A single-motor-driven robot waist lifting mechanism based on guidance constraint

Abstract

A single motor driven robot waist lifting mechanism based on guide constraint belongs to the technical field of robot structure design, and comprises a base, a lifting posture adjusting support big arm, a lifting posture adjusting support small arm, a driving motor and a guide constraint mechanism; the base is connected with a lower mobile platform of the robot; the driving motor is connected between the lifting posture adjusting support big arm and the lifting posture adjusting support small arm; the guide constraint mechanism is connected between the base and the lifting posture adjusting support small arm; a gas elasticity compensation element is further arranged between the lifting posture adjusting support big arm and the lifting posture adjusting support small arm. The single motor driven robot waist lifting mechanism based on guide constraint directly forms a structure connection interface by using the driving motor, reconfigures the motion freedom degree by using the guide constraint, realizes the conversion from rotary motion to linear lifting motion, has the integration of lifting and pitching compound motion, and effectively improves the technical advantages of the robot in structural compactness, guide stability, functional integration and the like.

Description

Technical Field

[0001] This invention belongs to the field of robot structure design technology, and in particular relates to a single-motor driven robot waist lifting mechanism based on guidance constraints. Background Technology

[0002] With the rapid development of service robots, industrial collaborative robots, and special-purpose robots, mobile robot systems with modular configurations have gradually become a focus of research and application. These robot systems typically consist of a mobile chassis and an upper execution module. The upper execution module can be flexibly configured according to specific task requirements, such as a dual-arm operation module, a detection module, or a tooling module.

[0003] In such robotic systems, the intermediate structure connecting the upper execution module and the lower mobile platform, especially a mechanism with lifting and attitude adjustment capabilities, plays a crucial role in enhancing the robot's operational range, environmental adaptability, and task flexibility. This mechanism not only enables vertical displacement adjustment of the upper execution module but can also be combined with attitude adjustment functions, thereby giving the robot richer spatial manipulation capabilities. Therefore, designing a compact, highly efficient, and stable lifting mechanism is one of the key technical challenges in such robotic systems.

[0004] Currently, the existing technologies for realizing the lifting function of this type of robot mainly include the following technical paths: ① Converting rotational motion into linear motion through a motor in conjunction with a lead screw, gear and rack mechanism, or synchronous belt mechanism to achieve lifting; ② Using a multi-drive coupling method, setting up lifting drive and attitude adjustment drive separately, and achieving compound motion through the coordinated control of multiple drive units; ③ Using linear actuators such as electric push rods to directly drive the structure to extend and retract along the axial direction to achieve the lifting function; ④ Using linkage mechanisms to achieve lifting motion, among which the quadrilateral linkage mechanism is more common. The linkage system is driven by a motor or linear actuator to undergo geometric deformation, thereby driving the actuator structure to achieve lifting or trajectory adjustment.

[0005] However, in practical engineering applications, the above-mentioned technical approaches still have shortcomings: ① Some solutions rely on multi-stage transmission structures, resulting in long transmission chains and complex structures, which is not conducive to the compact design of the system; ② The introduction of multiple drive units by multi-drive coupling methods increases the coupling degree of the control system and increases the control complexity; ③ Existing structures occupy a large volume in terms of spatial layout, which is not conducive to modular integration; ④ When bearing eccentric loads, the constraint capacity of traditional guide structures is limited, and problems such as guide instability, motion jamming, or local wear are prone to occur, affecting the reliability and service life of the system; ⑤ Existing lifting mechanisms mostly focus on achieving linear motion with a single degree of freedom, and the ability to achieve coordinated lifting and pitch adjustments under the premise of structural simplification is still limited.

[0006] Therefore, it is essential to develop a new type of robot lifting mechanism that can integrate multi-degree-of-freedom motion capabilities, while reducing the number of drive units and simplifying the transmission structure. Summary of the Invention

[0007] To address the problems existing in the prior art, this invention provides a single-motor driven robot waist lifting mechanism based on guidance constraints. By directly forming the structural connection interface with the drive motor and reconstructing the motion degrees of freedom using guidance constraints, the conversion of rotational motion to linear lifting motion is realized. At the same time, it integrates lifting and pitching composite motion capabilities, effectively improving the robot's technical advantages in terms of structural compactness, guidance stability, and functional integration.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: a single-motor driven robot waist lifting mechanism based on guidance constraints, comprising a base, a lifting and adjusting support arm, a lifting and adjusting support forearm, a drive motor, and a guidance constraint mechanism; the base is used to connect to the lower moving platform of the robot; the lower end of the lifting and adjusting support arm is hinged to the base, and the upper end of the lifting and adjusting support arm is fixedly connected to the rotor end of the drive motor; the lower end of the lifting and adjusting support forearm is fixedly connected to the stator end of the drive motor, and the upper end of the lifting and adjusting support forearm is used to install the upper execution module of the robot; the lower end of the guidance constraint mechanism is fixedly connected to the base, and the upper end of the guidance constraint mechanism is hinged to the upper middle end of the lifting and adjusting support forearm.

[0009] The guiding constraint mechanism includes a guiding constraint frame, an upper guiding constraint slide rail column, an upper guiding constraint slider, a lower guiding constraint slide rail column, and a lower guiding constraint slider. The lower guiding constraint slide rail column is vertically arranged, and its bottom end is fixedly connected to the base. The upper guiding constraint slider is fixedly installed at the lower end of the guiding constraint frame and slidably connected to the lower guiding constraint slide rail column. The upper guiding constraint slide rail column is vertically arranged, and the lower guiding constraint slider is fixedly installed at the upper end of the guiding constraint frame and slidably connected to the upper guiding constraint slide rail column.

[0010] A limit buffer is fixedly installed at the upper end of the upper guide constraint slide rail column.

[0011] A bearing seat is fixedly installed at the upper end of the limiting buffer, and the limiting buffer is hinged to the lifting and adjusting support arm through the bearing seat.

[0012] The upper guide constraint slide rail column adopts a parallel double slide rail structure, and upper limit stops are provided at the bottom of the double slide rails of the upper guide constraint slide rail column.

[0013] The number of upper guide constraint sliders is two, and the double slide rails of the upper guide constraint slide rail column are respectively connected to one upper guide constraint slider.

[0014] The lower guide constraint slide rail column adopts a parallel double slide rail structure, and a lower limit stop is provided at the top of each of the double slide rails of the lower guide constraint slide rail column.

[0015] The number of the lower guide constraint sliders is two, and the double slide rails of the lower guide constraint slide rail column are respectively connected to one lower guide constraint slider.

[0016] In the vertical direction, the upper guide constraint slide rail column and the lower guide constraint slide rail column are arranged in a cross shape. The lower half of the middle section of the upper guide constraint slide rail column is vertically provided with an upper anti-interference clearance slot, and the upper half of the middle section of the lower guide constraint slide rail column is vertically provided with a lower anti-interference clearance slot.

[0017] A pneumatic compensation element is provided between the lifting and adjusting support arm and the lifting and adjusting support forearm. The upper end of the pneumatic compensation element is hinged to the middle of the lifting and adjusting support forearm, and the lower end of the pneumatic compensation element is hinged to the lifting and adjusting support arm.

[0018] The beneficial effects of this invention are: 1. The single-motor driven robot waist lifting mechanism based on guidance constraints of the present invention uses a single motor drive as the only power input unit. The drive motor directly constitutes the structural connection interface, realizing the integration of the drive unit and structural function. Compared with the traditional lead screw, rack and pinion or multi-motor cooperative solution, it reduces the number of drive components and reduces system complexity and control burden.

[0019] 2. The single-motor driven robot waist lifting mechanism based on guidance constraints of the present invention restricts and reconstructs the relative rotational motion generated by the drive motor into linear lifting motion along the guide trajectory through the coupling effect of vertical guidance constraints and closed-loop sliding structure. Compared with traditional transmission chain structures such as gear rack, lead screw pair or synchronous belt, it realizes structural decoupling and geometric transformation of motion form.

[0020] 3. The single-motor driven robot waist lifting mechanism based on guidance constraints of the present invention forms a closed-loop constraint structure in space by four sliders, so that the load is distributed among multiple sliding pairs. This can effectively suppress overturning, jamming and local wear problems caused by eccentric load, improve anti-eccentric load and running stability, and improve guidance accuracy and long-term operating reliability.

[0021] 4. The single-motor driven robot waist lifting mechanism based on guidance constraints of the present invention directly embeds the drive motor between the lifting and posture adjustment support upper arm and the lifting and posture adjustment support lower arm, and combines the upper and lower double-layer structure layout of the guidance constraint mechanism to make the overall structure of the waist lifting mechanism highly integrated, reduce redundant connection structures, reduce space occupation, make the structure more compact, and facilitate modular integration design.

[0022] 5. The single-motor driven robot waist lifting mechanism based on guidance constraints of the present invention changes the angle between the lifting and posture adjustment support upper arm and the lifting and posture adjustment support lower arm by driving the motor, and directly realizes the coupled output of lifting and posture adjustment. Without adding an additional pitch degree of freedom drive unit, it further expands the robot's spatial operation capability.

[0023] 6. The single-motor driven robot waist lifting mechanism based on guidance constraints of the present invention can partially compensate for gravity load during movement by setting aeroelastic compensation element; and can provide buffer at the limit position of lifting stroke by setting limit buffer, effectively reducing the external impact load on the robot and improving the dynamic stability, responsiveness and service life of the robot system. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the waist lifting mechanism (lifted state) of a single motor driven robot based on guidance constraints according to the present invention (view 1). Figure 2This is a schematic diagram of the waist lifting mechanism (lifted state) of a single motor driven robot based on guidance constraints according to the present invention (view 2). Figure 3 This is a schematic diagram of the waist lifting mechanism (descending state) of a single-motor driven robot based on guidance constraints according to the present invention (view 2). Figure 4 This is a schematic diagram of the guiding constraint mechanism of the present invention; Figure 5 This is a schematic diagram of the combined structure of the guide constraint frame, the upper guide constraint slider, and the lower guide constraint slider of the present invention. Figure 6 This is a schematic diagram of the combined structure of the upper guide constraint slide rail column, the upper guide constraint slider, the upper limit stop block and the limit buffer of the present invention. Figure 7 This is a schematic diagram of the combined structure of the lower guide constraint slide rail column, the lower guide constraint slider and the lower limit stop block of the present invention. Figure 8 This is a schematic diagram of the combined structure of a single-motor driven robot waist lifting mechanism (lifted state) based on guidance constraints and the robot according to the present invention. Figure 9 This is a schematic diagram of the combined structure of a single-motor driven robot waist lifting mechanism (descending state) based on guidance constraints and the robot according to the present invention. In the diagram, 1—base, 2—lifting and adjusting support arm, 3—lifting and adjusting support forearm, 4—drive motor, 5—guide constraint mechanism, 6—lower moving platform of the robot, 7—upper execution module of the robot, 8—guide constraint frame, 9—upper guide constraint slide rail column, 10—upper guide constraint slider, 11—lower guide constraint slide rail column, 12—lower guide constraint slider, 13—limit buffer, 14—bearing seat, 15—upper anti-interference clearance slot, 16—lower anti-interference clearance slot, 17—pneumatic compensation element, 18—upper limit stop, 19—lower limit stop. Detailed Implementation

[0025] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0026] like Figures 1 to 9As shown, a single-motor driven robot waist lifting mechanism based on guidance constraints includes a base 1, a lifting and posture adjustment support arm 2, a lifting and posture adjustment support arm 3, a drive motor 4, and a guidance constraint mechanism 5. The base 1 is used to connect to the lower moving platform 6 of the robot. The lower end of the lifting and posture adjustment support arm 2 is hinged to the base 1, and the upper end of the lifting and posture adjustment support arm 2 is fixedly connected to the rotor end of the drive motor 4. The lower end of the lifting and posture adjustment support arm 3 is fixedly connected to the stator end of the drive motor 4, and the upper end of the lifting and posture adjustment support arm 3 is used to install the upper execution module 7 of the robot. The lower end of the guidance constraint mechanism 5 is fixedly connected to the base 1, and the upper end of the guidance constraint mechanism 5 is hinged to the upper middle end of the lifting and posture adjustment support arm 3.

[0027] The guiding constraint mechanism 5 includes a guiding constraint frame 8, an upper guiding constraint slide rail column 9, an upper guiding constraint slider 10, a lower guiding constraint slide rail column 11, and a lower guiding constraint slider 12. The lower guiding constraint slide rail column 11 is vertically arranged, and its bottom end is fixedly connected to the base 1. The upper guiding constraint slider 10 is fixedly installed at the lower end of the guiding constraint frame 8 and is slidably connected to the lower guiding constraint slide rail column 11. The upper guiding constraint slide rail column 9 is vertically arranged, and the lower guiding constraint slider 12 is fixedly installed at the upper end of the guiding constraint frame 8 and is slidably connected to the upper guiding constraint slide rail column 9.

[0028] In this embodiment, the guide constraint frame 8 adopts a vertical rectangular structure, the upper guide constraint slider 10 is fixedly installed on the inner side of the upper end of the guide constraint frame 8, and the lower guide constraint slider 12 is fixedly installed on the inner side of the lower end of the guide constraint frame 8.

[0029] The upper end of the upper guide constraint slide rail column 9 is fixedly installed with a limit buffer 13.

[0030] A bearing seat 14 is fixedly installed at the upper end of the limiting buffer 13, and the limiting buffer 13 is hinged to the lifting and adjusting support arm 3 through the bearing seat 14.

[0031] The upper guide constraint slide rail column 9 adopts a parallel double slide rail structure, and upper limit stop blocks 18 are provided at the bottom of the double slide rails of the upper guide constraint slide rail column 9.

[0032] There are two upper guide constraint sliders 10, and the double slide rails of the upper guide constraint slide rail column 9 are respectively connected to one upper guide constraint slider 10.

[0033] The lower guide constraint slide rail column 11 adopts a parallel double slide rail structure, and a lower limit stop 19 is provided at the top of the double slide rails of the lower guide constraint slide rail column 11.

[0034] There are two lower guide constraint sliders 12, and the double slide rails of the lower guide constraint slide rail column 11 are respectively connected to one lower guide constraint slider 12.

[0035] In the vertical direction, the upper guide constraint slide rail column 9 and the lower guide constraint slide rail column 11 are arranged in a cross shape. The lower half of the middle part of the upper guide constraint slide rail column 9 is provided with an upper anti-interference clearance slot 15, and the upper half of the middle part of the lower guide constraint slide rail column 11 is provided with a lower anti-interference clearance slot 16.

[0036] In this embodiment, due to the presence of the upper anti-interference clearance slot 15 and the lower anti-interference clearance slot 16, the upper guide constraint slide rail column 9 and the lower guide constraint slide rail column 11, which are distributed in a cross shape, can overlap and interlock, providing sufficient clearance space for the adjustment of the angle between the lifting and adjusting support arm 2 and the lifting and adjusting support arm 3.

[0037] A pneumatic compensation element 17 is provided between the lifting and adjusting support arm 2 and the lifting and adjusting support arm 3. The upper end of the pneumatic compensation element 17 is hinged to the middle part of the lifting and adjusting support arm 3, and the lower end of the pneumatic compensation element 17 is hinged to the lifting and adjusting support arm 2.

[0038] In this embodiment, there are two aeroelastic compensation elements 17, which are symmetrically distributed on the left and right sides of the lifting and adjusting support arm 2 and the lifting and adjusting support arm 3.

[0039] The following describes a single use of the present invention with reference to the accompanying drawings: When the single-motor driven robot waist lifting mechanism based on guidance constraints of the present invention is combined with the robot, only the drive motor 4 needs to be started to adjust the angle between the lifting and posture adjustment support arm 2 and the lifting and posture adjustment support arm 3. During the process of changing the angle between the lifting and posture adjustment support arm 2 and the lifting and posture adjustment support arm 3, the guiding constraint mechanism 5 guides and constrains the movement direction of the lifting and posture adjustment support arm 3 and the upper execution module 7 of the robot.

[0040] Specifically, as the angle between the lifting and adjusting support arm 2 and the lifting and adjusting support arm 3 changes, the upper guide constraint slide rail column 9 can only move vertically under the constraint of the upper guide constraint slider 10. At the same time, the lower guide constraint slider 12 can only move vertically up and down along the lower guide constraint slide rail column 11. Furthermore, the two upper guide constraint sliders 10 and the two lower guide constraint sliders 12 form a constraint closed loop in the four directions, and the rotational and translational degrees of freedom of the upper guide constraint slide rail column 9 and the lower guide constraint slide rail column 11 are reliably restricted.

[0041] When the angle between the lifting and adjusting support arm 2 and the lifting and adjusting support arm 3 is at its maximum value, the waist lifting mechanism of the single motor driven robot based on guide constraint of the present invention is in a fully raised state, the upper execution module 7 of the robot is at its maximum height and in an upright posture, the guide constraint frame 8 is at the bottom of the upper guide constraint slide rail column 9, and at the same time the guide constraint frame 8 is at the top of the lower guide constraint slide rail column 11. The upper limit stop 18 is used to limit the upper guide constraint slider 10, and the lower limit stop 19 is used to limit the lower guide constraint slider 12.

[0042] When the angle between the lifting and adjusting support arm 2 and the lifting and adjusting support arm 3 is at its minimum, the waist lifting mechanism of the single-motor driven robot based on guidance constraints of the present invention is in a fully lowered state. The upper execution module 7 of the robot is at its minimum height position and in a forward tilted posture. The guide constraint frame 8 is at the top of the upper guide constraint slide rail column 9, and at the same time, the guide constraint frame 8 is at the bottom of the lower guide constraint slide rail column 11. The upper guide constraint slide rail column 9 and the lower guide constraint slide rail column 11 cooperate through the upper anti-interference clearance slot 15 and the lower anti-interference clearance slot 16 to achieve overlapping and interlacing in a cross-shaped distribution state, thus realizing the coupling of guidance accuracy and structural rigidity.

[0043] Furthermore, during the change of the angle between the lifting and adjusting support arm 2 and the lifting and adjusting support arm 3, the upper execution module 7 of the robot will not only follow the change of height of the lifting and adjusting support arm 3, but also achieve the coupling output of lifting and pitching motions, thereby realizing the conversion between upright and forward tilting postures. Through the conversion of postures, the robot's working space is effectively expanded. Without the need to set up an additional independent pitch drive unit, the posture adjustment and low-position operation requirements of the upper execution module 7 of the robot can be met. At the same time, it avoids the design method of changing the pitch axis position through an additional adapter flange in the traditional solution, thereby reducing the structural layers, reducing the complexity of the transmission chain, and further improving the overall structural compactness and system reliability.

[0044] The solutions in the embodiments are not intended to limit the scope of protection of the present invention. All equivalent implementations or modifications that do not depart from the present invention are included in the scope of protection of the present invention.

Claims

1. A single-motor driven robot waist lifting mechanism based on guidance constraints, characterized in that: The system includes a base, a lifting and adjusting support arm, a lifting and adjusting support forearm, a drive motor, and a guiding constraint mechanism. The base is connected to the lower moving platform of the robot. The lower end of the lifting and adjusting support arm is hinged to the base, and the upper end of the lifting and adjusting support arm is fixedly connected to the rotor end of the drive motor. The lower end of the lifting and adjusting support forearm is fixedly connected to the stator end of the drive motor, and the upper end of the lifting and adjusting support forearm is used to mount the upper execution module of the robot. The lower end of the guiding constraint mechanism is fixedly connected to the base, and the upper end of the guiding constraint mechanism is hinged to the upper middle end of the lifting and adjusting support forearm.

2. The single-motor driven robot waist lifting mechanism based on guidance constraints according to claim 1, characterized in that: The guiding constraint mechanism includes a guiding constraint frame, an upper guiding constraint slide rail column, an upper guiding constraint slider, a lower guiding constraint slide rail column, and a lower guiding constraint slider. The lower guiding constraint slide rail column is vertically arranged, and its bottom end is fixedly connected to the base. The upper guiding constraint slider is fixedly installed at the lower end of the guiding constraint frame and slidably connected to the lower guiding constraint slide rail column. The upper guiding constraint slide rail column is vertically arranged, and the lower guiding constraint slider is fixedly installed at the upper end of the guiding constraint frame and slidably connected to the upper guiding constraint slide rail column.

3. The single-motor driven robot waist lifting mechanism based on guidance constraints according to claim 2, characterized in that: A limit buffer is fixedly installed at the upper end of the upper guide constraint slide rail column.

4. The single-motor driven robot waist lifting mechanism based on guidance constraints according to claim 3, characterized in that: A bearing seat is fixedly installed at the upper end of the limiting buffer, and the limiting buffer is hinged to the lifting and adjusting support arm through the bearing seat.

5. A single-motor driven robot waist lifting mechanism based on guidance constraints according to claim 2, characterized in that: The upper guide constraint slide rail column adopts a parallel double slide rail structure, and upper limit stops are provided at the bottom of the double slide rails of the upper guide constraint slide rail column.

6. A single-motor driven robot waist lifting mechanism based on guidance constraints according to claim 5, characterized in that: The number of upper guide constraint sliders is two, and the double slide rails of the upper guide constraint slide rail column are respectively connected to one upper guide constraint slider.

7. A single-motor driven robot waist lifting mechanism based on guidance constraints according to claim 2, characterized in that: The lower guide constraint slide rail column adopts a parallel double slide rail structure, and a lower limit stop is provided at the top of each of the double slide rails of the lower guide constraint slide rail column.

8. A single-motor driven robot waist lifting mechanism based on guidance constraints according to claim 7, characterized in that: The number of the lower guide constraint sliders is two, and the double slide rails of the lower guide constraint slide rail column are respectively connected to one lower guide constraint slider.

9. A single-motor driven robot waist lifting mechanism based on guidance constraints according to claim 2, characterized in that: In the vertical direction, the upper guide constraint slide rail column and the lower guide constraint slide rail column are arranged in a cross shape. The lower half of the middle section of the upper guide constraint slide rail column is vertically provided with an upper anti-interference clearance slot, and the upper half of the middle section of the lower guide constraint slide rail column is vertically provided with a lower anti-interference clearance slot.

10. A single-motor driven robot waist lifting mechanism based on guidance constraints according to claim 1, characterized in that: A pneumatic compensation element is provided between the lifting and adjusting support arm and the lifting and adjusting support forearm. The upper end of the pneumatic compensation element is hinged to the middle of the lifting and adjusting support forearm, and the lower end of the pneumatic compensation element is hinged to the lifting and adjusting support arm.

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