flexible transmission member is a synchronous belt, and the third transmission wheel and the fourth transmission wheel are synchronous belt wheels adapted to the synchronous belt; or, the second flexible transmission member is a chain, and the third transmission wheel and the fourth transmission wheel are sprocket wheels adapted to the chain; or, the second flexible transmission member is a rope, and the third transmission wheel and the fourth transmission wheel are rollers adapted to the rope.

6. The lifting robot according to claim 1, characterized in that: A first guide mechanism that is mutually compatible is arranged between the fixed arm and the movable arm; a second guide mechanism that is mutually compatible is arranged between the tool table and the movable arm; a third guide mechanism that is mutually compatible is arranged between the first-level screw nut and the fixed arm; and a fourth guide mechanism that is mutually compatible is arranged between the second-level screw nut and the fixed arm.

7. The lifting robot according to any one of claims 1 to 6, characterized in that: The driving mechanism comprises: A primary screw gear, wherein the primary screw gear is coaxially fixedly connected to the primary screw; A secondary screw gear, the secondary screw gear is meshed with the primary screw gear, and a clutch is provided between the secondary screw gear and the secondary screw; The driving motor is used to drive the first-stage screw gear to rotate forward and reverse.

8. The lifting robot according to claim 7, characterized in that: A driving gear is connected to the motor shaft of the driving motor, and the driving gear is meshed with the primary screw gear.

9. The lifting robot according to claim 7, characterized in that: The clutch is an electromagnetic clutch, which comprises at least a first rotating layer and a second rotating layer which are coaxially arranged, wherein the first rotating layer is fixedly connected to the secondary screw gear, and the second rotating layer is fixedly connected to the secondary screw.

10. The lifting robot according to any one of claims 1 to 6 or 8 to 9, characterized in that: It also includes a chassis mechanism, which includes at least a chassis and four sets of walking mechanisms arranged on the chassis. The lifting arm is arranged on the chassis. The walking mechanism includes at least walking wheels, a walking drive module for driving the walking wheels to rotate, and a steering module for driving the walking wheels to turn.

11. The lifting robot according to claim 10, characterized in that: The travel drive module comprises a travel drive motor and a shell covering the travel drive motor, the travel wheel is rotatably connected to one end of the shell, and the output shaft of the travel drive motor is coaxially fixedly connected to the travel wheel.

12. The lifting robot according to claim 11, characterized in that: The walking mechanism also includes a bracket and a support beam located below the bracket, the bracket is fixedly connected to the chassis, the walking drive module is installed at the lower part of the support beam, the steering module is installed at the upper part of the bracket and the output end of the steering module is connected to the upper end of the support beam.

13. The lifting robot according to claim 12, characterized in that: The steering module includes a rotating shaft fixedly connected to the upper end of the support beam and a steering motor for driving the rotating shaft to rotate.

14. The lifting robot according to claim 13, characterized in that: An encoder is arranged above one end of the rotating shaft away from the supporting beam.

15. The lifting robot according to any one of claims 12 to 14, characterized in that: The walking drive module is vertically movably connected to the support beam, a vertical guiding mechanism is arranged between the walking drive module and the support beam, and a shock-absorbing spring is arranged between the support beam and the walking drive module.

Images