Lifting device and humanoid robot

Abstract

The invention relates to the technical field of robots, in particular to a lifting device and a humanoid robot, and aims to solve the problems that the overall appearance of the humanoid robot is greatly different from the natural form of human beings, and the user experience is poor. In the lifting device, a driving assembly drives a first-stage moving part to move in the first direction or the second direction, and a second-stage moving part moves in the first direction at the speed twice that of the first-stage moving part under the action of a first pulley and a first driven belt; the lifting device is arranged on the first-stage moving part and moves in the second direction at the speed two times that of the first-stage moving part under the action of a second pulley and a second driven belt, so that the size of the lifting device in the second direction can be changed, and the humanoid robot body can be arranged on the side, facing the second direction, of the second-stage moving part. And the overall appearance of the humanoid robot is closer to the natural form of human beings. In addition, the double-speed movement of the second-stage moving part in the first direction and the second direction can be realized under the pulling of the driven belt, so that the double-speed movement of the second-stage moving part is more stable and reliable.

Description

Technical Field

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

[0002] With the rapid advancement of science and technology, robotics, as a key branch of modern science and technology, is developing at an unprecedented speed. As an important application direction of robotics, liftable humanoid robots have shown great application potential in many fields such as industrial manufacturing, service industry, scientific research and exploration, and home entertainment. Liftable humanoid robots usually include a lifting mechanism and a humanoid robot body.

[0003] However, the humanoid robot body is often set on the side of the lifting mechanism. Although this design method realizes the robot's lifting function in structure, the overall appearance of the robot is far from the natural form of humans, which makes it difficult to give people an intuitive feeling close to humans visually, reduces the user's identification with the robot's anthropomorphism, and poor user experience. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a lifting device and a humanoid robot to solve the problem that the overall appearance of the humanoid robot is far from the natural form of humans and the user experience is poor.

[0005] An embodiment of the present application provides a lifting device, which is applied to a humanoid robot. The humanoid robot includes a humanoid robot body, and the lifting device includes: a support member; a driving component, which is arranged on the support member; a primary moving member, which is connected to the driving component and can move along a first direction and a second direction under the drive of the driving component, and the first direction and the second direction are opposite; a secondary moving member, and the side of the secondary moving member facing the second direction is used to set the humanoid robot body; one or more first pulleys, which are arranged on the primary moving member and are rotatably connected to the primary moving member around a first axis, and the first axis is perpendicular to the first direction; one or more first passive belts, the first end of the first passive belt is connected to the secondary moving member, and the second end of the first passive belt bypasses the side of the first pulley facing the first direction and is connected to the support member; one or more second pulleys, which are arranged on the primary moving member and are rotatably connected to the primary moving member around a second axis, and the second axis is perpendicular to the first direction; one or more second passive belts, the first end of the second passive belt is connected to the secondary moving member, and the second end of the second passive belt bypasses the side of the second pulley facing the second direction and is connected to the support member.

[0006] In some implementations, the first-level moving member extends along a first direction. The shape of the cross-section of the first-level moving member perpendicular to the first direction includes a frame shape. The second-level moving member extends along the first direction. The shape of the cross-section of the second-level moving member perpendicular to the first direction includes a frame shape. The first-level moving member is sleeved on the support member, and the second-level moving member is sleeved on the first-level moving member. The first-level moving member has one or more first through slots, and the first through slots penetrate through the side wall of the first-level moving member along a direction intersecting with the first direction. The first end of the first passive belt is connected to the inner wall of the second-level moving member, and the second end of the first passive belt passes through the first through slot and is connected to the support member. The first-level moving member also has one or more second through slots, and the second through slots penetrate through the side wall of the first-level moving member along a direction intersecting with the first direction. The first end of the second passive belt is connected to the inner wall of the second-level moving member, and the second end of the second passive belt passes through the second through slot and is connected to the support member.

[0007] In some implementations, the first-level moving member has a first side and a second side oppositely arranged along a third direction, and a third side and a fourth side oppositely arranged along a fourth direction. The third direction, the fourth direction, and the first direction are perpendicular to each other. There is a wire routing space between the driving assembly and the inner wall of the fourth side of the first-level moving member. One or more first pulleys are provided on both the first side and the second side of the first-level moving member. The driving assembly is connected to the inner wall of the third side of the first-level moving member. A plurality of second pulleys are provided on the third side of the first-level moving member, and one or more of the plurality of second pulleys are respectively provided on both sides of the driving assembly along the third direction; and / or, one or more second pulleys are provided on both the first side and the second side of the first-level moving member. The driving assembly is connected to the inner wall of the third side of the first-level moving member. A plurality of first pulleys are provided on the third side of the first-level moving member, and one or more of the plurality of first pulleys are respectively provided on both sides of the driving assembly along the third direction.

[0008] In some implementations, the lifting device further includes: a plurality of first guide rails, which are provided on the support member and extend along the first direction; a plurality of first sliders, which are slidably connected to the first guide rails and are connected to the inner wall of the fourth side of the first-level moving member. One or more first guide rails and one or more first sliders are provided on both sides of the driving assembly along the third direction. The driving assembly, the first guide rails on both sides of the driving assembly along the third direction, and the inner wall of the fourth side of the first-level moving member enclose a wire routing space; a plurality of second guide rails, which are provided on the outer wall of the third side of the first-level moving member and extend along the first direction; a plurality of second sliders, which are slidably connected to the second guide rails and are connected to the inner wall of the fourth side of the second-level moving member. One or more second guide rails and one or more second sliders are provided on both sides of the driving assembly along the third direction.

[0009] In some implementations, when one or more first pulleys are provided on both the first side and the second side of the primary moving member, the first pulley is rotatably connected to the inner wall of the first side or the inner wall of the second side of the primary moving member about a first axis, and the second pulley is rotatably connected to the outer wall of the third side of the primary moving member about a second axis; when one or more second pulleys are provided on both the first side and the second side of the primary moving member, the second pulley is rotatably connected to the inner wall of the first side or the inner wall of the second side of the primary moving member about a second axis, and the first pulley is rotatably connected to the outer wall of the third side of the primary moving member about a first axis.

[0010] In some implementations, when one or more first pulleys are provided on both the first side and the second side of the primary moving member, the first pulley passes through the first through slot, the extending direction of the first end of the first passive belt is parallel to the extending direction of the second end of the first passive belt, the second pulley passes through the second through slot, and the extending direction of the first end of the second passive belt is parallel to the extending direction of the second end of the second passive belt; and / or when one or more second pulleys are provided on both the first side and the second side of the primary moving member, the second pulley passes through the second through slot, the extending direction of the first end of the second passive belt is parallel to the extending direction of the second end of the second passive belt, the first pulley passes through the first through slot, and the extending direction of the first end of the first passive belt is parallel to the extending direction of the second end of the first passive belt.

[0011] In some implementations, the first-level moving member includes: a first-level moving member body, connected to the driving assembly and capable of moving along a first direction and a second direction under the drive of the driving assembly; a first pulley rotatably connected to the first-level moving member body about a first axis; and a second pulley rotatably connected to the first-level moving member body about a second axis. Wherein, the first-level moving member further includes: a first connecting member having a fifth side and a sixth side oppositely arranged along the first direction, the first pulley is rotatably connected to the fifth side about the first axis, the sixth side has one or more first kidney-shaped holes and a first threaded hole, and the centerlines of the first kidney-shaped holes and the first threaded hole both extend along the first direction; one or more first fasteners, the first fasteners pass through the first kidney-shaped holes to fix the first connecting member to the first-level moving member body; a second connecting member disposed on the first-level moving member body and located on the sixth side of the first connecting member, the second connecting member has a first through hole, and the centerline of the first through hole extends along the first direction; a first screw rod, the first screw rod sequentially passes through the first through hole and the first threaded hole and is screwed with the first threaded hole; a first abutting member connected to an end of the first screw rod away from the first connecting member and abutting against a side of the second connecting member away from the first connecting member; and / or, the first-level moving member further includes: a third connecting member having a seventh side and an eighth side oppositely arranged along the first direction, the second pulley is rotatably connected to the seventh side about the second axis, the eighth side has one or more second kidney-shaped holes and a second threaded hole, and the centerlines of the second kidney-shaped holes and the second threaded hole both extend along the first direction; one or more second fasteners, the second fasteners pass through the second kidney-shaped holes to fix the third connecting member to the first-level moving member body; a fourth connecting member disposed on the first-level moving member body and located on the eighth side of the third connecting member, the fourth connecting member has a second through hole, and the centerline of the second through hole extends along the first direction; a second screw rod, the second screw rod sequentially passes through the second through hole and the second threaded hole and is screwed with the second threaded hole; a second abutting member connected to an end of the second screw rod away from the third connecting member and abutting against a side of the fourth connecting member away from the third connecting member.

[0012] In some implementations, the driving assembly includes: a rotary driving member disposed on the support member; a lead screw connected to the rotary driving member and capable of rotating about the centerline of the lead screw under the drive of the rotary driving member, the centerline of the lead screw being parallel to the first direction; and a nut sleeved on the lead screw, screwed with the lead screw, and connected to the first-level moving member.

[0013] In some implementations, the first-level moving member includes: a first-level moving member body connected to the driving assembly and capable of moving in a first direction and a second direction under the drive of the driving assembly. A first pulley is rotatably connected to the first-level moving member body about a first axis, and a second pulley is rotatably connected to the first-level moving member body about a second axis; a fifth connecting member connected to the nut. One side of the fifth connecting member facing the first-level moving member body has a groove, and the groove has a first side wall and a second side wall oppositely arranged in the first direction; a sixth connecting member connected to the first-level moving member body, extending into the groove in a direction perpendicular to the first direction and slidably connected to the first side wall and the second side wall.

[0014] In a second aspect, an embodiment of the present application provides a humanoid robot, including: a humanoid robot body; the lifting device mentioned in the first aspect, and one side of the second-level moving member of the lifting device facing the second direction is used to arrange the humanoid robot body.

[0015] For the lifting device provided in this embodiment, the driving assembly can drive the first-level moving member to move relative to the support member in the first direction or the second direction. The first pulley and the second pulley are rotatably connected to the first-level moving member. The first end of the first passive belt is connected to the second-level moving member, and the second end of the first passive belt bypasses the side of the first pulley facing the first direction and is connected to the support member. The first end of the second passive belt is connected to the second-level moving member, and the second end of the second passive belt bypasses the side of the second pulley facing the second direction and is connected to the support member. When the first-level moving member moves, the second-level moving member can move in the same direction as the first-level moving member and move at a speed twice that of the first-level moving member. This enables the lifting device to meet the moving range requirements of the humanoid robot body while the size of the lifting device in the second direction can be changed, and the size of the lifting device in the second direction can be set smaller when the second-level moving member does not move in the second direction, so that the humanoid robot body can be arranged on the side of the second-level moving member facing the second direction. The lifting device can be used as the leg of the humanoid robot, making the overall appearance of the humanoid robot closer to the natural form of humans, improving the user's sense of identification with the anthropomorphic robot, and enhancing the user experience.

[0016] In addition, the second-level moving member can move at a speed twice that of the first-level moving member in the first direction under the action of the first pulley and the first passive belt, and move at a speed twice that of the first-level moving member in the second direction under the action of the second pulley and the second passive belt. This enables the second-level moving member to achieve double-speed movement in both the first direction and the second direction under the pulling of the passive belt. When moving in the first direction, it does not rely solely on the self-gravity of the second-level moving member, making the double-speed movement of the second-level moving member smoother and more reliable, which is beneficial to increasing the stability and reliability of the humanoid robot when carrying items and is beneficial to increasing the load capacity of the humanoid robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and other objects, features, and advantages of the present application will become more apparent by describing the embodiments of the present application in more detail with reference to the accompanying drawings. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation to the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0018] Figure 1 The following is a schematic structural diagram of a lifting device provided by an embodiment of the present application.

[0019] Figure 2 The following is a schematic structural diagram of a humanoid robot provided by an embodiment of the present application.

[0020] Figure 3 The following is a schematic structural diagram of the lifting device after the first-level moving member and the second-level moving member move along the second direction according to an embodiment of the present application.

[0021] Figure 4 The following is a schematic structural diagram of the lifting device after the first-level moving member and the second-level moving member move along the second direction according to another embodiment of the present application.

[0022] Figure 5 The following is a schematic structural diagram of the first-level moving member, the first pulley, the second pulley, the first passive belt, and the second passive belt provided by an embodiment of the present application.

[0023] Figure 6 The following is provided by an embodiment of the present application Figure 3 A schematic cross-sectional view of the lifting device along line AA.

[0024] Figure 7 The following is provided by an embodiment of the present application Figure 6 A schematic cross-sectional view of the lifting device along line BB.

[0025] Figure 8 The following is provided by an embodiment of the present application Figure 7 A schematic enlarged view of the structure at C.

[0026] Figure 9 The following is provided by an embodiment of the present application Figure 3 A schematic cross-sectional view of the lifting device along line DD.

[0027] Reference numerals: 1. Humanoid robot; 10. Lifting device; 100. Cable routing space; 11. Support member; 12. Driving assembly; 120. Rotary driving member; 121. Lead screw; 122. Nut; 123. Nut buffer pad; 13. Primary moving member; 130. First through slot; 131. Second through slot; 132. First side; 133. Second side; 134. Third side; 135. Fourth side; 136. Primary moving member body; 1360. Second abutting member; 1361. Fifth connecting member; 1362. Sixth connecting member; 1363. Groove; 1364. First side wall; 1365. Second side wall; 137. First connecting member; 1370. Fifth side; 1371. Sixth side; 1372. First kidney-shaped hole; 1373. Second threaded hole; 138. First fastener; 139. Second connecting member; 1390. Second through hole; 1391. First screw; 1392. First abutting member; 1393. Third connecting member; 1394. Seventh side; 1395. Eighth side; 1396. Second kidney-shaped hole; 1397. Second fastener; 1398. Fourth connecting member; 1399. Second screw; 14. Secondary moving member; 15. First pulley; 16. First passive belt; 160. First end of the first passive belt; 161. Second end of the first passive belt; 17. Second pulley; 18. Second passive belt; 180. First end of the second passive belt; 181. Second end of the second passive belt; 19. First guide rail; 20. First slider; 21. Second guide rail; 22. Second slider; 23. Moving member buffer pad; 24. In-place detection piece; 25. Detection sensor; 30. Humanoid robot body; L1. First axis; X1. First direction; X2. Second direction; X3. Third direction; X4. Fourth direction. Detailed implementation manners

[0028] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0029] With the rapid progress of technology, robot technology, as a key branch in the field of modern technology, is developing at an unprecedented speed. As an important application direction of robot technology, the liftable humanoid robot shows great application potential in many fields such as industrial manufacturing, service industry, scientific research exploration, and home entertainment. The liftable humanoid robot generally includes a lifting mechanism and a humanoid robot body.

[0030] However, the height of the lifting mechanism (such as the lifting structure formed by the lead screw nut) is usually unchangeable. In order to meet the production operation requirements at different heights and ensure the movement range of the humanoid robot body, the lifting mechanism is usually set higher as a whole, and the humanoid robot body can only be set on the side of the lifting mechanism, not on the top. Although this design method realizes the lifting function of the robot in structure, the overall appearance of the robot is far from the natural form of humans, making it difficult to give people a visually close to human intuitive feeling, reducing the user's recognition of the anthropomorphism of the robot, and the user experience is poor.

[0031] In response to the above problems, an embodiment of the present application provides a lifting device, which is applied to a humanoid robot. The humanoid robot includes a humanoid robot body, and the lifting device includes: a support member; a drive component, which is arranged on the support member; a primary moving member, which is connected to the drive component and can move along a first direction and a second direction under the drive of the drive component, and the first direction and the second direction are opposite; a secondary moving member, and the side of the secondary moving member facing the second direction is used to set the humanoid robot body; one or more first pulleys, which are arranged on the primary moving member and are rotatably connected to the primary moving member around a first axis, and the first axis is perpendicular to the first direction; one or more first passive belts, the first end of the first passive belt is connected to the secondary moving member, and the second end of the first passive belt bypasses the side of the first pulley facing the first direction and is connected to the support member; one or more second pulleys, which are arranged on the primary moving member and are rotatably connected to the primary moving member around a second axis, and the second axis is perpendicular to the first direction; one or more second passive belts, the first end of the second passive belt is connected to the secondary moving member, and the second end of the second passive belt bypasses the side of the second pulley facing the second direction and is connected to the support member.

[0032] The lifting device provided by the embodiment of the present application has a driving component that can drive a first moving member to move relative to a supporting member in a first direction or a second direction. A first pulley and a second pulley are rotatably connected to the first moving member. A first end of a first driven belt is connected to a second moving member, a second end of the first driven belt bypasses one side of the first pulley facing the first direction and is connected to the supporting member, a first end of a second driven belt is connected to the second moving member, and a second end of the second driven belt bypasses one side of the second pulley facing the second direction and is connected to the supporting member. When the first moving member moves, the second moving member can move in the same direction as the first moving member and at a speed twice that of the first moving member, so that while meeting the moving range requirements of the humanoid robot body, the size of the lifting device in the second direction can be changed, and the size of the lifting device in the second direction can be set smaller when the second moving member does not move in the second direction, so that the humanoid robot body can be arranged on the side of the second moving member facing the second direction. The lifting device can be used as the leg of a humanoid robot, making the overall appearance of the humanoid robot closer to the natural form of a human, enhancing the user's sense of identification with the anthropomorphic nature of the robot and improving the user experience.

[0033] In addition, the second moving member can move at a speed twice that of the first moving member in the first direction under the action of the first pulley and the first driven belt, and move at a speed twice that of the first moving member in the second direction under the action of the second pulley and the second driven belt, so that the double-speed movement of the second moving member in the first direction and the second direction can be realized under the pulling of the driven belt, and when moving in the first direction, it does not rely solely on the self-gravity of the second moving member, making the double-speed movement of the second moving member smoother and more reliable, which is beneficial to increasing the stability and reliability when the humanoid robot carries items and is beneficial to increasing the load capacity of the humanoid robot.

[0034] The following describes the specific structures of the lifting device and the humanoid robot in conjunction with the accompanying drawings and specific embodiments.

[0035] Figure 1 The figure shows a schematic structural diagram of a lifting device provided by an embodiment of the present application. Figure 2 The figure shows a schematic structural diagram of a humanoid robot provided by an embodiment of the present application. Figure 3 The figure shows a schematic structural diagram of the lifting device after the first moving member and the second moving member move in the second direction provided by an embodiment of the present application. Figure 4 The figure shows a schematic structural diagram of the lifting device after the first moving member and the second moving member move in the second direction provided by another embodiment of the present application. Figure 5 The figure shows a schematic structural diagram of the first moving member, the first pulley, the second pulley, the first driven belt and the second driven belt provided by an embodiment of the present application. Figure 6 Shown in the figure is provided by an embodiment of the present application Figure 3Schematic cross-sectional view of the lifting device along line AA. Figure 7 The following is provided by an embodiment of the present application Figure 6 Schematic cross-sectional view of the lifting device along line BB. Figure 8 The following is provided by an embodiment of the present application Figure 7 Schematic enlarged view of the structure at C. Figure 9 The following is provided by an embodiment of the present application Figure 3 Schematic cross-sectional view of the lifting device along line DD.

[0036] As Figures 1 to 9 As shown, the lifting device 10 is applied to the humanoid robot 1. The humanoid robot 1 includes a humanoid robot body 30. The lifting device 10 can be used to drive the lifting of the humanoid robot body 30, so that the robot 1 can carry goods, serve users or interact with users within the moving range. Exemplarily, the humanoid robot body 30 can include a half-body humanoid robot. For example, the humanoid robot body 30 can include a connected torso assembly, arm assembly, robotic hand, and head and neck assembly.

[0037] The lifting device 10 includes: a support member 11, a drive assembly 12, a first-stage moving member 13, a second-stage moving member 14, one or more first pulleys 15, one or more first passive belts 16, one or more second pulleys 17, and one or more second passive belts 18.

[0038] The drive assembly 12 is disposed on the support member 11. The first-stage moving member 13 is connected to the drive assembly 12 and can move along a first direction X1 and a second direction X2 under the drive of the drive assembly 12. The first direction X1 and the second direction X2 are opposite. The side of the second-stage moving member 14 facing the second direction X2 is used to dispose the humanoid robot body 30. Exemplarily, the first direction X1 can be a vertically downward direction, and the second direction X2 can be a vertically upward direction. Exemplarily, the top of the second-stage moving member 14 is used to dispose the humanoid robot body 30. Exemplarily, the drive assembly 12 can include one or a combination of more than one of the following drive structures: a gear set, a sprocket chain, a lead screw guide rail, a power cylinder, a motor, and a crank slider. Exemplarily, both the first-stage moving member 13 and the second-stage moving member 14 can be a moving rod, a moving frame, or a moving frame, etc.

[0039] One or more first pulleys 15 are disposed on the first-stage moving member 13 and are rotatably connected to the first-stage moving member 13 about a first axis L1, and the first axis L1 is perpendicular to the first direction X1. The first end 160 of the first passive belt is connected to the second-stage moving member 14, and the second end 161 of the first passive belt bypasses the side of the first pulley 15 facing the first direction X1 and is connected to the support member 11. Specifically, the first passive belt 16 contacts the side of the first pulley 15 facing the first direction X1.

[0040] In some application scenarios, the driving component 12 drives the primary moving member 13 to move relative to the supporting member 11 in the first direction X1 at a first speed. The first pulley 15 will also move relative to the supporting member 11 in the first direction X1 at the first speed. Since the first passive belt 16 bypasses the side of the first pulley 15 facing the first direction X1 and its two ends are respectively connected to the secondary moving member 14 and the supporting member 11, the first pulley 15 will apply a force in the first direction X1 to the first passive belt 16, causing the first end 160 of the first passive belt to apply a force in the first direction X1 to the secondary moving member 14, and the secondary moving member 14 will move relative to the supporting member 11 in the first direction X1 at twice the first speed.

[0041] One or more second pulleys 17 are provided on the primary moving member 13 and are rotatably connected to the primary moving member 13 about a second axis perpendicular to the first direction X1. The first end 180 of the second passive belt is connected to the secondary moving member 14, and the second end 181 of the second passive belt bypasses the side of the second pulley 17 facing the second direction X2 and is connected to the supporting member 11. Specifically, the second passive belt 18 contacts the side of the second pulley 17 facing the second direction X2.

[0042] In some application scenarios, the driving component 12 drives the primary moving member 13 to move relative to the supporting member 11 in the second direction X2 at a second speed. The second pulley 17 will also move relative to the supporting member 11 in the second direction X2 at the second speed. Since the second passive belt 18 bypasses the side of the second pulley 17 facing the second direction X2 and its two ends are respectively connected to the secondary moving member 14 and the supporting member 11, the second pulley 17 will apply a force in the second direction X2 to the second passive belt 18, causing the first end 180 of the second passive belt to apply a force in the second direction X2 to the secondary moving member 14, and the secondary moving member 14 will move relative to the supporting member 11 in the second direction X2 at twice the second speed.

[0043] Exemplarily, the first pulley 15 is located on the side of the second pulley 17 facing the first direction X1. Such an arrangement is beneficial to increasing the moving range of the secondary moving member 14.

[0044] Exemplarily, the circumferential surfaces of the first pulley 15 and the second pulley 17 can be smooth surfaces or can have a plurality of meshing teeth. Exemplarily, the surfaces of the first passive belt 16 and the second passive belt 18 facing their respective corresponding pulleys can be smooth surfaces or can have meshing teeth. Exemplarily, the circumferential surfaces of the first pulley 15 and the second pulley 17 can have meshing teeth, and the first passive belt 16 and the second passive belt 18 also have meshing teeth on the sides facing their respective corresponding pulleys. The passive belts cooperate with the pulleys to achieve precise transmission, thereby precisely controlling the movement of the secondary moving member 14.

[0045] For the lifting device 10 provided in this embodiment, the driving component 12 can drive the first-level moving member 13 to move relative to the support member 11 along the first direction X1 or the second direction X2. The first pulley 15 and the second pulley 17 are rotatably connected to the first-level moving member 13. The first end 160 of the first passive belt is connected to the second-level moving member 14. The second end 161 of the first passive belt bypasses the side of the first pulley 15 facing the first direction X1 and is connected to the support member 11. The first end 180 of the second passive belt is connected to the second-level moving member 14. The second end 181 of the second passive belt bypasses the side of the second pulley 17 facing the second direction X2 and is connected to the support member 11. When the first-level moving member 13 moves, the second-level moving member 14 can move in the same direction as the first-level moving member 13 and at a speed twice that of the first-level moving member 13, so that while the lifting device 10 meets the movement range requirements of the humanoid robot body 30, the dimension of the lifting device 10 along the second direction X2 can be changed, and the dimension of the lifting device 10 along the second direction X2 can be set to be smaller when the second-level moving member 14 does not move along the second direction X2, so that the humanoid robot body 30 can be arranged on the side of the second-level moving member 14 facing the second direction X2. The lifting device 10 can be used as the leg of the humanoid robot 1, making the overall appearance of the humanoid robot 1 closer to the natural form of humans, improving the user's sense of identity with the anthropomorphic nature of the robot, and enhancing the user experience.

[0046] In addition, the second-level moving member 14 can move at a speed twice that of the first-level moving member 13 along the first direction X1 under the action of the first pulley 15 and the first passive belt 16, and move at a speed twice that of the first-level moving member 13 along the second direction X2 under the action of the second pulley 17 and the second passive belt 18, so that the double-speed movement of the second-level moving member 14 along the first direction X1 and the second direction X2 can be realized under the pulling of the passive belt, and when moving along the first direction X1, it does not rely solely on the self-gravity of the second-level moving member 14, making the double-speed movement of the second-level moving member 14 smoother and more reliable, which is beneficial to increasing the smoothness and reliability of the humanoid robot 1 when carrying items, and is beneficial to increasing the load capacity of the humanoid robot 1.

[0047] In some embodiments, as Figure 3 、 Figure 5 and Figure 9 shown, the first-level moving member 13 extends along the first direction X1, and the shape of the cross-section of the first-level moving member 13 perpendicular to the first direction X1 includes a frame shape. The second-level moving member 14 extends along the first direction X1, and the shape of the cross-section of the second-level moving member 14 perpendicular to the first direction X1 includes a frame shape. The first-level moving member 13 is sleeved on the support member 11, and the second-level moving member 14 is sleeved on the first-level moving member 13.

[0048] Exemplarily, the shape of the cross-section of the first-level moving member 13 perpendicular to the first direction X1 may include a circular frame, a polygonal frame, an elliptical frame, etc. Exemplarily, the shape of the cross-section of the second-level moving member 14 perpendicular to the first direction X1 may include a circular frame, a polygonal frame, an elliptical frame, etc. For example, as Figure 9 shown, the shape of the cross-section of the first-level moving member 13 perpendicular to the first direction X1 and the shape of the cross-section of the second-level moving member 14 perpendicular to the first direction X1 may both include a rectangular frame. Exemplarily, at least a part of the driving assembly 12 is located in the hollow space of the first-level moving member 13.

[0049] As Figure 5 shown, the first-level moving member 13 has one or more first through slots 130, and the first through slots 130 penetrate the side wall of the first-level moving member 13 in a direction intersecting with the first direction X1. The first end 160 of the first passive belt is connected to the inner wall of the second-level moving member 14, and the second end 161 of the first passive belt passes through the first through slot 130 and is connected to the support member 11.

[0050] Specifically, the angle between the direction intersecting with the first direction X1 and the first direction X1 is greater than 0 degrees and less than 180 degrees. Exemplarily, the first pulley 15, the first passive belt 16, and the first through slot 130 are arranged in one-to-one correspondence. Exemplarily, the first through slot 130 penetrates the side wall of the first-level moving member 13 in a direction perpendicular to the first direction X1.

[0051] As Figure 5 shown, the first-level moving member 13 further has one or more second through slots 131, and the second through slots 131 penetrate the side wall of the first-level moving member 13 in a direction intersecting with the first direction X1. The first end 180 of the second passive belt is connected to the inner wall of the second-level moving member 14, and the second end 181 of the second passive belt passes through the second through slot 131 and is connected to the support member 11.

[0052] Exemplarily, the second pulley 17, the second passive belt 18, and the second through slot 131 are arranged in one-to-one correspondence. Exemplarily, the second through slot 131 penetrates the side wall of the first-level moving member 13 in a direction perpendicular to the first direction X1.

[0053] Exemplarily, the lifting device 10 further includes a shielding frame body, which is disposed on the support member 11. The shielding frame body extends along the first direction X1, and the shape of the cross-section perpendicular to the first direction X1 includes a frame shape. The shielding frame body sleeves at least part of the support member 11 and the primary moving member 13. The shielding frame body can shield and protect at least part of the support member 11 and the primary moving member 13 after the primary moving member 13 and the secondary moving member 14 move along the second direction X2, reducing or avoiding the exposure of the support member 11 and the primary moving member 13. Moreover, the shielding frame body can cooperate with the secondary moving member 14 to form the appearance of the lifting device 10, which is beneficial to improving the integrity of the appearance of the lifting device 10.

[0054] In the lifting device 10 provided in this embodiment, the primary moving member 13 and the secondary moving member 14 that are sequentially sleeved outside the support member 11 have a frame-shaped cross-section perpendicular to the first direction X1. The shapes of the two moving members are not plate-shaped or rod-shaped, which is beneficial to improving the ability of the lifting device 10 to support the humanoid robot body 30, and is convenient for arranging components such as the first pulley 15, the second pulley 17, and sensors on the primary moving member 13.

[0055] In addition, if the support member 11 is sleeved outside the secondary moving member 14, the components for shielding the primary moving member 13 need to move synchronously with the secondary moving member 14, increasing the load of the drive assembly 12. In this embodiment, however, the secondary moving member 14 is sleeved outside the support member 11, which is convenient for the lifting device 10 to set the shielding frame body on the support member 11, and is beneficial to reducing the load of the drive assembly 12.

[0056] Meanwhile, by adding a first through groove 130 and a second through groove 131 to the primary moving member 13, it is convenient to flexibly arrange the first pulley 15 and the second pulley 17 on the primary moving member 13, so that both the first passive belt 16 and the second passive belt 18 can be connected to the secondary moving member 14 and the support member 11 through the through grooves.

[0057] In some embodiments, as Figure 5 and Figure 9 shown, the primary moving member 13 has a first side 132 and a second side 133 that are oppositely arranged along the third direction X3, and a third side 134 and a fourth side 135 that are oppositely arranged along the fourth direction X4. The third direction X3, the fourth direction X4, and the first direction X1 are perpendicular to each other. There is a wire routing space 100 between the drive assembly 12 and the inner wall of the fourth side 135 of the primary moving member 13. Exemplarily, the wire routing space 100 is used to arrange power supply lines, communication lines, etc.

[0058] In some embodiments, referring to Figures 5 to 9, one or more first pulleys 15 are provided on both the first side 132 and the second side 133 of the first-stage moving member 13. The driving assembly 12 is connected to the inner wall of the third side 134 of the first-stage moving member 13, and a plurality of second pulleys 17 are provided on the third side 134 of the first-stage moving member 13. That is to say, pulleys may not be provided on the fourth side 135 of the first-stage moving member 13, so that the space between the driving assembly 12 and the inner wall of the fourth side 135 of the first-stage moving member 13 is vacated, and this space serves as a wiring space 100 for the layout of power supply lines and communication lines inside the humanoid robot 1.

[0059] One or more first pulleys 15 are provided on both the first side 132 and the second side 133 of the first-stage moving member 13, and one or more of the plurality of second pulleys 17 are respectively provided on both sides of the driving assembly 12 along the third direction X3. That is to say, first pulleys 15, first passive belts 16, second pulleys 17 and second passive belts 18 are provided on both sides of the driving assembly 12 along the third direction X3, so that both sides of the second-stage moving member 14 can be stressed when moving along the third direction X3, enabling the second-stage moving member 14 to move smoothly along the first direction X1 and the second direction X2 and avoiding the tremors that are likely to occur during high-speed movement.

[0060] Exemplarily, the humanoid robot 1 may further include a mobile chassis assembly and a power supply assembly. The mobile chassis assembly may be provided on one side of the support member 11 facing the first direction X1. The mobile chassis assembly is used to enable the humanoid robot 1 to move in a direction perpendicular to the first direction X1. The power supply assembly may be provided on the chassis assembly or the support member 11 and is electrically connected to the mobile chassis assembly, the driving assembly 12 and the humanoid robot body 30 to supply electrical energy to the mobile chassis assembly, the driving assembly 12 and the humanoid robot body 30. The humanoid robot body 30 is provided on one side of the second-stage moving member 14 facing the second direction X2, and the power supply line between the power supply assembly and the humanoid robot body 30 may be provided in the wiring space 100.

[0061] Exemplarily, the first axis L1, the second axis and the first direction X1 are perpendicular to each other.

[0062] The lifting device 10 provided in this embodiment may not be provided with pulleys on the fourth side 135 of the first-level moving member 13, so that the space between the driving assembly 12 and the inner wall of the fourth side 135 of the first-level moving member 13 is vacated. This space serves as a wire routing space 100 for the arrangement of power supply lines, communication lines, etc. inside the humanoid robot 1. Moreover, first pulleys 15, corresponding first driven belts 16, second pulleys 17, and corresponding second driven belts 18 are provided on both sides of the driving assembly 12 along the third direction X3, so that both sides of the second-level moving member 14 can be stressed when moving along the third direction X3, enabling the second-level moving member 14 to move smoothly along the first direction X1 and the second direction X2 and avoiding the tremors that are likely to occur during high-speed movement. The structure of the lifting device 10 is compact, and the layout of each component is more reasonable.

[0063] In some embodiments, as Figures 5 to 9 shown, one or more second pulleys 17 are provided on both the first side 132 and the second side 133 of the first-level moving member 13. The driving assembly 12 is connected to the inner wall of the third side 134 of the first-level moving member 13. A plurality of first pulleys 15 are provided on the third side 134 of the first-level moving member 13, and one or more of the plurality of first pulleys 15 are respectively provided on both sides of the driving assembly 12 along the third direction X3. This embodiment also realizes that pulleys may not be provided on the fourth side 135 of the first-level moving member 13, and both sides of the second-level moving member 14 can be stressed when moving along the third direction X3, and the movement is stable. For the specific technical effects, reference can be made to the above embodiments and will not be elaborated here.

[0064] In some embodiments, as Figures 5 to 9 shown, the lifting device 10 further includes: a plurality of first guide rails 19, a plurality of first sliders 20, a plurality of second guide rails 21, and a plurality of second sliders 22.

[0065] The first guide rails 19 are provided on the support member 11 and extend along the first direction X1. The first sliders 20 are slidably connected to the first guide rails 19 and are connected to the inner wall of the fourth side 135 of the first-level moving member 13. One or more first guide rails 19 and one or more first sliders 20 are provided on both sides of the driving assembly 12 along the third direction X3. The driving assembly 12, the first guide rails 19 on both sides of the driving assembly 12 along the third direction X3, and the inner wall of the fourth side 135 of the first-level moving member 13 enclose the wire routing space 100.

[0066] Specifically, the first guide rails 19 are located in the hollow space of the first-level moving member 13. Exemplarily, one first guide rail 19 can be provided on both sides of the driving assembly 12 along the third direction X3. Each first guide rail 19 can be slidably connected to a plurality of first sliders 20.

[0067] The second guide rail 21 is disposed on the outer wall of the third side 134 of the first-stage moving member 13 and extends along the first direction X1. The second slider 22 is slidably connected to the second guide rail 21 and is connected to the inner wall of the fourth side 135 of the second-stage moving member 14. One or more second guide rails 21 and one or more second sliders 22 are provided on both sides of the driving assembly 12 along the third direction X3.

[0068] Specifically, the second guide rail 21 is located in the hollow space of the second-stage moving member 14. Exemplarily, one second guide rail 21 can be provided on both sides of the driving assembly 12 along the third direction X3. Each second guide rail 21 can be slidably connected to a plurality of second sliders 22.

[0069] In the lifting device 10 provided in this embodiment, the support member 11 and the first-stage moving member 13 are slidably connected through the first guide rail 19 and the first slider 20, and the first-stage moving member 13 and the second-stage moving member 14 are slidably connected through the second guide rail 21 and the second slider 22, so that the first guide rail 19 and the second guide rail 21 can respectively guide the first-stage moving member 13 and the second-stage moving member 14, which is beneficial to improving the accuracy of the lifting device 10 for driving the humanoid robot body 30 along the first direction X1 and the second direction X2.

[0070] In addition, a plurality of first guide rails 19 and second guide rails 21 are respectively provided on both sides of the lifting device 10 along the fourth direction X4, the support member 11 and the first-stage moving member 13 are slidably connected, and the first-stage moving member 13 and the second-stage moving member 14 are slidably connected, so that the lifting device 10 can withstand a greater overturning moment along the fourth direction X4. At the same time, one or more first guide rails 19 and one or more first sliders 20 and one or more second guide rails 21 and one or more second sliders 22 are provided on both sides of the driving assembly 12 along the third direction X3, so that the lifting device 10 can withstand a greater overturning moment along the third direction X3, enabling the humanoid robot 1 to be applied to application scenarios with a larger load and more complex force conditions. Moreover, one or more first guide rails 19 and one or more first sliders 20 are provided on both sides of the driving assembly 12 along the third direction X3, so as to vacate the space between the driving assembly 12, the first guide rails 19 on both sides of the driving assembly 12 along the third direction X3, and the inner wall of the fourth side 135 of the first-stage moving member 13 to form a wiring space 100.

[0071] In some embodiments, referring to Figures 5 to 9 , when one or more first pulleys 15 are provided on both the first side 132 and the second side 133 of the first-stage moving member 13, the first pulley 15 is rotatably connected to the inner wall of the first side 132 or the second side 133 of the first-stage moving member 13 around the first axis L1, and the second pulley 17 is rotatably connected to the outer wall of the third side 134 of the first-stage moving member 13 around the second axis.

[0072] By rotatably connecting the first pulley 15 provided on the first side 132 and the second side 133 to the inner wall of the first-stage moving member 13, the gap between the first-stage moving member 13 and the second-stage moving member 14 in the third direction X3 can be set to be relatively small, making the structure of the lifting device 10 compact. At the same time, the second guide rail 21 is provided on the outer wall of the third side 134 of the first-stage moving member 13, and the second pulley 17 is rotatably connected to the outer wall of the third side 134 of the first-stage moving member 13 around the second axis, so that the gap between the fourth side 135 of the first-stage moving member 13 and the second-stage moving member 14 in the fourth direction X4 can be set to be relatively small, making the structure of the lifting device 10 more compact, which is beneficial to reducing the size of the lifting device 10 in the direction perpendicular to the first direction X1, so that the lifting device 10 can be closer to the circumferential size of a person's leg.

[0073] Exemplarily, the arrangement of the first pulley 15, the second pulley 17, the first guide rail 19, and the second guide rail 21 is symmetric about a plane perpendicular to the third direction X3.

[0074] In some embodiments, as Figures 5 to 9 shown, when one or more second pulleys 17 are provided on both the first side 132 and the second side 133 of the first-stage moving member 13, the second pulley 17 is rotatably connected to the inner wall of the first side 132 or the second side 133 of the first-stage moving member 13 around the second axis, and the first pulley 15 is rotatably connected to the outer wall of the third side 134 of the first-stage moving member 13 around the first axis L1.

[0075] Similarly, for the lifting device 10 provided in this embodiment, the gap between the first-stage moving member 13 and the second-stage moving member 14 in the third direction X3 can also be set to be relatively small, making the structure of the lifting device 10 compact. The gap between the fourth side 135 of the first-stage moving member 13 and the second-stage moving member 14 in the fourth direction X4 can be set to be relatively small, making the structure of the lifting device 10 more compact, which is beneficial to reducing the size of the lifting device 10 in the direction perpendicular to the first direction X1, so that the lifting device 10 can be closer to the circumferential size of a person's leg.

[0076] In some embodiments, referring to Figure 5 and Figure 9 , when one or more first pulleys 15 are provided on both the first side 132 and the second side 133 of the first-stage moving member 13, the first pulley 15 passes through the first through slot 130, the extending direction of the first end 160 of the first passive belt is parallel to the extending direction of the second end 161 of the first passive belt, the second pulley 17 passes through the second through slot 131, and the extending direction of the first end 180 of the second passive belt is parallel to the extending direction of the second end 181 of the second passive belt.

[0077] Since the first pulleys 15 on the first side 132 and the second side 133 of the first-stage moving member 13 can pass through the first through groove 130, the first side 132 and the second side 133 of the first-stage moving member 13 can be arranged closer to the support member 11, which is beneficial to reducing the size of the lifting device 10 in the third direction X3. Moreover, it also enables the extending direction of the first end 160 of the first driven belt to be parallel to the extending direction of the second end 161 of the first driven belt, which is beneficial to reducing the moving space occupied by the first driven belt 16, making the structure of the lifting device 10 more compact and further beneficial to reducing the size of the lifting device 10 in the third direction X3.

[0078] Since the second pulley 17 can pass through the second through groove 131, along the fourth direction X4, the second-stage moving member 14 can be closer to the second side 133 of the first-stage moving member 13, which is beneficial to reducing the size of the lifting device 10 in the fourth direction X4. Moreover, it also enables the extending direction of the first end 180 of the second driven belt to be parallel to the extending direction of the second end 181 of the second driven belt, which is beneficial to reducing the moving space occupied by the second driven belt 18, making the structure of the lifting device 10 more compact and further beneficial to reducing the size of the lifting device 10 in the fourth direction X4.

[0079] Exemplarily, referring to Figure 5 , in a plane perpendicular to the third direction X3, the orthographic projection of the first through groove 130 encloses the orthographic projection of the first end 160 of the first driven belt and the orthographic projection of the second end 161 of the first driven belt. With this setting, after the second-stage moving member 14 is removed, the situation of the second end 161 of the first driven belt can be viewed through the first through groove 130.

[0080] Exemplarily, referring to Figure 5 , in a plane perpendicular to the fourth direction X4, the orthographic projection of the second through groove 131 encloses the orthographic projection of the first end 180 of the second driven belt and the orthographic projection of the second end 181 of the second driven belt. With this setting, after the second-stage moving member 14 is removed, the situation of the second end 181 of the second driven belt can be viewed through the second through groove 131.

[0081] In some embodiments, as Figure 5 and Figure 9 shown, when one or more second pulleys 17 are provided on both the first side 132 and the second side 133 of the first-stage moving member 13, the second pulley 17 passes through the second through groove 131, the extending direction of the first end 180 of the second driven belt is parallel to the extending direction of the second end 181 of the second driven belt, the first pulley 15 passes through the first through groove 130, and the extending direction of the first end 160 of the first driven belt is parallel to the extending direction of the second end 161 of the first driven belt.

[0082] Similarly, for the lifting device 10 provided in this embodiment, the first side 132 and the second side 133 of the first-level moving member 13 can also be arranged closer to the support member 11, which is beneficial to reducing the size of the lifting device 10 in the third direction X3. Moreover, the extending directions of the first end 160 and the second end 161 of the first passive belt can be parallel, which is beneficial to reducing the moving space occupied by the first passive belt 16, making the structure of the lifting device 10 more compact and further beneficial to reducing the size of the lifting device 10 in the third direction X3. At the same time, along the fourth direction X4, the second-level moving member 14 can be closer to the second side 133 of the first-level moving member 13, which is beneficial to reducing the size of the lifting device 10 in the fourth direction X4. Moreover, the extending directions of the first end 180 and the second end 181 of the second passive belt can be parallel, which is beneficial to reducing the moving space occupied by the second passive belt 18, making the structure of the lifting device 10 more compact and further beneficial to reducing the size of the lifting device 10 in the fourth direction X4.

[0083] In some embodiments, the first-level moving member 13 includes: a first-level moving member main body 136. The first-level moving member main body 136 is connected to the driving assembly 12 and can move along the first direction X1 and the second direction X2 under the drive of the driving assembly 12. The first pulley 15 is rotatably connected to the first-level moving member main body 136 around the first axis L1, and the second pulley 17 is rotatably connected to the first-level moving member main body 136 around the second axis. Exemplarily, the first-level moving member main body 136 extends along the first direction X1, and the shape of the cross-section perpendicular to the first direction X1 includes a frame shape.

[0084] In some embodiments, as Figure 5 shown, the first-level moving member 13 further includes: a first connecting member 137, one or more first fastening members 138, a second connecting member 139, a first screw 1391, and a first abutting member 1392.

[0085] The first connecting member 137 has a fifth side 1370 and a sixth side 1371 that are oppositely arranged along the first direction X1. The first pulley 15 is rotatably connected to the fifth side 1370 around the first axis L1. The sixth side 1371 has one or more first waist-shaped holes 1372 and one or more first threaded holes, and the centerlines of the first waist-shaped holes 1372 and the first threaded holes all extend along the first direction X1.

[0086] The first fastener 138 passes through the first kidney-shaped hole 1372 to fix the first connecting member 137 to the primary moving member body 136. The second connecting member 139 is disposed on the primary moving member body 136 and is located on the sixth side 1371 of the first connecting member 137. The second connecting member 139 has a first through hole, and the center line of the first through hole extends along the first direction X1. The first screw 1391 sequentially passes through the first through hole and the first threaded hole and is screwed with the first threaded hole. The first abutting member 1392 is connected to one end of the first screw 1391 away from the first connecting member 137 and abuts against a side of the second connecting member 139 away from the first connecting member 137.

[0087] Exemplarily, the first fastener 138 is detachably connected to both the first connecting member 137 and the primary moving member body 136. Exemplarily, the first fastener 138 and the first kidney-shaped hole 1372 can be provided in one-to-one correspondence.

[0088] In some application scenarios, first remove the first fastener 138, and rotate the first screw 1391 clockwise or counterclockwise to drive the first connecting member 137 to move the first pulley 15 along the first direction X1 or the second direction X2, so as to tension or relax the first driven belt 16. Exemplarily, after the first driven belt 16 is tensioned, then pass the first fastener 138 through the first kidney-shaped hole 1372 to fix the first connecting member 137 to the primary moving member body 136 to maintain the tightness of the first driven belt 16.

[0089] Exemplarily, the first fastener 138 can include a screw. Exemplarily, the first screw 1391 and the first abutting member 1392 can form a screw. Exemplarily, the fifth side 1370 and the sixth side 1371 are sequentially arranged along the first direction X1. This can prevent the first screw 1391 from being blocked by the first driven belt 16, facilitating the rotation of the first screw 1391.

[0090] The lifting device 10 provided in this embodiment further includes a structure for adjusting the position of the first pulley 15 along the first direction X1 or the second direction X2. By rotating the first screw 1391 in different directions, the position of the first pulley 15 can be adjusted, so that the first driven belt 16 is tensioned or relaxed. The structure is simple, highly reliable and easy to implement.

[0091] In some embodiments, as Figure 6 and Figure 7 shown, the primary moving member 13 further includes: a third connecting member 1393, one or more second fasteners 1397, a fourth connecting member 1398, a second screw 1399 and a second abutting member 1360.

[0092] The third connecting member 1393 has a seventh side 1394 and an eighth side 1395 which are oppositely arranged along the first direction X1. The second pulley 17 is rotatably connected to the seventh side 1394 about a second axis. The eighth side 1395 has one or more second kidney-shaped holes 1396 and a second threaded hole 1373, and the center lines of the second kidney-shaped holes 1396 and the second threaded hole 1373 both extend along the first direction X1. The second fastener 1397 passes through the second kidney-shaped hole 1396 to fix the third connecting member 1393 to the primary moving member body 136.

[0093] The fourth connecting member 1398 is arranged on the primary moving member body 136 and is located on the eighth side 1395 of the third connecting member 1393. The fourth connecting member 1398 has a second through hole 1390, and the center line of the second through hole 1390 extends along the first direction X1. The second screw 1399 sequentially passes through the second through hole 1390 and the second threaded hole 1373 and is screwed with the second threaded hole 1373. The second abutting member 1360 is connected to the end of the second screw 1399 away from the third connecting member 1393 and abuts against the side of the fourth connecting member 1398 away from the third connecting member 1393.

[0094] The third connecting member 1393, the second fastener 1397, the fourth connecting member 1398, the second screw 1399 and the second abutting member 1360 are used to adjust the tightness of the second driven belt 18, and are similar in structure, working principle and technical effect to the first connecting member 137, the first fastener 138, the second connecting member 139, the first screw 1391 and the first abutting member 1392, which will not be elaborated here.

[0095] In some embodiments, as Figure 6 shown, the drive assembly 12 includes: a rotary drive member 120, a lead screw 121 and a nut 122. The rotary drive member 120 is arranged on the support member 11. The lead screw 121 is connected to the rotary drive member 120 and can rotate about the center line of the lead screw 121 under the drive of the rotary drive member 120, and the center line of the lead screw 121 is parallel to the first direction X1. The nut 122 is sleeved on the lead screw 121, is screwed with the lead screw 121, and is connected to the primary moving member 13.

[0096] Exemplarily, the rotary drive member 120 may include a connected motor and a speed reducer. The output end of the speed reducer is connected to the end of the lead screw 121. The motor is arranged on the support member 11.

[0097] Exemplarily, as Figure 7As shown, the drive assembly 12 may further include two nut cushions 123. The two nut cushions 123 are respectively disposed on both sides of the nut 122. The nut cushions 123 can be used to prevent the nut 122 from making a rigid collision with other components during movement. Exemplarily, the two nut cushions 123 can be respectively located at both ends of the moving stroke of the nut 122 for protecting the stroke limit of the nut 122. Exemplarily, the material of the nut cushion 123 may include an elastic material. For example, the nut cushion 123 can be a rubber pad.

[0098] Exemplarily, the lifting device 10 further includes two displacement sensors. The two displacement sensors can be respectively used to detect whether the nut 122 reaches the upper and lower limits of the moving stroke, so as to prevent the nut 122 from exceeding the safe moving range. Exemplarily, the two displacement sensors can be respectively located at both ends of the moving stroke of the nut 122.

[0099] Exemplarily, as Figure 4 shown, the lifting device 10 further includes two in-place detection pieces 24 and two in-place detection sensors 25. The two in-place detection pieces 24 are respectively disposed on one side of the primary moving member 13 facing the first direction X1 and on one side facing the second direction X2. The in-place detection sensor 25 is disposed on the support member 11 for detecting whether the in-place detection piece 24 reaches the detection area of the in-place detection sensor 25. By providing the two in-place detection pieces 24 and the two in-place detection sensors 25, it can be detected whether the primary moving member 13 reaches the upper and lower limits of the moving stroke of the primary moving member 13.

[0100] In the lifting device 10 provided in this embodiment, the drive assembly 12 includes a rotary drive member 120, a lead screw 121, and a nut 122. The lead screw 121 is connected to the rotary drive member 120 and can rotate around the center line of the lead screw 121 under the drive of the rotary drive member 120. The nut 122 is sleeved on the lead screw 121, threadedly connected to the lead screw 121, and connected to the primary moving member 13. When the lead screw 121 rotates, the nut 122 can drive the primary moving member 13 to move along the center line of the lead screw 121, and the continuous change of the displacement of the primary moving member 13 can be realized. The structure is simple, and the control accuracy of the displacement of the secondary moving member 14 is high.

[0101] In some embodiments, as Figure 7 and Figure 8 shown, the primary moving member 13 includes: a primary moving member main body 136, a fifth connecting member 1361, and a sixth connecting member 1362. The primary moving member main body 136 is connected to the drive assembly 12 and can move along the first direction X1 and the second direction X2 under the drive of the drive assembly 12. The first pulley 15 is rotatably connected to the primary moving member main body 136 around the first axis L1, and the second pulley 17 is rotatably connected to the primary moving member main body 136 around the second axis.

[0102] The fifth connecting member 1361 is connected to the nut 122. One side of the fifth connecting member 1361 facing the main body 136 of the first-stage moving member has a groove 1363, and the groove 1363 has a first side wall 1364 and a second side wall 1365 oppositely arranged along the first direction X1. The sixth connecting member 1362 is connected to the main body 136 of the first-stage moving member, extends into the groove 1363 along a direction perpendicular to the first direction X1, and is slidably connected to the first side wall 1364 and the second side wall 1365. Exemplarily, the sixth connecting member 1362 is connected to the third side 134 of the first-stage moving member 13.

[0103] Since the support member 11, the first-stage moving member 13, and the second-stage moving member 14 are usually slidably connected by guide rails and sliders, the number of guide rails is multiple and all need to extend along the first direction X1. By providing the groove 1363 on one side of the fifth connecting member 1361 facing the main body 136 of the first-stage moving member, the sixth connecting member 1362 extends into the groove 1363 along a direction perpendicular to the first direction X1 and is slidably connected to the groove 1363, so that the sixth connecting member 1362 can slide in the groove 1363, thereby preventing the lead screw 121 from being over-positioned by multiple guide rails. The extending direction of the guide rails and the extending direction of the center line of the lead screw 121 do not need to be strictly parallel, reducing the influence of machining errors and assembly errors generated during the machining and assembly processes of the lifting device 10 on the operation of the lifting device 10, making the operation of the lifting device 10 more stable and smooth, and improving the user experience.

[0104] In addition, the groove 1363 has a first side wall 1364 and a second side wall 1365 oppositely arranged along the first direction X1. The sixth connecting member 1362 is connected to the main body 136 of the first-stage moving member, extends into the groove 1363 along a direction perpendicular to the first direction X1, and is slidably connected to the first side wall 1364 and the second side wall 1365, so that the first side wall 1364 and the second side wall 1365 can drive the main body 136 of the first-stage moving member to move along the first direction X1 or the second direction X2.

[0105] At the same time, by providing the fifth connecting member 1361 and the sixth connecting member 1362, it is beneficial to simplify the structures of the first-stage moving member 13 and the nut 122, facilitating the production and processing of the first-stage moving member 13 and the nut 122.

[0106] Exemplarily, as Figure 8 shown, the groove 1363 has a bottom. The bottom faces the sixth connecting member 1362 and has a gap with the bottom along the direction in which the sixth connecting member 1362 extends into the groove 1363.

[0107] In some embodiments, as Figure 3As shown, the lifting device 10 further includes a moving member buffer 23. The moving member buffer 23 is disposed on the support member 11 and is located on the side of the first-stage moving member 13 and the second-stage moving member 14 facing the first direction X1. The moving member buffer 23 can buffer the fall of the first-stage moving member 13 and the second-stage moving member 14 when the drive assembly 12 loses control and the first passive belt 16 or the second passive belt 18 breaks, thereby protecting the first-stage moving member 13 and the second-stage moving member 14.

[0108] Exemplarily, the material of the moving member buffer 23 may include an elastic material. For example, the moving member buffer 23 may be a rubber pad.

[0109] An embodiment of the present application also provides a humanoid robot 1. The humanoid robot 1 includes a humanoid robot body 30 and the lifting device 10 mentioned in the above embodiment. The side of the second-stage moving member 14 of the lifting device 10 facing the second direction X2 is used to dispose the humanoid robot body 30.

[0110] Since the humanoid robot 1 includes the lifting device 10, the robot 40 has all the technical features and technical effects of the lifting device 10, which will not be elaborated here.

[0111] The block diagrams of the devices, apparatuses, equipment, and systems involved in the present application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "provided with", "having", etc. are open-ended words, meaning "including but not limited to", and can be used interchangeably with each other. The word "or" and "and" used herein refer to the word "and / or" and can be used interchangeably with each other unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to" and can be used interchangeably with each other.

[0112] It should also be noted that in the devices, equipment, and methods of the present application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of the present application.

[0113] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be very obvious to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

[0114] The foregoing description has been presented for purposes of illustration and description. In addition, this description is not intended to limit embodiments of the present application to the form disclosed herein. Although several example aspects and embodiments have been discussed above, those skilled in the art will recognize some of their variations, modifications, alterations, additions, and subcombinations.

Claims

1. A lifting device, characterized in that, Applied to a humanoid robot, the humanoid robot includes a humanoid robot body, and the lifting device includes: A support member; A driving assembly disposed on the support member; A first-level moving member connected to the driving assembly and capable of moving along a first direction and a second direction under the drive of the driving assembly, the first direction and the second direction being opposite to each other; A second-level moving member, one side of the second-level moving member facing the second direction is used to dispose the humanoid robot body; One or more first pulleys disposed on the first-level moving member and rotatably connected to the first-level moving member about a first axis, the first axis being perpendicular to the first direction; One or more first passive belts, a first end of the first passive belt is connected to the second-level moving member, and a second end of the first passive belt bypasses a side of the first pulley facing the first direction and is connected to the support member; One or more second pulleys disposed on the first-level moving member and rotatably connected to the first-level moving member about a second axis, the second axis being perpendicular to the first direction; One or more second passive belts, a first end of the second passive belt is connected to the second-level moving member, and a second end of the second passive belt bypasses a side of the second pulley facing the second direction and is connected to the support member.

2. The lifting device according to claim 1, wherein The first-level moving member extends along the first direction, and the shape of a cross-section of the first-level moving member in a direction perpendicular to the first direction includes a frame shape. The second-level moving member extends along the first direction, and the shape of a cross-section of the second-level moving member in a direction perpendicular to the first direction includes a frame shape. The first-level moving member is sleeved on the support member, and the second-level moving member is sleeved on the first-level moving member; The first-level moving member has one or more first through slots, the first through slots penetrate through the side wall of the first-level moving member along a direction intersecting with the first direction, a first end of the first passive belt is connected to the inner wall of the second-level moving member, and a second end of the first passive belt passes through the first through slot and is connected to the support member; The first-level moving member further has one or more second through slots, the second through slots penetrate through the side wall of the first-level moving member along a direction intersecting with the first direction, a first end of the second passive belt is connected to the inner wall of the second-level moving member, and a second end of the second passive belt passes through the second through slot and is connected to the support member.

3. The lifting device according to claim 2, wherein, The first-level moving member has a first side and a second side oppositely disposed along a third direction, and a third side and a fourth side oppositely disposed along a fourth direction, the third direction, the fourth direction and the first direction are perpendicular to each other, and there is a wire routing space between the driving assembly and the inner wall of the fourth side of the first-level moving member; Wherein, one or more of the first pulleys are provided on both the first side and the second side of the first-level moving member, the driving assembly is connected to the inner wall of the third side of the first-level moving member, a plurality of the second pulleys are provided on the third side of the first-level moving member, and one or more of the plurality of second pulleys are respectively provided on both sides of the driving assembly along the third direction; and / or, one or more of the second pulleys are provided on both the first side and the second side of the first-level moving member, the driving assembly is connected to the inner wall of the third side of the first-level moving member, a plurality of the first pulleys are provided on the third side of the first-level moving member, and one or more of the plurality of first pulleys are respectively provided on both sides of the driving assembly along the third direction.

4. The lifting device according to claim 3, characterized in that, Further comprising: A plurality of first guide rails, which are provided on the support member and extend along the first direction; A plurality of first sliders, which are slidably connected to the first guide rails and connected to the inner wall of the fourth side of the first-level moving member. One or more of the first guide rails and one or more of the first sliders are provided on both sides of the driving assembly along the third direction. The driving assembly, the first guide rails on both sides of the driving assembly along the third direction, and the inner wall of the fourth side of the first-level moving member enclose the wire routing space; A plurality of second guide rails, which are provided on the outer wall of the third side of the first-level moving member and extend along the first direction; A plurality of second sliders, which are slidably connected to the second guide rails and connected to the inner wall of the fourth side of the second-level moving member. One or more of the second guide rails and one or more of the second sliders are provided on both sides of the driving assembly along the third direction.

5. The lifting device according to claim 4, wherein When one or more of the first pulleys are provided on both the first side and the second side of the first-level moving member, the first pulley is rotatably connected to the inner wall of the first side or the second side of the first-level moving member around the first axis, and the second pulley is rotatably connected to the outer wall of the third side of the first-level moving member around the second axis; When one or more of the second pulleys are provided on both the first side and the second side of the first-level moving member, the second pulley is rotatably connected to the inner wall of the first side or the second side of the first-level moving member around the second axis, and the first pulley is rotatably connected to the outer wall of the third side of the first-level moving member around the first axis.

6. The lifting device according to claim 5, wherein When one or more of the first pulleys are provided on both the first side and the second side of the first-level moving member, the first pulley passes through the first through slot, the extending direction of the first end of the first passive belt is parallel to the extending direction of the second end of the first passive belt, the second pulley passes through the second through slot, and the extending direction of the first end of the second passive belt is parallel to the extending direction of the second end of the second passive belt; and / or, When one or more of the second pulleys are provided on both the first side and the second side of the first-level moving member, the second pulley passes through the second through slot, the extending direction of the first end of the second driven belt is parallel to the extending direction of the second end of the second driven belt, the first pulley passes through the first through slot, and the extending direction of the first end of the first driven belt is parallel to the extending direction of the second end of the first driven belt.

7. The lifting device according to any one of claims 1 to 6, characterized in that, The first-level moving member includes: a first-level moving member main body, connected to the driving assembly and capable of moving along the first direction and the second direction under the driving of the driving assembly, the first pulley is rotatably connected to the first-level moving member main body around the first axis, and the second pulley is rotatably connected to the first-level moving member main body around the second axis; Wherein, The first-level moving member further includes: A first connecting member having a fifth side and a sixth side oppositely arranged along the first direction, the first pulley is rotatably connected to the fifth side around the first axis, the sixth side has one or more first kidney-shaped holes and first threaded holes, and the center lines of the first kidney-shaped holes and the first threaded holes all extend along the first direction; One or more first fasteners, the first fasteners pass through the first kidney-shaped holes to fix the first connecting member to the first-level moving member main body; A second connecting member, arranged on the first-level moving member main body and located on the sixth side of the first connecting member, the second connecting member has a first through hole, and the center line of the first through hole extends along the first direction; A first screw rod, the first screw rod sequentially passes through the first through hole and the first threaded hole and is screwed with the first threaded hole; A first abutting member, connected to the end of the first screw rod away from the first connecting member and abutting against the side of the second connecting member away from the first connecting member; And / or, The first-level moving member further includes: A third connecting member having a seventh side and an eighth side oppositely arranged along the first direction, the second pulley is rotatably connected to the seventh side around the second axis, the eighth side has one or more second kidney-shaped holes and second threaded holes, and the center lines of the second kidney-shaped holes and the second threaded holes all extend along the first direction; One or more second fasteners, the second fasteners pass through the second kidney-shaped holes to fix the third connecting member to the first-level moving member main body; A fourth connecting member, arranged on the first-level moving member main body and located on the eighth side of the third connecting member, the fourth connecting member has a second through hole, and the center line of the second through hole extends along the first direction; A second screw rod, the second screw rod sequentially passes through the second through hole and the second threaded hole and is screwed with the second threaded hole; A second abutting member, connected to the end of the second screw rod away from the third connecting member and abutting against the side of the fourth connecting member away from the third connecting member.

8. The lifting device according to any one of claims 1 to 6, characterized in that, The driving assembly includes: A rotary driving member, arranged on the support member; A lead screw, connected to the rotary drive member and capable of rotating about the center line of the lead screw under the drive of the rotary drive member, the center line of the lead screw being parallel to the first direction; A nut, sleeved on the lead screw, threadedly connected to the lead screw, and connected to the primary moving member.

9. The lifting device according to claim 8, wherein, The primary moving member includes: A primary moving member body, connected to the drive assembly and capable of moving along the first direction and the second direction under the drive of the drive assembly. The first pulley is rotatably connected to the primary moving member body about the first axis, and the second pulley is rotatably connected to the primary moving member body about the second axis; A fifth connecting member, connected to the nut. One side of the fifth connecting member facing the primary moving member body has a groove, and the groove has a first side wall and a second side wall oppositely arranged along the first direction; A sixth connecting member, connected to the primary moving member body, extending into the groove in a direction perpendicular to the first direction, and slidably connected to the first side wall and the second side wall.

10. A humanoid robot, characterized in that, It includes: A humanoid robot body; The lifting device according to any one of claims 1 to 9, wherein one side of the secondary moving member of the lifting device facing the second direction is used to arrange the humanoid robot body.

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