Robot and lifting device applied by same

Abstract

The invention discloses a robot and a lifting device applied to the robot. The lifting device comprises a supporting assembly, a driving assembly and a lifting assembly, the driving assembly comprises a driving part, a reel and a transmission line, the driving part is arranged on the supporting assembly and is in transmission connection with the reel, the transmission line is wound around the reel and is in transmission connection with the lifting assembly, and the driving part is used for driving the reel to rotate so as to drive the transmission line to move; the transmission line is used for driving the lifting assembly to move in the lifting direction. And the load device is arranged on the lifting assembly, and the lifting assembly is used for driving the load device to move in the lifting direction. By means of the mode, noise generated in the process that the lifting device drives the load device to ascend and descend can be reduced, and the lifting speed of the load device can be increased.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a robot and a lifting device used therein. Background Art

[0002] Service robots are usually equipped with display screens for human-machine interaction with users, and the display screens are usually designed to be liftable for easy use by users. However, the lifting mechanisms currently used in service robots usually use gear rack meshing transmission, or electric push rods and ball screws. The aforementioned transmission mechanisms have rigid collisions between components, resulting in high noise during the lifting process. In addition, electric push rods and ball screws are limited by their respective transmission forms, resulting in a slow transmission rate, which causes a slow lifting and lowering rate of the load. Summary of the invention

[0003] The present application provides a robot and a lifting device used therein, which can reduce the noise generated by the lifting device in the process of driving a load device to lift, and is conducive to improving the lifting rate of the load device.

[0004] The present application provides a robot, comprising: a main body; a lifting device, arranged on the main body; wherein the lifting device comprises a supporting assembly, a driving assembly and a lifting assembly, the driving assembly comprises a driving member, a winding wheel and a transmission line, the driving member is arranged on the supporting assembly and is transmission-connected to the winding wheel, the transmission line is wound on the winding wheel and is transmission-connected to the lifting assembly, the driving member is used to drive the winding wheel to rotate to drive the transmission line to move, and the transmission line is used to drive the lifting assembly to move along the lifting direction; and a load device, arranged on the lifting assembly, the lifting assembly is used to drive the load device to move along the lifting direction.

[0005] In one embodiment of the present application, the transmission line is divided into at least a driving line area and a transmission line area, the transmission line in the driving line area is wound around a winding wheel, and the transmission line in the transmission line area is transmission-connected to a lifting assembly; during the rotation of the winding wheel, the winding wheel drives the transmission line reel in the transmission line area onto the winding wheel, and as the transmission line reel in the transmission line area moves onto the winding wheel, the transmission line in the driving line area is released from the winding wheel to the transmission line area.

[0006] In one embodiment of the present application, the transmission line area includes: a main line segment area, in which the transmission line of the main line segment area is transmission-connected to the lifting assembly; and an auxiliary line segment area, in which the transmission line of the auxiliary line segment area is connected to the transmission line of the main line segment area through the transmission line of the connecting line segment area; wherein the transmission line of the main line segment area and the transmission line of the auxiliary line segment area both extend along the lifting direction, and during the rotation of the winding wheel, the movement direction of the transmission line of the main line segment area is opposite to the movement direction of the transmission line of the auxiliary line segment area.

[0007] In one embodiment of the present application, main line segment areas are respectively provided on opposite sides of the lifting component, and the transmission lines of each main line segment area are respectively transmission-connected to the lifting component, and the transmission lines of each main line segment area cooperate to drive the lifting component to move along the lifting direction.

[0008] In one embodiment of the present application, the center line of the driving member and the rotation axis of the winding wheel are parallel to the lifting direction, and the extension direction of the transmission line connecting the line segment area is perpendicular to the lifting direction.

[0009] In one embodiment of the present application, the main line segment area includes a first main line segment area and a second main line segment area, the auxiliary line segment area includes a first auxiliary line segment area and a second auxiliary line segment area, and the connecting line segment area includes a first connecting line segment area, a second connecting line segment area, a third connecting line segment area, a fourth connecting line segment area and a fifth connecting line segment area; the first main line segment area and the first auxiliary line segment area are located on one side of the lifting component, one end of the transmission line of the first main line segment area is connected to the transmission line of the driving line area through the transmission line of the first connecting line segment area, and the other end is connected to the transmission line of the first auxiliary line segment area through the transmission line of the second connecting line segment area; the second main line segment area and the second auxiliary line segment area are located on the other side of the lifting component, one end of the transmission line of the second auxiliary line segment area is connected to the transmission line of the driving line area through the transmission line of the third connecting line segment area, and the other end is connected to the transmission line of the second main line segment area through the transmission line of the fourth connecting line segment area; the end of the transmission line of the first auxiliary line segment area away from the second connecting line segment area and the end of the transmission line of the second main line segment area away from the fourth connecting line segment area are connected by the transmission line of the fifth connecting line segment area.

[0010] In one embodiment of the present application, the driving component also includes: a winding guide, which is arranged on the supporting component; wherein the connecting portion of the transmission line of the main line segment area and the transmission line of the connecting line segment area is wound around a winding guide, so that the extension direction of the transmission line of the main line segment area is perpendicular to the extension direction of the transmission line of the connecting line segment area; the connecting portion of the transmission line of the auxiliary line segment area and the transmission line of the connecting line segment area is wound around a winding guide, so that the extension direction of the transmission line of the auxiliary line segment area is perpendicular to the extension direction of the transmission line of the connecting line segment area.

[0011] In one embodiment of the present application, the driving member includes a motor; wherein, when the motor outputs a first torque, the motor drives the winding wheel to rotate to drive the transmission line of the main line segment area to move in the lifting direction, thereby driving the lifting component to rise; and when the motor outputs a second torque opposite to the first torque, the motor drives the winding wheel to rotate in the opposite direction to drive the transmission line of the main line segment area to move in the opposite direction, thereby driving the lifting component to descend.

[0012] In one embodiment of the present application, the transmission line is further divided into a fixed line area, and the transmission line of the fixed line area is connected to the transmission line of the driving line area through the transmission line of the driving line area, and the transmission line of the fixed line area is also passed through the winding wheel; the driving component also includes: a winding pressure plate, which is arranged on the winding wheel, and at least part of the transmission line of the fixed line area is clamped between the winding pressure plate and the winding wheel to fix the transmission line of the fixed line area to the winding wheel.

[0013] In one embodiment of the present application, the driving assembly further includes: an elastic member, which is respectively connected to the winding wheel and the supporting assembly, and the elastic member is used to cooperate with the driving member to drive the winding wheel to rotate, so as to drive the lifting assembly to rise through the transmission line.

[0014] In one embodiment of the present application, the support assembly includes: a support seat; a mounting shell connected to the support seat, an elastic member connected to the support seat and / or the mounting shell; and a rotating bearing, through which the winding wheel is rotatably connected to the mounting shell.

[0015] In one embodiment of the present application, the lifting assembly includes: a lifting seat, which is transmission-connected to the transmission line; and a lifting bracket, which is connected to the lifting seat, and the load device is disposed on the lifting bracket.

[0016] In one embodiment of the present application, the lifting assembly further includes: a fixed pressure plate disposed on the lifting seat, and at least a portion of the transmission line is clamped between the fixed pressure plate and the lifting seat, so that the lifting seat is transmission-connected to the transmission line.

[0017] In one embodiment of the present application, the support assembly includes: a support seat, a driving member is arranged on the support seat; a support bracket, connected to the support seat; and a slide rail, which is arranged on the support bracket and extends along the lifting direction, wherein the lifting seat is slidably arranged on the slide rail, and the slide rail is used to guide the lifting seat to move along the lifting direction.

[0018] Correspondingly, the present application also provides a lifting device applied to a robot, the lifting device comprising: a supporting assembly; a driving assembly, comprising a driving member, a winding wheel and a transmission line, the driving member being arranged on the supporting assembly and being transmission-connected to the winding wheel, the transmission line being wound around the winding wheel; and a lifting assembly, being transmission-connected to the transmission line, and the lifting assembly being used to connect to a load device; the driving member being used to drive the winding wheel to rotate to drive the transmission line to move, the transmission line being used to drive the lifting assembly to move in a lifting direction, so that the lifting assembly drives the load device to move in the lifting direction.

[0019] The beneficial effect of the present application is as follows: Different from the prior art, the present application provides a robot and a lifting device for its application. The driving assembly of the lifting device includes a driving member, a winding wheel and a transmission line. The driving member is connected to the winding wheel by transmission, and the transmission line is wound around the winding wheel and is also connected to the lifting assembly of the lifting device by transmission. The driving member is used to drive the winding wheel to rotate to drive the transmission line to move, and the transmission line is used to drive the lifting assembly to move along the lifting direction, so that the lifting assembly drives the load device to move along the lifting direction, that is, drives the load device to lift. The present application drives the load device to lift by the transmission line, and there is no rigid collision between the transmission line and the lifting assembly, which avoids the problem of high noise caused by the gear rack meshing transmission or the electric push rod / ball screw transmission, so that the noise generated by the lifting device in the process of driving the load device to lift can be reduced. In addition, the transmission form provided by the transmission line of the present application allows the transmission line to drive the lifting assembly to move at a faster rate, which is conducive to improving the lifting rate of the load device. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 It is a structural schematic diagram of an embodiment of the lifting device of the present application;

[0022] Figure 2 yes Figure 1 Schematic diagram of the explosion structure of the lifting device shown;

[0023] Figure 3 yes Figure 1 The lifting device shown is a schematic diagram omitting some structures;

[0024] Figure 4 This is a schematic diagram of the exploded structure of an embodiment of a drive assembly of the present application;

[0025] Figure 5 is a schematic diagram of an embodiment of the present application in which the transmission line is in a moving state;

[0026] Figure 6 is a schematic diagram of another embodiment of the present application in which the transmission line is in motion;

[0027] Figure 7 yes Figure 1 A structural schematic diagram of the lifting device from another perspective;

[0028] Figure 8 yes Figure 7A schematic cross-sectional structure diagram of the lifting device in the AA direction is shown;

[0029] Fig. 9 yes Figure 8 The structural schematic diagram of the lifting device B area shown;

[0030] Fig.10 It is a structural schematic diagram of an embodiment of a lifting seat and a fixed pressure plate of the present application.

[0031] Description of reference numerals:

[0032] 10 lifting device; 20 supporting assembly; 21 supporting seat; 22 mounting shell; 23 rotating bearing; 24 supporting bracket; 25 slide rail; 26 winding fixed seat; 27 end cover; 30 driving assembly; 31 driving member; 311 motor; 312 reduction box; 32 winding wheel; 33 transmission line; 331 driving line area; 332 transmission line area; 333 fixed line area; 334 main line segment area; 3341 first main line segment area; 3342 second main line segment area; 335 auxiliary line segment area; 3351 first auxiliary line segment area Line segment area; 3352 second auxiliary line segment area; 336 connecting line segment area; 3361 first connecting line segment area; 3362 second connecting line segment area; 3363 third connecting line segment area; 3364 fourth connecting line segment area; 3365 fifth connecting line segment area; 34 winding guide; 341 first winding guide; 342 second winding guide; 35 winding pressure plate; 36 elastic member; 37 expansion sleeve; 40 lifting assembly; 41 lifting seat; 411 winding groove; 42 lifting bracket; 43 fixed pressure plate. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application. In addition, it should be understood that the specific implementation methods described herein are only used to illustrate and explain the present application and are not used to limit the present application. In the present application, unless otherwise stated, the directional words used, such as "up", "down", "left", and "right", generally refer to the up, down, left, and right of the device in actual use or working state, specifically the drawing direction in the accompanying drawings.

[0034] In this application, unless otherwise clearly specified and limited, the terms "connected", "connected", "stacked" and the like should be understood in a broad sense, for example, it can be fixedly connected, detachably connected, or integrated; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0035] The present application provides a robot and a lifting device for use therein, which are described in detail below. It should be noted that the description order of the following embodiments does not limit the preferred order of the embodiments of the present application. In the following embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0036] See also Figure 1 , Figure 1 It is a structural schematic diagram of an embodiment of the lifting device of the present application.

[0037] In one embodiment, the robot may be a service robot, etc. The robot includes a main body. The robot also includes a lifting device 10 and a load device. The main body is defined as a collection of the remaining parts of the robot except the lifting device 10 and the load device. The lifting device 10 is arranged on the main body, and the load device is arranged on the lifting device 10, and the lifting device 10 is used to drive the load device to lift. For example, the load device may be a display screen, etc. The robot is equipped with a display screen to perform human-computer interaction with the user, and the lifting device 10 of this embodiment implements the lifting design of the load device, and by driving the load device to lift and lower to adjust the height of the load device, it is convenient for the user to use the load device. Of course, in other embodiments of the present application, the load device is not limited to a display screen, and the robot may also be other types of robots besides a service robot, which is not limited here.

[0038] Please also read Figure 2 and Figure 3 , Figure 2 yes Figure 1 The exploded structural diagram of the lifting device shown in FIG. Figure 3 yes Figure 1 The lifting device shown in the figure omits some structures. Figure 3 The supporting bracket 24 and the lifting bracket 42 described below are omitted. The lifting device 10 of the embodiment of the present application is described below.

[0039] In one embodiment, the lifting device 10 includes a support assembly 20, a drive assembly 30 and a lifting assembly 40. The support assembly 20 is arranged on the main body. The support assembly 20 is the basic carrier of the lifting device 10, and the support assembly 20 supports and carries the other parts of the lifting device 10. The drive assembly 30 is arranged on the support assembly 20, and the drive assembly 30 is connected to the lifting assembly 40 by transmission, and the lifting assembly 40 is used to connect the load device. The drive assembly 30 drives the lifting assembly 40 to move along the lifting direction, so that the lifting assembly 40 drives the load device to move along the lifting direction, that is, drives the load device to lift. Among them, the lifting direction is parallel to the vertical direction, or the lifting direction and the vertical direction have a small angle, for example, the angle is less than 10°. Therefore, the rise of the load device is manifested as the load device moving upward along the lifting direction, and the descent of the load device is manifested as the load device moving downward along the lifting direction.

[0040] Please also read Figure 4 , Figure 4 It is a schematic diagram of the exploded structure of an embodiment of a drive assembly of the present application.

[0041] In one embodiment, the driving assembly 30 includes a driving member 31, a winding wheel 32, and a transmission line 33. The driving member 31 is disposed on the supporting assembly 20, and the driving member 31 is in transmission connection with the winding wheel 32. The transmission line 33 is wound around the winding wheel 32, and the transmission line 33 is in transmission connection with the lifting assembly 40. The driving member 31 is used to drive the winding wheel 32 to rotate to drive the transmission line 33 to move, and the transmission line 33 is used to drive the lifting assembly 40 to move along the lifting direction, thereby driving the load device to be lifted and lowered.

[0042] In the above manner, the present embodiment drives the load device to be lifted and lowered through the transmission line 33. There is no rigid collision between the transmission line 33 and the lifting assembly 40, which avoids the problem of high noise caused by gear rack meshing transmission or electric push rod / ball screw transmission, thereby reducing the noise generated by the lifting device 10 in the process of driving the load device to be lifted and lowered. In addition, the transmission form provided by the transmission line 33 of the present embodiment allows the transmission line 33 to drive the lifting assembly 40 to move at a faster rate, thereby helping to increase the lifting rate of the load device. Optionally, the transmission line 33 has high strength and good flexibility. For example, the transmission line 33 can be a steel wire, etc. The transmission line 33 has a long service life, which helps to reduce the maintenance frequency of the lifting device 10.

[0043] Please also read Figure 5 and Figure 6 , Figure 5 is a schematic diagram of an embodiment of the present application in which the transmission line is in a moving state. Figure 6 It is a schematic diagram of another embodiment of the present application in which the transmission line is in motion.

[0044] In one embodiment, the transmission line 33 is at least divided into a driving line area 331 and a transmission line area 332. The transmission line of the driving line area 331 is wound on the winding wheel 32, and the transmission line of the transmission line area 332 is connected to the lifting assembly 40. The transmission line of the transmission line area 332 is located outside the winding wheel 32. During the rotation of the winding wheel 32, the winding wheel 32 drives the transmission line reel of the transmission line area 332 to the winding wheel 32, and as the transmission line reel of the transmission line area 332 moves to the winding wheel 32, the transmission line of the driving line area 331 is released from the winding wheel 32 to the transmission line area 332. In this embodiment, the transmission line 33 forms a closed loop, and the winding wheel 32 drives the transmission line reel outside it to the winding wheel 32, and the transmission line on the winding wheel 32 is released accordingly, so that the transmission line 33 moves to drive the lifting assembly 40 to move along the lifting direction.

[0045] Specifically, the transmission line area 332 includes a main line segment area 334, an auxiliary line segment area 335 and a connecting line segment area 336. The transmission line of the main line segment area 334 is connected to the transmission line of the auxiliary line segment area 335 through the transmission line of the connecting line segment area 336. The transmission line of the main line segment area 334 and the transmission line of the auxiliary line segment area 335 both extend in the lifting direction. During the rotation of the winding wheel 32, the transmission line of the main line segment area 334 and the transmission line of the auxiliary line segment area 335 both move in the lifting direction, and the movement direction of the transmission line of the main line segment area 334 is opposite to the movement direction of the transmission line of the auxiliary line segment area 335. The transmission line of the main line segment area 334 is also connected to the lifting assembly 40 in transmission, that is, in this embodiment, the lifting assembly 40 is driven to move in the lifting direction through the transmission line of the main line segment area 334.

[0046] Furthermore, the lifting assembly 40 has main line segment areas 334 on opposite sides, and the transmission lines of each main line segment area 334 are respectively connected to the lifting assembly 40, and the transmission lines of each main line segment area 334 cooperate to drive the lifting assembly 40 to move along the lifting direction. In this way, the transmission line 33 can reliably and stably drive the lifting assembly 40 to move along the lifting direction, which is beneficial to ensure the stability of the load device during the lifting process.

[0047] Furthermore, since the lifting device 10 is used to drive the load device to lift along the lifting direction, the lifting device 10 has a large space in the lifting direction. Therefore, the driving member 31 of this embodiment is arranged along the lifting direction, which can improve the space utilization rate. Specifically, the center line of the driving member 31 is parallel to the lifting direction. Correspondingly, the driving member 31 drives the winding wheel 32 to rotate around a rotation axis, so the rotation axis is also parallel to the lifting direction. The center line of the driving member 31 coincides with the rotation axis of the winding wheel 32. In addition, the extension direction of the transmission line of the connecting line segment area 336 is perpendicular to the lifting direction.

[0048] The driving assembly 30 further includes a winding guide 34, which is disposed on the supporting assembly 20. The connecting portion of the transmission line of the main line segment area 334 and the transmission line of the connecting line segment area 336 is wound around a winding guide 34, so that the extension direction of the transmission line of the main line segment area 334 is perpendicular to the extension direction of the transmission line of the connecting line segment area 336. The connecting portion of the transmission line of the auxiliary line segment area 335 and the transmission line of the connecting line segment area 336 is wound around a winding guide 34, so that the extension direction of the transmission line of the auxiliary line segment area 335 is perpendicular to the extension direction of the transmission line of the connecting line segment area 336.

[0049] For example, the main line segment area 334 includes a first main line segment area 3341 and a second main line segment area 3342. The auxiliary line segment area 335 includes a first auxiliary line segment area 3351 and a second auxiliary line segment area 3352. The connecting line segment area 336 includes a first connecting line segment area 3361, a second connecting line segment area 3362, a third connecting line segment area 3363, a fourth connecting line segment area 3364 and a fifth connecting line segment area 3365. The first main line segment area 3341 and the first auxiliary line segment area 3351 are located on one side of the lifting assembly 40, and one end of the transmission line of the first main line segment area 3341 is connected to the transmission line of the driving line area 331 through the transmission line of the first connecting line segment area 3361, and the other end is connected to the transmission line of the first auxiliary line segment area 3351 through the transmission line of the second connecting line segment area 3362. The second main line segment area 3342 and the second auxiliary line segment area 3352 are located on the other side of the lifting assembly 40. One end of the transmission line of the second auxiliary line segment area 3352 is connected to the transmission line of the driving line area 331 through the transmission line of the third connecting line segment area 3363, and the other end is connected to the transmission line of the second main line segment area 3342 through the transmission line of the fourth connecting line segment area 3364. The end of the transmission line of the first auxiliary line segment area 3351 away from the second connecting line segment area 3362 and the end of the transmission line of the second main line segment area 3342 away from the fourth connecting line segment area 3364 are connected through the transmission line of the fifth connecting line segment area 3365.

[0050] like Figure 5 As shown, when the load device needs to be driven to rise, the driving member 31 drives the winding wheel 32 to rotate, and the winding wheel 32 drives the transmission line of the third connecting line segment area 3363 to enter the driving line area 331 and wind it onto the winding wheel 32. At the same time, the original transmission line of the driving line area 331 is released to the first connecting line segment area 3361, so that the transmission line of the first main line segment area 3341 and the transmission line of the second main line segment area 3342 move upward in the lifting direction. Figure 6As shown, when it is necessary to drive the load device to descend, the driving member 31 drives the winding wheel 32 to rotate in the opposite direction, and the winding wheel 32 drives the transmission line of the first connecting line segment area 3361 to enter the driving line area 331 and wind it onto the winding wheel 32. At the same time, the original transmission line of the driving line area 331 is released to the third connecting line segment area 3363, so that the transmission line of the first main line segment area 3341 and the transmission line of the second main line segment area 3342 move downward along the lifting direction.

[0051] The winding guide 34 includes a first winding guide 341 and a second winding guide 342. The first winding guide 341 is closer to the winding wheel 32 than the second winding guide 342. Different first winding guides 341 are respectively provided at the connection position between the transmission line of the first main line segment area 3341 and the transmission line of the first connecting line segment area 3361, the connection position between the transmission line of the first auxiliary line segment area 3351 and the transmission line of the fifth connecting line segment area 3365, the connection position between the transmission line of the second main line segment area 3342 and the transmission line of the fifth connecting line segment area 3365, and the connection position between the transmission line of the second auxiliary line segment area 3352 and the transmission line of the third connecting line segment area 3363. Different second winding guides 342 are respectively provided at the connecting parts of the transmission line of the first main line segment area 3341 and the transmission line of the second connecting line segment area 3362, the connecting parts of the transmission line of the first auxiliary line segment area 3351 and the transmission line of the second connecting line segment area 3362, the connecting parts of the transmission line of the second main line segment area 3342 and the transmission line of the fourth connecting line segment area 3364, and the connecting parts of the transmission line of the second auxiliary line segment area 3352 and the transmission line of the fourth connecting line segment area 3364.

[0052] In one embodiment, the support assembly 20 includes a support base 21 and a support bracket 24. The support bracket 24 is connected to the support base 21, and the support bracket 24 encloses a cavity, and the end of the cavity away from the support base 21 is open. The driving member 31 is disposed on the support base 21, and the driving member 31 is accommodated in the cavity. The lifting assembly 40 is movably embedded in the cavity, and the lifting assembly 40 passes through the opening and is connected to the load device.

[0053] The support assembly 20 also includes a winding fixing seat 26. The winding fixing seat 26 is located at the end of the support bracket 24 close to the support seat 21, and the winding fixing seat 26 is locked to the support bracket 24 by fasteners such as screws, and the support bracket 24 and the winding fixing seat 26 are locked to the support seat 21 by fasteners such as screws. The first winding guide 341 can be a bearing, etc., and the first winding guide 341 is installed on the winding fixing seat 26 through a small bearing shaft. For the above-mentioned four groups of first winding guides 341, the support assembly 20 is correspondingly provided with four groups of winding fixing seats 26, each winding fixing seat 26 is respectively located at the four corners of the support bracket 24, and each winding fixing seat 26 is respectively provided with a group of first winding guides 341.

[0054] The support assembly 20 further includes an end cap 27. The end cap 27 is disposed at the end of the support bracket 24 away from the support seat 21, and the end cap 27 exposes at least part of the above-mentioned opening, so that the lifting assembly 40 can pass through the end cap 27. The second winding guide 342 can also be a bearing, etc., and the second winding guide 342 is installed on the end cap 27 through a bearing shaft. For the above four groups of second winding guides 342, each second winding guide 342 is located at the four corners of the end cap 27.

[0055] In one embodiment, the transmission line 33 is further divided into a fixed line area 333. The transmission line of the fixed line area 333 is connected to the transmission line of the transmission line area 332 through the transmission line of the driving line area 331. The transmission line of the fixed line area 333 is also passed through the winding wheel 32. In this embodiment, the transmission line of the fixed line area 333 is fixed to the winding wheel 32, which can improve the transmission connection strength between the winding wheel 32 and the transmission line 33, so that the winding wheel 32 can reliably and stably drive the transmission line 33 to move.

[0056] The drive assembly 30 further includes a winding pressure plate 35. The winding pressure plate 35 is disposed on the winding wheel 32. The winding pressure plate 35 can be locked to the winding wheel 32 by fasteners such as screws. At least part of the transmission line of the fixed line area 333 is sandwiched between the winding pressure plate 35 and the winding wheel 32 to fix the transmission line of the fixed line area 333 to the winding wheel 32. Figure 4 The example shows that the driving component 30 includes two winding pressure plates 35, which are respectively located on both sides of the winding wheel 32 in the lifting direction. The two winding pressure plates 35 cooperate to fix the transmission line of the fixed line area 333 to the winding wheel 32, which can further improve the fixing effect.

[0057] Please also read Figures 7 to 9 , Figure 7 yes Figure 1 The structural diagram of the lifting device from another perspective is shown. Figure 8 yes Figure 7 The cross-sectional structure diagram of the lifting device in the AA direction is shown. Fig. 9 yes Figure 8 A schematic structural diagram of the lifting device B area is shown.

[0058] In one embodiment, the driving member 31 includes a motor 311 and a reduction box 312. The output shaft of the motor 311 is inserted into the shaft hole of the reduction box 312, so that the motor 311 is connected to the reduction box 312 in a transmission manner. The output shaft of the reduction box 312 is connected to the winding wheel 32 in a transmission manner, and the motor 311 drives the winding wheel 32 to rotate through the reduction box 312. When the motor 311 outputs a first torque, the motor 311 drives the winding wheel 32 to rotate to drive the transmission line of the main line segment area 334 to move in the lifting direction, thereby driving the lifting assembly 40 to rise. When the motor 311 outputs a second torque opposite to the first torque, the motor 311 drives the winding wheel 32 to rotate in the opposite direction to drive the transmission line of the main line segment area 334 to move in the opposite direction, thereby driving the lifting assembly 40 to descend. In other words, the present embodiment drives the load device to rise and fall by forward and reverse rotation of the motor 311.

[0059] For example, the whole formed by the motor 311 and the reduction box 312 is locked to the support seat 21 by fasteners such as screws. The winding wheel 32 is sleeved on the outer periphery of the output shaft of the reduction box 312. The drive assembly 30 also includes an expansion sleeve 37. The expansion sleeve 37 is sleeved on the outer periphery of the output shaft of the reduction box 312, and the expansion sleeve 37 is clamped between the inner side wall of the winding wheel 32 and the outer side wall of the output shaft of the reduction box 312, so that the winding wheel 32 is transmission-connected to the output shaft of the reduction box 312. The support assembly 20 also includes a rotating bearing 23. The rotating bearing 23 is mounted on the winding wheel 32, and the winding wheel 32 is rotatably connected to the support seat 21 through the rotating bearing 23. The drive assembly 30 as a whole can be locked to the support seat 21 by fasteners such as screws. After the motor 311 is powered on, it drives the winding wheel 32 to rotate. After a proper amount of transmission wire 33 is wound on the winding wheel 32, the transmission wire 33 is tightened. The transmission wire 33 is tightened throughout the movement process without any rotation gap, and can drive the load device to rise and fall smoothly.

[0060] In one embodiment, the driving assembly 30 further includes an elastic member 36. The elastic member 36 is connected to the winding wheel 32 and the supporting assembly 20 respectively. The elastic member 36 is used to cooperate with the driving member 31 to drive the winding wheel 32 to rotate, so as to drive the lifting assembly 40 to rise through the transmission line 33. In other words, the elastic member 36 of this embodiment cooperates with the driving member 31 to drive the load device to rise, which can reduce the power requirement of the driving member 31, thereby helping to reduce the cost of the lifting device 10.

[0061] When the driving member 31 drives the load device to descend, the rotation of the winding wheel 32 causes the elastic member 36 to undergo elastic deformation, and when the load device descends to the lowest position, the elastic deformation of the elastic member 36 reaches a maximum. Thus, when the driving member 31 drives the load device to ascend, the elastic restoring force of the elastic member 36 and the driving force of the driving member 31 jointly drive the winding wheel 32 to rotate, thereby driving the load device to ascend.

[0062] Furthermore, the elastic member 36 can be an elastic element such as a coil spring. The support assembly 20 also includes a mounting shell 22. The mounting shell 22 is connected to the support seat 21, and the elastic member 36 is connected to the support seat 21 and / or the mounting shell 22. The elastic member 36 is located between the winding wheel 32 and the mounting shell 22. The mounting shell 22 is locked to the support seat 21 by fasteners such as screws. The mounting shell 22 has a boss on one side facing the winding wheel 32, and the elastic member 36 is arranged around the outer periphery of the boss. The inner ring of the above-mentioned rotating bearing 23 is connected to the boss, and the outer ring of the rotating bearing 23 is connected to the inner side wall of the winding wheel 32.

[0063] In one embodiment, the lifting assembly 40 includes a lifting seat 41 and a lifting bracket 42. The lifting seat 41 is in transmission connection with the transmission line 33. The lifting bracket 42 is connected to the lifting seat 41, and the load device is disposed on the lifting bracket 42, specifically, the lifting bracket 42 passes through the opening of the support bracket 24 and is connected to the load device. The lifting bracket 42 can be locked to the lifting seat 41 by fasteners such as screws.

[0064] Please also refer to Fig.10 The lifting assembly 40 further includes a fixed pressing plate 43. The fixed pressing plate 43 is disposed on the lifting seat 41, and at least a portion of the transmission line 33 is clamped between the fixed pressing plate 43 and the lifting seat 41, so that the lifting seat 41 is connected to the transmission line 33 in a transmission manner. The lifting seat 41 is provided with a winding groove 411, along which the transmission line 33 is wound, and then the fixed pressing plate 43 is fastened to the lifting seat 41 by fasteners such as screws, so that the fixed pressing plate 43 and the lifting seat 41 cooperate to clamp the transmission line 33, thereby connecting the lifting seat 41 to the transmission line 33 in a transmission manner, that is, the movement of the transmission line 33 can drive the lifting seat 41 to move.

[0065] Furthermore, the support assembly 20 further includes a slide rail 25. The slide rail 25 is disposed on the support bracket 24, and the slide rail 25 extends along the lifting direction. The lifting seat 41 is slidably disposed on the slide rail 25, and the slide rail 25 is used to guide the lifting seat 41 to move along the lifting direction. The lifting seat 41 can be slidably connected to the slide rail 25 through a slider, or the lifting seat 41 can be directly slidably connected to the slide rail 25.

[0066] It should be noted that, in the case where the two opposite sides of the lifting assembly 40 have main line segment areas 334, and the transmission lines of each main line segment area 334 cooperate to drive the lifting assembly 40 to move along the lifting direction, in this embodiment, a lifting seat 41 and a slide rail 25 are respectively provided on the side where each main line segment area 334 is located. Specifically, a lifting seat 41 is fixedly connected to the transmission line of the first main line segment area 3341 and the transmission line of the second main line segment area 3342, and each lifting seat 41 is connected to the lifting bracket 42 to cooperate to drive the lifting bracket 42 to move, and a slide rail 25 is respectively provided on the side where the first main line segment area 3341 and the side where the second main line segment area 3342 are located, and each lifting seat 41 is slidably connected to the slide rail 25 on the same side.

[0067] The technical solution provided in the embodiments of the present application is described below in conjunction with specific application scenarios.

[0068] Application scenario 1:

[0069] The robot is a service robot, and the load device equipped with the robot is a display screen. The lifting device 10 of the robot is used to drive the load device to lift and lower, so as to adjust the height of the load device, which can facilitate users to watch and operate the load device, thereby realizing human-machine interaction.

[0070] When the height of the load device needs to be raised, the motor 311 of the driving assembly 30 outputs a first torque to drive the winding wheel 32 to rotate, and the winding wheel 32 drives the transmission line of the third connecting line segment area 3363 to enter the driving line area 331 and wind it onto the winding wheel 32. At the same time, the original transmission line of the driving line area 331 is released to the first connecting line segment area 3361, so that the transmission line of the first main line segment area 3341 and the transmission line of the second main line segment area 3342 move upward in the lifting direction, thereby driving the load device to rise through the lifting assembly 40. At this time, the elastic restoring force of the elastic member 36 and the motor 311 jointly drive the winding wheel 32 to rotate.

[0071] When the height of the load device needs to be lowered, the motor 311 outputs the second torque to drive the reel 32 to rotate in the opposite direction, and the reel 32 drives the transmission line of the first connecting line segment area 3361 to enter the driving line area 331 and wind it onto the reel 32. At the same time, the original transmission line of the driving line area 331 is released to the third connecting line segment area 3363, so that the transmission line of the first main line segment area 3341 and the transmission line of the second main line segment area 3342 move downward along the lifting direction, thereby driving the load device to descend through the lifting assembly 40. In the process of the motor 311 outputting the second torque to drive the reel 32 to rotate, the motor 311 overcomes the elastic restoring force of the elastic member 36 and causes the elastic member 36 to undergo elastic deformation, so that the elastic member 36 can drive the reel 32 to rotate together with the motor 311 when the load device is driven to rise next time.

[0072] The robot provided by the present application and the lifting device used therein are introduced in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A robot, characterized in that: include: main body; A lifting device is arranged on the main body; wherein the lifting device comprises a supporting assembly, a driving assembly and a lifting assembly, the driving assembly comprises a driving member, a winding wheel and a transmission line, the driving member is arranged on the supporting assembly and is in transmission connection with the winding wheel, the transmission line is wound on the winding wheel and is in transmission connection with the lifting assembly, the driving member is used to drive the winding wheel to rotate so as to drive the transmission line to move, and the transmission line is used to drive the lifting assembly to move along the lifting direction; as well as The load device is arranged on the lifting assembly, and the lifting assembly is used to drive the load device to move along the lifting direction.

2. The robot according to claim 1, characterized in that: The transmission line is divided into at least a driving line area and a transmission line area. The transmission line in the driving line area is coiled around the winding wheel, and the transmission line in the transmission line area is transmission-connected to the lifting assembly. During the rotation of the winding wheel, the winding wheel drives the transmission line reel in the transmission line area onto the winding wheel, and as the transmission line reel in the transmission line area moves onto the winding wheel, the transmission line in the driving line area is released from the winding wheel to the transmission line area.

3. The robot according to claim 2, characterized in that: The transmission line area includes: A main line segment area, wherein the transmission line of the main line segment area is in transmission connection with the lifting assembly; and An auxiliary line segment area, wherein the transmission line of the auxiliary line segment area is connected to the transmission line of the main line segment area through the transmission line of the connecting line segment area; Wherein, the transmission line of the main line segment area and the transmission line of the auxiliary line segment area both extend along the lifting direction, and during the rotation of the winding wheel, the movement direction of the transmission line of the main line segment area is opposite to the movement direction of the transmission line of the auxiliary line segment area.

4. The robot according to claim 3, characterized in that: The main line segment areas are respectively arranged on opposite sides of the lifting component, and the transmission lines of each main line segment area are respectively connected to the lifting component in transmission, and the transmission lines of each main line segment area cooperate to drive the lifting component to move along the lifting direction.

5. The robot according to claim 3, characterized in that: The center line of the driving member and the rotation axis of the winding wheel are parallel to the lifting direction, and the extension direction of the transmission line of the connecting line segment area is perpendicular to the lifting direction.

6. The robot according to claim 5, characterized in that: The main line segment area includes a first main line segment area and a second main line segment area, the auxiliary line segment area includes a first auxiliary line segment area and a second auxiliary line segment area, and the connecting line segment area includes a first connecting line segment area, a second connecting line segment area, a third connecting line segment area, a fourth connecting line segment area and a fifth connecting line segment area; The first main line segment area and the first auxiliary line segment area are located on one side of the lifting component, one end of the transmission line of the first main line segment area is connected to the transmission line of the driving line area through the transmission line of the first connecting line segment area, and the other end is connected to the transmission line of the first auxiliary line segment area through the transmission line of the second connecting line segment area; the second main line segment area and the second auxiliary line segment area are located on the other side of the lifting component, one end of the transmission line of the second auxiliary line segment area is connected to the transmission line of the driving line area through the transmission line of the third connecting line segment area, and the other end is connected to the transmission line of the second main line segment area through the transmission line of the fourth connecting line segment area; the end of the transmission line of the first auxiliary line segment area away from the second connecting line segment area and the end of the transmission line of the second main line segment area away from the fourth connecting line segment area are connected through the transmission line of the fifth connecting line segment area.

7. The robot according to claim 3, characterized in that: The drive assembly also includes: A winding guide, disposed on the support assembly; Among them, the connecting part between the transmission line of the main line segment area and the transmission line of the connecting line segment area is wound around a winding guide, so that the extension direction of the transmission line of the main line segment area is perpendicular to the extension direction of the transmission line of the connecting line segment area; the connecting part between the transmission line of the auxiliary line segment area and the transmission line of the connecting line segment area is wound around a winding guide, so that the extension direction of the transmission line of the auxiliary line segment area is perpendicular to the extension direction of the transmission line of the connecting line segment area.

8. The robot according to any one of claims 3 to 7, characterized in that: The driving member comprises a motor; Among them, when the motor outputs a first torque, the motor drives the winding wheel to rotate to drive the transmission line of the main line segment area to move along the lifting direction, thereby driving the lifting component to rise; and when the motor outputs a second torque opposite to the direction of the first torque, the motor drives the winding wheel to rotate in the opposite direction to drive the transmission line of the main line segment area to move in the opposite direction, thereby driving the lifting component to descend.

9. The robot according to claim 2, characterized in that: The transmission line is further divided into a fixed line area, the transmission line of the fixed line area is connected with the transmission line of the transmission line area through the transmission line of the driving line area, and the transmission line of the fixed line area is also passed through the winding wheel; The drive assembly also includes: A winding pressure plate is arranged on the winding wheel, and at least a part of the transmission line of the fixed wire area is clamped between the winding pressure plate and the winding wheel to fix the transmission line of the fixed wire area to the winding wheel.

10. The robot according to claim 1, characterized in that: The drive assembly also includes: The elastic member is connected to the winding wheel and the supporting assembly respectively, and the elastic member is used to cooperate with the driving member to drive the winding wheel to rotate, so as to drive the lifting assembly to rise through the transmission line.

11. The robot according to claim 10, characterized in that: The support assembly comprises: Support seat; A mounting shell connected to the support base, the elastic member connected to the support base and / or the mounting shell; and A rotating bearing, through which the winding wheel is rotatably connected to the mounting shell.

12. The robot according to claim 1, characterized in that: The lifting assembly comprises: A lifting seat, in driving connection with the transmission line; and The lifting bracket is connected to the lifting seat, and the loading device is arranged on the lifting bracket.

13. The robot according to claim 12, characterized in that: The lifting assembly also includes: A fixed pressing plate is arranged on the lifting seat, and at least a part of the transmission line is clamped between the fixed pressing plate and the lifting seat, so that the lifting seat is connected to the transmission line in a transmission manner.

14. The robot according to claim 12, characterized in that: The support assembly comprises: A support seat, wherein the driving member is arranged on the support seat; A supporting bracket connected to the supporting base; and A slide rail is arranged on the support bracket and extends along the lifting direction, wherein the lifting seat is slidably arranged on the slide rail, and the slide rail is used to guide the lifting seat to move along the lifting direction.

15. A lifting device applied to a robot, characterized in that: The lifting device comprises: Support components; A driving assembly, comprising a driving member, a winding wheel and a transmission line, wherein the driving member is disposed on the supporting assembly and is in driving connection with the winding wheel, and the transmission line is wound around the winding wheel; and A lifting assembly is connected to the transmission line in transmission connection, and the lifting assembly is used to connect to a load device; the driving member is used to drive the winding wheel to rotate to drive the transmission line to move, and the transmission line is used to drive the lifting assembly to move along the lifting direction, so that the lifting assembly drives the load device to move along the lifting direction.

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