Lifting devices and humanoid robots

Abstract

This application relates to the field of robotics, and more particularly to a lifting device and a humanoid robot, to address the problem of the humanoid robot's overall appearance differing greatly from the natural human form, resulting in a poor user experience. In this lifting device, a drive assembly drives a primary moving component to move along a first direction or a second direction. A secondary moving component, under the action of a first pulley and a first passive belt, moves along the first direction at twice the speed of the primary moving component, and under the action of a second pulley and a second passive belt, moves along the second direction at twice the speed of the primary moving component. This allows the size of the lifting device along the second direction to be changed, and the humanoid robot body can be positioned on the side of the secondary moving component facing the second direction, making the overall appearance of the humanoid robot closer to the natural human form. Furthermore, the double-speed movement of the secondary moving component along both the first and second directions can be achieved under the pull of the passive belt, making the double-speed movement of the secondary moving component smoother and more reliable.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a lifting device and a humanoid robot. Background Technology

[0002] With the rapid advancement of science and technology, robotics, as a key branch of modern technology, is developing at an unprecedented pace. Liftable humanoid robots, as an important application of robotics, are demonstrating enormous application potential in numerous fields such as industrial manufacturing, service industries, scientific research, and home entertainment. Liftable humanoid robots typically consist of a lifting mechanism and the humanoid robot body.

[0003] However, the humanoid robot body is often located on the side of the lifting mechanism. Although this design achieves the robot's lifting function in terms of structure, the robot's overall appearance is far removed from the natural human form, making it difficult for users to have a visually approachable human feeling. This reduces users' sense of identification with the robot's anthropomorphism and results in a poor user experience. Summary of the Invention

[0004] In view of this, embodiments of this 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, resulting in a poor user experience.

[0005] One embodiment of this application provides a lifting device applied to a humanoid robot. The humanoid robot includes a humanoid robot body. The lifting device includes: a support member; a drive assembly disposed on the support member; a primary moving member connected to the drive assembly and capable of moving along a first direction and a second direction under the drive of the drive assembly, the first direction and the second direction being opposite; a secondary moving member, the side of the secondary moving member facing the second direction being used to mount the humanoid robot body; one or more first pulleys disposed on the primary moving member and rotatably connected to the primary moving member about a first axis, the first axis being perpendicular to the first direction; one or more first passive belts, the first end of the first passive belts being connected to the secondary moving member, and the second end of the first passive belts bypassing the side of the first pulleys facing the first direction and being connected to the support member; one or more second pulleys disposed on the primary moving member and rotatably connected to the primary moving member about a second axis, the second axis being perpendicular to the first direction; one or more second passive belts, the first end of the second passive belts being connected to the secondary moving member, and the second end of the second passive belts bypassing the side of the second pulleys facing the second direction and being connected to the support member.

[0006] In some implementations, a primary moving member extends along a first direction, and the cross-sectional shape of the primary moving member perpendicular to the first direction includes a frame shape. A secondary moving member extends along the first direction, and the cross-sectional shape of the secondary moving member perpendicular to the first direction also includes a frame shape. The primary moving member is fitted onto a support member, and the secondary moving member is fitted onto the primary moving member. The primary moving member has one or more first through slots that penetrate the sidewall of the primary moving member in a direction intersecting the first direction. A first end of a first passive belt is connected to the inner wall of the secondary moving member, and a second end of the first passive belt passes through the first through slot and connects to the support member. The primary moving member also has one or more second through slots that penetrate the sidewall of the primary moving member in a direction intersecting the first direction. A first end of a second passive belt is connected to the inner wall of the secondary moving member, and a second end of the second passive belt passes through the second through slot and connects to the support member.

[0007] In some implementations, the primary moving member has a first side and a second side arranged opposite each other along a third direction, and a third side and a fourth side arranged opposite each other along a fourth direction, wherein the third direction, the fourth direction, and the first direction are perpendicular to each other, and the driving component has a wiring space with the inner wall of the fourth side of the primary moving member; wherein, the first side and the second side of the primary moving member are each provided with one or more first pulleys, the driving component is connected to the inner wall of the third side of the primary moving member, a plurality of second pulleys are provided on the third side of the primary moving member, and one or more of the plurality of second pulleys are respectively provided on both sides of the driving component along the third direction; and / or, the first side and the second side of the primary moving member are each provided with one or more second pulleys, the driving component is connected to the inner wall of the third side of the primary moving member, a plurality of first pulleys are provided on the third side of the primary moving member, and one or more of the plurality of first pulleys are respectively provided on both sides of the driving component along the third direction.

[0008] In some implementations, the lifting device further includes: a plurality of first guide rails, the first guide rails being disposed on the support member and extending along a first direction; a plurality of first sliders, the first sliders being slidably connected to the first guide rails and connected to the inner wall of the fourth side of the primary moving member, the driving component having one or more first guide rails and one or more first sliders on both sides along a third direction, the driving component, the first guide rails located on both sides of the driving component along a third direction, and the inner wall of the fourth side of the primary moving member forming a wiring space; a plurality of second guide rails, the second guide rails being disposed on the outer wall of the third side of the primary moving member and extending along the first direction; a plurality of second sliders, the second sliders being slidably connected to the second guide rails and connected to the inner wall of the fourth side of the secondary moving member, the driving component having one or more second guide rails and one or more second sliders on both sides along a third direction.

[0009] In some implementations, when one or more first pulleys are provided on both the first and second sides of the primary moving member, the first pulleys are rotatably connected to the inner wall of the first or second side of the primary moving member about a first axis, and the second pulleys are 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 and second sides of the primary moving member, the second pulleys are rotatably connected to the inner wall of the first or second side of the primary moving member about a second axis, and the first pulleys are 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 and second sides of the primary moving member, the first pulley passes through the first through groove, the extension direction of the first end of the first passive belt is parallel to the extension direction of the second end of the first passive belt, and the second pulley passes through the second through groove, the extension direction of the first end of the second passive belt is parallel to the extension direction of the second end of the second passive belt; and / or, when one or more second pulleys are provided on both the first and second sides of the primary moving member, the second pulley passes through the second through groove, the extension direction of the first end of the second passive belt is parallel to the extension direction of the second end of the second passive belt, and the first pulley passes through the first through groove, the extension direction of the first end of the first passive belt is parallel to the extension direction of the second end of the first passive belt.

[0011] In some implementations, the primary moving member includes: a primary moving member body connected to a 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 primary moving member body about a first axis; and a second pulley rotatably connected to the primary moving member body about a second axis. The primary moving member further includes: a first connecting member having a fifth side and a sixth side oppositely disposed along the first direction; the first pulley rotatably connected to the fifth side about the first axis; the sixth side having one or more first oblong holes and a first threaded hole, the center lines of which extend along the first direction; one or more first fasteners passing through the first oblong holes to fix the first connecting member to the primary moving member body; a second connecting member disposed on the primary moving member body and located on the sixth side of the first connecting member; the second connecting member having a first through hole, the center line of which extends along the first direction; and a first screw, which sequentially passes through the first through hole and the first threaded hole, and is connected to the first... The primary moving member includes: a threaded hole connection; a first abutment member connected to the end of the first screw 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 primary moving member further includes: a third connecting member having a seventh side and an eighth side oppositely arranged along a first direction, a second pulley rotatably connected to the seventh side about a second axis, the eighth side having one or more second oblong holes and a second threaded hole, the center lines of the second oblong holes and the second threaded holes extending along the first direction; one or more second fasteners passing through the second oblong holes to fix the third connecting member to the primary moving member body; a fourth connecting member disposed on the primary moving member body and located on the eighth side of the third connecting member, the fourth connecting member having a second through hole, the center line of the second through hole extending along the first direction; a second screw, the second screw sequentially passing through the second through hole and the second threaded hole and threadedly connected to the second threaded hole; a second abutment member connected to the end of the second screw away from the third connecting member and abutting against the side of the fourth connecting member away from the third connecting member.

[0012] In some implementations, the drive assembly includes: a rotary drive member disposed 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 a first direction; and a nut sleeved on the lead screw, screwed to the lead screw, and connected to a primary moving member.

[0013] In some implementations, the primary moving member includes: a primary moving member body connected to a 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 primary moving member body about a first axis; a second pulley rotatably connected to the primary moving member body about a second axis; a fifth connecting member connected to a nut, the fifth connecting member having a groove on the side facing the primary moving member body, the groove having a first sidewall and a second sidewall disposed opposite to each other along the first direction; and 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 sidewall and the second sidewall.

[0014] Secondly, one embodiment of this application provides a humanoid robot, including: a humanoid robot body; and the lifting device mentioned in the first aspect, wherein the side of the secondary moving part of the lifting device facing the second direction is used to set the humanoid robot body.

[0015] The lifting device provided in this embodiment includes a drive assembly that can drive a primary moving member to move relative to a support member along a first or second direction. A first pulley and a second pulley are rotatably connected to the primary moving member. A first end of a first passive belt is connected to a secondary moving member, and a second end of the first passive belt, passing over the first pulley on its first-direction-facing side, is connected to the support member. Similarly, a first end of a second passive belt is connected to the secondary moving member, and a second end of the second passive belt, passing over the second pulley on its second-direction-facing side, is connected to the support member. When the primary moving member moves, the secondary moving member can move in the same direction as the primary moving member and at twice the speed of the primary moving member. This allows the lifting device to meet the movement range requirements of the humanoid robot body while allowing its size along the second direction to be changed. Furthermore, when the secondary moving member is not moving along the second direction, the size of the lifting device along the second direction can be set smaller, allowing the humanoid robot body to be positioned on the second-direction-facing side of the secondary moving member. The lifting device can serve as the legs of the humanoid robot, making its overall appearance closer to the natural form of a human, increasing user identification with the anthropomorphic robot, and enhancing the user experience.

[0016] Furthermore, the secondary moving component can move at twice the speed of the primary moving component along the first direction under the action of the first pulley and the first passive belt, and move at twice the speed of the primary moving component along the second direction under the action of the second pulley and the second passive belt. This allows the secondary moving component to move at twice the speed of the primary moving component along both the first and second directions under the pull of the passive belt. When moving along the first direction, it can rely not only on the weight of the secondary moving component itself, making the double-speed movement of the secondary moving component more stable and reliable. This is beneficial to increasing the stability and reliability of the humanoid robot when carrying items, and also to increasing the load capacity of the humanoid robot. Attached Figure Description

[0017] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0018] Figure 1 The diagram shown is a structural schematic of a lifting device provided in an embodiment of this application.

[0019] Figure 2 The diagram shown is a structural schematic of a humanoid robot provided in an embodiment of this application.

[0020] Figure 3 The diagram shown is a structural schematic of a lifting device provided in an embodiment of this application after the primary moving member and the secondary moving member have moved along the second direction.

[0021] Figure 4 The diagram shown is a structural schematic of a lifting device provided in another embodiment of this application after the primary moving member and the secondary moving member have moved along the second direction.

[0022] Figure 5 The diagram shown is a structural schematic of a primary moving member, a first pulley, a second pulley, a first passive belt, and a second passive belt provided in an embodiment of this application.

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

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

[0025] Figure 8 The image shown is an embodiment provided by this application. Figure 7 Enlarged schematic diagram of the structure at point C.

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

[0027] Figure label:

[0028] 1. Humanoid robot; 10. Lifting device; 100. Cable routing space; 11. Support component; 12. Drive assembly; 120. Rotary drive component; 121. Lead screw; 122. Nut; 123. Nut buffer pad; 13. Primary moving component; 130. First through slot; 131. Second through slot; 132. First side; 133. Second side; 134. Third side; 135. Fourth side; 136. Primary moving component body; 13 60. Second abutment; 1361. Fifth connector; 1362. Sixth connector; 1363. Groove; 1364. First sidewall; 1365. Second sidewall; 137. First connector; 1370. Fifth sidewall; 1371. Sixth sidewall; 1372. First oblong hole; 1373. Second threaded hole; 138. First fastener; 139. Second connector; 1390. Second through hole; 1391. First threaded hole 1392. Rod; 1393. First abutment; 1394. Third connector; 1395. Seventh side; 1396. Eighth side; 1397. Second waist-shaped hole; 1398. Second fastener; 1399. Fourth connector; 1390. Second screw; 14. Secondary moving part; 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 part buffer pad; 24. Position 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

[0029] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0030] With the rapid advancement of science and technology, robotics, as a key branch of modern technology, is developing at an unprecedented pace. Liftable humanoid robots, as an important application of robotics, are demonstrating enormous application potential in numerous fields such as industrial manufacturing, service industries, scientific research, and home entertainment. Liftable humanoid robots typically consist of a lifting mechanism and the humanoid robot body.

[0031] However, the height of the lifting mechanism (such as the lifting structure formed by the lead screw and nut) is usually fixed. To meet the needs of production operations at different heights and ensure the range of movement of the humanoid robot, the lifting mechanism is typically positioned relatively high, and the humanoid robot can only be located on the side of the lifting mechanism, not on top. While this design achieves the robot's lifting function structurally, the robot's overall appearance differs greatly from the natural human form, making it difficult to give users a visually human-like impression. This reduces users' sense of identification with the robot's anthropomorphism, resulting in a poor user experience.

[0032] To address the aforementioned problems, this application provides a lifting device applied to a humanoid robot. The humanoid robot includes a humanoid robot body, and the lifting device includes: a support member; a drive assembly disposed on the support member; a primary moving member connected to the drive assembly and capable of moving along a first direction and a second direction under the drive of the drive assembly, the first direction and the second direction being opposite; a secondary moving member, the side of the secondary moving member facing the second direction being used to mount the humanoid robot body; one or more first pulleys disposed on the primary moving member and rotatably connected to the primary moving member about a first axis, the first axis being perpendicular to the first direction; one or more first passive belts, the first end of the first passive belts being connected to the secondary moving member, and the second end of the first passive belts bypassing the side of the first pulleys facing the first direction and connecting to the support member; one or more second pulleys disposed on the primary moving member and rotatably connected to the primary moving member about a second axis, the second axis being perpendicular to the first direction; and one or more second passive belts, the first end of the second passive belts being connected to the secondary moving member, and the second end of the second passive belts bypassing the side of the second pulleys facing the second direction and connecting to the support member.

[0033] The lifting device provided in this application embodiment includes a drive component that can drive a primary moving member to move relative to a support member along a first or second direction. A first pulley and a second pulley are rotatably connected to the primary moving member. A first end of a first passive belt is connected to a secondary moving member, and a second end of the first passive belt, passing over the first pulley on its first-direction-facing side, is connected to the support member. Similarly, a first end of a second passive belt is connected to the secondary moving member, and a second end of the second passive belt, passing over the second pulley on its second-direction-facing side, is connected to the support member. When the primary moving member moves, the secondary moving member can move in the same direction as the primary moving member and at twice the speed of the primary moving member. This allows the lifting device to meet the movement range requirements of the humanoid robot body while allowing its size along the second direction to be changed. Furthermore, when the secondary moving member is not moving along the second direction, the size of the lifting device along the second direction can be set smaller, allowing the humanoid robot body to be positioned on the second-direction-facing side of the secondary moving member. The lifting device can serve as the legs of the humanoid robot, making its overall appearance closer to the natural form of a human, increasing user identification with the anthropomorphic robot, and enhancing the user experience.

[0034] Furthermore, the secondary moving component can move at twice the speed of the primary moving component along the first direction under the action of the first pulley and the first passive belt, and move at twice the speed of the primary moving component along the second direction under the action of the second pulley and the second passive belt. This allows the secondary moving component to move at twice the speed of the primary moving component along both the first and second directions under the pull of the passive belt. When moving along the first direction, it can rely not only on the weight of the secondary moving component itself, making the double-speed movement of the secondary moving component more stable and reliable. This is beneficial to increasing the stability and reliability of the humanoid robot when carrying items, and also to increasing the load capacity of the humanoid robot.

[0035] The specific structure of the lifting device and the humanoid robot is described below with reference to the accompanying drawings and specific embodiments.

[0036] Figure 1 The diagram shown is a structural schematic of a lifting device provided in an embodiment of this application. Figure 2 The diagram shown is a structural schematic of a humanoid robot provided in an embodiment of this application. Figure 3 The diagram shown is a structural schematic of a lifting device provided in an embodiment of this application after the primary moving member and the secondary moving member have moved along the second direction. Figure 4 The diagram shown is a structural schematic of a lifting device provided in another embodiment of this application after the primary moving member and the secondary moving member have moved along the second direction. Figure 5 The diagram shown is a structural schematic of a primary moving member, a first pulley, a second pulley, a first passive belt, and a second passive belt provided in an embodiment of this application. Figure 6 The image shown is an embodiment provided by this application. Figure 3A cross-sectional view of the lifting device along line AA. Figure 7 The image shown is an embodiment provided by this application. Figure 6 A cross-sectional view of the lifting device along line BB. Figure 8 The image shown is an embodiment provided by this application. Figure 7 Enlarged schematic diagram of the structure at point C. Figure 9 The image shown is an embodiment provided by this application. Figure 3 A cross-sectional view of the lifting device along line DD.

[0037] like 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 humanoid robot body 30 to rise and fall, so that the robot 1 can move goods, serve users, or interact with users within its range of motion. Exemplarily, the humanoid robot body 30 may include a half-body humanoid robot. For example, the humanoid robot body 30 may include a connected torso assembly, arm assembly, robotic hand, and head and neck assembly.

[0038] The lifting device 10 includes: a support member 11, a drive assembly 12, a primary moving member 13, a secondary 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.

[0039] A drive assembly 12 is disposed on a support member 11. A primary moving member 13 is connected to the drive assembly 12 and is capable of moving 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 secondary moving member 14 facing the second direction X2 is used to mount 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 secondary moving member 14 is used to mount the humanoid robot body 30. Exemplarily, the drive assembly 12 can include one or more combinations of the following drive structures: gear set, sprocket chain, lead screw guide rail, power cylinder, motor, and crank slider. Exemplarily, both the primary moving member 13 and the secondary moving member 14 can be moving rods, moving frames, or moving boxes, etc.

[0040] One or more first pulleys 15 are disposed on and rotatably connected to the primary moving member 13 about a first axis L1, which is perpendicular to the first direction X1. A first end 160 of a first passive belt is connected to a secondary moving member 14, and a second end 161 of the first passive belt passes over the side of the first pulley 15 facing the first direction X1 and connects to a support member 11. Specifically, the first passive belt 16 contacts the side of the first pulley 15 facing the first direction X1.

[0041] In some application scenarios, the drive assembly 12 drives the primary moving member 13 to move relative to the support member 11 along the first direction X1 at a first speed, and the first pulley 15 also moves relative to the support member 11 along the first direction X1 at a first speed. Since the first passive belt 16 passes around 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 support member 11, the first pulley 15 applies a force along the first direction X1 to the first passive belt 16, so that the first end 160 of the first passive belt applies a force along the first direction X1 to the secondary moving member 14, and the secondary moving member 14 moves relative to the support member 11 along the first direction X1 at twice the first speed.

[0042] One or more second pulleys 17 are disposed on the primary moving member 13 and 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 passes over the side of the second pulley 17 facing the second direction X2 and connects to the support member 11. Specifically, the second passive belt 18 contacts the side of the second pulley 17 facing the second direction X2.

[0043] In some application scenarios, the drive assembly 12 drives the primary moving member 13 to move relative to the support member 11 along the second direction X2 at a second speed, and the second pulley 17 also moves relative to the support member 11 along the second direction X2 at a second speed. Since the second passive belt 18 passes around the side of the second pulley 17 facing the second direction X2, and its two ends are connected to the secondary moving member 14 and the support member 11 respectively, the second pulley 17 applies a force along the second direction X2 to the second passive belt 18, so that the first end 180 of the second passive belt applies a force along the second direction X2 to the secondary moving member 14, and the secondary moving member 14 moves relative to the support member 11 along the second direction X2 at twice the second speed.

[0044] For example, the first pulley 15 is located on the side of the second pulley 17 facing the first direction X1. This arrangement helps to increase the range of motion of the secondary moving member 14.

[0045] For example, the circumferential surfaces of the first pulley 15 and the second pulley 17 can be smooth curved surfaces or have multiple meshing teeth. For example, the surfaces of the first driven belt 16 and the second driven belt 18 facing their respective pulleys can be smooth surfaces or have meshing teeth. For example, the circumferential surfaces of the first pulley 15 and the second pulley 17 can have meshing teeth, and the surfaces of the first driven belt 16 and the second driven belt 18 facing their respective pulleys also have meshing teeth. The driven belts cooperate with the pulleys to achieve precise transmission, thereby precisely controlling the movement of the secondary moving member 14.

[0046] The lifting device 10 provided in this embodiment has a driving component 12 that can drive a primary moving member 13 to move relative to a support member 11 along a first direction X1 or a second direction X2. A first pulley 15 and a second pulley 17 are rotatably connected to the primary moving member 13. The first end 160 of the first passive belt is connected to the secondary moving member 14. The second end 161 of the first passive belt passes around 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 secondary moving member 14. The second end 181 of the second passive belt passes around the side of the second pulley 17 facing the second direction X2 and is connected to the support member 11. When the primary moving member 13 moves, the secondary moving member 14 can move in the same direction as the primary moving member 13 and at twice the speed of the primary moving member 13. This allows the lifting device 10 to meet the movement range requirements of the humanoid robot body 30 while also allowing its size along the second direction X2 to change. Furthermore, when the secondary moving member 14 is not moving along the second direction X2, the size of the lifting device 10 along the second direction X2 can be set to be smaller, allowing the humanoid robot body 30 to be positioned on the side of the secondary moving member 14 facing the second direction X2. The lifting device 10 can serve as the legs of the humanoid robot 1, making the overall appearance of the humanoid robot 1 closer to the natural form of a human, increasing users' sense of identification with the anthropomorphic robot, and improving the user experience.

[0047] Furthermore, the secondary moving component 14 can move along the first direction X1 at twice the speed of the primary moving component 13 under the action of the first pulley 15 and the first passive belt 16, and move along the second direction X2 at twice the speed of the primary moving component 13 under the action of the second pulley 17 and the second passive belt 18. This allows the secondary moving component 14 to move at twice the speed of the primary moving component 13 along both the first and second directions X1 and X2, both of which can be achieved under the pull of the passive belt. When moving along the first direction X1, it can rely not only on the weight of the secondary moving component 14 itself, making the double-speed movement of the secondary moving component 14 more stable and reliable. This is beneficial to increasing the stability and reliability of the humanoid robot 1 when carrying items, and also to increasing the load capacity of the humanoid robot 1.

[0048] In some embodiments, such as Figure 3 , Figure 5 and Figure 9 As shown, the primary moving member 13 extends along the first direction X1, and the cross-sectional shape of the primary moving member 13 perpendicular to the first direction X1 includes a frame shape. The secondary moving member 14 extends along the first direction X1, and the cross-sectional shape of the secondary moving member 14 perpendicular to the first direction X1 includes a frame shape. The primary moving member 13 is fitted onto the support member 11, and the secondary moving member 14 is fitted onto the primary moving member 13.

[0049] For example, the shape of the cross-section of the primary moving member 13 perpendicular to the first direction X1 may include a circular frame, a polygonal frame, an elliptical frame, etc. For example, the shape of the cross-section of the secondary moving member 14 perpendicular to the first direction X1 may include a circular frame, a polygonal frame, an elliptical frame, etc. Figure 9 As shown, the shape of the cross-section of the primary moving member 13 perpendicular to the first direction X1 and the shape of the cross-section of the secondary moving member 14 perpendicular to the first direction X1 can both include a rectangular frame. Exemplarily, at least a portion of the drive assembly 12 is located in the hollow space of the primary moving member 13.

[0050] like Figure 5 As shown, the primary moving member 13 has one or more first through slots 130, which penetrate the sidewall of the primary moving member 13 in a direction intersecting the first direction X1. The first end 160 of the first passive belt is connected to the inner wall of the secondary 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.

[0051] Specifically, the angle between the direction intersecting the first direction X1 and the first direction X1 is greater than 0 degrees and less than 180 degrees. For example, the first pulley 15, the first passive belt 16, and the first through groove 130 are provided in a one-to-one correspondence. For example, the first through groove 130 penetrates the side wall of the primary moving member 13 in a direction perpendicular to the first direction X1.

[0052] like Figure 5 As shown, the primary moving member 13 also has one or more second through slots 131, which penetrate the side wall of the primary moving member 13 in a direction intersecting the first direction X1. The first end 180 of the second passive belt is connected to the inner wall of the secondary 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.

[0053] For example, the second pulley 17, the second passive belt 18, and the second through groove 131 are provided in a one-to-one correspondence. For example, the second through groove 131 penetrates the side wall of the primary moving member 13 in a direction perpendicular to the first direction X1.

[0054] Exemplarily, the lifting device 10 also includes a shielding frame disposed on the support member 11. The shielding frame extends along a first direction X1 and has a frame-like shape in its cross-section perpendicular to the first direction X1. The shielding frame is fitted over at least a portion of the support member 11 and the primary moving member 13. The shielding frame can shield and protect at least a portion 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 a second direction X2, reducing or preventing the support member 11 and the primary moving member 13 from being exposed. Furthermore, the shielding frame can cooperate with the secondary moving member 14 to form the appearance of the lifting device 10, which helps to improve the overall appearance of the lifting device 10.

[0055] The lifting device 10 provided in this embodiment has a frame-shaped cross-section on the first direction X1 of the first moving part 13 and the second moving part 14, which are sequentially sleeved on the outside of the support member 11. The two moving parts are not plate-shaped or rod-shaped, which is beneficial to improving the lifting device 10's ability to support the humanoid robot body 30, and facilitates the installation of components such as the first pulley 15, the second pulley 17, and sensors on the first moving part 13.

[0056] Furthermore, if the support member 11 is fitted outside the secondary moving member 14, the components that shield the primary moving member 13 need to move synchronously with the secondary moving member 14, increasing the load on the drive assembly 12. In this embodiment, the secondary moving member 14 is fitted outside the support member 11, which facilitates the lifting device 10 to set a shielding frame on the support member 11, thus reducing the load on the drive assembly 12.

[0057] Meanwhile, by adding a first through groove 130 and a second through groove 131 to the first-stage moving member 13, it is convenient to flexibly set the first pulley 15 and the second pulley 17 in the first-stage moving member 13, so that the first passive belt 16 and the second passive belt 18 can be connected to the second-stage moving member 14 and the support member 11 through the through groove.

[0058] In some embodiments, such as Figure 5 and Figure 9 As shown, the primary moving member 13 has a first side 132 and a second side 133 disposed opposite each other along a third direction X3, and a third side 134 and a fourth side 135 disposed opposite each other along a fourth direction X4. The third direction X3, the fourth direction X4, and the first direction X1 are perpendicular to each other. The drive assembly 12 and the inner wall of the fourth side 135 of the primary moving member 13 have a wiring space 100. Exemplarily, the wiring space 100 is used to install power supply lines and communication lines, etc.

[0059] In some embodiments, reference Figures 5 to 9Each of the first and second sides 133 of the primary moving member 13 is provided with one or more first pulleys 15. The drive assembly 12 is connected to the inner wall of the third side 134 of the primary moving member 13, and multiple second pulleys 17 are provided on the third side 134 of the primary moving member 13. That is to say, pulleys may not be provided on the fourth side 135 of the primary moving member 13, so that the space between the drive assembly 12 and the inner wall of the fourth side 135 of the primary moving member 13 is left empty. This space serves as a wiring space 100 to facilitate the arrangement of power supply lines and communication lines inside the humanoid robot 1.

[0060] The first side 132 and the second side 133 of the primary moving member 13 are each provided with one or more first pulleys 15, and one or more of the plurality of second pulleys 17 are respectively provided on both sides of the drive assembly 12 along the third direction X3. That is to say, the drive assembly 12 is provided with first pulleys 15, first passive belts 16, second pulleys 17 and second passive belts 18 on both sides along the third direction X3, so that the secondary moving member 14 can be subjected to force on both sides along the third direction X3 when it moves, so that the secondary moving member 14 can move smoothly along the first direction X1 and the second direction X2, avoiding the vibration that is easily caused by high-speed movement.

[0061] For example, the humanoid robot 1 may further include a mobile chassis assembly and a power supply assembly. The mobile chassis assembly may be disposed on the 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 disposed on the chassis assembly or the support member 11 and electrically connected to the mobile chassis assembly, the drive assembly 12 and the humanoid robot body 30 to provide power to the mobile chassis assembly, the drive assembly 12 and the humanoid robot body 30. The humanoid robot body 30 is disposed on the side of the secondary moving member 14 facing the second direction X2, and the power supply lines between the power supply assembly and the humanoid robot body 30 may be disposed in the wiring space 100.

[0062] For example, the first axis L1, the second axis, and the first direction X1 are perpendicular to each other.

[0063] The lifting device 10 provided in this embodiment does not require a pulley on the fourth side 135 of the primary moving member 13, thus leaving the space between the drive assembly 12 and the inner wall of the fourth side 135 of the primary moving member 13 unused. This space serves as a wiring space 100 for the arrangement of power supply lines and communication lines inside the humanoid robot 1. Furthermore, the drive assembly 12 has a first pulley 15, a corresponding first passive belt 16, a second pulley 17, and a corresponding second passive belt 18 on both sides along the third direction X3. This allows the secondary moving member 14 to be subjected to force on both sides along the third direction X3 during movement, enabling the secondary moving member 14 to move smoothly along the first direction X1 and the second direction X2, avoiding vibrations that are easily caused by high-speed movement. The lifting device 10 has a compact structure and a more rational layout of its components.

[0064] In some embodiments, such as Figures 5 to 9 As shown, the first side 132 and the second side 133 of the primary moving member 13 are each provided with one or more second pulleys 17. The driving assembly 12 is connected to the inner wall of the third side 134 of the primary moving member 13. A plurality of first pulleys 15 are disposed on the third side 134 of the primary moving member 13, and one or more of the plurality of first pulleys 15 are respectively disposed on both sides of the driving assembly 12 along the third direction X3. This embodiment also achieves the goal of not having to provide pulleys on the fourth side 135 of the primary moving member 13, and that the secondary moving member 14 can be evenly stressed on both sides along the third direction X3 when moving, resulting in smooth movement. For specific technical effects, please refer to the above embodiment, which will not be repeated here.

[0065] In some embodiments, such as Figures 5 to 9 As shown, the lifting device 10 also 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.

[0066] The first guide rail 19 is disposed on the support member 11 and extends along the first direction X1. The first slider 20 is slidably connected to the first guide rail 19 and is connected to the inner wall of the fourth side 135 of the primary moving member 13. One or more first guide rails 19 and one or more first sliders 20 are provided on both sides of the drive assembly 12 along the third direction X3. The drive assembly 12, the first guide rails 19 located on both sides of the drive assembly 12 along the third direction X3, and the inner wall of the fourth side 135 of the primary moving member 13 form a wiring space 100.

[0067] Specifically, the first guide rail 19 is located in the hollow space of the primary moving member 13. Exemplarily, a first guide rail 19 can be provided on either side of the drive assembly 12 along the third direction X3. Each first guide rail 19 can be slidably connected to a plurality of first sliders 20.

[0068] The second guide rail 21 is disposed on the outer wall of the third side 134 of the primary 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 secondary moving member 14. One or more second guide rails 21 and one or more second sliders 22 are provided on both sides of the drive assembly 12 along the third direction X3.

[0069] Specifically, the second guide rail 21 is located in the hollow space of the secondary moving member 14. Exemplarily, a second guide rail 21 can be provided on either side of the drive assembly 12 along the third direction X3. Each second guide rail 21 can be slidably connected to multiple second sliders 22.

[0070] The lifting device 10 provided in this embodiment has a support member 11 and a primary moving member 13 slidably connected by a first guide rail 19 and a first slider 20, and a primary moving member 13 and a secondary moving member 14 slidably connected by a second guide rail 21 and a second slider 22. This allows the first guide rail 19 and the second guide rail 21 to guide the primary moving member 13 and the secondary moving member 14 respectively, which helps to improve the accuracy of the lifting device 10 in driving the humanoid robot body 30 along the first direction X1 and the second direction X2.

[0071] Furthermore, the lifting device 10 is provided with multiple first guide rails 19 and second guide rails 21 on both sides along the fourth direction X4. The support member 11 and the first-level moving member 13 are slidably connected, and the first-level moving member 13 and the second-level moving member 14 are slidably connected, so that the lifting device 10 can withstand a larger overturning moment along the fourth direction X4. At the same time, the drive assembly 12 is provided with one or more first guide rails 19 and one or more first sliders 20, as well as one or more second guide rails 21 and one or more second sliders 22 on both sides along the third direction X3, so that the lifting device 10 can withstand a larger overturning moment along the third direction X3, and the humanoid robot 1 can be applied to application scenarios with larger loads and more complex force conditions. In addition, one or more first guide rails 19 and one or more first sliders 20 are provided on both sides of the drive assembly 12 along the third direction X3, so that the space between the drive assembly 12, the first guide rails 19 located on both sides of the drive assembly 12 along the third direction X3, and the inner wall of the fourth side 135 of the first-level moving member 13 is cleared to form a wiring space 100.

[0072] In some embodiments, reference Figures 5 to 9 When one or more first pulleys 15 are provided on 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 inner wall of the second side 133 of the first-stage moving member 13 about 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 about the second axis.

[0073] By rotatably connecting the first pulley 15 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 smaller, making the structure of the lifting device 10 more compact. Simultaneously, the second guide rail 21 is disposed 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, making 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 less, further making the structure of the lifting device 10 more compact. This helps to reduce the size of the lifting device 10 in the direction perpendicular to the first direction X1, allowing the lifting device 10 to be closer to the circumferential dimensions of a person's leg.

[0074] For example, the arrangement of the first pulley 15, the second pulley 17, the first guide rail 19 and the second guide rail 21 is symmetrical about a plane perpendicular to the third direction X3.

[0075] In some embodiments, such as Figures 5 to 9 As shown, when one or more second pulleys 17 are provided on both the first side 132 and the second side 133 of the primary moving member 13, the second pulleys 17 are rotatably connected to the inner wall of the first side 132 or the inner wall of the second side 133 of the primary moving member 13 about the second axis, and the first pulley 15 is rotatably connected to the outer wall of the third side 134 of the primary moving member 13 about the first axis L1.

[0076] Similarly, the lifting device 10 provided in this embodiment can also achieve a smaller gap between the primary moving member 13 and the secondary moving member 14 in the third direction X3, making the structure of the lifting device 10 compact. The gap between the fourth side 135 of the primary moving member 13 and the secondary moving member 14 in the fourth direction X4 can also be set smaller, making the structure of the lifting device 10 more compact. This is beneficial for reducing the size of the lifting device 10 in the direction perpendicular to the first direction X1, allowing the lifting device 10 to be closer to the circumferential size of the user's legs.

[0077] In some embodiments, reference 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 moving member 13, the first pulley 15 passes through the first through groove 130, the extension direction of the first end 160 of the first passive belt is parallel to the extension direction of the second end 161 of the first passive belt, the second pulley 17 passes through the second through groove 131, and the extension direction of the first end 180 of the second passive belt is parallel to the extension direction of the second end 181 of the second passive belt.

[0078] Since the first pulleys 15 of 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 positioned closer to the support member 11, which is beneficial to reducing the size of the lifting device 10 in the third direction X3. It also makes the extension direction of the first end 160 of the first passive belt parallel to the extension direction of the second end 161 of the first passive belt, which is beneficial to reducing the movement space occupied by the first passive belt 16, making the structure of the lifting device 10 more compact, and further reducing the size of the lifting device 10 in the third direction X3.

[0079] Since the second pulley 17 can pass through the second through slot 131, the secondary moving member 14 can be closer to the second side 133 of the primary moving member 13 along the fourth direction X4. This helps to reduce the size of the lifting device 10 along the fourth direction X4. It also makes the extension direction of the first end 180 of the second passive belt parallel to the extension direction of the second end 181 of the second passive belt, which helps to reduce the movement space occupied by the second passive belt 18. This makes the structure of the lifting device 10 more compact and helps to further reduce the size of the lifting device 10 along the fourth direction X4.

[0080] For example, refer to Figure 5 On a plane perpendicular to the third direction X3, the orthographic projection of the first through slot 130 surrounds the orthographic projection of the first end 160 of the first passive belt and the orthographic projection of the second end 161 of the first passive belt. This arrangement allows the second end 161 of the first passive belt to be viewed through the first through slot 130 after the secondary moving member 14 is removed.

[0081] For example, refer to Figure 5 On a plane perpendicular to the fourth direction X4, the orthographic projection of the second through slot 131 surrounds the orthographic projection of the first end 180 of the second passive belt and the orthographic projection of the second end 181 of the second passive belt. This arrangement allows the second end 181 of the second passive belt to be viewed through the second through slot 131 after the secondary moving member 14 is removed.

[0082] In some embodiments, such as Figure 5 and Figure 9 As shown, when one or more second pulleys 17 are provided on both the first side 132 and the second side 133 of the primary moving member 13, the second pulley 17 passes through the second through groove 131, the extension direction of the first end 180 of the second passive belt is parallel to the extension direction of the second end 181 of the second passive belt, the first pulley 15 passes through the first through groove 130, and the extension direction of the first end 160 of the first passive belt is parallel to the extension direction of the second end 161 of the first passive belt.

[0083] Similarly, the lifting device 10 provided in this embodiment can also allow the first side 132 and the second side 133 of the primary moving member 13 to be positioned closer to the support member 11, which helps to reduce the size of the lifting device 10 along the third direction X3. Furthermore, it allows the extension direction of the first end 160 of the first passive belt to be parallel to the extension direction of the second end 161 of the first passive belt, which helps to reduce the movement space occupied by the first passive belt 16, making the structure of the lifting device 10 more compact and further reducing the size of the lifting device 10 along the third direction X3. Simultaneously, along the fourth direction X4, the secondary moving member 14 can be positioned closer to the second side 133 of the primary moving member 13, which helps to reduce the size of the lifting device 10 along the fourth direction X4. Furthermore, it allows the extension direction of the first end 180 of the second passive belt to be parallel to the extension direction of the second end 181 of the second passive belt, which helps to reduce the movement space occupied by the second passive belt 18, making the structure of the lifting device 10 more compact and further reducing the size of the lifting device 10 along the fourth direction X4.

[0084] In some embodiments, the primary moving member 13 includes a primary moving member body 136. The primary moving member body 136 is connected to the drive assembly 12 and is movable along a first direction X1 and a second direction X2 under the drive of the drive assembly 12. A first pulley 15 is rotatably connected to the primary moving member body 136 about a first axis L1, and a second pulley 17 is rotatably connected to the primary moving member body 136 about a second axis. Exemplarily, the primary moving member body 136 extends along the first direction X1, and the shape of its cross-section perpendicular to the first direction X1 includes a frame shape.

[0085] In some embodiments, such as Figure 5 As shown, the primary moving part 13 also includes: a first connector 137, one or more first fasteners 138, a second connector 139, a first screw 1391, and a first abutment 1392.

[0086] The first connector 137 has a fifth side 1370 and a sixth side 1371 disposed opposite to each other along the first direction X1. The first pulley 15 is rotatably connected to the fifth side 1370 about the first axis L1. The sixth side 1371 has one or more first oblong holes 1372 and one or more first threaded holes, the center lines of the first oblong holes 1372 and the first threaded holes extending along the first direction X1.

[0087] A first fastener 138 passes through a first oblong hole 1372 to fix the first connector 137 to the primary moving part body 136. A second connector 139 is disposed on the primary moving part body 136 and located on the sixth side 1371 of the first connector 137. The second connector 139 has a first through hole, the centerline of which extends along a first direction X1. A first screw 1391 passes through the first through hole and the first threaded hole in sequence and is screwed into the first threaded hole. A first abutment 1392 is connected to the end of the first screw 1391 away from the first connector 137 and abuts against the side of the second connector 139 away from the first connector 137.

[0088] For example, the first fastener 138 can be detachably connected to both the first connector 137 and the primary moving part body 136. For example, the first fastener 138 and the first waist hole 1372 can be configured in a one-to-one correspondence.

[0089] In some applications, the first fastener 138 is first removed, and the first screw 1391 is rotated clockwise or counterclockwise, causing the first connector 137 to move the first pulley 15 along the first direction X1 or the second direction X2, thereby tensioning or loosening the first passive belt 16. For example, after the first passive belt 16 is tensioned, the first fastener 138 is then passed through the first oblong hole 1372 to fix the first connector 137 to the primary moving part body 136, thus maintaining the tension of the first passive belt 16.

[0090] Exemplarily, the first fastener 138 may include a screw. Exemplarily, the first screw 1391 and the first abutment 1392 may form a screw. Exemplarily, the fifth side 1370 and the sixth side 1371 are arranged sequentially along the first direction X1. This makes it less likely that the first screw 1391 will be obstructed by the first passive band 16, so as to allow the first screw 1391 to be rotated.

[0091] The lifting device 10 provided in this embodiment also includes a structure for adjusting the position of the first pulley 15 along the first direction X1 or the second direction X2. The position of the first pulley 15 can be adjusted by rotating the first screw 1391 around different directions, thereby tensioning or loosening the first passive belt 16. The structure is simple, reliable and easy to implement.

[0092] In some embodiments, such as Figure 6 and Figure 7 As shown, the primary moving part 13 also includes: a third connector 1393, one or more second fasteners 1397, a fourth connector 1398, a second screw 1399, and a second abutment 1360.

[0093] The third connector 1393 has a seventh side 1394 and an eighth side 1395 disposed opposite to each other 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 oblong holes 1396 and second threaded holes 1373, the center lines of which both extend along the first direction X1. A second fastener 1397 passes through the second oblong hole 1396 to fix the third connector 1393 to the primary moving part body 136.

[0094] A fourth connector 1398 is disposed on the primary moving part body 136 and located on the eighth side 1395 of the third connector 1393. The fourth connector 1398 has a second through hole 1390, the centerline of which extends along a first direction X1. A second screw 1399 sequentially passes through the second through hole 1390 and the second threaded hole 1373, and is screwed into the second threaded hole 1373. A second abutment 1360 is connected to the end of the second screw 1399 away from the third connector 1393 and abuts against the side of the fourth connector 1398 away from the third connector 1393.

[0095] The third connector 1393, the second fastener 1397, the fourth connector 1398, the second screw 1399, and the second abutment 1360 are used to adjust the tightness of the second passive belt 18, and are similar in structure, working principle, and technical effect to the first connector 137, the first fastener 138, the second connector 139, the first screw 1391, and the first abutment 1392, and will not be described in detail here.

[0096] In some embodiments, such as Figure 6 As shown, the drive assembly 12 includes a rotary drive 120, a lead screw 121, and a nut 122. The rotary drive 120 is disposed on the support 11. The lead screw 121 is connected to the rotary drive 120 and can rotate around the center line of the lead screw 121 under the drive of the rotary drive 120. 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, screwed to the lead screw 121, and connected to the primary moving member 13.

[0097] For example, the rotary drive 120 may include a connected motor and a reducer. The output end of the reducer is connected to the end of the lead screw 121. The motor is mounted on the support 11.

[0098] For example, such as Figure 7As shown, the drive assembly 12 may further include two nut buffer pads 123. The two nut buffer pads 123 are respectively disposed on both sides of the nut 122. The nut buffer pads 123 can be used to prevent the nut 122 from rigidly colliding with other components during movement. Exemplarily, the two nut buffer pads 123 can be located at both ends of the nut 122's travel distance, respectively, to limit the travel distance of the nut 122. Exemplarily, the material of the nut buffer pads 123 may include an elastic material. For example, the nut buffer pads 123 can be rubber pads.

[0099] For example, the lifting device 10 also includes two displacement sensors. The two displacement sensors can be used to detect whether the nut 122 has reached the upper and lower limits of its travel stroke, respectively, to prevent the nut 122 from exceeding its safe travel range. For example, the two displacement sensors can be located at opposite ends of the nut 122's travel stroke.

[0100] For example, such as Figure 4 As shown, the lifting device 10 also includes two position detection plates 24 and two position detection sensors 25. The two position detection plates 24 are respectively disposed on the side of the primary moving member 13 facing the first direction X1 and the side facing the second direction X2. The position detection sensors 25 are disposed on the support member 11 and are used to detect whether the position detection plates 24 have reached the detection area of ​​the position detection sensors 25. By setting two position detection plates 24 and two position detection sensors 25, it is possible to detect whether the primary moving member 13 has reached the upper and lower limits of its travel distance.

[0101] The lifting device 10 provided in this embodiment includes a drive assembly 12 comprising a rotary drive 120, a lead screw 121, and a nut 122. The lead screw 121 is connected to the rotary drive 120 and can rotate around the center line of the lead screw 121 under the drive of the rotary drive 120. The nut 122 is sleeved on the lead screw 121, screwed to the lead screw 121, and connected to the first-stage moving member 13. When the lead screw 121 is in motion, the nut 122 can drive the first-stage moving member 13 to move along the center line of the lead screw 121, which can realize the continuous change of the displacement of the first-stage moving member 13. The structure is simple, and the displacement control accuracy of the second-stage moving member 14 is high.

[0102] In some embodiments, such as Figure 7 and Figure 8 As shown, the primary moving member 13 includes: a primary moving member body 136, a fifth connecting member 1361, and a sixth connecting member 1362. The primary moving member body 136 is connected to the drive assembly 12 and is capable of moving along a first direction X1 and a second direction X2 under the drive of the drive assembly 12. A first pulley 15 is rotatably connected to the primary moving member body 136 about a first axis L1, and a second pulley 17 is rotatably connected to the primary moving member body 136 about a second axis.

[0103] The fifth connector 1361 is connected to the nut 122. The fifth connector 1361 has a groove 1363 on the side facing the primary moving member body 136. The groove 1363 has a first sidewall 1364 and a second sidewall 1365 disposed opposite each other along a first direction X1. The sixth connector 1362 is connected to the primary moving member body 136, extends into the groove 1363 in a direction perpendicular to the first direction X1, and is slidably connected to the first sidewall 1364 and the second sidewall 1365. Exemplarily, the sixth connector 1362 is connected to the third side 134 of the primary moving member 13.

[0104] Since the support member 11, the primary moving member 13, and the secondary moving member 14 are usually slidably connected by guide rails and sliders, and there are multiple guide rails, all of which need to extend along the first direction X1, a groove 1363 is provided on the side of the fifth connecting member 1361 facing the primary moving member body 136, and the sixth connecting member 1362 extends into the groove 1363 in a direction perpendicular to the first direction X1 and is slidably connected with 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-limited by multiple guide rails. The extension direction of the guide rails and the extension direction of the center line of the lead screw 121 do not need to be strictly parallel, which reduces the impact of processing errors and assembly errors generated during the processing and assembly 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.

[0105] In addition, the groove 1363 has a first sidewall 1364 and a second sidewall 1365 that are arranged opposite to each other along the first direction X1. The sixth connector 1362 is connected to the primary moving part body 136, extends into the groove 1363 in a direction perpendicular to the first direction X1, and is slidably connected with the first sidewall 1364 and the second sidewall 1365, so that the first sidewall 1364 and the second sidewall 1365 can drive the primary moving part body 136 to move along the first direction X1 or the second direction X2.

[0106] Meanwhile, by setting the fifth connector 1361 and the sixth connector 1362, it is beneficial to simplify the structure of the first-stage moving part 13 and the nut 122, and facilitate the production and processing of the first-stage moving part 13 and the nut 122.

[0107] For example, such as Figure 8 As shown, the groove 1363 has a groove bottom. The groove bottom faces the sixth connector 1362 and has a gap with the groove bottom along the direction in which the sixth connector 1362 extends into the groove 1363.

[0108] In some embodiments, such as Figure 3As shown, the lifting device 10 also includes a moving part buffer pad 23. The moving part buffer pad 23 is disposed on the support member 11 and located on the side of the primary moving part 13 and the secondary moving part 14 facing the first direction X1. The moving part buffer pad 23 can buffer the fall of the primary moving part 13 and the secondary moving part 14 in the event that the drive assembly 12 loses control or the first passive belt 16 or the second passive belt 18 breaks, thereby protecting the primary moving part 13 and the secondary moving part 14.

[0109] For example, the material of the moving part cushioning pad 23 may include an elastic material. For instance, the moving part cushioning pad 23 may be a rubber pad.

[0110] An embodiment of this application also provides a humanoid robot 1. The humanoid robot 1 includes a humanoid robot body 30 and a lifting device 10 mentioned in the above embodiments. The side of the secondary moving member 14 of the lifting device 10 facing the second direction X2 is used to mount the humanoid robot body 30.

[0111] Since the humanoid robot 1 includes a lifting device 10, the robot 40 has all the technical features and effects of the lifting device 10, which will not be described in detail here.

[0112] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “featuring,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0113] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0114] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0115] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A lifting device, characterized in that, Applied to humanoid robots, the humanoid robot includes a humanoid robot body, and the lifting device includes: Support components; A drive component is disposed on the support member; A primary moving component is connected to the drive assembly and is capable of moving along a first direction and a second direction under the drive of the drive assembly, wherein the first direction and the second direction are opposite. A secondary moving component, wherein the side of the secondary moving component facing the second direction is used to mount the humanoid robot body; One or more first pulleys are disposed on the primary moving member and rotatably connected to the primary 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 secondary moving member, and a second end of the first passive belt is connected to the support member on the side of the first pulley facing the first direction; One or more second pulleys are disposed on the primary moving member and rotatably connected to the primary moving member about a second axis, the second axis being perpendicular to the first direction; One or more second passive belts, the first end of the second passive belts being connected to the secondary moving member, and the second end of the second passive belts being connected to the support member on the side of the second pulley facing the second direction; Wherein, the primary moving member extends along the first direction, and the cross-sectional shape of the primary moving member perpendicular to the first direction includes a frame shape; the secondary moving member extends along the first direction, and the cross-sectional shape of the secondary moving member perpendicular to the first direction includes a frame shape; the primary moving member is sleeved on the support member, and the secondary moving member is sleeved on the primary moving member. The primary moving component has a first side and a second side arranged opposite to each other along a third direction, and a third side and a fourth side arranged opposite to each other along a fourth direction. The third direction, the fourth direction and the first direction are perpendicular to each other. The driving component has a wiring space with the inner wall of the fourth side of the primary moving component. Wherein, the first and second sides of the primary moving member are each provided with one or more first pulleys, the driving assembly is connected to the inner wall of the third side of the primary moving member, a plurality of second pulleys are disposed on the third side of the primary moving member, and one or more of the plurality of second pulleys are respectively disposed on both sides of the driving assembly along the third direction; and / or, the first and second sides of the primary moving member are each provided with one or more second pulleys, the driving assembly is connected to the inner wall of the third side of the primary moving member, a plurality of first pulleys are disposed on the third side of the primary moving member, and one or more of the plurality of first pulleys are respectively disposed on both sides of the driving assembly along the third direction.

2. The lifting device according to claim 1, characterized in that, The primary moving member has one or more first through slots, the first through slots penetrating the side wall of the primary moving member in a direction intersecting the first direction, the first end of the first passive belt being connected to the inner wall of the secondary moving member, and the second end of the first passive belt passing through the first through slot and being connected to the support member. The primary moving member also has one or more second through slots, the second through slots penetrating the side wall of the primary moving member in a direction intersecting the first direction, the first end of the second passive belt being connected to the inner wall of the secondary moving member, and the second end of the second passive belt passing through the second through slot and being connected to the support member.

3. The lifting device according to claim 2, characterized in that, Also includes: A plurality of first guide rails are disposed on the support member and extend along the first direction; Multiple first sliders are slidably connected to the first guide rail and connected to the inner wall of the fourth side of the first-stage moving member. The driving assembly is provided with one or more first guide rails and one or more first sliders on both sides along the third direction. The driving assembly, the first guide rails located on both sides of the driving assembly along the third direction and the inner wall of the fourth side of the first-stage moving member form the wiring space. Multiple second guide rails are disposed on the outer wall of the third side of the primary moving member and extend along the first direction; Multiple second sliders are slidably connected to the second guide rails and connected to the inner wall of the fourth side of the secondary moving member. The driving assembly has one or more second guide rails and one or more second sliders on both sides along the third direction.

4. The lifting device according to claim 3, characterized in that, When one or more first pulleys are provided on both the first and second sides 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 the first axis, and the second pulley is rotatably connected to the outer wall of the third side of the primary moving member about the second axis. When one or more second pulleys are provided on both the first and second sides of the primary moving member, the second pulleys are rotatably connected to the inner wall of the first side or the inner wall of the second side of the primary moving member about the second axis, and the first pulleys are rotatably connected to the outer wall of the third side of the primary moving member about the first axis.

5. The lifting device according to claim 4, characterized in that, When one or more first pulleys are provided on both the first and second sides of the primary moving member, the first pulleys pass through the first through groove, 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 pulleys pass through the second through groove, 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 and second sides of the primary moving member, the second pulleys pass through the second through groove, the extension direction of the first end of the second passive belt is parallel to the extension direction of the second end of the second passive belt, the first pulley passes through the first through groove, and the extension direction of the first end of the first passive belt is parallel to the extension direction of the second end of the first passive belt.

6. The lifting device according to any one of claims 1 to 5, characterized in that, The primary moving component includes: a primary moving component body connected to the driving assembly and capable of moving along the first direction and the second direction under the drive of the driving assembly; a first pulley rotatably connected to the primary moving component body about the first axis; and a second pulley rotatably connected to the primary moving component body about the second axis. in, The primary moving component also includes: A first connector has a fifth side and a sixth side disposed opposite to each other 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 waist-shaped holes and first threaded holes. The center lines of the first waist-shaped holes and the first threaded holes both extend along the first direction. One or more first fasteners, the first fasteners passing through the first oblong hole to fix the first connector to the primary movable part body; The second connector is disposed on the main body of the primary moving part and located on the sixth side of the first connector. The second connector has a first through hole, and the center line of the first through hole extends along the first direction. The first screw is sequentially inserted into the first through hole and the first threaded hole, and is screwed into the first threaded hole; The first abutting member is connected to the end of the first screw away from the first connecting member, and abuts against the side of the second connecting member away from the first connecting member; And / or, The primary moving component also includes: The third connector has a seventh side and an eighth side disposed opposite to each other 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 waist-shaped holes and a second threaded hole. The center lines of the second waist-shaped hole and the second threaded hole both extend along the first direction. One or more second fasteners, which pass through the second oblong hole to fix the third connector to the primary movable part body; A fourth connector is disposed on the main body of the first-stage movable component and located on the eighth side of the third connector. The fourth connector has a second through hole, the center line of which extends along the first direction. The second screw is sequentially inserted into the second through hole and the second threaded hole, and is screwed into the second threaded hole; The second abutment is connected to the end of the second screw away from the third connector, and abuts against the side of the fourth connector away from the third connector.

7. The lifting device according to any one of claims 1 to 5, characterized in that, The driving component includes: A rotation drive component is disposed on the support component; A lead screw is connected to the rotary drive component and is capable of rotating around the center line of the lead screw under the drive of the rotary drive component, wherein the center line of the lead screw is parallel to the first direction; A nut is fitted onto the lead screw, screwed to the lead screw, and connected to the primary moving part.

8. The lifting device according to claim 7, characterized in that, The primary moving component includes: A primary moving part body is connected to the driving assembly and is capable of moving along the first direction and the second direction under the drive of the driving assembly. The first pulley is rotatably connected to the primary moving part body about the first axis, and the second pulley is rotatably connected to the primary moving part body about the second axis. The fifth connector is connected to the nut. The fifth connector has a groove on the side facing the main body of the first-stage moving part. The groove has a first sidewall and a second sidewall that are arranged opposite to each other along the first direction. The sixth connector is connected to the main body of the first-stage moving part, extends into the groove in a direction perpendicular to the first direction, and is slidably connected to the first sidewall and the second sidewall.

9. A humanoid robot, characterized in that, include: The humanoid robot itself; The lifting device according to any one of claims 1 to 8, wherein the side of the secondary moving member of the lifting device facing the second direction is used to set the humanoid robot body.

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