An elevator robot

Abstract

The application relates to the technical field of mechanical automation, and particularly discloses a lifting robot, which at least comprises a lifting arm, 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 in the arm, and the lead screw is adaptively connected with the first-stage lead screw nut; the lead screw is rotationally connected in the fixed arm, and the lead screw is adaptively connected with the second-stage lead screw nut; and the mechanism is used for driving the first-stage lead screw and the second-stage lead screw to rotate in the positive direction and the reverse direction. The lifting robot has the advantages that the first-stage lifting and the second-stage lifting of the tool table can be independently controlled; the total height of the lifting arm does not change in the process of the first-stage lifting of the tool table, so that the application is more extensive; and the positions of the first-stage lead screw and the second-stage lead screw do not change in the process of the first-stage lifting and the second-stage lifting of the tool table, so that the structure is simpler.

Description

Technical Field

[0001] This invention relates to the field of mechanical automation technology, specifically to a lifting robot. Background Technology

[0002] Two-stage lifting robots typically use mechanisms such as single-screw synchronous belts to raise and lower the tool table. A crucial indicator for this type of robot, which needs to be widely used, is the controllability of its lifting motion. While the lifting structure can be very simple, it suffers from problems such as high operating costs and excessively large device size.

[0003] For example, Chinese utility model patent CN220499185U discloses a robotic arm; Chinese utility model patent CN216991986U discloses a multi-stage telescopic robotic arm, a two-stage telescopic robotic arm, and a device using the same; and Chinese utility model patent CN220783971U discloses a robotic arm. All of these robotic arms with different structural forms can achieve two or more stages of lifting. Their common characteristic is that during the first-stage lifting motion, the total height of the robotic arm increases along with the tool table; during the second-stage lifting motion, the transmission screw of the first-stage lifting motion also rises along with the tool table. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the technical defects in the prior art of multi-stage lifting robotic arms, where the total height of the robotic arm increases along with the tool table during the first stage of lifting, and the transmission screw of the first stage of lifting also rises along with the tool table during the second stage of lifting.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a lifting robot, comprising at least a lifting arm, wherein the lifting arm comprises at least:

[0006] Fixed arm;

[0007] A movable arm, which is slidably connected to the fixed arm along its length;

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

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

[0010] A primary traction mechanism, wherein the primary lead screw nut pulls the tool table up and down via the primary traction mechanism;

[0011] A secondary lead screw is rotatably connected to a fixed arm, and a secondary lead screw nut is adapted to be connected to the secondary lead screw.

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

[0013] A drive mechanism is used to drive the first-stage lead screw and the second-stage lead screw to rotate in the forward and reverse directions;

[0014] During the first stage of tool table rising, the first-stage lead screw rotates in the forward direction while the second-stage lead screw does not rotate; during the second stage of tool table rising, the second-stage lead screw rotates in the forward direction while the first-stage lead screw rotates in the reverse direction; during the second stage of tool table falling, the second-stage lead screw rotates in the reverse direction while the first-stage lead screw rotates in the forward direction; during the first stage of tool table falling, the first-stage lead screw rotates in the reverse direction while the second-stage lead screw does not rotate.

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

[0016] The first transmission wheel is located at the top of the movable arm;

[0017] The second transmission wheel is mounted on the first-stage lead screw nut;

[0018] The first flexible transmission component has one end fixedly connected to the tool table, and the other end is fixed inside 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 component is a synchronous belt, and the first and second transmission wheels are synchronous belt pulleys adapted to the synchronous belt; or, the first flexible transmission component is a chain, and the first and second transmission wheels are sprockets adapted to the chain; or, the first flexible transmission component is a rope, and the first and second transmission wheels are rollers adapted to the rope.

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

[0021] The third drive wheel is located at the top of the fixed arm;

[0022] The fourth transmission wheel is mounted on the secondary lead screw nut;

[0023] The second flexible transmission component has one end fixedly connected to the lower end of the movable arm, and the other end is fixed inside the fixed arm after passing through the third and fourth transmission wheels in sequence.

[0024] In a preferred embodiment, the second flexible transmission component is a synchronous belt, and the third and fourth transmission pulleys are synchronous belt pulleys adapted to the synchronous belt; or, the second flexible transmission component is a chain, and the third and fourth transmission pulleys are sprockets adapted to the chain; or, the second flexible transmission component is a rope, and the third and fourth transmission pulleys are rollers adapted to the rope.

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

[0026] In a preferred embodiment, the drive mechanism includes:

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

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

[0029] A drive motor is used to drive the first-stage lead screw gear to rotate in both directions.

[0030] In a preferred embodiment, a drive gear is connected to the motor shaft of the drive motor, and the drive gear meshes with the first-stage lead screw gear.

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

[0032] In a preferred embodiment, the system further includes a chassis mechanism, which includes at least a chassis and four sets of walking mechanisms mounted on the chassis. The lifting arm is mounted on the chassis, and each 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 walking drive module includes a walking drive motor and a housing covering the walking drive motor. The walking wheel is rotatably connected to one end of the housing, and the output shaft of the walking drive motor is coaxially and fixedly connected to the walking wheel.

[0034] In a preferred embodiment, the walking mechanism further 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 on the lower part of the support beam. The steering module is installed on 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 the end of the rotating shaft away from the support beam.

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

[0038] The lifting robot of this application has the following advantages compared with the prior art:

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

[0040] (2) The total height of the lifting arm will not change during the first-stage lifting process of the tool table, making it more widely used;

[0041] (3) The positions of the first-stage lead screw and the second-stage lead screw do not change during the first-stage and second-stage lifting of the tool table, making the structure simpler;

[0042] (4) The structural form of the primary traction mechanism and the secondary traction mechanism enables the tool table to be lifted and lowered at double speed;

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

[0044] (6) The chassis mechanism is equipped with a four-wheel drive and four-rotor walking mechanism, which can autonomously realize movements such as turning in place, walking forward, walking backward, translating to the left and translating to the right, ensuring that the lifting robot can complete various walking in complex environments and ensuring its ability to adapt to various complex environments.

[0045] (7) The floating shock absorption structure formed by the walking drive module, support beam, and shock-absorbing spring enables the walking wheels to float and absorb shocks when moving, assisting the lifting robot to walk on bumpy roads, ensuring that the walking wheels provide stable power, and enhancing the overall stability of the lifting robot during operation. Attached Figure Description

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

[0047] Figure 2 This is a schematic diagram of the lifting arm's worktable in the lifting robot of this embodiment, with the worktable in the first-stage lifting starting position.

[0048] Figure 3 for Figure 2 The diagram shows another view of the structure behind the hidden tool table.

[0049] Figure 4 This is a schematic diagram of the lifting arm's worktable in the lifting robot of this embodiment, at the end of the first stage of lifting.

[0050] Figure 5 This is a schematic diagram of the lifting arm's worktable in the secondary lifting start position of the lifting robot in this embodiment;

[0051] Figure 6 This is a schematic diagram of the lifting arm's worktable in the lifting robot of this embodiment, at the end of the second-stage lifting phase.

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

[0053] Figure 8 This is a schematic diagram of the drive mechanism in the lifting robot of this embodiment;

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

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

[0056] Figure 11 This is a schematic diagram of the walking mechanism in the chassis mechanism of this embodiment;

[0057] Figure 12 This is a cross-sectional structural diagram of the walking mechanism in the chassis mechanism of this embodiment. Detailed Implementation

[0058] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0059] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0060] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation", "connection" and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, an integral connection, or a detachable connection; they can refer to the internal connection of two components; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0061] like Figure 1 As shown, a lifting robot according to this embodiment includes a chassis mechanism 200 and a lifting arm 100 disposed on the chassis mechanism. The lifting arm 100 includes a fixed arm 120 fixedly disposed on the chassis mechanism and a movable arm 110 slidably connected to the fixed arm along its length. A first guide mechanism is provided between the movable arm 110 and the fixed arm 120 for mutual adaptation. Preferably, in this embodiment, as... Figure 2 As shown, the first guiding mechanism includes a first guide rail 1110 disposed on the movable arm and a guide groove disposed on the fixed arm that is adapted to the first guide rail 1110.

[0062] like Figures 2-4 As shown, in this embodiment, the lifting arm 100 is provided with a tool table 111 that is slidably connected to the movable arm 110 along its length. A second guide mechanism 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 disposed on the movable arm 110 and a second guide groove 1131 disposed on the tool table bracket 113 and adapted to the second guide rail 112, wherein the tool table 111 is mounted on the tool table bracket 113.

[0063] In this embodiment, the initial position of the tool table 111 during its first-stage ascent is as follows: Figures 1-3 As shown, the movable arm 110 is in its lowest position and within the height range of the fixed arm 120, with the tool table 111 located at the lower end of the movable arm 110. The final position of the first stage of the tool table 111's ascent is shown below. Figure 4 As shown, the position of the movable arm 110 remains unchanged, while the tool table 111 moves from the lowest position to the highest position.

[0064] In this embodiment, the structural principle of the single-stage lifting of the tool table 111 is as follows: Figures 2-4 As shown, the lifting arm 100 further includes a primary lead screw 114, a primary lead screw nut 115, and a primary traction mechanism. The primary lead screw 114 is rotatably connected to the fixed arm 120. The specific rotatable connection method is a conventional connection method in the art; for example, it can be rotatably connected to the fixed arm via a bearing, and is not limited in this embodiment. A primary lead screw nut 115 is adapted to be connected to the primary lead screw 114, and a mutually adapted third guide mechanism is provided between the primary lead screw nut 115 and the fixed arm. Specifically, in this embodiment, preferably, the third guide mechanism includes a third guide rail 116 fixedly disposed within the fixed arm 120 and a guide groove disposed on the primary lead screw nut 115 and adapted to the third guide rail 116.

[0065] In this embodiment, the drive mechanism drives the first-stage lead screw 114 to rotate, which in turn drives the first-stage lead screw nut 115 to move linearly. The first-stage lead screw nut 115 pulls the tool table 111 up and down through the first-stage traction mechanism.

[0066] In this embodiment, a preferred primary traction mechanism is, for example... Figures 2-4 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 disposed on the top of the movable arm 110, the second transmission wheel 119 is disposed on the first-stage lead 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 passes sequentially around the first transmission wheel 118 and the second transmission wheel 119 before being fixed inside the fixed arm 120.

[0067] In this embodiment, the structure of the first-stage traction mechanism described above allows the tool table 111 to have twice the stroke and lifting speed of the first-stage lead screw nut 115, thus achieving twice the lifting speed of the tool table. Furthermore, the total height of the lifting arm remains constant during the first-stage lifting of the tool table.

[0068] It should be noted that, in this embodiment, the structural form of the first flexible transmission member 117 can be selected in various ways 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 correspondingly synchronous belt 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 correspondingly 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, this application does not impose a single limitation on the structural form that can be adopted.

[0069] In this embodiment, as Figure 5As shown, the initial position of the tool table 111 during the second-stage lifting is the same as the final position of the first-stage lifting. In this state, the tool table is located near the upper end of the movable arm 110. During the second-stage lifting process, the relative position of the tool table 111 on the movable arm 110 remains unchanged. The movable arm and the tool table lift as a whole. The final position of the second-stage lifting is as shown. Figure 6 As shown, the movable arm 110 rises to its upper limit position.

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

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

[0072] In this embodiment, a preferred secondary traction mechanism is, for example... Figure 7 As shown, it includes a second flexible transmission member 126, a third transmission wheel 124, and a fourth transmission wheel 125. The third transmission wheel 124 is located at the top of the fixed arm 120, and the fourth transmission wheel 125 is located on the secondary lead screw nut 122. One end of the second flexible transmission member 126 is fixedly connected to the lower end of the movable arm 110 via a first fixing clamp 1261, and the other end passes sequentially around the third transmission wheel 124 and the fourth transmission wheel 125 before being fixed inside the fixed arm 120 via a second fixing clamp 1262.

[0073] In this embodiment, the structure of the secondary traction mechanism is similar to that of the primary traction mechanism. The stroke and lifting speed of the movable arm 110 are twice that of the secondary lead screw nut 122, thus achieving a double-speed lifting of the movable arm. Furthermore, during the secondary lifting process, the rotation direction of the primary lead screw is opposite to that during the primary lifting process. Based on the structure of the primary traction mechanism, the relative position of the tool table on the movable arm remains unchanged during the lifting process; that is, during the secondary lifting process, the movable arm and the tool table are lifted as a whole.

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

[0075] The lifting arm in this embodiment operates as follows: During the first stage of tool table lifting, the first-stage lead screw rotates forward while the second-stage lead screw does not rotate; during the second stage of tool table lifting, the second-stage lead screw rotates forward while the first-stage lead screw rotates in the opposite direction; during the second stage of tool table lowering, the second-stage lead screw rotates in the opposite direction while the first-stage lead screw rotates forward; during the first stage of tool table lowering, the first-stage lead screw rotates in the opposite direction while the second-stage lead screw does not rotate.

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

[0077] In this embodiment, the primary lead screw gear 12 is coaxially and fixedly connected to the primary lead screw 114, and the secondary lead screw gear 13 is connected to the secondary lead screw 121 via an electromagnetic clutch 14. Wherein, as... Figure 9 As shown, the electromagnetic clutch 14 includes a fixedly mounted base 143, a first rotating layer 141 fixedly connected to the secondary lead screw 13 via a key 15, and a second rotating layer 142 fixedly connected to the secondary lead screw 13. When the electromagnetic clutch is not energized, there is no friction between the first and second rotating layers, and the movement of the first rotating layer will not drive the second rotating layer. When the electromagnetic clutch is energized, the friction between the first and second rotating layers increases, and the first and second rotating layers rotate as a whole.

[0078] Accordingly, in this embodiment, during the first stage of the tool table's ascent, the drive motor drives the first-stage lead screw gear to rotate forward, while the second-stage lead screw gear rotates in the reverse direction. At this time, the electromagnetic clutch is not energized, and the second-stage lead screw does not rotate. During the second stage of the tool table's ascent, the drive motor drives the first-stage lead screw gear to rotate in the reverse direction, the electromagnetic clutch is energized, and the second-stage lead screw gear rotates forward. During the second stage of the tool table's descent, the drive motor drives the first-stage lead screw gear to rotate forward, the electromagnetic clutch is energized, and the second-stage lead screw gear rotates in the reverse direction. During the first stage of the tool table's descent, the drive motor drives the first-stage lead screw gear to rotate in the reverse direction, the electromagnetic clutch is de-energized, the second-stage lead screw gear rotates forward, and the second-stage lead screw does not rotate.

[0079] In this embodiment, the advantage of the drive mechanism is that it realizes the separate control of the first-stage and second-stage lifting processes of the tool table through a single drive motor. The design is ingenious, the structure is simple, and the cost is lower.

[0080] The chassis mechanism 200 in this embodiment, such as Figure 10 As shown, the system includes a chassis 210 and four sets of walking mechanisms mounted on the chassis, wherein the lifting arm 100 is mounted on the chassis 210. In this embodiment, the walking mechanism includes at least walking wheels 220, a walking drive module for driving the walking wheels 220 to rotate, and a steering module for driving the walking wheels to turn. A unique feature of this embodiment is that each of the four walking mechanisms has its own independent walking drive module and steering module, thereby achieving a four-wheel drive and four-turn movement. Through the linkage of the walking drive module and the steering module, it can autonomously achieve movements such as turning in place, moving forward, moving backward, translating left, and translating right, ensuring that the lifting robot can complete various walking operations in complex environments and guaranteeing its adaptability to various complex environments.

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

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

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

[0084] In this embodiment, the floating shock absorption structure formed by the walking drive module, support beam, and shock-absorbing spring enables the walking wheels to float and absorb shocks while moving, assisting the lifting robot in walking on uneven surfaces, 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 mounted 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 a harmonic rotation platform 231. It should be noted that the structure of the steering motor 230 driving the rotating shaft 232 to rotate through the harmonic rotation platform 231 is prior art, and its specific structure will not be described in detail in this embodiment. Of course, the steering motor 230 can also directly drive the rotating shaft to rotate or drive the rotating shaft to rotate through a conventional gear set, belt transmission structure, etc. This application does not impose a limitation.

[0086] Preferably, in this embodiment, an encoder 233 is installed above the end of the rotating shaft 232 away from the support beam 212 via an encoder bracket 234, thereby achieving precise steering control.

[0087] Preferably, in this embodiment, the bracket 211 is provided with a limiting rod 213 for limiting the extreme position of the rotation of the support beam 212, thereby limiting the extreme angle of the turn through mechanical limiting.

[0088] In summary, 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 within the protection scope of the present invention.

Claims

1. A lifting robot, comprising at least a lifting arm, characterized in that, The lifting arm includes at least: Fixed arm; A movable arm, which is slidably connected to the fixed arm along its length; A tool table, wherein the tool table is slidably connected to the movable arm along its length; A primary lead screw is rotatably connected to the fixed arm, and a primary lead screw nut is adapted to be connected to the primary lead screw; A primary traction mechanism, wherein the primary lead screw nut pulls the tool table up and down via the primary traction mechanism; A secondary lead screw is rotatably connected to a fixed arm, and a secondary lead screw nut is adapted to be connected to the secondary lead screw. A secondary traction mechanism, wherein the secondary lead screw nut pulls the movable arm up and down via the secondary traction mechanism; A drive mechanism is used to drive the primary lead screw and the secondary lead screw to rotate in opposite directions; During the first stage of tool table rising, the first-stage lead screw rotates in the forward direction while the second-stage lead screw does not rotate; during the second stage of tool table rising, the second-stage lead screw rotates in the forward direction while the first-stage lead screw rotates in the reverse direction; during the second stage of tool table falling, the second-stage lead screw rotates in the reverse direction while the first-stage lead screw rotates in the forward direction; during the first stage of tool table falling, the first-stage lead screw rotates in the reverse direction while the second-stage lead screw does not rotate.

2. The lifting robot according to claim 1, characterized in that, The primary traction mechanism includes: The first transmission wheel is located at the top of the movable arm; The second transmission wheel is mounted on the first-stage lead screw nut; The first flexible transmission component has one end fixedly connected to the tool table, and the other end is fixed inside 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 component is a synchronous belt, and the first and second transmission wheels are synchronous belt pulleys adapted to the synchronous belt; or, the first flexible transmission component is a chain, and the first and second transmission wheels are sprockets adapted to the chain; or, the first flexible transmission component is a rope, and the first and second transmission wheels are rollers adapted to the rope.

4. The lifting robot according to claim 1, characterized in that, The secondary traction mechanism includes: The third drive wheel is located at the top of the fixed arm; The fourth transmission wheel is mounted on the secondary lead screw nut; The second flexible transmission component has one end fixedly connected to the lower end of the movable arm, and the other end is fixed inside the fixed arm after passing through the third and fourth transmission wheels in sequence.

5. The lifting robot according to claim 4, characterized in that, The second flexible transmission component is a synchronous belt, and the third and fourth transmission pulleys are synchronous belt pulleys adapted to the synchronous belt; or, the second flexible transmission component is a chain, and the third and fourth transmission pulleys are sprockets adapted to the chain; or, the second flexible transmission component is a rope, and the third and fourth transmission pulleys are rollers adapted to the rope.

6. The lifting robot according to claim 1, characterized in that, A first guide mechanism is provided between the fixed arm and the movable arm; a second guide mechanism is provided between the tool table and the movable arm; a third guide mechanism is provided between the primary lead screw nut and the fixed arm; and a fourth guide mechanism is provided between the secondary lead screw nut and the fixed arm.

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

8. The lifting robot according to claim 7, characterized in that, A drive gear is connected to the motor shaft of the drive motor, and the drive gear meshes with the first-stage lead screw gear.

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

10. The lifting robot according to any one of claims 1-6 or 8-9, characterized in that, It also includes a chassis mechanism, which includes at least a chassis and four sets of walking mechanisms mounted on the chassis. The lifting arm is mounted 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.

11. The lifting robot according to claim 10, characterized in that, The walking drive module includes a walking drive motor and a housing covering the walking drive motor. The walking wheel is rotatably connected to one end of the housing, and the output shaft of the walking drive motor is coaxially and fixedly connected to the walking 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 on the lower part of the support beam. The steering module is installed on 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 installed above the end of the rotating shaft that is away from the support beam.

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

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