Lifting device and robot

Abstract

The embodiment of the utility model provides a lifting device and a robot. The lifting device comprises a base, at least three rigid chain lifting mechanisms and a working platform. The at least three rigid chain lifting mechanisms are arranged on the base, each rigid chain lifting mechanism comprises a rigid chain and a driving assembly, each driving assembly is used for driving the corresponding rigid chain to reciprocate in the first direction, a hollow area is defined by the multiple rigid chains, each rigid chain is provided with a rigid side and a flexible side, and the rigid side of each rigid chain faces the hollow area; or the rigid side of each rigid chain deviates from the hollow area; one end of each rigid chain is connected with the working platform, and the multiple rigid chains jointly drive the working platform to ascend and descend in the first direction under the action of the multiple driving assemblies. According to the lifting device provided by the embodiment of the invention, the occupied space of the lifting device is reduced while the stability of the lifting device is maintained.

Description

Technical Field

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

[0002] In the related art, a single rigid chain is used in conjunction with a scissor-type mechanism to realize the lifting function. The scissor-type mechanism is used to maintain the stability of the rigid chain, thereby ensuring the stability of the lifting device. This type of technology occupies a large space. Utility Model Content

[0003] In view of this, the embodiments of the present application hope to provide a lifting device and a robot, which can maintain the stability of the lifting device while reducing the space occupied by the lifting device.

[0004] In a first aspect, an embodiment of the present application provides a lifting device, comprising:

[0005] Base;

[0006] At least three rigid chain lifting mechanisms are arranged on the base, the rigid chain lifting mechanisms include rigid chains and a driving assembly, the driving assembly is used to drive the rigid chains to reciprocate along a first direction, the multiple rigid chains surround a hollow area, the rigid chains have a rigid side and a flexible side, the rigid side of each rigid chain faces the hollow area, or the rigid side of each rigid chain faces away from the hollow area;

[0007] A working platform, one end of each of the rigid chains is connected to the working platform, and the multiple rigid chains, under the action of the multiple driving components, jointly drive the working platform to rise and fall along a first direction.

[0008] In some embodiments, the rigid chains of each rigid chain lifting mechanism are independent of each other; and / or the multiple rigid chains are arranged in rotational symmetry; and / or the rigid side of each rigid chain faces the hollow area.

[0009] In some embodiments, the rigid chain lifting mechanism includes a guide member, which is arranged on the base, and the guide member includes a guide groove, and at least a portion of the rigid chain between one end away from the working platform and the driving assembly is movably arranged in the guide groove.

[0010] In some embodiments, the guide groove extends along the first direction.

[0011] In some embodiments, the guide groove extends along a second direction, and the second direction intersects with the first direction.

[0012] In some embodiments, the rigid chain lifting mechanism includes a universal joint and / or a ball joint, and the working platform is connected to the rigid chain lifting mechanism via the universal joint and / or the ball joint, so that the working platform can achieve universal swing.

[0013] In a second aspect, an embodiment of the present application provides a robot, wherein the robot comprises the lifting device provided in any embodiment of the present application.

[0014] In some embodiments, the robot includes a waist and a chest, wherein the waist is connected to the base, and the chest is connected to the working platform.

[0015] In some embodiments, the robot includes a robotic arm, the robotic arm includes an end effector and an arm, the base is connected to the end of the arm, and the end effector is connected to the work platform.

[0016] In some embodiments, the rigid chain lifting mechanism includes a universal joint or a ball joint, and the working platform is connected to the rigid chain lifting mechanism via the universal joint or the ball joint, so that the working platform drives the end effector to swing in a universal direction.

[0017] The lifting device provided in the embodiment of the present application has at least three rigid chains enclosing a hollow area and being connected to the working platform, that is, a plurality of rigid chains form a common support for the working platform, and the plurality of rigid chains supporting the working platform restrain each other, so that the end of any rigid chain connected to the working platform cannot deflect toward the flexible side of the rigid chain, which is beneficial to maintaining the lateral stiffness of the lifting device in any direction perpendicular to the first direction, so that the working platform can withstand high loads, without the need for additional devices to maintain the stability of the working platform, and without the need for additional devices to increase the lateral stiffness of the lifting device, which helps to reduce the space occupied by the entire lifting device. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic diagram of the structure of the lifting device provided in an embodiment of the present application;

[0019] Figure 2 is a schematic diagram of a rigid chain lifting mechanism of a lifting device provided in an embodiment of the present application;

[0020] Figure 3 is a structural schematic diagram of a lifting device provided in another embodiment of the present application;

[0021] Figure 4 yes Figure 1 A schematic diagram of another state of the lifting device;

[0022] Figure 5 yes Figure 1A schematic diagram of another state of the lifting device;

[0023] Figure 6 It is a schematic diagram of the lifting device applied to the robot;

[0024] Figure 7 This is a schematic diagram of another state in which the lifting device is applied to the robot.

[0025] Description of Reference Numerals

[0026] 10-base; 20-rigid chain lifting mechanism; 21-rigid chain; 211-chain link; 212-rigid side; 213-flexible side; 22-driving assembly; 221-sprocket; 222-motor; 23-guide member; 231-guide groove; 30-working platform; 40-universal joint. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0028] The various specific technical features described in the specific embodiments can be combined in any suitable manner without contradiction, for example, different embodiments and technical solutions can be formed by combining different specific technical features. In order to avoid unnecessary repetition, the various possible combinations of the specific technical features in this application will not be described separately.

[0029] In the following description, the terms "first\second\..." are only used to distinguish different objects, and do not mean that the objects have the same or related points. It should be understood that the directions "above", "below", "outside" and "inside" are all directions in normal use, and the directions "left" and "right" refer to the left and right directions shown in the specific corresponding schematic diagrams, which may be the left and right directions in normal use or not.

[0030] It should be noted that the terms "comprises", "includes" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element. "Multiple" means greater than or equal to two.

[0031] An embodiment of the present application provides a lifting device, including a base 10 , at least three rigid chain lifting mechanisms 20 and a working platform 30 .

[0032] The at least three rigid chain lifting mechanisms 20 are arranged on the base 10. The base 10 provides installation support and space for each rigid chain lifting mechanism 20.

[0033] Each rigid chain lifting mechanism 20 includes a rigid chain 21 and a driving assembly 22 .

[0034] The driving assembly 22 is used to drive the rigid chain 21 to reciprocate along the first direction. A plurality of rigid chains 21 surround a hollow area, and the rigid chain 21 has a rigid side 212 and a flexible side 213, and the rigid side 212 of each rigid chain 21 faces the hollow area, or the rigid side 212 of each rigid chain 21 faces away from the hollow area.

[0035] One end of each rigid chain 21 is connected to the working platform 30 , and the multiple rigid chains 21 , under the action of the multiple driving components 22 , jointly drive the working platform 30 to rise and fall along the first direction.

[0036] It should be noted that the hollow area refers to the space area enclosed by the rigid chain 21 from one end of the rigid chain connected to the working platform 30 to the driving assembly 22 .

[0037] The lifting device provided in the embodiment of the present application has at least three rigid chains 21 enclosing a hollow area and being connected to the working platform 30, that is, a plurality of rigid chains 21 form a common support for the working platform 30, and the plurality of rigid chains 21 supporting the working platform 30 restrain each other, so that the end of any rigid chain 21 connected to the working platform 30 cannot deflect toward the flexible side 213 of the rigid chain 21, which is beneficial to maintaining the lateral stiffness of the lifting device in any direction perpendicular to the first direction, so that the working platform 30 can withstand high loads, without the need for additional devices to maintain the stability of the working platform 30, and without the need for additional devices to enhance the lateral stiffness of the lifting device, which helps to reduce the space occupied by the entire lifting device.

[0038] It should be noted that the specific direction of the first direction is not limited, and the first direction can be defined according to the actual application scenario of the lifting device. Figure 1 The direction shown in the first direction.

[0039] The present application does not limit the specific number of rigid chains 21, as long as there are at least 3, which means that the number of rigid chains 21 can be 3, 4, 5, 6, etc. It can be understood that the more rigid chains 21 there are, the more chains can provide the component force in the opposite direction of the lateral force, which helps to increase the lateral height of the lifting device, and the more rigid chains there are, the more evenly the lateral load can be distributed, reducing the force borne by a single rigid chain, making it difficult for each rigid chain to reach its yield or failure point, and the overall structure is more stable, which helps to increase the carrying capacity of the lifting device.

[0040] Specifically, Figure 2 As shown, the rigid chain 21 includes a plurality of chain links 211 arranged in sequence, and any two adjacent chain links 211 are rotatably connected. The present application does not limit the rotatable connection method of the chain links 211, and the rotatable connection can be achieved by a pin shaft or a connecting column, as long as the two adjacent chain links 211 can rotate.

[0041] It should be noted that each link 211 of the rigid chain 21 is designed to have a certain rigidity. The rotational connection between two adjacent links 211 is to enable the rigid chain 21 to achieve chain transmission. The present application defines the side of the rigid chain 21 that can achieve meshing transmission with the transmission component as the flexible side 213, that is, the two adjacently connected links 211 can achieve a certain angle of deflection toward the flexible side 213. The present application defines the side opposite to the flexible side 213 of the rigid chain 21 as the rigid side 212, that is, the two adjacently connected links 211 cannot achieve deflection toward the rigid side 212.

[0042] In some embodiments, the rigid chains 21 of each rigid chain lifting mechanism 20 are independent of each other. That is, the movement of each rigid chain 21 along the first direction is independent of each other. At this time, the driving assembly 22 of each rigid chain lifting mechanism 20 only needs to independently drive the rigid chain 21 of the rigid chain lifting mechanism 20 to move. In this way, it is easy to achieve synchronous movement or asynchronous movement between the rigid chains 21 of each rigid chain lifting mechanism 20, which is conducive to improving the design and control flexibility of the lifting device and the posture adjustment of the working platform 30. In some embodiments, multiple rigid chains 21 are arranged in rotational symmetry so that the force of each rigid chain 21 is more uniform, thereby improving the lateral stiffness of the lifting device in any direction perpendicular to the first direction. It should be noted that the rotational symmetric arrangement refers to the projection in the plane perpendicular to the first direction, in which one rigid chain 21 rotates a certain angle in the plane projection, and can coincide with the position of another rigid chain 21. The rotational symmetric arrangement in the embodiment of the present application is for the arrangement position, and does not require that the overall structure of each rigid chain 21 is exactly the same. It is understandable that there are at least three rigid chains in the implementation of the present application, that is, the maximum rotation angle in the rotational symmetry is 120 degrees. When the rotationally symmetrically arranged structure faces lateral force, the rigid side of at least one rigid chain can provide a force component in the opposite direction of the lateral force, thereby improving the ability to resist lateral deformation and effectively reducing the torsional effect of the entire structure, thereby helping to enhance lateral stiffness.

[0043] For example, in some embodiments, when there are three rigid chains 21, the angle between each two adjacent rigid chains 21 and the center of the hollow area in the projection in the plane perpendicular to the first direction is 120 degrees, that is, a rigid chain 21 can overlap with another rigid chain 21 by rotating 120 degrees in the projection in the plane perpendicular to the first direction.

[0044] In some other embodiments, when there are four rigid chains 21, the angle between each two adjacent rigid chains 21 and the center of the hollow area in the projection in the plane perpendicular to the first direction is 90 degrees, that is, a rigid chain 21 can overlap with another rigid chain 21 by rotating 90 degrees in the projection in the plane perpendicular to the first direction.

[0045] It can be understood that in some embodiments, in the projection of any plane perpendicular to the first direction, the rigid chains 21 are spaced apart on the same circumference with the center of the hollow area as the center of the circle, which helps to improve the force uniformity of each rigid chain 21.

[0046] In some embodiments, the rigid sides 212 of each rigid chain 21 are all facing the hollow area, so that each rigid chain 21 can support the work platform 30 more centrally. At this time, the drive assembly 22 is located on the side of the rigid chain 21 away from the rigid side 212, which is conducive to the arrangement of the drive assembly 22. It also makes it easier to keep the distance between each rigid chain 21 small, making the entire lifting device compact.

[0047] For example, Figure 1 As shown, the rigid chain lifting mechanism 20 includes a guide member 23, which is disposed on the base 10. The guide member 23 includes a guide groove 231. At least a portion of the rigid chain 21 between one end away from the working platform 30 and the driving assembly 22 is movably disposed in the guide groove 231. The guide groove 231 can accommodate and guide the rigid chain 21, so that the other end of the rigid chain 21 can slide in the extension direction of the guide groove 231, so that interference or collision between the rigid chains 21 is reduced, so as to improve the stability of the lifting device during use.

[0048] In some embodiments, the driving assembly 22 is disposed on the guide member 23 , and the guide member 23 can provide support for the driving assembly 22 .

[0049] In some embodiments, the driving assembly 22 includes a motor 222 and a sprocket 221, the sprocket 221 is connected to the electrode output shaft, the rigid chain 21 is meshed with the sprocket 221, and the motor 222 drives the sprocket 221 to rotate and drive the rigid chain 21 to rise and fall along the first direction.

[0050] For some examples, see Figure 1 , the guide groove 231 extends along the first direction. That is, at this time, the movement direction of the end of the rigid chain 21 away from the working platform 30 is opposite to the movement direction of the working platform 30, so that the space occupied by the rigid chain lifting mechanism 20 in the direction perpendicular to the first direction can be reduced.

[0051] For some examples, see Figure 3 , the guide groove 231 extends along the second direction, and the second direction intersects with the first direction. The intersection means that the first direction and the second direction jointly define an abstract plane, and in the abstract plane, the first direction and the second direction are not parallel. It should be noted that the angle of intersection is not limited, for example, 30 degrees, 45 degrees, 60 degrees, 90 degrees, etc. In some specific embodiments, such as Figure 3 As shown, the first direction and the second direction are substantially perpendicular, and this perpendicularity can allow a certain installation error. At this time, it is beneficial to flatten the design and to reduce the installation space required when the working platform 30 is lowered to the lowest position.

[0052] It should be noted that, for different rigid chains 21, the second directions are different. Figure 3, Figure 3 In the illustrated embodiment, the second directions of the guide grooves 231 corresponding to the three rigid chains 21 are perpendicular to the first direction, and, in the orthographic projection of the plane perpendicular to the first direction, the guide grooves 231 corresponding to the three rigid chains 21 are roughly radially distributed, and two adjacent guide grooves 231 are roughly at an angle of 120°.

[0053] The specific extension direction of the guide groove 231 can be determined according to the actual arrangement requirements of the rigid chain 21 .

[0054] In some embodiments, the rigid chain lifting mechanism 20 includes a universal joint 40 or a ball joint, and the working platform 30 is connected to the rigid chain lifting mechanism 20 through the universal joint 40 or the ball joint, so that the working platform 30 can achieve universal swing. In this case, the lifting device has more movement flexibility. It should be noted that the purpose of universal swing is to adjust the posture of the structure connected to the working platform 30, and universal swing means that the working platform 30 can swing in any direction.

[0055] For example, when the rising height of one of the rigid chains 21 is smaller than the rising height of the other rigid chains 21 , the working platform 30 can be swung toward the lower rigid chain 21 .

[0056] like Figure 4 As shown, three rigid chains 21 are used as an example. For ease of description, the three rigid chains are respectively recorded as the first rigid chain 21A, the second rigid chain 21B, and the third rigid chain 21C. The rising height of the first rigid chain 21A in the first direction is less than the rising height of the second rigid chain 21B and the third rigid chain 21C in the first direction. At this time, the connection position of the first rigid chain 21A and the working platform 30 is lower than the connection position of the other two rigid chains and the working platform 30, so that the position of the working platform 30 close to the first rigid chain 21A is relatively low, and the position close to the second rigid chain 21B and the third rigid chain 21C is relatively high. The working platform 30 is inclined relative to the first direction, and the degree of inclination of the working platform 30 is determined by the lifting height difference of the three rigid chains 21.

[0057] See also Figure 5 When the lifting heights of the three rigid chains remain consistent, that is, when there is no height difference between the connection positions of any two rigid chains and the working platform, the working platform will not swing.

[0058] In some embodiments, the universal joint 40 is used to enable the working platform 30 to achieve universal swing. In some other embodiments, the ball joint is used to enable the working platform 30 to achieve universal swing.

[0059] In the embodiment of the present application, the universal joint refers to a structure having at least two rotation axes, and the two rotation axes are not parallel, for example, they may be perpendicular.

[0060] A ball joint refers to a joint having a ball socket and a ball structure, wherein the ball structure is embedded in the ball socket and can swing in the ball socket, and the contact surface between the ball structure and the ball socket is a spherical surface.

[0061] An embodiment of the present application also provides a robot, comprising any lifting device mentioned in the present application.

[0062] Robots are used to automatically perform tasks. Robots can be used to carry materials, assemble products, clean homes, provide medical assistance, etc., without limitation. That is, robots can be handling robots, collaborative robots, etc.

[0063] The lifting device provided in the embodiment of the present application occupies a small space, making the structure of the robot more compact, which is conducive to the miniaturization of the robot.

[0064] In some embodiments, the robot includes a waist and a chest, the waist is connected to the base, and the chest is connected to the working platform. In this way, the lifting device can serve as the waist joint of the robot, so that the robot can adjust its own height according to the working scene. For example, when the robot moves, the lifting device drives the chest down to lower the center of gravity and make the moving process more stable; when work is required, the lifting device drives the chest up to increase the height of the robot to achieve work, thereby expanding the robot's operating range in the vertical direction.

[0065] In some embodiments, the robot includes a robotic arm, which includes an arm and an end effector. The base can be connected to the end of the arm, and the end effector is connected to the working platform 30. Then, when the rigid chain of the lifting device drives the working platform to rise and fall, the telescopic function of the end effector can be realized.

[0066] Specifically, refer to Figure 6 and Figure 7 The end of the arm is connected to the base 10, and the working platform 30 drives the end effector (not shown in the figure) to move up and down along the first direction, thereby realizing the telescopic function of the end effector. It can be understood that in practical applications, the first direction can be any direction, such as the horizontal direction, the vertical direction, and any direction intersecting the horizontal direction or the vertical direction.

[0067] It is understandable that the end effector can be a suction cup, a gripper, a dexterous hand, a magnetic tool, a welding gun, etc. The type of the end effector can be determined according to the actual use scenario. For example, when the robot needs to pick up and place glass, the end effector can be a suction cup; or when the robot is used in certain cleaning scenarios, such as cleaning glass, or when the robot needs to grab small parts, the end effector can be a gripper or a dexterous hand.

[0068] In some embodiments, the rigid chain lifting mechanism 20 includes a universal joint 40 or a ball joint, and the working platform 30 is connected to the rigid chain lifting mechanism 20 through the universal joint 40 or the ball joint, so that the working platform 30 can swing in a universal direction, and then the working platform 30 drives the end effector to swing in a universal direction. Therefore, the wrist joint of the robot can achieve both telescopic and universal swing, so that the wrist joint of the robot has more movement flexibility, so that the robot can be applied to more application scenarios.

[0069] In this embodiment, the robot is applied to more complex scenarios. For example, in automatic welding, the end effector is a welding gun, and the working platform 30 can drive the welding gun to achieve universal swing. The universal swing function enables the welding gun to easily reach every corner and complex curved surface of the workpiece, and even very irregular geometric shapes can be accurately welded; for example, in the field of automatic assembly, the end effector is a clamp, and the working platform 30 can drive the clamp to achieve universal swing. The universal swing enables the clamp to easily move in a limited space and complete precise positioning and assembly actions in three-dimensional space. It is suitable for assembly operations with complex internal structures and limited space, such as automobile engines, aircraft engines, and precision instruments.

[0070] In some embodiments, the robot may be a humanoid robot, in which case the lifting device serves as the wrist joint of the robot.

[0071] In the description of the present application, 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 embodiments of the present application. In the present application, the schematic representation of the above terms is not necessarily for 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 different embodiments or examples described in the present application and the features of different embodiments or examples without contradiction.

[0072] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A lifting device, characterized in that: include: Base; At least three rigid chain lifting mechanisms are arranged on the base, the rigid chain lifting mechanisms include rigid chains and a driving assembly, the driving assembly is used to drive the rigid chains to reciprocate along a first direction, the multiple rigid chains surround a hollow area, the rigid chains have a rigid side and a flexible side, the rigid side of each rigid chain faces the hollow area, or the rigid side of each rigid chain faces away from the hollow area; A working platform, one end of each of the rigid chains is connected to the working platform, and the multiple rigid chains, under the action of the multiple driving components, jointly drive the working platform to rise and fall along the first direction.

2. The lifting device according to claim 1, characterized in that: The rigid chains of each rigid chain lifting mechanism are independent of each other; and / or, the multiple rigid chains are arranged in rotational symmetry; and / or, the rigid side of each rigid chain faces the hollow area.

3. The lifting device according to claim 1, characterized in that: The rigid chain lifting mechanism comprises a guide member, the guide member is arranged on the base, the guide member comprises a guide groove, and at least a portion of the rigid chain between one end away from the working platform and the driving assembly is movably arranged in the guide groove.

4. The lifting device according to claim 3, characterized in that: The guiding groove extends along the first direction.

5. The lifting device according to claim 3, characterized in that: The guiding groove extends along a second direction, and the second direction intersects with the first direction.

6. The lifting device according to claim 1, characterized in that: The rigid chain lifting mechanism comprises a universal joint and / or a ball joint, and the working platform is connected to the rigid chain lifting mechanism via the universal joint and / or the ball joint, so that the working platform can achieve universal swing.

7. A robot, characterized in that: It comprises a lifting device as described in any one of claims 1 to 5.

8. The robot according to claim 7, characterized in that: The robot comprises a waist and a chest, wherein the waist is connected to the base, and the chest is connected to the working platform.

9. The robot according to claim 7, characterized in that: The robot comprises a mechanical arm, and the mechanical arm comprises an arm and an end effector. The base is connected to the end of the arm, and the end effector is connected to the working platform.

10. The robot according to claim 9, characterized in that: The rigid chain lifting mechanism includes a universal joint or a ball joint, and the working platform is connected to the rigid chain lifting mechanism through the universal joint or the ball joint, so that the working platform drives the end effector to swing in a universal direction.

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