Lifting mechanism and mobile robot
By designing a foldable lifting mechanism, the problems of inconvenient transportation and limited operating range of mobile robots are solved, resulting in a small overall robot size, a large height adjustment range, and the ability to descend to a lower position to grab objects on the ground.
Patent Information
- Application Number
- CN202512057751.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-31
- Publication Date
- 2026-03-03
AI Technical Summary
Existing mobile robots have a fixed height, which makes transportation inconvenient and limits the range of operations they can reach. Existing folding structures cannot be lowered to a horizontal position.
Design a lifting mechanism including a drive system and a foldable lifting arm structure. The drive system drives the lifting arm to fold or unfold, thereby raising and lowering the torso structure to achieve complete folding to a lower position.
This resulted in a smaller overall robot size, making it easier to transport, with a wider range of height adjustment, and the ability to descend to lower positions for easier grabbing of objects on the ground.
Smart Images
Figure CN121589772A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of robotics, and more specifically, to a lifting mechanism and a mobile robot. Background Technology
[0002] With the rapid development of technology, robots have been widely used in various fields, such as industry, home, agriculture, commerce, and education. Robots not only improve production efficiency and reduce labor costs, but also provide more convenient services. For example, robots can replace many human labor tasks, such as cleaning, retail assistance, greeting guests, and providing guided tours. Furthermore, robots can perform repetitive and high-intensity tasks, such as agricultural harvesting, logistics handling, production assembly, and quality inspection, thereby improving production efficiency and reducing the risk of workplace injuries.
[0003] As a result, the continuous upgrading and optimization of the structure and performance of robots to better adapt them to different working environments and task requirements has become a research hotspot in the field of robotics. Summary of the Invention
[0004] This application provides a lifting mechanism and a mobile robot. The lifting mechanism can be fully folded, thereby lowering to a lower position. This not only makes the overall size of the device smaller and easier to transport, but also increases the height adjustment range, allowing it to descend to a lower position, making it easier for the mobile robot to grab objects on the ground.
[0005] In a first aspect, a lifting mechanism is provided for use in a mobile robot, the mobile robot comprising a torso structure and a bottom structure, the lifting mechanism comprising a base mounted on the bottom structure; the lifting mechanism further comprising:
[0006] Drive system; and
[0007] The lifting arm includes a first arm structure and a second arm structure; the first arm structure is mounted on the base and is rotatable relative to the base; one end of the second arm structure is rotatably connected to the first arm structure, and the other end is mounted with the torso structure;
[0008] The drive system is connected to the lifting arm and is configured to drive the lifting arm to fold or unfold, thereby causing the torso structure to rise and fall along a first direction; when the lifting arm is folded to its lowest position, the first arm structure and the second arm structure are both located in a plane defined by the intersection of the second direction and the third direction.
[0009] In conjunction with the first aspect, in one possible implementation, the drive system includes:
[0010] A first joint module, fixed to the base and connected to the first arm structure, is used to drive the first arm structure to rotate relative to the base about a first axis; and
[0011] The second joint module is fixed on the base, and is disposed at a distance from the first joint module in a third direction from the lifting arm. It is also connected to the second arm structure and is used to drive the second arm structure to rotate relative to the first arm structure about a second axis.
[0012] In conjunction with the first aspect, in one possible implementation, a transmission assembly is provided between the second joint module and the second arm structure, one end of the transmission assembly being fixedly connected to the power output shaft of the second joint module, and the other end being fixedly connected to the second arm structure.
[0013] In conjunction with the first aspect, in one possible implementation, 4. the lifting mechanism according to claim 2, characterized in that the first boom structure includes a first main boom and a first auxiliary boom arranged opposite to each other in a third direction; the second boom structure includes two booms and a connecting portion arranged opposite to each other in a third direction, the two booms being fixedly installed at both ends of the connecting portion; the first main boom and the first auxiliary boom are respectively disposed at both ends of the two booms.
[0014] In conjunction with the first aspect, in one possible implementation, the first main boom, the connecting portion, and the secondary boom together form an accommodating space with an opening.
[0015] In conjunction with the first aspect, in one possible implementation, the length L2 of the second arm structure and the length L1 of the first arm structure have the following relationship:
[0016] L2≤L1, when folded to the lowest position, the boom is fully folded into the first boom structure in the second direction; or
[0017] L2 > L1, and when folded to the lowest position, the boom is partially folded into the first arm structure in the second direction.
[0018] In conjunction with the first aspect, in one possible implementation, both the first arm structure and the second arm structure are parallel four-bar linkage structures.
[0019] In conjunction with the first aspect, in one possible implementation, the transmission assembly includes a chain drive assembly or a belt drive assembly, preferably a synchronous belt drive assembly.
[0020] In conjunction with the first aspect, in one possible implementation, when the lifting arm is raised to its highest position, both the first arm structure and the second arm structure extend along a first direction.
[0021] In conjunction with the first aspect, in one possible implementation, the drive system further includes a third joint module for driving the torso structure to rotate relative to the second arm structure about a third axis.
[0022] In conjunction with the first aspect, in one possible implementation, the torso structure is mounted on one end of the second arm structure via a mounting base; the mounting base includes a first end face and a first side wall and a second side wall located on both sides of the first end face, the three together enclosing an accommodating space, the torso structure is mounted on the first end face, the first side wall and the second side wall are rotatably connected to the second arm structure respectively, the third joint module is disposed in the accommodating space, and the power output shaft is fixedly connected to the first side wall or the second side wall.
[0023] In a second aspect, a mobile robot is provided, including a torso structure and a base structure, and also including a lifting mechanism as described in the first aspect or any implementation thereof, wherein one end of the lifting mechanism is rotatably connected to the base structure, and the other end is mounted on the torso structure.
[0024] In conjunction with the first aspect, in one possible implementation, the bottom structure is a mobile chassis. Attached Figure Description
[0025] Figure 1 This is a schematic diagram of the lifting mechanism provided in the embodiments of this application;
[0026] Figure 2 This is a schematic diagram of the lifting mechanism provided in the embodiment of this application from another angle;
[0027] Figure 3 yes Figure 2 Cross-sectional view at section AA;
[0028] Figure 4 This is a structural rendering of the lifting mechanism provided in this application embodiment when it is located at a certain position between the lowest and highest positions. The space circled in the figure is the opening of the accommodating space.
[0029] Explanation of reference numerals in the attached figures:
[0030] 110: Base;
[0031] 120: Drive system; 121: First joint module; 122: Second joint module; 123: Third joint module;
[0032] 130: Lifting arm;
[0033] 131: First boom structure; 1311: First main boom; 1312: First auxiliary boom;
[0034] 132: Second arm structure; 1321: Boom; 1322: Connecting part;
[0035] 133: Transmission components. Detailed Implementation
[0036] It should be noted that, in the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in this article is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone.
[0037] In the embodiments of this application, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more, and "at least one" and "one or more" refer to one, two, or more than two. The singular expressions "a," "an," "the," "the," "this," and "this" are intended to also include expressions such as "one or more," unless the context explicitly indicates otherwise.
[0038] References to "one embodiment" or "some embodiments" as described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.
[0039] In the description of the embodiments of this application, the terms "upper," "lower," "inner," "outer," "vertical," and "horizontal," etc., indicate orientations or positional relationships relative to the indicated placement of components in the accompanying drawings. It should be understood that these directional terms are relative concepts, used for relative description and clarification, and not to indicate or imply a specific orientation that the device or component must have, or its construction and operation in a specific orientation. They can change accordingly depending on the orientation of the components in the accompanying drawings, and therefore should not be construed as limiting this application. Furthermore, "vertical" in this application is not strictly vertical, but within the allowable error range. "Parallel" is not strictly parallel, but within the allowable error range.
[0040] In the description of this application, terms such as "connection" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Those skilled in the art will understand the specific meaning of these terms in this application according to the specific circumstances.
[0041] It should be noted that, unless otherwise specified, the features in the following embodiments and implementation methods can be combined with each other.
[0042] Typically, the height of existing mobile robots (such as humanoid robots and AGV robots) is fixed and cannot be adjusted. These robots may present the following problems in application: firstly, their large size makes transportation inconvenient; secondly, they can only operate at a specific height, limiting their operational range.
[0043] Existing technologies include foldable limb structures. Such solutions allow for height adjustment of the robot. However, the foldable structures in existing solutions cannot be lowered to a horizontal position; even at their lowest position, an angle still exists between the folds.
[0044] This application provides a lifting mechanism for a mobile robot. The mobile robot includes a torso structure and a bottom structure. The lifting mechanism includes a base mounted on the bottom structure, and further includes a drive system and a lifting arm. The lifting arm includes a first arm structure and a second arm structure. The first arm structure is mounted on the base and is rotatable relative to the base. One end of the second arm structure is rotatably connected to the first arm structure, and the other end is mounted on the torso structure. The drive system is connected to the lifting arm and is configured to drive the lifting arm to fold or unfold, thereby causing the torso structure to rise and fall along a first direction. When the lifting arm is folded to its lowest position, both the first arm structure and the second arm structure are located in a plane defined by the intersection of the second direction and a third direction.
[0045] The lifting mechanism of this application can be fully folded, thus lowering to a lower position. This not only makes the overall size of the device smaller and easier to transport, but also increases the height adjustment range, allowing it to descend to a lower position, making it easier for mobile robots to grab objects on the ground.
[0046] It should be understood that the first arm structure in the lifting mechanism of this application can rotate independently relative to the base, and the second arm structure can rotate independently relative to the first arm structure. In practical use, in addition to lifting by folding and unfolding the first and second arm structures, the first or second arm structure can also be rotated independently when the lifting arm is in a certain position, depending on the work scenario and task requirements.
[0047] The lifting mechanism provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.
[0048] refer to Figures 1 to 4 The lifting mechanism provided in this application embodiment can be applied to a mobile robot, which includes a torso structure and a bottom structure, and also includes a lifting mechanism.
[0049] Specifically, the lifting mechanism includes a base 110, a drive system 120, and a lifting arm 130. The base 110 is mounted on the bottom structure of the mobile robot, allowing the lifting mechanism to be fixed integrally to the bottom structure. The drive system 120 serves as a power source, providing power for the lifting arm 130 to rise and fall. The lifting arm 130, as the lifting structure, is designed as a two-section foldable structure, including a first arm structure 131 and a second arm structure 132. When the lifting arm 130 rises to its highest position, the torso structure, the second arm structure 132, the first arm structure 131, and the base 110 are connected sequentially from top to bottom. Specifically, the proximal end of the first arm structure 131 is rotatably connected to the base 110, the proximal end of the second arm structure 132 is rotatably connected to the distal end of the first arm structure 131, and the torso structure is mounted on the distal end of the second arm structure 132. It should be understood that when the lifting arm 130 rises to its highest position, the end of each structure closest to the base 110 is the proximal end, and the end furthest from the base 110 is the distal end.
[0050] The lifting arm 130 can be folded or unfolded under the drive of the drive system 120. When the lifting arm 130 is folded, the angle between the first arm structure 131 and the second arm structure 132 decreases. At this time, the lifting arm 130 descends along the first direction, thereby causing the torso structure to descend along the first direction. When the lifting arm 130 is unfolded, the angle between the first arm structure 131 and the second arm structure 132 increases. At this time, the lifting arm 130 rises along the first direction, thereby causing the torso structure to rise along the first direction. The lifting arm 130 of this embodiment can be fully folded, that is, when the lifting arm 130 is folded to its lowest position, the angle between the first arm structure 131 and the second arm structure 132 is 0, and both are folded to the plane defined by the intersection of the second direction and the third direction.
[0051] For ease of description, this application defines three reference directions based on the lifting arm 130. When the lifting arm 130 is raised to its highest position, the height direction of the lifting arm 130 is the first direction, perpendicular to the ground plane. When the lifting arm 130 is lowered to its lowest position, the second direction is the length direction of the lifting arm 130, and the third direction is the width direction of the lifting arm 130. The first direction is perpendicular to the second and third directions. Typically, the second and third directions are perpendicular to each other, as shown in the embodiment. In embodiments not shown, the second and third directions may not be perpendicular. However, regardless of whether the second and third directions are perpendicular, the plane defined by their intersection is perpendicular to the first direction, which can be understood as the ground plane.
[0052] The following describes the lifting and lowering process by folding or unfolding the lifting arm 130. Let's take rising from the lowest position as an example.
[0053] When folded to its lowest position, both the first arm structure 131 and the second arm structure 132 are folded to the plane defined by the intersection of the second direction and the third direction. The second arm structure 132 is at least partially folded to the first arm structure 131 in the second direction, and the included angle between the first arm structure 131 and the second arm structure 132 is the smallest.
[0054] When deployed, the lifting arm 130 moves upward from its lowest position in the first direction, that is, the lifting arm 130 rises. The angle between the first arm structure 131 and the second arm structure 132 increases. When it rises to its highest position, the angle between the first arm structure 131 and the second arm structure 132 is at its maximum, and both the first arm structure 131 and the second arm structure 132 are in a vertical position and extend along the first direction.
[0055] It should be understood that the lifting mechanism can be raised or lowered by folding or unfolding at any position between the lowest and highest positions.
[0056] As described above, the drive system 120 serves as a power source to provide power for the lifting arm 130, enabling the lifting arm 130 to move up and down in the first direction, thereby driving the torso structure mounted at one end of the second arm structure 132 to move up and down in the first direction. The drive system 120 can drive the first arm structure 131 and the second arm structure 132 to rotate simultaneously, or it can drive the first arm structure 131 and the second arm structure 132 to rotate in a certain order, such as first arm structure 131 then second arm structure 132 or second arm structure 132 then first arm structure 131.
[0057] In some embodiments, the drive system 120 includes a first joint module 121 and a second joint module 122, both fixed to the base 110, disposed three-dimensionally apart from the lifting arm 130, and both located outside the lifting arm 130. The former is connected to the first arm structure 131 and is used to drive the first arm structure to rotate relative to the base 110 about a first axis, while the latter is connected to the second arm structure 132 and is used to drive the second arm structure 132 to rotate relative to the first arm structure 131 about a second axis. The first axis can be understood as the central axis of the power output shaft of the first joint module 121, and the second axis can be understood as a rotation axis at the connection between the first arm structure 131 and the second arm structure 132, parallel to the central axis of the power output shaft of the second joint module 122. As can be seen from the accompanying drawings, the power output shafts of both the first joint module 121 and the second joint module 122 are in a three-dimensional direction. That is, both the first axis and the second axis are in a three-dimensional direction and are parallel to each other. It should be understood that, in the illustrated embodiment, the power output shaft of the first joint module 121 and the power output shaft of the second joint module 122 can be either virtual shafts or real shafts, depending on the specific structural design of the existing product.
[0058] In existing technologies, the second joint module 122 is typically located at the connection between the first arm structure 131 and the second arm structure 132. However, in the above embodiment, not only is the first joint module 121 used to drive the first arm structure 131 fixed to the base 110, but the second joint module 122 used to drive the second arm structure 132 is also fixed to the base 110. This design lowers the center of gravity of the overall device, thereby improving the stability of the overall device and reducing the joint load requirements. Furthermore, the two joint modules are respectively arranged on the outer side of the lifting arm 130, so that the drive system 120 does not interfere with the movement of the second arm structure 132, ensuring that it can be fully folded.
[0059] The following is a detailed description of how the drive system 120 drives the lifting arm 130 to lift and lower.
[0060] Taking the lifting arm 130 rising from its lowest position as an example, the first joint module 121 drives the first arm mechanism to rotate relative to the base 110 around the first axis, and the second joint module 122 drives the second arm structure 132 to rotate relative to the first arm structure 131 around the second axis. The direction of rotation causes the lifting arm 130 to unfold from its folded state, the angle between the first arm structure 131 and the second arm structure 132 to increase, and the lifting arm 130 rises along the first direction.
[0061] If the lifting arm 130 is lowered from this position to the lowest position, the first joint module 121 drives the first arm mechanism to rotate relative to the base 110 around the first axis, and the second joint module 122 drives the second arm structure 132 to rotate relative to the first arm structure 131 around the second axis. The direction of rotation makes the included angle between the first arm structure 131 and the second arm structure 132 smaller. The lifting arm 130 descends along the first direction until the first arm structure 131 and the second arm structure 132 are both folded to the plane defined by the intersection of the second direction and the third direction.
[0062] In practical applications, the lifting arm 130 can be moved along the first direction between the lowest position (the position when fully folded) and the highest position (the position when fully unfolded) according to the needs of the scenario, so that the lifting arm 130 can rise or fall to the required position to meet the operational needs of the mobile robot.
[0063] In some embodiments, both the first joint module 121 and the second joint module 122 are mounted on the base 110. Considering that one end of the first arm structure 131 is connected to the base 110, and one end of the second arm structure 132 is connected to the end of the first arm structure 131 away from the base 110, in order for both to drive the lifting arm 130 to move, the power output shaft of the first joint module 121 can be connected to the first arm structure 131, and the second joint module 122 and the second arm structure 132 can transmit power through the transmission assembly 133. One end of the transmission assembly 133 is fixedly connected to the power output shaft of the second joint module 122, and the other end is fixedly connected to the second arm structure 132, so that the power output by the second joint module 122 located on the base 110 is used to drive the second arm structure 132 located at the end of the first arm structure 131 away from the base 110.
[0064] The transmission component 133 can be a chain drive component 133 or a belt drive component 133, preferably a synchronous belt drive component 133. Compared with chain or belt drives, synchronous belt drives have the advantage of smaller transmission errors.
[0065] For example, taking the transmission assembly 133 as a synchronous belt transmission assembly 133, the transmission assembly 133 includes a first synchronous pulley, a second synchronous pulley and a first synchronous belt sleeved between the two; the power output shaft of the second joint module 122 is fixedly connected to the first synchronous pulley, and the second synchronous pulley is fixedly connected to the second arm structure 132.
[0066] In some embodiments, the first boom structure 131 includes a first main boom 1311 and a first auxiliary boom 1312 disposed opposite to each other in a third direction; the second boom structure 132 includes two booms 1321 disposed opposite to each other in a third direction and a connecting portion 1322, with the booms fixedly mounted at both ends of the connecting portion 1322; the first main boom 1311 and the first auxiliary boom 1312 are respectively disposed at both ends of the two booms 1321. In some embodiments, reinforcing ribs may be provided between the first main boom 1311 and the first auxiliary boom 1312, and between the two booms 1321, to improve structural strength.
[0067] The first boom structure 131 and the second boom structure 132 are connected by a connecting part 1322 (the central axis of the connecting part 1322 is the second axis). In other words, in terms of position, the first boom structure 131 and the second boom structure 132 are located at the left and right ends of the connecting part 1322, while the first main boom 1311 and the first auxiliary boom 1312 are located at the left and right ends of the boom 1321. This makes the first boom structure 131, which is located below, wider than the second boom structure 132, which is located above. This upper-smaller-lower-larger structural design makes the lifting boom 130 more resistant to overturning under external loads during lifting. In the illustrated embodiment, the first joint module 121 in the drive system 120 can be disposed on the outside of the first main boom 1311, with its power output shaft connected to the first main boom 1311. The second joint module 122 and the transmission assembly 133 are disposed on the outside of the first auxiliary boom 1312. A first synchronous pulley is fixedly sleeved on the power output shaft of the second joint module 122, and a second synchronous pulley is fixedly sleeved on one end of the connecting part 1322. A first synchronous belt is sleeved between the first and second synchronous pulleys. When the first joint module 121 is working, it drives the first main boom 1311 to rotate around the first axis (the direction of rotation depends on whether it is ascending or descending). The first main boom 1311 drives the boom 1321 and the connecting part 1322 to rotate around the first axis, thereby driving the first auxiliary boom 1312 to rotate around the first axis. Thus, the first boom structure 131 rotates relative to the base 110 around the first axis under the drive of the first joint module 121. When the second joint module 122 is in operation, it drives the first synchronous pulley to rotate around the central axis of the power output shaft of the second joint module 122 (the direction of rotation depends on whether it is ascending or descending). Driven by the first synchronous belt, the distal second synchronous pulley also rotates around the second axis (which is the central axis of the connecting part 1322 at this time), thereby driving the connecting part 1322 to rotate around the second axis. The connecting part 1322 then drives the boom 1321 to rotate around the second axis. Thus, the second boom structure 132 rotates relative to the first boom structure 131 around the second axis under the drive of the second joint module 122. It should be understood that the second boom structure 132 also rotates as a whole relative to the base 110 around the first axis under the drive of the first boom structure 131.
[0068] In some embodiments, the first main boom 1311, the connecting portion 1322 and the first auxiliary boom 1312 together form an open accommodating space, so that when the lifting boom 130 is folded to its lowest position, the second arm structure 132 and the first arm structure 131 are both located in a plane defined by the intersection of the second direction and the third direction.
[0069] The lifting range of the lifting mechanism is affected by the first arm structure 131 and the second arm structure 132. Generally, the longer both are, the larger the lifting range and the higher the lifting height. The design of the accommodating space 134 allows the second arm structure 132 of various lengths to be folded into the first arm structure 131, which can increase the lifting range of the device while reducing its size. For example, in some applications, to obtain a larger lifting range, the second arm structure 132 can be designed to be a longer structure. In this case, the length L2 of the second arm structure 132 can be greater than the length L1 of the first arm structure 131. Since the first arm structure 131 has an open accommodating space 134 inside, at the lowest position, both the second arm structure 132 and the first arm structure 131 are located on plane A, and the second arm structure 132 is partially folded into the first arm structure 131 in the second direction.
[0070] It should be understood that in some application scenarios, the length of the second arm structure 132 can be designed to be less than or equal to the length of the first arm structure 131 based on requirements. In this case, at the lowest position, both the second arm structure 132 and the first arm structure 131 are located in plane A, and the second arm structure 132 is completely folded into the first arm structure 131 in the second direction.
[0071] In some embodiments, both the first arm structure 131 and the second arm structure 132 are constructed as parallelogram structures.
[0072] When the first arm structure 131 and the second arm structure 132 rotate under the drive of the drive system 120, this design allows the top of the lifting arm 130 to remain horizontal, thereby enabling the torso structure mounted on top of the second arm structure 132 to rise and fall stably. In addition, the lifting arm 130 with this structural design is also easy to manufacture and rotate.
[0073] In some embodiments, the drive system 120 further includes a third joint module 123 for driving the torso structure to rotate about a third axis relative to the second arm structure 132.
[0074] Exemplarily, the torso structure is mounted on one end of the second arm structure 132 via a mounting base. The mounting base includes a first end face and first and second sidewalls located on both sides of the first end face, which together enclose a receiving space. The torso structure is mounted on the first end face. The first and second sidewalls are rotatably connected to the arm 1321 of the second arm structure 132, respectively. Specifically, the first sidewall is rotatably connected to the first arm, and the second sidewall is rotatably connected to the second arm. The third joint module 123 is disposed in the receiving space, and its power output shaft is fixedly connected to either the first or second sidewall. The third axis is the central axis of the power output shaft of the third joint module 123, located in the third direction and parallel to the first and second axes. The power output shaft of the third joint module 123 drives the first or second sidewall to rotate relative to the second arm structure 132 around the third axis, thereby enabling the torso structure mounted on the first end face to rotate relative to the second arm structure 132 around the third axis. In this embodiment, the degree of freedom of the lifting mechanism is increased, thereby improving the range of motion of the mobile robot.
[0075] The lifting mechanism provided in this application can be applied to mobile robots. Taking an AGV humanoid robot as an example, it can include a head, torso structure, arms, lifting mechanism, and bottom structure. The bottom structure can be an AGV chassis. One end of the lifting mechanism is rotatably connected to the chassis structure, and the other end is fitted with the torso structure. In this case, the lifting mechanism can serve as a human-like leg structure on the mobile robot, and the AGV chassis supports the lifting mechanism and enables the mobile robot to move.
[0076] The technical solutions provided by the embodiments of the present invention have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, based on the ideas of the present invention, modifications can be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. However, these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the ideas and scope of the technical solutions of the embodiments of the present invention.
Claims
1. A lifting mechanism applied to a mobile robot, the mobile robot comprising a torso structure and a bottom structure, characterized in that, The lifting mechanism includes a base, which is mounted on the bottom structure; the lifting mechanism further includes: Drive system; and The lifting arm includes a first arm structure and a second arm structure; the first arm structure is mounted on the base and is rotatable relative to the base; one end of the second arm structure is rotatably connected to the first arm structure, and the other end is mounted with the torso structure; The drive system is connected to the lifting arm and is configured to drive the lifting arm to fold or unfold, thereby causing the torso structure to rise and fall along a first direction; when the lifting arm is folded to its lowest position, the first arm structure and the second arm structure are both located in a plane defined by the intersection of the second direction and the third direction.
2. The lifting mechanism according to claim 1, characterized in that, The drive system includes: A first joint module, fixed to the base and connected to the first arm structure, is used to drive the first arm structure to rotate relative to the base about a first axis; and The second joint module is fixed on the base, and is disposed at a distance from the first joint module in a third direction from the lifting arm. It is also connected to the second arm structure and is used to drive the second arm structure to rotate relative to the first arm structure about a second axis.
3. The lifting mechanism according to claim 2, characterized in that, A transmission assembly is provided between the second joint module and the second arm structure. One end of the transmission assembly is fixedly connected to the power output shaft of the second joint module, and the other end is fixedly connected to the second arm structure.
4. The lifting mechanism according to claim 2, characterized in that, The first boom structure includes a first main boom and a first auxiliary boom arranged opposite each other in a third direction; the second boom structure includes two booms and a connecting part arranged opposite each other in a third direction, with the two booms respectively fixedly installed at both ends of the connecting part; the first main boom and the first auxiliary boom are respectively disposed at both ends of the two booms.
5. The lifting mechanism according to claim 4, characterized in that, The first main boom, the connecting part, and the first auxiliary boom together form an accommodating space with an opening.
6. The lifting mechanism according to claim 5, characterized in that the length L2 of the second arm structure and the length L1 of the first arm structure have the following relationship: L2≤L1, when folded to the lowest position, the boom is fully folded into the first boom structure in the second direction; or L2 > L1, and when folded to the lowest position, the boom is partially folded into the first arm structure in the second direction.
7. The lifting mechanism according to claim 4, characterized in that, The first arm structure is a parallelogram structure; and / or The second arm structure is a parallelogram structure.
8. The lifting mechanism according to claim 2, characterized in that, The transmission assembly includes a chain drive assembly or a belt drive assembly, preferably a synchronous belt drive assembly.
9. The lifting mechanism according to any one of claims 1 to 8, characterized in that, When the lifting arm is raised to its highest position, both the first arm structure and the second arm structure extend along the first direction.
10. The lifting mechanism according to any one of claims 1 to 8, characterized in that, The drive system also includes a third joint module for driving the torso structure to rotate relative to the second arm structure about a third axis.
11. The lifting mechanism according to claim 10, characterized in that, The torso structure is mounted on one end of the second arm structure via a mounting base; the mounting base includes a first end face and a first side wall and a second side wall located on both sides of the first end face, the three of which together enclose an accommodating space, the torso structure is mounted on the first end face, the first side wall and the second side wall are rotatably connected to the second arm structure respectively, the third joint module is disposed in the accommodating space, and the power output shaft is fixedly connected to the first side wall or the second side wall.
12. A mobile robot, characterized in that, It includes a torso structure and a bottom structure, and also includes a lifting mechanism as described in any one of claims 1 to 11, wherein one end of the lifting mechanism is rotatably connected to the chassis structure, and the other end is fitted with the torso structure.