Lifting device and robot

Abstract

The utility model relates to the technical field of robots, and provides a lifting device and a robot. The lifting device comprises a fixed connecting piece, a lifting connecting piece, a driving mechanism and a guide mechanism, and the driving mechanism is suitable for driving the lifting connecting piece to ascend and descend relative to the fixed connecting piece; the first end of the guide mechanism is connected to the fixed connecting piece, the second end of the guide mechanism is connected to the lifting connecting piece, a driving mechanism is arranged in the guide mechanism, and a wiring channel for wiring harnesses to pass through is arranged on the outer side of the guide mechanism. According to the lifting device provided by the embodiment of the utility model, the driving mechanism is arranged in the guide mechanism, and the wire harness is arranged on the outer side of the guide mechanism, so that the wire harness and the driving mechanism cannot interfere with each other in the lifting process of the lifting connecting piece relative to the fixed connecting piece, and the stability and the service life of the wire harness are ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a lifting device and a robot. Background Art

[0002] With the rapid development of the robotics industry, the requirements for home robots are getting higher and higher, and robots are required to complete more tasks, such as adding mechanical arms to robots to complete object grabbing, housework, etc. Usually, a robot is a multifunctional and complex system with a lot of corresponding electronic components and wiring harnesses. In the home robot scenario, the mutual interference between wiring harnesses and electronic components is an urgent problem to be solved. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the related art. To this end, the utility model proposes a lifting device to solve the defect of mutual interference between the wire harness and the electronic components in the prior art.

[0004] The utility model also provides a robot.

[0005] The lifting device according to the first embodiment of the utility model includes:

[0006] Fixing connectors;

[0007] Lifting connector;

[0008] A driving mechanism, wherein the driving mechanism is adapted to drive the lifting connection member to rise and fall relative to the fixed connection member;

[0009] A guide mechanism, wherein a first end of the guide mechanism is connected to the fixed connection member, a second end of the guide mechanism is connected to the lifting connection member, the driving mechanism is arranged inside the guide mechanism, and a wiring channel for the wiring harness to pass through is arranged outside the guide mechanism.

[0010] According to the lifting device of the embodiment of the utility model, the driving mechanism is arranged inside the guide mechanism, and the wiring harness is arranged outside the guide mechanism, thereby ensuring that the wiring harness and the driving mechanism will not interfere with each other during the lifting and lowering of the lifting connecting member relative to the fixed connecting member, thereby ensuring the stability and life of the wiring harness.

[0011] According to an embodiment of the present utility model, the outer contour of the guide mechanism is concave to form the wiring channel.

[0012] According to one embodiment of the utility model, the guiding mechanism includes an outer frame and an inner frame, the inner frame is connected to the fixed connecting piece, the outer frame is connected to the lifting connecting piece, an installation space is formed inside the outer frame, the inner frame is arranged in the installation space, the inner frame can slide relative to the outer frame, the inner frame is hollow inside to form a accommodating space, the driving mechanism is located in the accommodating space, and the wiring channel is formed on the outside of the outer frame.

[0013] According to one embodiment of the utility model, the outer frame includes a raised portion, which is arranged on opposite sides of the wiring channel along the outer circumference of the outer frame, and the raised portion is formed with a sliding groove, which extends along the lifting direction of the lifting connection member, and the opening of the sliding groove faces the inner frame, and the sliding groove is used to install the roller assembly.

[0014] According to an embodiment of the utility model, the number of the wiring channels is two, and the two wiring channels are symmetrically arranged on both sides of the outer frame. Corresponding to the wiring channels, the number of the protrusions is four, and they are arranged at the corner positions of the inner frame.

[0015] According to one embodiment of the utility model, the lifting device further includes:

[0016] A cable arrangement mechanism includes a drag chain, a mounting bracket and a wiring harness. The cable arrangement mechanism is installed in the wiring channel. The drag chain is connected to the mounting bracket. The insides of the drag chain and the mounting bracket are formed with interconnected wiring grooves.

[0017] According to one embodiment of the utility model, the fixed connecting member includes a limiting protrusion and a wire-passing joint, the limiting protrusion is used to install the guide mechanism, the wire-passing joint is arranged on the outer side of the limiting protrusion, and the wire-passing joint is connected and communicated with the mounting bracket.

[0018] According to an embodiment of the utility model, there are multiple wiring channels, and the drag chains are arranged in a one-to-one correspondence with the wiring channels.

[0019] According to an embodiment of the present utility model, the outer contour of the guide mechanism and the vertical orthographic projection area of ​​the cable arrangement mechanism are smaller than the vertical orthographic projection area of ​​the fixed connection member or the lifting connection member.

[0020] The robot according to the embodiment of the second aspect of the utility model includes the above-mentioned lifting device.

[0021] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the utility model or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 It is a schematic diagram of the exploded structure of the lifting device provided by the embodiment of the utility model;

[0024] Figure 2 It is a structural schematic diagram of a lifting device provided by an embodiment of the utility model;

[0025] Figure 3 It is a structural schematic diagram of the guide mechanism provided by an embodiment of the utility model;

[0026] Figure 4 It is a schematic diagram of the assembly structure of the inner frame and the driving mechanism provided in the embodiment of the utility model;

[0027] Figure 5 It is a schematic diagram of the assembly structure of the inner frame and the outer frame provided in an embodiment of the utility model.

[0028] Reference numerals:

[0029] 10. Guiding mechanism;

[0030] 20. Driving mechanism;

[0031] 30. Fixed connector; 31. Limiting protrusion; 32. Wire connector;

[0032] 40. Lifting connector;

[0033] 50. Cable arrangement mechanism; 51. Drag chain; 52. Mounting bracket; 53. Wiring trough;

[0034] 100. Roller assembly;

[0035] 200, outer frame; 210, installation space; 220, wiring channel; 230, raised portion;

[0036] 300, inner frame; 310, accommodation space;

[0037] 400, sliding slot; DETAILED DESCRIPTION

[0038] The following is a further detailed description of the implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0039] In the description of the embodiments of the present utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present utility model. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0040] In the description of the embodiments of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection, wherein the fixed connection can include an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific circumstances.

[0041] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0042] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model embodiment. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0043] According to the lifting device of the present utility model, please refer to Figure 1 The lifting device includes a fixed connection member 30, a lifting connection member 40, a driving mechanism 20 and a guide mechanism 10. The driving mechanism 20 is suitable for driving the lifting connection member 40 to lift and lower relative to the fixed connection member 30; the first end of the guide mechanism 10 is connected to the fixed connection member 30, and the second end of the guide mechanism 10 is connected to the lifting connection member 40. The driving mechanism 20 is arranged inside the guide mechanism 10, and the outer side of the guide mechanism 10 is provided with a wiring channel 220 for the wiring harness to pass through.

[0044] According to the lifting device of the embodiment of the utility model, the driving mechanism 20 is arranged inside the guide mechanism 10, and the wiring harness is arranged on the outside of the guide mechanism 10, thereby ensuring that during the lifting and lowering process of the lifting connecting member 40 relative to the fixed connecting member 30, the wiring harness and the driving mechanism 20 will not interfere with each other, thereby ensuring the stability and life of the wiring harness.

[0045] It can be understood that the fixed connection member 30 can be used to fix the lifting device to provide stable support for the lifting device, and the lifting connection member 40 can move relative to the fixed connection member 30 to achieve the lifting action.

[0046] It is understandable that the guide mechanism 10 can provide a guiding function, which can ensure that the lifting path of the lifting connector 40 is accurate. The drive mechanism 20 is arranged inside the guide mechanism 10. In other words, the drive mechanism 20 is arranged at the center of the guide mechanism 10. Placing the drive mechanism 20 at the center position can make full use of the space of the guide mechanism 10, reduce the size of the overall device, and make it more compact and lightweight. In addition, placing the drive mechanism 20 at the center of the guide mechanism 10 can stabilize the center of gravity of the lifting device during the lifting process, reducing the risk of deviation and shaking.

[0047] Moreover, a wiring channel 220 for the wire harness to pass through is provided on the outside of the guide mechanism 10. The wiring channel 220 can be used to place the wire harness and protect the wire harness to prevent the wire harness from intertwining with the guide mechanism 10 or the internal electronic components during the lifting process. In addition, since the wiring channel 220 is provided on the outside, the wire harness is easy to check, replace and repair, which reduces the maintenance cost and time, and there is no need to disassemble the entire lifting device.

[0048] It is understandable that the wiring channel 220 can be fully enclosed or semi-enclosed, depending on the actual application requirements and the structural design of the device. The fully enclosed wiring channel 220 can better protect the wiring harness and prevent external factors from interfering with and damaging the wiring harness. At the same time, the fully enclosed wiring channel 220 can also reduce the entry of impurities such as dust and moisture, and improve the reliability and stability of the device. The semi-enclosed wiring channel 220 can provide better visibility and accessibility, and is convenient for repairing and replacing the wiring harness. At the same time, the semi-enclosed wiring channel 220 can also help dissipate heat, which is beneficial to the stable operation of the drive mechanism 20 and other internal components.

[0049] The driving mechanism 20 may be any common driving mechanism 20 on the market, such as a trapezoidal screw, a ball screw, a planetary roller screw, etc. The present invention does not impose any specific limitation on this.

[0050] According to an embodiment of the present invention, please refer to Figure 1 and Figure 2 , the outer contour of the guide mechanism 10 is concave to form a wiring channel 220. It can be understood that the concave wiring channel 220 can better protect the wiring harness, and the outer contour of the guide mechanism 10 forms a semi-enclosed structure to protect the wiring harness. In addition, the concave wiring channel 220 can provide a guiding function to ensure that the wiring harness moves stably and accurately in the wiring channel 220 during the lifting process.

[0051] According to an embodiment of the present invention, please refer to Figures 1 to 5 The guide mechanism 10 includes an outer frame 200 and an inner frame 300. The inner frame 300 is connected to the fixed connection member 30. The outer frame 200 is connected to the lifting connection member 40. An installation space 210 is formed inside the outer frame 200. The inner frame 300 is arranged in the installation space 210. The inner frame 300 can slide relative to the outer frame 200. The inner frame 300 is hollow inside to form a receiving space 310. The driving mechanism 20 is located in the receiving space 310. The wiring channel 220 is formed on the outside of the outer frame 200.

[0052] It can be understood that the design of the inner frame 300 and the outer frame 200 provides dual stability. The outer frame 200 provides the main structural support for the guide mechanism 10, while the inner frame 300 provides additional strength and stability for the interior of the guide mechanism 10, and can be used to protect the components located in the hollow interior of the inner frame 300.

[0053] It can be understood that the inner frame 300 is hollow inside, wherein the driving mechanism 20 or the control mechanism of the guiding mechanism 10 can be installed in the inner hollow area of ​​the inner frame 300, so that the driving mechanism 20 or the control mechanism can be compactly integrated in the inner frame 300, while reducing the demand for external space. The overall volume of the guiding mechanism 10 can be reduced accordingly, and the inner frame 300 provides a stable environment for the driving mechanism 20 or the control mechanism arranged in the hollow position, which can prevent external factors (such as environment, human factors, etc.) from causing damage to it, thereby improving safety and reliability.

[0054] According to one embodiment of the utility model, the outer frame 200 includes a protrusion 230, which is arranged on opposite sides of the wiring channel 220 along the outer periphery of the outer frame 200, and the protrusion 230 is formed with a sliding groove 400, which extends along the lifting direction of the lifting connection member 40, and the opening of the sliding groove 400 faces the inner frame 300, and the sliding groove 400 is used to install the roller assembly 100.

[0055] It is understood that the wiring channel 220 is formed between the two protrusions 230. In other words, the protrusion 230 forms a partial outline of the wiring channel 220. By arranging the wiring channel 220 between the two protrusions 230, the wiring harness can be arranged more compactly, reducing the overall size of the device.

[0056] At the same time, a sliding groove 400 for installing the roller assembly 100 is arranged inside the protrusion 230. The roller assembly 100 plays a rolling role when the outer frame 200 moves relative to the inner frame 300. Compared with traditional sliding friction, it can significantly reduce friction and wear, thereby extending the service life of the guide mechanism 10.

[0057] According to an embodiment of the present invention, the number of the wiring channels 220 is two, and the two wiring channels 220 are symmetrically arranged on both sides of the outer frame 200 .

[0058] It is understandable that the wiring harness can be set on two different wiring channels 220, and the wiring harness does not have to be concentrated in the same place, thereby preventing the bending radius of the wiring harness from being too small during the lifting process, and effectively improving the service life of the wiring harness.

[0059] Of course, there can be more than one wiring channel 220 , which are arranged around the outer contour of the outer frame 200 , and no specific limitation is made here.

[0060] In one embodiment, the number of the protrusions 230 of the outer frame 200 is four corresponding to the two wiring channels 220, and the protrusions 230 are arranged at the corners of the inner frame 300. It can be understood that the protrusions 230 are arranged at the corners of the inner frame 300, which can more conveniently install and fix other components such as the roller assembly 100.

[0061] According to one embodiment of the utility model, the lifting device also includes a cable arrangement mechanism 50, which includes a drag chain 51, a mounting bracket 52 and a wiring harness. The cable arrangement mechanism 50 is installed in the wiring channel 220, the drag chain 51 is connected to the mounting bracket 52, and the mounting bracket 52 is connected to the outer frame 200. The insides of the drag chain 51 and the mounting bracket 52 are both formed with interconnected wiring grooves 53.

[0062] It is understandable that the wiring harness is placed in the wiring groove 53 through the wiring arrangement mechanism 50, which can better protect the wiring harness and prevent the wiring harness from being damaged during the lifting process. The wiring grooves 53 that are interconnected are formed inside the drag chain 51 and the mounting bracket 52, so that the wiring harness can be neatly arranged during the lifting process, thereby improving the aesthetics and stability of the overall device.

[0063] It is understandable that the cable arrangement mechanism 50 is used in conjunction with the guide mechanism 10 to better guide the wire harness through the cable routing channel 220 and ensure the guiding accuracy of the guide mechanism 10 during the lifting process.

[0064] According to one embodiment of the utility model, the fixed connector 30 includes a limiting protrusion 31 and a wire-passing joint 32. The limiting protrusion 31 is used to install the guide mechanism 10. The wire-passing joint 32 is arranged on the outside of the limiting protrusion 31. The wire-passing joint 32 is connected and communicated with the mounting bracket 52.

[0065] It can be understood that the limiting protrusion 31 can enable the fixed connection member 30 to install the guide mechanism 10 more stably, thereby improving the structural stability of the overall device.

[0066] It is understandable that the wire harness can be passed through the wire connector 32 more conveniently, and it is also convenient for daily maintenance and care of the wire harness. By arranging the wire connector 32 outside the limiting protrusion 31, the wire harness can be better protected and prevented from being damaged during the lifting process.

[0067] According to an embodiment of the present invention, there are multiple wiring channels 220 , and the drag chains 51 are arranged in a one-to-one correspondence with the wiring channels 220 .

[0068] It is understandable that by configuring a drag chain 51 for each wiring channel 220, the wire harness can be better managed and controlled, and the efficiency and accuracy of wire harness management can be improved. In addition, the load of the lifting device can be better balanced, and the overall stability and reliability of the lifting device can be improved.

[0069] According to an embodiment of the present invention, the outer contour of the guide mechanism 10 and the vertical orthographic projection area of ​​the cable arrangement mechanism 50 are smaller than the vertical orthographic projection area of ​​the fixed connection member 30 or the lifting connection member 40. It can be understood that the vertical orthographic projection areas of the cable arrangement mechanism 50 and the guide mechanism 10 are both smaller than the vertical orthographic projection areas of the fixed connection member 30 or the lifting connection member 40, and the structures of the cable arrangement mechanism 50 and the guide mechanism 10 are between the fixed connection member 30 and the lifting connection member 40.

[0070] A robot according to an embodiment of the utility model includes the above-mentioned lifting device.

[0071] It is understandable that the lifting device enables the robot to achieve lifting and lowering movements, expanding the robot's working range and adaptability. The lifting device can be used for the robot's joints, arms, legs and other moving parts to provide precise guidance and positioning functions. The lifting device can be used in conjunction with the robot's end effector to achieve various complex and delicate operating tasks.

[0072] It should be noted that, since the robot includes the above-mentioned lifting device, it has all the technical effects of the above-mentioned lifting device, which will not be repeated here.

[0073] Finally, it should be noted that the above implementation modes are only used to illustrate the present invention, rather than to limit the present invention. Although the present invention is described in detail with reference to the embodiments, a person skilled in the art should understand that various combinations, modifications or equivalent replacements of the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention, and should be included in the scope of the claims of the present invention.

Claims

1. A lifting device, characterized in that: include: Fixing connectors; Lifting connector; A driving mechanism, wherein the driving mechanism is adapted to drive the lifting connection member to rise and fall relative to the fixed connection member; A guide mechanism, wherein a first end of the guide mechanism is connected to the fixed connection member, a second end of the guide mechanism is connected to the lifting connection member, the driving mechanism is arranged inside the guide mechanism, and a wiring channel for the wiring harness to pass through is arranged outside the guide mechanism.

2. The lifting device according to claim 1, characterized in that: The outer contour of the guide mechanism is concave to form the wiring channel.

3. The lifting device according to claim 2, characterized in that: The guiding mechanism includes an outer frame and an inner frame, the inner frame is connected to the fixed connecting piece, the outer frame is connected to the lifting connecting piece, an installation space is formed inside the outer frame, the inner frame is arranged in the installation space, the inner frame can slide relative to the outer frame, the inner frame is hollow inside to form a accommodating space, the driving mechanism is located in the accommodating space, and the wiring channel is formed on the outside of the outer frame.

4. The lifting device according to claim 3, characterized in that: The outer frame includes a raised portion, which is arranged on opposite sides of the wiring channel along the outer circumference of the outer frame. The raised portion is formed with a sliding groove, which extends along the lifting direction of the lifting connection member. The opening of the sliding groove faces the inner frame, and the sliding groove is used to install the roller assembly.

5. The lifting device according to claim 4, characterized in that: The number of the wiring channels is two, and the two wiring channels are symmetrically arranged on both sides of the outer frame. Corresponding to the wiring channels, the number of the protrusions is four, and they are arranged at the corner positions of the inner frame.

6. The lifting device according to any one of claims 1 to 5, characterized in that: The lifting device also includes: A cable arrangement mechanism includes a drag chain, a mounting bracket and a wiring harness. The cable arrangement mechanism is installed in the wiring channel. The drag chain is connected to the mounting bracket. The insides of the drag chain and the mounting bracket are formed with interconnected wiring grooves.

7. The lifting device according to claim 6, characterized in that: The fixed connection member includes a limiting protrusion and a wire-passing joint, the limiting protrusion is used to install the guide mechanism, the wire-passing joint is arranged on the outer side of the limiting protrusion, and the wire-passing joint is connected and communicated with the mounting bracket.

8. The lifting device according to claim 6, characterized in that: There are multiple wiring channels, and the drag chains are arranged in a one-to-one correspondence with the wiring channels.

9. The lifting device according to claim 6, characterized in that: The outer contour of the guide mechanism and the vertical orthographic projection area of ​​the cable arrangement mechanism are smaller than the vertical orthographic projection area of ​​the fixed connection member or the lifting connection member.

10. A robot, characterized in that: A lifting device comprising the lifting device according to any one of claims 1 to 9.

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