Lifting mechanism and robot

Abstract

The invention discloses a lifting mechanism and a robot, and the lifting mechanism comprises a plurality of sets of lifting supporting pieces, and the rear lifting supporting piece is sequentially installed on the front lifting supporting piece through a sliding block and moves at the upper end and the lower end of the corresponding lifting supporting piece in a restrained mode; the head end lifting supporting piece is fixed to a fixing piece, and a driving device is fixed to the fixing piece. One end of the first traction piece is fixed to an output shaft of the driving device and sequentially winds the upper pulley and the lower pulley of each layer of lifting supporting piece, and the other end of the first traction piece is fixed to the lower portion of the tail end lifting supporting piece. One end of the second traction piece is fixed to an output shaft of the driving device, and the other end of the second traction piece is fixed to the tail end lifting supporting piece. The winding directions of the first traction piece and the second traction piece on the output shaft are opposite. The invention further discloses a robot provided with the lifting mechanism. The lifting mechanism realizes single-drive bidirectional control multi-stage lifting through two traction structures.

Description

Technical Field

[0001] This application relates to the field of mechanical equipment, and particularly to a lifting mechanism and a robot. Background Art

[0002] At present, the robot industry is developing rapidly, and the lifting of the robot head is becoming more and more diverse. The multi-stage lifting of the robot head requires multiple motors for control, which is rather cumbersome and complex. Therefore, there is an urgent need for a simple lifting mechanism. Summary of the Invention

[0003] The embodiments of this application provide a multi-stage lifting mechanism and a robot, which can achieve multi-stage lifting with single-motor bidirectional control.

[0004] The embodiments of this application provide a lifting mechanism, including: multiple groups of lifting supports, wherein, a first upper pulley assembly is fixed on the upper part of the first-end lifting support; a second upper pulley assembly is fixed on the upper part of the middle lifting support, and a second lower pulley assembly and a second slider are fixed on the lower part; a third slider is fixed on the lower part of the last-end lifting support; each of the sliders is sequentially installed on the previous lifting support and is constrained to move between the upper and lower ends of the corresponding lifting support; a fixing member, the first-end lifting support is fixed to the fixing member, and a driving device is fixed on the fixing member; a first traction member, one end of the first traction member is fixed to the output shaft of the driving device and sequentially winds around the upper pulleys and lower pulleys of each layer of the lifting support, and the other end of the first traction member is fixed to the lower part of the last-end lifting support; a second traction member, one end of the second traction member is fixed to the output shaft of the driving device, and the other end of the second traction member is fixed to the last-end lifting support; the first traction member and the second traction member wind in opposite directions on the output shaft.

[0005] Optionally, a third lower pulley assembly is provided at the lower part of the last-end lifting support, the end of the first traction member is fixed to the lower pulley of the third lower pulley assembly, and a coil spring is provided on the lower pulley; a fourth pulley assembly is provided on the last-end lifting support, and the end of the second traction member is fixed to the pulley of the fourth pulley assembly, and a coil spring is provided on the fourth pulley.

[0006] Optionally, a third lower pulley assembly is fixed at the lower part of the last-end lifting support, the first traction member winds around the lower pulley of the third lower pulley assembly, and the end is fixed to the upper part of the previous lifting support.

[0007] Further, a first fixing frame is fixed on the fixing member, a fourth pulley assembly is fixed at the lower part of the last-end lifting support, the end of the second traction member is fixed to the first fixing frame and winds around the pulley of the fourth pulley assembly of the last-end lifting support, and the pulley is higher than the first fixing frame.

[0008] Preferably, a displacement sensor is installed on the fixing member, and the displacement sensor is used to collect the height information of the lifting mechanism.

[0009] Preferably, a locking member is installed on the lifting support member, and the locking member is used to lock the relative positions of two adjacent lifting support members.

[0010] Preferably, the driving device includes a motor and a speed reducer matched with the motor, and the motor is used to provide rotational power.

[0011] Preferably, a partition member is provided on the output shaft to form two winding areas on the output shaft; the two winding areas respectively correspond to the first traction member and the second traction member.

[0012] Furthermore, the diameters of the partition members on both sides of each winding area gradually decrease in the direction of the winding area.

[0013] Preferably, a second fixing bracket is further fixed on the fixing member, a pulley is installed on the second fixing bracket, and the second traction member or the first traction member passes around the pulley.

[0014] The present application also provides a robot, including: a robot head and the lifting mechanism as described above, and the robot head is arranged at the top of the lifting mechanism.

[0015] In the embodiment of the present application, the lifting mechanism includes two sets of traction structures, and multi-stage lifting can be realized by rotating the driving force, with high efficiency, simple structure, low cost, easy to control, and realizing multi-stage lifting of single-drive two-way control. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a three-dimensional structural schematic diagram of the lifting mechanism of the present invention;

[0017] Figure 2 is a three-dimensional structural schematic diagram of the lifting mechanism in Embodiment 1 of the present invention;

[0018] Figure 3 is a three-dimensional structural schematic diagram of the lifting mechanism in another perspective in Embodiment 1 of the present invention;

[0019] Figure 4 is a structural schematic diagram of the lifting mechanism in the contracted state in Embodiment 1 of the present invention;

[0020] Figure 5 is a structural schematic diagram of the lifting mechanism in the lifted state in Embodiment 1 of the present invention;

[0021] Figure 6 is a structural schematic diagram of the lifting mechanism in Embodiment 2 of the present invention;

[0022] Figure 7 Schematic three-dimensional structure diagram of the lifting mechanism in the third embodiment of the present invention;

[0023] Figure 8 Schematic three-dimensional structure diagram of the lifting mechanism in another perspective in the third embodiment of the present invention;

[0024] Figure 9 is Figure 8 enlarged view of part a in;

[0025] Figure 10 Schematic structure diagram of the lifting mechanism in the retracted state in the third embodiment of the present invention;

[0026] Figure 11 Schematic structure diagram of the lifting mechanism in the retracted state and the lifted state in the fourth embodiment of the present invention;

[0027] Figure 12 Schematic structure diagram of the lifting mechanism in the retracted state and the lifted state in another embodiment of the present invention.

[0028] In Figures 1 - 12 1, fixing member; 11, driving device; 12, first fixing frame; 13, second fixing frame; 2, first-end lifting support member; 21, first upper pulley assembly; 3, middle lifting support member; 31, second upper pulley assembly; 32, second lower pulley assembly; 33, second slider; 4, last-end lifting support member; 41, third slider; 42, third lower pulley assembly; 43, fourth pulley assembly; 5, first traction member; 6, second traction member; 7, displacement sensor. Detailed implementation manners

[0029] In order to enable those skilled in the art of the present technology to better understand the technical solutions in this application, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this application belongs. The terms used in the description of this application in this specification are only for the purpose of describing specific implementation manners, and are not intended to limit this application.

[0031] As Figure 1As shown in the figure, a lifting mechanism includes: multiple groups of lifting supports, which are composed of 1 first-end lifting support 2, at least 1 (or multiple) intermediate lifting supports 3, and 1 last-end lifting support 4. Among them, a first upper pulley assembly 21 is fixed to the upper part of the first-end lifting support 2; a second upper pulley assembly 31 is fixed to the upper part of the intermediate lifting support 3, and a second lower pulley assembly 32 and a second slider 33 are fixed to the lower part; a third slider 41 is fixed to the lower part of the last-end lifting support 4; each of the sliders is sequentially installed on the previous lifting support and is constrained to move between the upper and lower ends of the corresponding lifting support; a fixing member 1, the first-end lifting support 2 is fixed to the fixing member 1, and a driving device 11 is fixed to the fixing member 1; a first traction member 5, one end of the first traction member 5 is fixed to the output shaft of the driving device 11 and sequentially winds around the upper and lower pulleys of each layer of the lifting support, and the other end of the first traction member 5 is fixed to the lower part of the last-end lifting support 4; a second traction member 6, one end of the second traction member 6 is fixed to the output shaft of the driving device 11, and the other end of the second traction member 6 is fixed to the last-end lifting support 4; the first traction member 5 and the second traction member 6 wind in opposite directions on the output shaft. This lifting mechanism drives the lifting actions of multiple groups of lifting supports through a single driving device 11, with a simple structure and high efficiency.

[0032] In the first embodiment of the present invention, as Figures 2 - 5As shown, the lifting mechanism is used for low-load lifting actions. Preferably, the lifting mechanism has four sets of lifting supports, which are slide rails. The slide rails not only play a guiding role but also a supporting role, simplifying the structure and saving space. An upper pulley bracket is installed on the upper part of the first slide rail, and an upper pulley is installed on the pulley bracket; upper pulley brackets are also installed on the upper parts of the middle two slide rails, and upper pulleys are installed on the upper pulley brackets. A lower pulley bracket and a slider are installed on the lower parts of the middle two slide rails. A lower pulley is installed on the lower pulley bracket, and the lower pulley bracket can also be installed on the slider. The specific installation position of the pulley bracket can be selected according to actual requirements, and the present invention does not make specific limitations in this regard; a slider is installed on the lower part of the last slide rail, and a traction frame is also installed. At the same time, in this embodiment, the fixing member 1 uses a fixing plate 1a, and the driving device 11 is a motor and a reducer matched with the motor. The first slide rail and the reducer are fixed on the fixing plate 1a by bolts. The slider on the first intermediate slide rail cooperates with the first slide rail. When the slider on the first intermediate slide rail slides up and down along the first slide rail, it can drive the first intermediate slide rail to move up and down along the length direction of the first slide rail. Similarly, the second intermediate slide rail and the last slide rail are installed in the same way. Of course, by installing limit blocks at the upper and lower ends of each slide rail, the movement of the slider can be restricted between the upper and lower ends of each slide rail. In addition, in this embodiment, the first traction member 5 and the second traction member 6 are traction ropes made of polyester fiber. Among them, one end of the first traction rope is fixed on the output shaft of the reducer, and the other end successively bypasses the upper pulley on the upper part of the first slide rail, the lower pulley of the first intermediate slide rail, the upper pulley of the first intermediate slide rail, the lower pulley of the second intermediate slide rail, the upper pulley of the second intermediate slide rail, and finally is fixed on the traction frame 42a of the last slide rail; one end of the second traction rope is fixed on the output shaft of the reducer, and the other end of the second traction rope is fixed on the traction frame 43a of the last slide rail; and the winding directions of the first traction rope and the second traction rope on the output shaft are opposite. Of course, the first traction member 5 and the second traction member 6 can also be traction members made of other materials, such as steel ropes with high load-bearing capacity, and can be replaced and adjusted according to different load requirements specifically.

[0033] Thus, in this embodiment, when the output shaft of the reducer rotates in the upward direction, the first traction rope is tightened accordingly. Through the action of each pulley, each slide rail is lifted upward. Since the slider is at the lower part of each slide rail, when the slider is lifted, the corresponding slide rail is also lifted accordingly, thereby completing the extension action of the lifting mechanism, and at the same time, the second traction rope performs a release action. When the output shaft of the reducer rotates in the downward direction, the second traction rope is tightened accordingly. The second traction rope pulls the end slide rail downward, pulling each layer of the slide rail downward to achieve contraction. During this process, the first traction rope performs a release action. During actual installation, the pulley bracket can be set in an "L" shape or other shapes, so that each upper and lower pulley is on the same plane, ensuring stable traction actions of the first traction member 5 and the second traction member 6.

[0034] By having the winding directions of the first traction rope and the second traction rope on the output shaft opposite to each other, when the same motor rotates forward and backward, the lifting mechanism can be lifted or contracted.

[0035] Among them, in the present invention, the lifting support member can also be a lifting plate 4b structure with a slide rail installed.

[0036] In the second embodiment of the present invention, as Figure 6As shown, some components are hidden in the fixed box 1c and not shown. This lifting mechanism is used for high load bearing. The lifting support is a lifting plate installed with slide rails. By increasing the number of the lifting plate and the slide rails, the load-bearing strength of the lifting support can be improved. Two rows of slide rails are installed on both sides of the lifting plate. A pulley bracket is installed on the upper part of the first-end lifting plate 1b, and an upper pulley is installed on the pulley bracket. Pulley brackets are also installed on the upper parts of the middle two lifting plates, and upper pulleys are installed on the pulley brackets. Pulley brackets and sliders are installed on the lower parts of the middle two lifting plates, and lower pulleys are installed on the pulley brackets. The pulley brackets can also be installed on the sliders. Sliders are installed on the lower part of the last-end lifting plate 4b. At the same time, in this embodiment, the fixing member 1 is the fixed box 1c. When the lifting mechanism is in the retracted state, that is, when the components of the lifting mechanism are stored in the fixed box 1c, it can protect the components of the lifting mechanism. The driving device 11 is a motor and a reducer matched with the motor. The first-end lifting plate 1b and the reducer are fixed in the fixed box 1c by bolts. The slider on the first middle lifting plate 2b cooperates with the slide rail on the first-end lifting plate 1b. When the slider on the first middle lifting plate 2b slides up and down along the slide rail on the first-end lifting plate 1b, it can drive the first middle lifting plate 2b to move up and down. Similarly, the second middle lifting plate 3b and the last-end lifting plate 4b are installed in the same way. Of course, by installing limit blocks at the upper and lower ends of the slide rails of each lifting plate, the movement of the slider can be restricted between the upper and lower ends of each slide rail. In addition, in this embodiment, the first traction member 5 and the second traction member 6 are steel wires. One end of the first steel wire is fixed on the output shaft of the reducer, and the other end sequentially bypasses the upper pulley on the upper part of the first-end lifting plate 1b, the lower pulley on the first middle lifting plate 2b, the upper pulley on the first middle lifting plate 2b, the lower pulley on the second middle lifting plate 3b, the upper pulley on the second middle lifting plate 3b, and finally is fixed on the traction frame 42a on the last-end lifting plate 4b. One end of the second steel wire is fixed on the output shaft of the reducer, and the other end of the second steel wire is fixed on the traction frame 43a on the last-end slide rail. And the winding directions of the first steel wire and the second steel wire on the output shaft are opposite.

[0037] Thus, in this embodiment, when the output shaft of the reducer rotates in the upward direction, the first steel wire is tightened accordingly, and each lifting plate is lifted upward through the action of each pulley. Since the slider is at the lower part of each slide rail, when the slider is lifted, the slide rail is also lifted accordingly, thereby completing the extension action of the lifting mechanism. When the output shaft of the reducer rotates in the downward direction, the second steel wire is tightened accordingly. The second steel wire pulls the last-end lifting plate 4b to move downward, and pulls back each layer of the lifting plate to achieve contraction. By setting the structure of the lifting plate installed with slide rails, the structural strength of the lifting mechanism can be increased, enabling it to have a high load-bearing capacity. By setting two rows of slide rails, the stability of the lifting plate during the up and down movement can be increased, avoiding the left and right shaking of the lifting plate.

[0038] By having the first steel wire rope and the second steel wire rope wound in opposite directions on the output shaft, and when the output shaft rotates, the first steel wire rope and the second steel wire rope perform opposite release and contraction actions, so that when the same motor rotates forward and backward, the lifting mechanism can complete the lifting and lowering actions.

[0039] Certainly, in this embodiment, the pulley assembly can also be arranged between two rows of slide rails, so as to save the space occupied by the pulley assembly, stabilize the force direction, prevent the lifting plate from swaying left and right, and extend the service life of the slide rails and the sliders.

[0040] In addition, in the third embodiment of the present invention, as Figures 7 - 10 shown, a lower pulley assembly is provided at the lower part of the end lifting support member 4, the end of the first traction member 5 is fixed to the lower pulley of the lower pulley assembly, and a coil spring is provided on the lower pulley; a second pulley assembly is provided on the end lifting support member 4, and the end of the second traction member 6 is fixed to the second pulley of the second pulley assembly, and a coil spring is provided on the second pulley. By providing the coil spring, when one of the first traction member 5 and the second traction member 6 is in a tensioned state, the other traction member remains in a tensioned state, preventing the traction member from detaching from the pulley, and when the first traction member 5 and the second traction member 6 are wound, they are wound in sequence, preventing winding on the output shaft, and increasing the structural stability of the first traction member 5 and the second traction member 6.

[0041] For example, in a working scenario, when the lifting mechanism is ascending, that is to say, at this time the first traction member 5 is in a tensioned state and the second traction member 6 is in a relaxed state. The coil spring drives the second pulley to rotate, so that the relaxed part of the second traction member 6 is wound around the second pulley, preventing the second traction member 6 from becoming loose and detaching from the corresponding pulley or winding around the output shaft, and increasing the structural stability of the second traction member 6; similarly, when the lifting mechanism is descending, that is to say, at this time the second traction member 6 is in a tensioned state and the first traction member 5 is in a relaxed state. The coil spring drives the pulley connected to the end of the first traction member 5 to rotate, so that the relaxed part of the first traction member 5 is wound around the pulley, preventing the first traction member 5 from becoming loose and detaching from the corresponding pulley or winding around the output shaft, and increasing the structural stability of the first traction member 5.

[0042] In the fourth embodiment of the present invention, as Figure 11 shown, a lower pulley assembly is fixed at the lower part of the end lifting support member 4, the first traction member 5 passes around the lower pulley of the lower pulley assembly, and the end is fixed to the upper part of the previous lifting support member. Such an arrangement can improve the stability of the lifting mechanism during the ascending process.

[0043] Specifically, in this embodiment, when the lifting mechanism performs the ascending action, the first traction member 5 is pulled by the driving device 11. Under the action of each pulley, the lifting stroke of the lifting mechanism is equal to half of the contraction length of the first traction member 5. Since the speed of the contraction length of the first traction member 5 is constant, that is to say, the lifting speed of the lifting mechanism is also constant, thereby ensuring that the lifting mechanism has good lifting stability. When the lifting mechanism reaches the specified lifting height, its lifting height will not float.

[0044] Furthermore, based on the improvement of Example 4, a first fixing frame 12 is fixed on the fixing member 1, another lower pulley assembly is fixed to the lower part of the end lifting support member 4, and the end of the second traction member 6 is fixed to the first fixing frame 12 and passes around the lower pulley of another lower pulley assembly of the end lifting support member 4.

[0045] Through this improved solution, the first fixing frame 12 is located below the lower pulley of the other lower pulley assembly of the end lifting support member, that is, when the lifting mechanism performs an ascending or descending action, the length of the second traction member 6 released or contracted by the driving device 11 is half of the ascending or descending stroke of the lifting mechanism, so that when one of the first traction member 5 and the second traction member 6 is in a tensioned state, the other traction member remains in a tensioned state, avoiding the traction member from being separated from the pulley and avoiding the winding phenomenon on the output shaft, thereby increasing the structural stability of the first traction member 5 and the second traction member 6. Of course, in this embodiment, pulleys can also be installed at the ends of the first traction member 5 and the second traction member 6, as in the third embodiment, and a coil spring can be provided to adjust the slight stroke error between the first traction member 5 and the second traction member 6.

[0046] In addition, the number of the intermediate lifting supports 3 can be adjusted according to actual needs, and the present invention does not make any specific limitation on this.

[0047] In the fifth embodiment of the present invention, Figure 11 As shown, the lifting height of the lifting mechanism needs to be accurately controlled, and a displacement sensor 7 is installed on the fixing member 1, and the displacement sensor 7 is used to collect the height information of the lifting mechanism.

[0048] In a specific scenario, the displacement sensor 7 adopts a wire-type displacement sensor 7, and is connected to the top end of the end lifting support 4 to install the equipment required to realize the lifting function. Among them, the main body of the wire-type displacement sensor 7 is installed on the fixing member 1, and the wire is installed on the connecting member. When the lifting mechanism reaches different heights, the wire-type can collect the information of the lifting mechanism lifting to different heights. The control system controls the working state of the driving device 11 according to the above height information. For example, when the specified height is not reached, the driving device 11 is started to perform the lifting action to lift the equipment to the specified height.

[0049] In the present invention, a locking member is installed on the lifting support member, and the locking member is used to lock the relative positions of two adjacent lifting support members, thereby ensuring the stability of the lifting mechanism when it reaches the specified height.

[0050] In one embodiment, electromagnets (not shown in the figure) are installed on the intermediate lifting support member 3 and at the lower part of the end lifting support member 4. When the electromagnets are working, they can adsorb on the previous lifting support member, so that the lifting support member installed with the electromagnets is relatively locked with the previous lifting support member. The locking member here can also be other structures such as a top extension structure member, and the present application does not make specific limitations on this.

[0051] For example, in a specific scenario where a lifting action needs to be completed, first, the driving device 11 pulls the first traction member 5, and the first traction member 5 pulls the end lifting support member 4. When the stroke of the end lifting support member 4 can meet the requirement of the specified height, after the end lifting support member 4 reaches the specified height, the electromagnet installed on the end lifting support member 4 is activated, and the moving iron of the electromagnet locks on the previous intermediate lifting support member 3 to achieve a fixed height; when the stroke of the end lifting support member does not meet the requirement of the specified height, the first traction member 5 pulls the end lifting support member 4. After the end lifting support member 4 reaches the limit position, that is, when the end lifting support member 4 abuts against the limit block of the previous intermediate lifting support member 3, and a signal that the end lifting support member 4 reaches the limit position is fed back to the control system through the signal receiver, the first traction member 5 continues to pull, and the second intermediate lifting support member 3 and the end lifting support member 4 are lifted synchronously. When reaching the specified position, the driving device 11 stops operating. At the same time, the electromagnet installed on the second intermediate lifting support member 3 is activated, so that the second intermediate lifting support member 3 and the first intermediate lifting support member 3 are locked with each other.

[0052] To improve the winding efficiency of the first traction member 5 and the second traction member 6 and effectively avoid mutual influence between the two, a partition member is provided on the output shaft to form two winding areas on the output shaft; the two winding areas respectively correspond to the first traction member 5 and the second traction member 6. Of course, two independent pulleys can also be installed on the output shaft, which are respectively used for winding the first traction member 5 and the second traction member 6.

[0053] Based on the above embodiments, the two winding areas are set to have unequal winding diameter ratios. During the lifting process of the first traction member 5 and the second traction member 6, the lengths of the two released or retracted may be unequal. By setting the corresponding diameter ratios, the winding efficiency can be improved.

[0054] Furthermore, the diameters of the partition members on both sides of each of the winding areas gradually decrease in the direction of the winding areas. That is to say, chamfer structures for guiding the traction members are formed on both sides of each winding area, so that the traction members can enter the winding areas more smoothly and are more stable when winding or releasing.

[0055] In addition, as Figure 12 shown, in order to facilitate the winding and releasing of the second traction member 6, a second fixing frame 13 is further fixed on the fixing member 1. A pulley is installed on the second fixing frame 13, and the second traction member 6 or the first traction member 5 passes around the pulley. Among them, since the first traction member 5 for lifting and the second traction member 6 for lowering of the lifting mechanism are located in different positions, and the first traction member 5 and the second traction member 6 are wound and released by the same output shaft, by providing a third pulley, the installation position of the third pulley can be determined according to the installation position of the driving device 11 to change the traction direction of the first traction member 5 or the second traction member 6, which not only facilitates the winding and releasing of the first traction member 5 and the second traction member 6, but also gives enough adjustment space to the first traction member 5 and the second traction member 6 to avoid interference with other components and improve the working stability of the first traction member 5 and the second traction member 6.

[0056] An embodiment of the present invention further provides a robot, including the lifting mechanism described in any one of the above embodiments, and the robot head is arranged at the top end of the lifting mechanism.

[0057] In this embodiment, the robot head can generally refer to a function output end, such as a camera, or can also refer to a gripper, etc.

[0058] In this embodiment, only the differences from the previous embodiment are described, and other contents can be explained with reference to the contents of the previous embodiment, and will not be elaborated here.

[0059] It should be noted that in the description of the present application, the terms "first", "second", etc. are only used for descriptive purposes and to distinguish similar objects, and there is no sequence between them, nor can they be understood as indicating or implying relative importance. In addition, in the description of the present application, unless otherwise specified, the meaning of "a plurality" is two or more.

[0060] It should be understood that the above description is for illustrative purposes and not for limitation. Many embodiments and many applications other than the examples provided will be apparent to those skilled in the art upon reading the above description. Therefore, the scope of the present teachings should not be determined with reference to the above description, but rather should be determined with reference to the full scope of the foregoing claims and the equivalents thereof. For the sake of completeness, all articles and references, including patent applications and published announcements, are incorporated herein by reference. The omission of any aspect of the subject matter disclosed herein from the foregoing claims is not intended to abandon such subject matter, nor should it be considered that the applicant has not considered such subject matter to be part of the disclosed subject matter of the application.

Claims

1. A lifting mechanism, characterized in that: include: Multiple sets of lifting support members, wherein a first upper pulley assembly is fixed to the upper part of the first lifting support member; a second upper pulley assembly is fixed to the upper part of the middle lifting support member, and a second lower pulley assembly and a second slider are fixed to the lower part; a third slider is fixed to the lower part of the terminal lifting support member; each of the sliders is sequentially mounted on the previous lifting support member and constrained to move at the upper and lower ends of the corresponding lifting support member; A fixing member, the head-end lifting support member is fixed to the fixing member, and the fixing member is fixed with a driving device; A first traction member, one end of which is fixed to the output shaft of the driving device and passes through the upper pulley and the lower pulley of each layer of the lifting support member in sequence, and the other end of which is fixed to the lower part of the terminal lifting support member; A second traction member, one end of which is fixed to the output shaft of the driving device, and the other end of which is fixed to the terminal lifting support member; The first traction member and the second traction member are wound in opposite directions on the output shaft.

2. A lifting mechanism according to claim 1, characterized in that: A third lower pulley assembly is provided at the lower part of the terminal lifting support member, the end of the first traction member is fixed to the lower pulley of the third lower pulley assembly, and the lower pulley is provided with a coil spring; a fourth pulley assembly is provided on the terminal lifting support member, the end of the second traction member is fixed to the pulley of the fourth pulley assembly, and the fourth pulley is provided with a coil spring.

3. A lifting mechanism according to claim 1, characterized in that: A third lower pulley assembly is fixed to the lower portion of the terminal lifting support member, the first traction member passes through the lower pulley of the lower pulley assembly, and the end portion is fixed to the upper portion of the previous lifting support member.

4. A lifting mechanism according to claim 3, characterized in that: A first fixing frame is fixed on the fixing member, a fourth pulley assembly is fixed to the lower part of the terminal lifting support member, an end of the second traction member is fixed to the first fixing frame and passes around a pulley of the fourth pulley assembly of the terminal lifting support member, and the pulley is higher than the first fixing frame.

5. A lifting mechanism according to claim 1, characterized in that: A displacement sensor is installed on the fixing member, and the displacement sensor is used to collect height information of the lifting mechanism.

6. A lifting mechanism according to claim 1, characterized in that: A locking member is installed on the lifting support member, and the locking member is used to lock the relative position of two adjacent lifting support members.

7. A lifting mechanism according to claim 1, characterized in that: The driving device comprises a motor and a reducer matched with the motor, and the motor is used to provide rotational power.

8. A lifting mechanism according to claim 1, characterized in that: The output shaft is provided with a partition member to form two winding areas on the output shaft; the two winding areas correspond to the first traction member and the second traction member respectively.

9. A lifting mechanism according to claim 8, characterized in that: The diameters of the partition pieces on both sides of each winding area gradually decrease toward the direction where the winding area is located.

10. A lifting mechanism according to claim 1, characterized in that: A second fixing frame is also fixed on the fixing member, a pulley is installed on the second fixing frame, and the second traction member or the first traction member is wound around the pulley.

11. A robot, characterized in that: include: A robot head and a lifting mechanism as described in any one of claims 1 to 10, wherein the robot head is arranged at the top of the lifting mechanism.

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