Robot lifting structure and liftable robot module

Abstract

The utility model discloses a robot lifting structure and a liftable robot module, the robot lifting structure can be a two-section type lifting structure, and comprises a driving assembly, a first gear assembly, a first connecting rod assembly, a second gear assembly, a second connecting rod assembly and a third gear assembly; the first gear assembly is connected with the driving assembly; one end of the first connecting rod assembly is connected with the first gear assembly; the other end is connected with the second gear assembly; one end of the second connecting rod assembly is connected with the second gear assembly, and the other end is connected with the third gear assembly; the driving assembly drives the first gear assembly to rotate, and the included angle between the first connecting rod assembly and the second connecting rod assembly relative to the horizontal plane is adjusted to achieve lifting. According to the robot lifting structure, a multi-gear meshing mode is adopted, the overall stability is higher, each set of second connecting rod assembly and each set of third connecting rod assembly are fixed through a connecting plate and can be integrally formed, and the stability is higher in the lifting process.

Description

Technical Field

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

[0002] With the development of artificial intelligence related technologies, robots are more and more widely used. Applying artificial intelligence to the field of robots can achieve a variety of applications, including embodied intelligence and vertical large models, humanoid and quadruped bionic robots, three-dimensional perception models and multimodal information fusion, new core components of robots and dexterous operation, brain-computer interfaces, myoelectric integration and micro-nano robots, medical and rehabilitation robots, commercial service robots, robot operating systems / cloud platforms, swarm robot technologies and special-scenario service robots, which have the advantages of high stability, labor saving and high efficiency.

[0003] As an emerging field, nursing robots are still in their infancy. For nursing robots, it is necessary to adjust the platform height according to the needs of patients or surgeries, which can be used to transfer items and relieve the burden on medical staff. The robot lifting platforms in the prior art generally adopt an X-shaped cross-hinged structure, which is prone to jamming during the lifting process, and has low lifting accuracy and poor stability. Summary of the Utility Model

[0004] The utility model aims to overcome at least one defect of the above prior art, and provides a robot lifting structure capable of stably adjusting the height in the vertical direction.

[0005] The utility model provides a robot lifting structure, which can be a two-stage lifting structure, including a driving component, a first gear component, a first connecting rod component, a second gear component, a second connecting rod component and a third gear component; the first gear component is connected to the driving component; one end of the first connecting rod component is connected to the first gear component; the other end is connected to the second gear component; one end of the second connecting rod component is connected to the second gear component, and the other end is connected to the third gear component; the driving component drives the first gear component to rotate, and adjusts the included angles of the first connecting rod component and the second connecting rod component relative to the horizontal plane to achieve lifting.

[0006] The driving component mainly provides power for the entire lifting mechanism. The driving component can be a stepper motor, which can achieve applications from horizontal to vertical turning. The structure of the stepper motor includes two parts: a stator and a rotor. The stator is the stationary part of the motor, while the rotor is the rotating part of the motor. Usually, axially magnetized permanent magnets are attached to the rotor. The stepper motor has the characteristics of high torque and small volume, which make it very suitable for applications that require frequent starting and stopping. The stator structure of the stepper motor has specific tooth numbers and winding configurations to achieve precise angle control. It can be directly purchased as a finished product on the market. The driving component drives the first gear assembly to rotate, and then drives the first link assembly, the second gear assembly, the second link assembly, and the third gear assembly to move. The driving component is mainly motor-driven and realizes lifting through bidirectional rotation. That is, when the included angles of the first link assembly and the second link assembly relative to the horizontal plane gradually increase, the entire lifting mechanism is in the rising stage. When the included angles of the first link assembly and the second link assembly relative to the horizontal plane gradually decrease, the entire lifting mechanism is in the descending stage, that is, the process of the first link assembly and the second link assembly stretching and retracting. The first gear assembly, the first link assembly, the second gear assembly, the second link assembly, and the third gear assembly of the present utility model are all two sets of mirror-symmetrical structures, that is, they are symmetrically installed on both sides of the driving component.

[0007] Further, the first link assembly includes a first rod body and a second rod body, the first rod body and the second rod body are parallel, and the first gear assembly is arranged on both sides of the driving component; the first gear assembly includes a first support and a first driving wheel, a first driven wheel, and a second driven wheel installed on the first support; the first driven wheel and the second driven wheel are respectively meshed with the first driving wheel; the first driving wheel is connected to the output shaft of the driving component; the first driven wheel is connected to the first rod body, and the second driven wheel is connected to the second rod body; the other ends of the first rod body and the second rod body are respectively connected to the second gear assembly.

[0008] To improve the smoothness of lifting, each set of the first link assembly further includes a first rod body and a second rod body that are parallel to each other, and the first rod body and the second rod body move synchronously during the lifting process. And the first rod body is controlled by the first driven wheel; the second rod body is controlled by the second driven wheel. While being independently controlled, they can maintain synchronization and the stability of support. Further, the included angle between the center of the first driven wheel to the central axis of the first driving wheel and the center of the second driven wheel to the central axis of the first driving wheel is 120°. And the diameters of the first driven wheel and the second driven wheel are the same and larger than the diameter of the first driving wheel.

[0009] Further, the structure of the second link assembly is similar to that of the first link assembly, and there are also two sets, which are respectively connected to a set of second gear assemblies and a set of third gear assemblies; the second link assembly includes a third rod body and a fourth rod body; the second gear assembly includes a second support, and a third driven wheel, a fourth driven wheel, a fifth driven wheel, a sixth driven wheel, a seventh driven wheel and an eighth driven wheel mounted on the second support; the third driven wheel and the fourth driven wheel mesh with each other, and the straight line where they are located is parallel to the straight line where the sixth driven wheel and the seventh driven wheel are located and perpendicular to the horizontal plane; the fifth driven wheel, the sixth driven wheel, the seventh driven wheel and the eighth driven wheel mesh in sequence; the third driven wheel is connected to the first rod body; the eighth driven wheel is connected to the second rod body; the fourth driven wheel is connected to the third rod body; the fifth driven wheel is connected to the fourth rod body, and the other ends of the third rod body and the fourth rod body are connected to the third gear assembly.

[0010] Further, the third driven wheel and the fourth driven wheel are located outside the arc formed by the fifth driven wheel, the sixth driven wheel, the seventh driven wheel and the eighth driven wheel.

[0011] Further, the third gear assembly includes a third support, and a ninth driven wheel and a tenth driven wheel fixed on the third support; the other end of the third rod body is connected to the ninth driven wheel, and the other end of the fourth rod body is connected to the tenth driven wheel.

[0012] In another embodiment of the present utility model, the robot lifting structure further includes a fourth gear assembly and a third link assembly disposed between the second link assembly and the third gear assembly; so that the first link assembly, the second link assembly and the third link assembly form a Z-shaped lifting structure. The other ends of the third rod body and the fourth rod body are connected to the fourth gear assembly, the fourth gear assembly is connected to the third link assembly, and the third link assembly is connected to the third gear assembly.

[0013] Further, the third link assembly includes a fifth rod body and a sixth rod body; the fourth gear assembly includes an eleventh driven wheel and a twelfth driven wheel that mesh with each other; and a thirteenth driven wheel, a fourteenth driven wheel, a fifteenth driven wheel and a sixteenth driven wheel that mesh with each other; the straight line where the eleventh driven wheel and the twelfth driven wheel are located is parallel to the straight line where the fourteenth driven wheel and the fifteenth driven wheel are located and perpendicular to the horizontal plane; the eleventh driven wheel is connected to the fourth rod body; the sixteenth driven wheel is connected to the third rod body; the thirteenth driven wheel is connected to the fifth rod body; the twelfth driven wheel is connected to the sixth rod body, and the other ends of the fifth rod body and the sixth rod body are connected to the third gear assembly.

[0014] Further, the eleventh driven wheel and the twelfth driven wheel are located outside the arc formed by the thirteenth driven wheel, the fourteenth driven wheel, the fifteenth driven wheel, and the sixteenth driven wheel.

[0015] The present utility model also provides a liftable robot module, including the robot lifting structure of any of the above implementation manners.

[0016] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0017] Compared with the X-shaped lifting structure in the prior art, the robot lifting structure of the present utility model has higher overall stability. Moreover, there is a connecting plate fixed between each set of the second link assembly and the third link assembly, which can be integrally formed, making the stability higher during the lifting process and the controllable precision higher. Each joint point of the lifting structure of the present utility model has a multi-gear structure, and the meshing stability is high. Description of the Drawings

[0018] Figure 1 It is a structural diagram of the robot lifting structure in the storage state in Embodiment 1.

[0019] Figure 2 It is a structural diagram of the robot lifting structure in the unfolded state in Embodiment 1.

[0020] Figure 3 It is a schematic diagram showing the gear structure of the robot lifting structure in the unfolded state in Embodiment 1. Detailed Embodiments

[0021] The accompanying drawings in the embodiments are used to describe the technical solutions in the embodiments of the present utility model in more detail. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some but not all of the embodiments of the present utility model. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present utility model, and should not be construed as a limitation to the present utility model. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present utility model. The embodiments of the present utility model will be described in detail below with reference to the drawings.

[0022] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present application, the directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly.

[0023] In addition, if the embodiments of the present application involve descriptions such as "first" and "second", the descriptions of "first", "second", etc. are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present application.

[0024] Embodiment 1

[0025] This embodiment provides a robot lifting structure, combined with Figure 1 and Figure 2 As shown, it includes a driving component 1, a first gear component 2, a first link component 3, a second gear component 4, a second link component 5, a fourth gear component 6, a third link component 7, and a third gear component 8; the first gear component 2 is connected to the driving component 1; one end of the first link component 3 is connected to the first gear component 2; the other end is connected to the second gear component 4; one end of the second link component 5 is connected to the second gear component 4, and the other end is connected to the fourth gear component 6; one end of the third link component 7 is connected to the fourth gear component 6, and the other end is connected to the third gear component 8; by driving the first gear component 2 to rotate through the driving component 1, the first link component 3, the second link component 5, and the third link component 7 form a Z-shaped structure, and the angle relative to the horizontal plane realizes lifting.

[0026] As Figure 3 shown, the first link component 3 includes a first rod body 31 and a second rod body 32, the first rod body 31 and the second rod body 32 are parallel, and the first gear component 2 is connected to the output shafts at both ends of the driving component 1; the first gear component 2 includes a first support 21 and a first driving wheel 22, a first driven wheel 23, and a second driven wheel 24 installed on the first support 21; the first driven wheel 23 and the second driven wheel 24 are respectively meshed with the first driving wheel 22; the first driving wheel 22 is connected to the output shaft of the driving component 1; the first driven wheel 23 is connected to the first rod body 31, and the second driven wheel 24 is connected to the second rod body 32.

[0027] The angle between the center of the first driven wheel 23 to the central axis of the first driving wheel 22 and the center of the second driven wheel 24 to the central axis of the first driving wheel 22 is 120°.

[0028] The second link assembly 5 includes a third rod body 51 and a fourth rod body 52; the second gear assembly 4 includes a second support 41, and a third driven wheel 42, a fourth driven wheel 43, a fifth driven wheel 44, a sixth driven wheel 45, a seventh driven wheel 46, and an eighth driven wheel 47 mounted on the second support 41; the third driven wheel 42 and the fourth driven wheel 43 mesh with each other, and the straight line where they are located is parallel to the straight line where the sixth driven wheel 45 and the seventh driven wheel 46 are located and perpendicular to the horizontal plane; the fifth driven wheel 44, the sixth driven wheel 45, the seventh driven wheel 46, and the eighth driven wheel 47 mesh in sequence; the third driven wheel 42 is connected to the first rod body 31; the eighth driven wheel 47 is connected to the second rod body 32; the fourth driven wheel 43 is connected to the third rod body 51; the fifth driven wheel 44 is connected to the fourth rod body 52; the other end of the first rod body 31 is connected to the third driven wheel 42, and the other end of the second rod body 32 is connected to the eighth driven wheel 47.

[0029] The third driven wheel 42 and the fourth driven wheel 43 are located outside the arc formed by the fifth driven wheel 44, the sixth driven wheel 45, the seventh driven wheel 46, and the eighth driven wheel 47.

[0030] The third gear assembly 8 includes a third support 81, and a ninth driven wheel 82 and a tenth driven wheel 83 fixed on the third support 81; the other end of the third rod body 51 is connected to the ninth driven wheel 82, and the other end of the fourth rod body 52 is connected to the tenth driven wheel 83.

[0031] The third link assembly 7 includes a fifth rod body 71 and a sixth rod body 72; the fourth gear assembly 6 includes a fourth support 61 and an eleventh driven wheel 62 and a twelfth driven wheel 63 meshing with each other provided on the fourth support 61; and a thirteenth driven wheel 64, a fourteenth driven wheel 65, a fifteenth driven wheel 66, and a sixteenth driven wheel 67 meshing with each other; the straight line where the eleventh driven wheel 62 and the twelfth driven wheel 63 are located is parallel to the straight line where the fourteenth driven wheel 65 and the fifteenth driven wheel 66 are located and perpendicular to the horizontal plane; the eleventh driven wheel 62 is connected to the fourth rod body 52; the sixteenth driven wheel 67 is connected to the third rod body 51; the thirteenth driven wheel 64 is connected to the fifth rod body 71; the twelfth driven wheel 63 is connected to the sixth rod body 72, the other end of the fifth rod body 71 is connected to the ninth driven wheel 82, and the other end of the sixth rod body 72 is connected to the tenth driven wheel 83; the other end of the third rod body 51 is connected to the sixteenth driven wheel 67; the other end of the fourth rod body 52 is connected to the eleventh driven wheel 62.

[0032] The eleventh driven wheel 62 and the twelfth driven wheel 63 are located outside the arc formed by the thirteenth driven wheel 64, the fourteenth driven wheel 65, the fifteenth driven wheel 66, and the sixteenth driven wheel 67.

[0033] Embodiment 2

[0034] This embodiment provides another robot lifting structure, which is a simplified structure based on the structure of Embodiment 1. This embodiment is a two-stage lifting structure, and its lifting height is lower than that of Embodiment 1. It includes a driving component 1, a first gear component 2, a first link component 3, a second gear component 4, a second link component 5, and a third gear component 8. The first gear component 2 is connected to the driving component 1. One end of the first link component 3 is connected to the first gear component 2, and the other end is connected to the second gear component 4. One end of the second link component 5 is connected to the second gear component 4, and the other end is connected to the third gear component 8. The first gear component 2, the first link component 3, the second gear component 4, the second link component 5, and the third gear component 8 are all two sets of mirror-symmetrical structures, that is, they are symmetrically installed on both sides of the driving component 1.

[0035] Further, the first link component 3 includes a first rod body 31 and a second rod body 32. The first rod body 31 and the second rod body 32 are parallel. The first gear component 2 is arranged on both sides of the driving component 1. The first gear component 2 includes a first support 21, a first driving wheel 22, a first driven wheel 23, and a second driven wheel 24 installed on the first support 21. The first driven wheel 23 and the second driven wheel 24 are respectively engaged with the first driving wheel 22. The first driving wheel 22 is connected to the output shaft of the driving component 1. The first driven wheel 23 is connected to the first rod body 31, and the second driven wheel 24 is connected to the second rod body 32. The other ends of the first rod body 31 and the second rod body 32 are respectively connected to the second gear component 4.

[0036] Further, the angle between the center of the first driven wheel 23 to the central axis of the first driving wheel 22 and the center of the second driven wheel 24 to the central axis of the first driving wheel 22 is 120°. And the diameters of the first driven wheel 23 and the second driven wheel 24 are the same and larger than the diameter of the first driving wheel 22.

[0037] Further, the structure of the second link assembly 5 is similar to that of the first link assembly 3, and there are also two sets, which are respectively connected to a set of second gear assemblies 4 and a set of third gear assemblies 8; the second link assembly 5 includes a third rod body 51 and a fourth rod body 52; the second gear assembly 4 includes a second support 41, and a third driven wheel 42, a fourth driven wheel 43, a fifth driven wheel 44, a sixth driven wheel 45, a seventh driven wheel 46 and an eighth driven wheel 47 mounted on the second support 41; the third driven wheel 42 and the fourth driven wheel 43 mesh with each other, and the straight line where they are located is parallel to the straight line where the sixth driven wheel 45 and the seventh driven wheel 46 are located and perpendicular to the horizontal plane; the fifth driven wheel 44, the sixth driven wheel 45, the seventh driven wheel 46 and the eighth driven wheel 47 mesh in sequence; the third driven wheel 42 is connected to the first rod body 31; the eighth driven wheel 47 is connected to the second rod body 32; the fourth driven wheel 43 is connected to the third rod body 51; the fifth driven wheel 44 is connected to the fourth rod body 52, and the other ends of the third rod body 51 and the fourth rod body 52 are connected to the third gear assembly 8.

[0038] Further, the third driven wheel 42 and the fourth driven wheel 43 are located outside the arc formed by the fifth driven wheel 44, the sixth driven wheel 45, the seventh driven wheel 46 and the eighth driven wheel 47.

[0039] Further, the third gear assembly 8 includes a third support 81, and a ninth driven wheel 82 and a tenth driven wheel 83 fixed on the third support 81; the other end of the third rod body 51 is connected to the ninth driven wheel 82, and the other end of the fourth rod body 52 is connected to the tenth driven wheel 83.

[0040] Embodiment 3

[0041] A liftable robot module, the robot lifting structure described in Embodiment 1 or Embodiment 2.

[0042] The above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the above preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention. Those skilled in the art can also make other changes within the spirit of the present invention for use in the design of the present invention, as long as they do not deviate from the technical effects of the present invention. These changes made according to the spirit of the present invention should all be included within the scope of protection required by the present invention.

Claims

1. A robot lifting structure, characterized in that: It comprises a driving assembly (1), a first gear assembly (2), a first connecting rod assembly (3), a second gear assembly (4), a second connecting rod assembly (5) and a third gear assembly (8); The first gear assembly (2) is connected to the driving assembly (1); One end of the first connecting rod assembly (3) is connected to the first gear assembly (2); the other end is connected to the second gear assembly (4); One end of the second connecting rod assembly (5) is connected to the second gear assembly (4), and the other end is connected to the third gear assembly (8); The driving assembly (1) drives the first gear assembly (2) to rotate, and the angle between the first connecting rod assembly (3) and the second connecting rod assembly (5) relative to the horizontal plane is adjusted to achieve lifting.

2. The robot lifting structure according to claim 1, characterized in that: The first connecting rod assembly (3) comprises a first rod body (31) and a second rod body (32), the first rod body (31) and the second rod body (32) are parallel, and the first gear assembly (2) is arranged on both sides of the driving assembly (1); The first gear assembly (2) comprises a first support (21) and a first driving wheel (22), a first driven wheel (23) and a second driven wheel (24) mounted on the first support (21); The first driven wheel (23) and the second driven wheel (24) are respectively meshed with the first driving wheel (22); The first driving wheel (22) is connected to the output shaft of the driving assembly (1); the first driven wheel (23) is connected to the first rod body (31), and the second driven wheel (24) is connected to the second rod body (32); the other ends of the first rod body (31) and the second rod body (32) are respectively connected to the second gear assembly (4).

3. The robot lifting structure according to claim 2, characterized in that: The angle between the center of the first driven wheel (23) and the center axis of the first driving wheel (22) and the center of the second driven wheel (24) and the center axis of the first driving wheel (22) is 120°.

4. The robot lifting structure according to claim 2, characterized in that: The second connecting rod assembly (5) comprises a third rod body (51) and a fourth rod body (52); The second gear assembly (4) comprises a second support (41), and a third driven wheel (42), a fourth driven wheel (43), a fifth driven wheel (44), a sixth driven wheel (45), a seventh driven wheel (46) and an eighth driven wheel (47) mounted on the second support (41); The third driven wheel (42) and the fourth driven wheel (43) are meshed with each other, and the straight line on which they are located is parallel to the straight line on which the sixth driven wheel (45) and the seventh driven wheel (46) are located, and is perpendicular to the horizontal plane; The fifth driven wheel (44), the sixth driven wheel (45), the seventh driven wheel (46) and the eighth driven wheel (47) are meshed in sequence; The third driven wheel (42) is connected to the first rod body (31); the eighth driven wheel (47) is connected to the second rod body (32); the fourth driven wheel (43) is connected to the third rod body (51); the fifth driven wheel (44) is connected to the fourth rod body (52); and the other ends of the third rod body (51) and the fourth rod body (52) are connected to the third gear assembly (8).

5. The robot lifting structure according to claim 4, characterized in that: The third driven wheel (42) and the fourth driven wheel (43) are located outside the arc formed by the fifth driven wheel (44), the sixth driven wheel (45), the seventh driven wheel (46) and the eighth driven wheel (47).

6. The robot lifting structure according to any one of claims 1 to 4, characterized in that: The third gear assembly (8) comprises a third support (81), and a ninth driven wheel (82) and a tenth driven wheel (83) fixed on the third support (81); the other end of the third rod body (51) is connected to the ninth driven wheel (82), and the other end of the fourth rod body (52) is connected to the tenth driven wheel (83).

7. The robot lifting structure according to claim 4, characterized in that: It also includes a fourth gear assembly (6) and a third connecting rod assembly (7) arranged between the second connecting rod assembly (5) and the third gear assembly (8); the other ends of the third rod body (51) and the fourth rod body (52) are connected to the fourth gear assembly (6), the fourth gear assembly (6) is connected to the third connecting rod assembly (7), and the third connecting rod assembly (7) is connected to the third gear assembly (8).

8. The robot lifting structure according to claim 7, characterized in that: The third connecting rod assembly (7) comprises a fifth rod body (71) and a sixth rod body (72); The fourth gear assembly (6) comprises an eleventh driven wheel (62) and a twelfth driven wheel (63) meshing with each other; and a thirteenth driven wheel (64), a fourteenth driven wheel (65), a fifteenth driven wheel (66) and a sixteenth driven wheel (67) meshing with each other; the straight line where the eleventh driven wheel (62) and the twelfth driven wheel (63) are located is parallel to the straight line where the fourteenth driven wheel (65) and the fifteenth driven wheel (66) are located, and is perpendicular to the horizontal plane; The eleventh driven wheel (62) is connected to the fourth rod body (52); the sixteenth driven wheel (67) is connected to the third rod body (51); the thirteenth driven wheel (64) is connected to the fifth rod body (71); the twelfth driven wheel (63) is connected to the sixth rod body (72); and the other ends of the fifth rod body (71) and the sixth rod body (72) are connected to the third gear assembly (8).

9. The robot lifting structure according to claim 8, characterized in that: The eleventh driven wheel (62) and the twelfth driven wheel (63) are located outside the arc formed by the thirteenth driven wheel (64), the fourteenth driven wheel (65), the fifteenth driven wheel (66) and the sixteenth driven wheel (67).

10. A liftable robot module, characterized in that: The robot lifting structure comprises the robot lifting structure as described in any one of claims 1 to 5 or claims 7 to 9.

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