Forward-tilting type double-slide-way folding lifting mechanism

Abstract

The utility model provides a forward-tilting type double-slideway folding lifting mechanism which comprises a scissor-fork type folding frame, the scissor-fork type folding frame is provided with an upper fixing plate, a lower fixing plate and a scissor-fork type connecting rod assembly, a lifting assembly for driving the scissor-fork type connecting rod assembly to ascend and descend is installed on the lower fixing plate, and flexible adjustment of the height of a robot is achieved. The top end of the upper fixing plate is hinged to a forward-inclining bottom plate, a telescopic piece is connected between the forward-inclining bottom plate and the upper fixing plate, the forward-inclining angle can be adjusted, flexibility is improved to cope with different tasks, a centering guide assembly at the bottom end of the upper fixing plate is in sliding fit with a cross rotating shaft at the top end of a connecting rod assembly, lifting stability is ensured, gravity center shifting is avoided, and the stability of the robot is improved; according to the mechanism, through the design of the shear fork type folding frame and the cooperation of all parts, the robot can conduct stable height adjustment and forward inclination angle adjustment according to the distance of objects and the actual working condition, and the working performance and the adaptive capacity of the robot are greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a forward-inclined double-slide folding lifting mechanism. Background Art

[0002] The application of robot technology in production and life is becoming more and more extensive. For families, robots can be used for education and companionship; in factories, robots can replace some dangerous jobs. At present, most existing robots use robotic arms to execute commands for grasping items. However, in the field of domestic service, the working scenarios are complex and diverse. Such robots usually have difficulty adjusting their own height and forward inclination angle according to the placement position of items. Moreover, during the lifting process of the robot, the center of gravity of the lifting mechanism is prone to shift, which greatly affects its working stability and is difficult to meet the actual application requirements. For example, in a home environment, the placement positions of items are often different in height and distance. Traditional robots are likely to be unable to accurately grasp these items, resulting in unsatisfactory service effects. In environments such as factories, higher requirements are placed on the operation flexibility of robots. If a robot cannot adjust its height and forward inclination angle according to the actual situation, it may affect work efficiency and quality, and may even be unable to complete certain specific tasks. Therefore, there is an urgent need for a technical solution that can lift and adjust the forward inclination angle of a robot while maintaining good stability during lifting. Summary of the Utility Model

[0003] The purpose of the utility model is to provide a forward-inclined double-slide folding lifting mechanism, which can realize the stable adjustment of the height and inclination angle of a robotic arm.

[0004] The utility model provides a forward-inclined double-slide folding lifting mechanism, which includes a scissor-type folding frame. The scissor-type folding frame includes an upper fixing plate, a lower fixing plate, and a scissor-type link assembly. The top and bottom ends of the scissor-type link assembly are respectively slidably hinged to the upper fixing plate and the lower fixing plate. A lifting assembly for driving the scissor-type link assembly to lift is installed at the top end of the lower fixing plate. A centering and guiding assembly is installed at the bottom end of the upper fixing plate. The cross shaft at the top end of the scissor-type link assembly is slidably fitted on the centering and guiding assembly. A forward-inclined bottom plate is hinged to the top end of the upper fixing plate. A fixing frame for installing a robotic arm is fixedly installed at the top end of the forward-inclined bottom plate. A telescopic member is hingedly connected between the forward-inclined bottom plate and the upper fixing plate.

[0005] Further, the scissor-type link assembly includes two groups of symmetrically arranged scissor-type folding link groups, and the two groups of scissor-type folding link groups are connected by a connecting shaft.

[0006] Further, four slideways are provided at the bottom end of the upper fixing plate and the top end of the lower fixing plate. A slider is installed in each slideway, and the top end and the bottom end of the scissor-type folding link group are respectively hinged and installed on the corresponding sliders.

[0007] Further, the lifting assembly includes a mounting plate erected between two groups of the scissor-type folding link groups. A motor is installed at the top end of the mounting plate. A ball screw is rotatably installed between the mounting plate and the lower fixing plate. A screw nut is fitted on the ball screw. The ball screw is in transmission connection with the motor. The top end of the screw nut is lapped with a guiding connection column, and two ends of the guiding connection column are respectively inserted into the cross holes at the bottom end of the scissor-type folding link group.

[0008] Further, the motor and the ball screw are connected by a coupling.

[0009] Further, the mounting plate is erected at the top end of the lower fixing plate through four optical axes.

[0010] Further, the centering and guiding assembly includes a guiding tube. A guiding groove parallel to its axis is opened on one side of the guiding tube close to the scissor link. The cross rotating shaft at the top end of the scissor link group is slidably installed in the guiding groove. The bottom end of the upper fixing plate is symmetrically suspended with stabilizing plates corresponding to two groups of the scissor-type folding link groups respectively, and the guiding tube is fixedly connected with the stabilizing plates.

[0011] Further, U-shaped mounting frames are provided between the top end of the forward-tilting bottom plate and the bottom end of the upper fixing plate, and the upper and lower ends of the telescopic member are respectively hinged and installed on the two U-shaped mounting frames.

[0012] Further, the telescopic member is a telescopic cylinder or a push rod motor.

[0013] Further, hinge frames for installing links are provided on the sliders.

[0014] The beneficial effects of this technical solution are as follows: Through the design of the scissor-type folding frame, the scissor link assembly is driven to lift by the lifting assembly, so that the height of the robot can be flexibly adjusted. Secondly, the forward-tilting bottom plate is hinged at the top end of the upper fixing plate, and a telescopic member is hinged between the forward-tilting bottom plate and the upper fixing plate, so that the robot can adjust the forward-tilting angle according to the distance of the object and the actual working conditions, improving flexibility and ensuring that various tasks can be completed for different situations. The centering and guiding assembly at the bottom end of the upper fixing plate is slidably matched with the cross rotating shaft at the top end of the scissor link assembly, ensuring the stability of the lifting process, avoiding the problem of center of gravity deviation, and greatly improving the stability of the robot. Description of the Drawings

[0015] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0017] Figure 2 It is a schematic diagram of the execution structure for the forward tilt action in the present invention.

[0018] Figure 3 It is a schematic diagram of the upper fixing plate and the lower fixing plate of the present invention.

[0019] Figure 4 It is a schematic diagram of the scissor-type folding frame in the present invention.

[0020] Figure 5 It is a schematic diagram of the lifting assembly in the present invention.

[0021] Figure 6 It is a schematic diagram of the centering and guiding assembly in the present invention.

[0022] Explanation of reference numerals: 1 - lower fixing plate, 2 - scissor-type folding link group, 3 - upper fixing plate, 4 - slideway, 5 - slider, 6 - articulated frame, 7 - connecting shaft, 8 - cross hole, 9 - forward tilt bottom plate, 10 - telescopic member, 11 - fixing frame, 12 - U-shaped mounting frame, 13 - mounting plate, 14 - motor, 15 - ball screw, 16 - screw nut, 17 - optical axis, 18 - guiding connection column, 19 - stabilizing plate, 20 - guiding tube, 21 - guiding groove, 22 - cross rotating shaft. Specific embodiments

[0023] The following will clearly and completely describe the technical solutions of the present invention in combination with the embodiments. Obviously, the described embodiments are some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0024] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing 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 thus should not be construed as a limitation to the present utility model.

[0025] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying 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 one or more of the said features. In the description of the present utility model, the meaning of "a plurality" is two or more unless otherwise specifically defined. In addition, the terms "mounted", "connected", and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0026] Embodiment 1

[0027] As Figures 1-6 shown, the present utility model provides a forward-tilt double-slide folding and lifting mechanism, which includes a scissor-type folding frame. The scissor-type folding frame includes an upper fixing plate 3, a lower fixing plate 1, and a scissor-type link assembly. The top and bottom ends of the scissor-type link assembly are respectively slidably hinged to the upper fixing plate 3 and the lower fixing plate 1. Among them: the scissor-type link assembly includes two sets of symmetrically arranged scissor-type folding link groups 2, and the two sets of scissor-type folding link groups 2 are connected by a connecting shaft 7; four slideways 4 are provided at the bottom end of the upper fixing plate 3 and the top end of the lower fixing plate 1, and a slider 5 is installed in each slideway 4. A hinge bracket 6 for installing a link is provided on each slider 5, and the link ends at the top and bottom ends of the scissor-type folding link group 2 are installed on the hinge bracket 6.

[0028] A lifting assembly for driving the lifting of the scissor-type connecting rod assembly is installed at the top of the lower fixed plate 1. The lifting assembly includes a mounting plate 13 mounted between two groups of scissor-type folding connecting rod groups 2. The mounting plate 13 is mounted on the top of the lower fixed plate 1 through four optical axes 17. A motor 14 is installed at the top of the mounting plate 13. A ball screw 15 is rotatably installed between the mounting plate 13 and the lower fixed plate 1. The axis of the ball screw 15 is parallel to the axis of the optical axis 17. A lead screw nut 16 is installed on the ball screw 15. The ball screw 15 and the motor 14 are connected by a coupling. A guide connecting column 18 is overlapped at the top of the lead screw nut 16. The guide connecting column 18 and the lead screw nut 16 are fixedly connected. Both ends of the guide connecting column 18 are respectively inserted into the cross hole 8 at the bottom end of the scissor-type folding connecting rod group 2. The lead screw nut 16 is driven to rise and fall by the ball screw 15. The setting of the guide connecting column 18 limits the rotation of the lead screw nut 16.

[0029] The bottom end of the upper fixed plate 3 is installed with a centering guide assembly, which includes a guide tube 20. A guide groove 21 parallel to the axis of the guide tube 20 is opened on the side close to the scissors-type connecting rod. A cross shaft 22 is rotatably installed in the cross hole 8 at the top of the scissors-type connecting rod group. The other end of the cross shaft 22 is slidably installed in the guide groove 21. Stabilizing plates 19 corresponding to the two groups of scissors-type folding connecting rod groups 2 are symmetrically suspended at the bottom end of the upper fixed plate 3. The guide tube 20 is fixedly connected to the stabilizing plate 19, and the suspended stabilizing plate 19 stabilizes the lower end position of the guide tube 20.

[0030] In order to realize the forward tilting movement of the robotic arm, a forward tilting base plate 9 is hinged at the top end of the upper fixed plate 3, and a U-shaped mounting frame 12 is provided between the top end of the forward tilting base plate 9 and the bottom end of the upper fixed plate 3. The upper and lower ends of the telescopic member 10 are respectively hingedly mounted on the two U-shaped mounting frames 12. The fixed frame 11 for installing the robotic arm is fixedly mounted on the top end of the forward tilting base plate 9. The telescopic member 10 is hingedly connected between the forward tilting base plate 9 and the upper fixed plate 3. The telescopic member 10 can be a telescopic cylinder or a push rod motor 14, and the specific situation can be selected according to actual needs.

[0031] This technical solution uses the design of a scissor-type folding frame and uses a lifting assembly to drive the scissor-type connecting rod assembly to lift and lower, so as to realize flexible adjustment of the robot height. Secondly, a forward tilting bottom plate 9 is hinged at the top of the upper fixed plate 3, and a telescopic member 10 is hingedly connected between the forward tilting bottom plate 9 and the upper fixed plate 3, so that the robot can adjust the forward tilting angle according to the distance of the object and the actual working conditions, improve flexibility, and ensure that various tasks can be completed for different situations. The centering guide assembly at the bottom of the upper fixed plate 3 and the cross shaft 22 at the top of the scissor-type connecting rod assembly slide in cooperation, ensuring the stability of the lifting process, avoiding the problem of center of gravity offset, and greatly improving the stability of the robot.

[0032] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A forward-tilt double-slide folding and lifting mechanism, characterized in that, The scissors-type folding frame includes an upper fixed plate, a lower fixed plate and a scissors-type connecting rod assembly, the top and bottom ends of the scissors-type connecting rod assembly are respectively slidably hinged with the upper fixed plate and the lower fixed plate, the top end of the lower fixed plate is installed with a lifting assembly for driving the scissors-type connecting rod assembly to rise and fall, the bottom end of the upper fixed plate is installed with a centering guide assembly, the cross shaft at the top end of the scissors-type connecting rod assembly is slidably engaged with the centering guide assembly, the top end of the upper fixed plate is hinged with a forward-inclined bottom plate, a fixing frame for installing a mechanical arm is fixedly installed on the top end of the forward-inclined bottom plate, and a telescopic member is hingedly connected between the forward-inclined bottom plate and the upper fixed plate.

2. The forward-inclined double-slide folding and lifting mechanism according to claim 1, wherein The scissor-type connecting rod assembly comprises two groups of symmetrically arranged scissor-type folding connecting rod groups, and the two groups of scissor-type folding connecting rod groups are connected by a connecting shaft.

3. The forward-inclined double-slide folding and lifting mechanism according to claim 2, wherein Four slideways are provided at the bottom end of the upper fixed plate and the top end of the lower fixed plate, and a slider is installed in each of the slideways. The top and bottom ends of the scissor-type folding connecting rod group are respectively hingedly installed on the corresponding sliders.

4. The forward-inclined double-slide folding and lifting mechanism according to claim 2, wherein, The lifting assembly includes a mounting plate mounted between two groups of the scissor-type folding connecting rod groups, a motor is mounted on the top of the mounting plate, a ball screw is rotatably mounted between the mounting plate and the lower fixed plate, a lead screw nut is mounted on the ball screw, the ball screw is transmission-connected to the motor, a guide connecting column is overlapped on the top of the lead screw nut, and both ends of the guide connecting column are respectively inserted into the cross holes at the bottom end of the scissor-type folding connecting rod group.

5. The forward-inclined double-slide folding and lifting mechanism according to claim 4, wherein The motor and the ball screw are connected via a coupling.

6. The forward-inclined double-slide folding lifting mechanism according to claim 4, characterized in that The mounting plate is mounted on the top of the lower fixing plate through four optical axes.

7. The forward-inclined double-slide folding lifting mechanism according to claim 2, characterized in that, The centering guide assembly includes a guide tube, and a guide groove parallel to the axis of the guide tube is opened on one side of the guide tube close to the scissor-type connecting rod. The cross shaft at the top of the scissor-type connecting rod group is slidably installed in the guide groove. The bottom end of the upper fixed plate is symmetrically suspended with stabilizing plates corresponding to the two groups of the scissor-type folding connecting rod groups, and the guide tube is fixedly connected to the stabilizing plate.

8. The forward-inclined double-slide folding lifting mechanism according to claim 2, wherein A U-shaped mounting frame is provided between the top end of the forward-inclined bottom plate and the bottom end of the upper fixed plate, and the upper and lower ends of the telescopic member are respectively hingedly mounted on the two U-shaped mounting frames.

9. The forward-inclined double-slide folding lifting mechanism according to claim 1, wherein The telescopic member is a telescopic cylinder or a push rod motor.

10. The forward-inclined double-slide folding and lifting mechanism according to claim 3, wherein, The sliding blocks are each provided with an articulated frame for installing a connecting rod.

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