Lifting device and mobile robot

Abstract

The utility model relates to a lifting device and a mobile robot, and the lifting device comprises a first platform; the second platform is arranged above the first platform; a mounting space is formed between the first platform and the second platform; the driving mechanism is mounted in the mounting space; the driving mechanism comprises a linear module arranged on the first platform and hinged to the first platform. The lifting mechanism comprises a lifting platform which is arranged below the first platform in a lifting manner; the traction mechanism comprises a first traction sleeve fixed to the second platform, a second traction sleeve fixed to the first platform and a flexible traction piece with one end connected with the movable end of the linear module. The other end of the flexible traction piece sequentially penetrates through the first traction sleeve and the second traction sleeve and then is connected with the lifting platform. The space adjustment difficulty and the structural design difficulty of the mobile robot are reduced.

Description

Technical Field

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

[0002] A mobile robot is a robotic system that can move autonomously or semi-autonomously. It usually has a certain level of intelligent processing capabilities and can analyze and process perceived environmental information according to the designer's needs and make reasonable execution decisions.

[0003] To implement mobile robots' execution decisions, they are designed with a variety of actuators, which work together to execute tasks. Among them, the lifting device, a key component of the actuator, is widely used in mobile robots. This device adjusts the height of the actuator's end point from the ground, enabling tasks such as lifting materials, docking equipment, and adjusting probe heights.

[0004] Existing lifting devices, lifting drive mechanisms and execution terminals are usually located in a vertical dimension space, and usually do not have the possibility of position adjustment in the horizontal dimension space. For mobile robots with a relatively compact structural design, it is not conducive to the position and structural adjustment of other components, and increases the difficulty of spatial adjustment and structural design of mobile robots. Utility Model Content

[0005] In view of the deficiencies in the prior art, the utility model discloses a lifting device and a mobile robot.

[0006] The technical solutions adopted in this utility model are as follows:

[0007] In a first aspect, a lifting device is provided, comprising:

[0008] First platform;

[0009] A second platform is provided above the first platform; and an installation space is formed between the first platform and the second platform;

[0010] A driving mechanism is installed in the installation space; the driving mechanism includes a linear module provided on the first platform and hinged to the first platform;

[0011] A lifting mechanism, comprising a lifting platform escalably disposed below the first platform;

[0012] The traction mechanism includes a first traction sleeve fixed to the second platform, a second traction sleeve fixed to the first platform, and a flexible traction member with one end connected to the movable end of the linear module; the other end of the flexible traction member passes through the first traction sleeve and the second traction sleeve in sequence and is connected to the lifting platform.

[0013] In one embodiment of the present invention, the driving mechanism also includes a connecting bracket hinged to the movable end of the linear module, and two pins axially passing through the connecting bracket; the connecting bracket is hinged to the linear module through one of the pins; and the flexible traction member is connected to the connecting bracket through the other pin.

[0014] In one embodiment of the present invention, one end of the flexible traction member close to the movable end of the linear module is wrapped around and fixed to the pin shaft to form an annular structure.

[0015] In one embodiment of the present invention, the traction mechanism further includes a protective sleeve sleeved on the flexible traction member; two ends of the protective sleeve are respectively connected to the first traction sleeve and the second traction sleeve.

[0016] In one embodiment of the present invention, the traction mechanism further comprises a collar protective sleeve sleeved on the pin shaft; the flexible traction member extends along the concave surface of the collar protective sleeve to form an annular structure wrapped around the pin shaft.

[0017] In one embodiment of the present invention, the lifting mechanism further includes a guide assembly for guiding the lifting platform to move upward and downward.

[0018] In one embodiment of the present invention, the guide assembly includes a lifting guide rod arranged vertically and slidably connected to the first platform, a connecting support provided at the top end of the lifting guide rod, and an elastic element provided between the connecting support and the first platform; the bottom end of the lifting guide rod passes through the first platform from top to bottom and is fixedly connected to the lifting platform; the two ends of the elastic element are respectively connected to the connecting support and the first platform.

[0019] In one embodiment of the present invention, the guide assemblies are provided in two groups; the two groups of guide assemblies are symmetrically arranged with respect to the lifting platform.

[0020] In one embodiment of the present invention, it further includes a platform bracket disposed between the first platform and the second platform.

[0021] In a second aspect, a mobile robot is provided, comprising:

[0022] The lifting device provided in the first aspect;

[0023] The movable wheel set is installed at the bottom of the first platform.

[0024] The above technical solution of the utility model has the following advantages compared with the prior art:

[0025] The position and direction of the driving mechanism in the lifting device described in the utility model in the horizontal dimension space can be adjusted, so that the position and direction of the driving mechanism can be flexibly adjusted according to the position and mechanism of other components, reducing the difficulty of spatial adjustment and structural design of the mobile robot.

[0026] The lifting device described in the utility model realizes the spatial separation of the driving mechanism and the lifting mechanism based on the traction mechanism, thereby facilitating the adjustment of the position and direction of the driving mechanism according to the space and structure inside the mobile robot, and reducing the difficulty of spatial adjustment and structural design of the mobile robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings.

[0028] Figure 1 It is a structural diagram of a mobile robot.

[0029] Figure 2 3 is a schematic structural diagram of a mobile robot (the second platform and the platform bracket are not shown).

[0030] Figure 3 yes Figure 2 Enlarged schematic diagram of point A in the middle.

[0031] Figure 4 yes Figure 2 Main view of the structure.

[0032] Description of the accompanying drawings:

[0033] 10. First platform;

[0034] 20. Second platform;

[0035] 30. Driving mechanism; 31. Linear module; 32. Articulated support; 33. Connecting bracket; 34. Pin;

[0036] 40. Traction mechanism; 41. First traction sleeve; 42. Flexible traction member; 43. Second traction sleeve; 44. Protective sleeve; 45. Ring protective sleeve;

[0037] 50. Lifting mechanism; 51. Lifting platform; 52. Towing hook; 53. Lifting guide rod; 54. Linear bearing; 55. Connecting support; 56. Elastic element; 57. Fixing piece;

[0038] 60. Platform bracket;

[0039] 70. Moving wheel set. DETAILED DESCRIPTION

[0040] The present invention will be further described below with reference to the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it. However, the embodiments are not intended to limit the present invention.

[0041] Current lifting systems, including the lift drive mechanism and end effector, are typically limited to vertical movement and lack the ability to fine-tune their position in the horizontal direction. For compact mobile robots, this design limits the layout and structural optimization of other components, thereby increasing the complexity of the robot's spatial layout and structural design. For example, when an end effector is driven by an electric cylinder to lift, the end effector is typically mounted directly on the movable end of the cylinder. The cylinder and end effector are generally located in the same vertical spatial dimension. The cylinder's position is difficult to adjust in the horizontal dimension, which complicates the spatial layout and structural design of other components within the robot.

[0042] In order to solve the above problems, this embodiment provides a lifting device and a mobile robot.

[0043] Combine Figure 1 、 Figure 2 and Figure 4 This embodiment provides a mobile robot, including a lifting device and a moving wheel group 70 arranged at the bottom of the lifting device.

[0044] The lifting device includes a first platform 10 , a second platform 20 , a driving mechanism 30 , a traction mechanism 40 , a lifting mechanism 50 and a platform bracket 60 .

[0045] The second platform 20 is located above the first platform 10. The platform support 60 is located between the first and second platforms 10, 20. It is understood that a space is left between the first and second platforms 10, 20 for mounting the platform support 60. The space between the first and second platforms 10, 20 is defined as the mounting space. The platform support 60 includes four connecting columns, one end of which is fixed to the first platform 10 and the other end is fixed to the second platform 20. It should be noted that the four connecting columns provide stable support, ensuring that the second platform 20 does not tilt or wobble during use, especially when subjected to weight or external forces. However, being limited to four connecting columns is not absolute. The number of connecting columns can be adjusted based on actual design requirements and engineering considerations. For example, if the second platform 20 needs to withstand greater loads or requires greater stability, more connecting columns may be added. Conversely, if the second platform 20 is lightweight and space is limited, the number of connecting columns may be reduced. In some cases, other types of connecting structures, such as trusses, beams, or support plates, may be used to meet specific design requirements.

[0046] The drive mechanism 30 is installed in the installation space between the first platform 10 and the second platform 20. Specifically, the drive mechanism 30 includes a linear module 31 disposed on the first platform 10 and hinged to the first platform 10. Specifically, the linear module 31 can be an electric push rod. The basic components of an electric push rod include a motor, a reduction mechanism (such as a gear or worm gear), a lead screw, and a nut. The motor drives the lead screw to rotate through the reduction mechanism, and the nut moves linearly along the lead screw, thereby achieving linear reciprocating motion of the push rod. This conversion can be achieved by forward and reverse rotation, thereby achieving the push rod's push and pull action. Of course, depending on different application requirements and characteristics, a suitable drive method can be selected to meet the performance requirements of the linear module 31, such as ball screw drive (i.e., power is transmitted through a ball screw), belt drive (i.e., drive using a synchronous belt or V-belt), linear motor drive (i.e., directly driven by a linear motor), pneumatic drive (i.e., driven by compressed air using a cylinder), hydraulic drive (i.e., driven by a hydraulic system), and other drive methods. In this embodiment, the bottom of the electric push rod is hinged to the first platform 10, so that the direction of the electric push rod can be adjusted.

[0047] Combine Figure 2 and Figure 3 The traction mechanism 40 includes a first traction sleeve 41, a flexible traction member 42, and a second traction sleeve 43. The first traction sleeve 41 is vertically fixed to the second platform 20. The second traction sleeve 43 is vertically fixed to the first platform 10. One end of the flexible traction member 42 is connected to the movable end of the linear module 31, and the other end passes through the first traction sleeve 41 and the second traction sleeve 43 in sequence and is connected to the lifting mechanism 50. For this embodiment, the flexible traction member 42 first passes through the first traction sleeve 41 from bottom to top, and then passes through the second traction sleeve 43 from top to bottom and is connected to the lifting mechanism 50. The flexible traction member 42 can be a traction steel cable, which is a rope made of multiple steel wires twisted together and has the characteristics of high strength, wear resistance, and tensile strength.

[0048] The lifting mechanism 50 includes a lifting platform 51 that is escalably positioned below the first platform 10, and a traction hook 52 mounted on the lifting platform 51. The traction hook 52 is connected to the end of the flexible traction member 42 that is distal to the linear module 31. Specifically, the end of the flexible traction member 42 distal to the linear module 31 is secured around the traction hook 52 to form a ring-shaped structure.

[0049] In a further embodiment, the drive mechanism 30 further includes a connecting bracket 33 hingedly connected to the movable end of the linear module 31, and a connecting pin 34 disposed within the connecting bracket 33. The flexible traction member 42 is connected to the connecting bracket 33 via the connecting pin 34. The connecting bracket 33 includes an upper flange, a web, and a lower flange. The upper and lower flanges are arranged parallel to each other, and the web is disposed perpendicularly between the upper and lower flanges. Thus, the connecting bracket 33 has an H-shaped shape. The two pins 34 are defined as a first pin and a second pin, respectively. The first pin passes through the lower flange, the movable end of the linear module 31, and the upper flange in sequence, while the second pin passes through the lower flange and the upper flange in sequence. The connecting bracket 33 is hingedly connected to the linear module 31 via the first pin. The flexible traction member 42 is connected to the connecting bracket 33 via the second pin. Specifically, the end of the flexible traction member 42 near the movable end of the linear module 31 is wrapped around the second pin and fixed to form a ring structure.

[0050] In a further embodiment, the linear module 31 is connected to the first platform 10 via an articulated support 32. The articulated support 32 allows a certain range of motion, which can absorb or adapt to slight deformations or installation errors of the first platform 10 and reduce adverse effects on the linear module 31. In addition, the articulated support 32 is used to facilitate the installation and position direction adjustment of the linear module 31, which facilitates maintenance and adjustment of the linear module 31. The articulated installation of the linear module 31 also indicates that the installation of the linear module 31 does not require verticality, so the linear module 31 has more installation possibilities. Therefore, the installation position of the linear module 31 can be considered after other structures or components are arranged in the installation space, thereby greatly reducing the difficulty of adjusting the internal space of the mobile robot and the difficulty of structural design.

[0051] In a further embodiment, Figure 1 As shown, the traction mechanism 40 also includes a protective sleeve 44 that is sleeved over the flexible traction member 42. The two ends of the protective sleeve 44 are connected to the first traction sleeve 41 and the second traction sleeve 43, respectively. At the same time, the provision of the protective sleeve 44 can limit the length of the flexible traction member 42 between the first traction sleeve 41 and the second traction sleeve 43, so that when one end of the flexible traction member 42 is pulled and moved, the other end is pulled and moved, thereby avoiding the use of structures such as pulleys. At the same time, the provision of the protective sleeve 44 can also prevent the portion of the flexible traction member 42 between the first traction sleeve 41 and the second traction sleeve 43 from remaining in a taut state, thereby reducing wear on the flexible traction member 42 and wear on other components of the mobile robot caused by the flexible traction member 42.

[0052] In a further embodiment, Figure 3As shown, the traction mechanism 40 also includes a protective collar 45 that fits over the second pin. The protective collar 45 has a teardrop-shaped structure, with the rest of its outer periphery being an arc-shaped concave surface. The flexible traction member 42 extends along the concave surface of the protective collar 45 to form an annular structure around the second pin. The protective collar 45 protects the flexible traction member 42 from excessive wear or damage at the bend, extending its service life. Furthermore, it provides a smooth transition between the flexible traction member 42 and the fixed point, reducing wear caused by friction.

[0053] In a further embodiment, the lifting mechanism 50 further includes a guide assembly. The guide assembly is used to guide the lifting and lowering movement of the lifting platform 51. The guide assembly includes a lifting guide rod 53, a linear bearing 54, a connecting support 55, an elastic element 56 and a fixing member 57. The linear bearing 54 is fixed to the first platform 10. The lifting guide rod 53 is vertically arranged, and is slidably connected to the first platform 10 through the linear bearing 54. The top end of the lifting guide rod 53 passes through the linear bearing 54 and is fixedly connected to the connecting support 55. The bottom end of the lifting guide rod 53 passes through the first platform 10 from top to bottom along the inner hole of the linear bearing 54 and is connected to the lifting platform 51. The elastic element 56 is arranged between the connecting support 55 and the first platform 10. The top end of the elastic element 56 is connected to the connecting support 55, and the bottom end of the elastic element 56 is connected to the first platform 10. Specifically, a fixing member 57 is provided on the upper and lower sides of the connecting support 55 and the first platform 10 respectively, and the two ends of the elastic element 56 are connected to the connecting support 55 and the first platform 10 through the fixing member 57. The elastic element 56 can be a tension spring, which will undergo elastic deformation when stretched, store energy, and return the energy when released. In this way, the lifting platform 51 maintains a downward movement trend, and combined with the effect of the traction mechanism 40, the lifting mechanism 50 maintains a stable state to avoid shaking up and down. The fixing member 57 can be a lifting eye screw or a screw with a radial hole. Figure 3 As shown, this embodiment is equipped with two sets of guide assemblies. These two sets of guide assemblies are symmetrically arranged about the lifting platform 51. The lifting guide rods 53 of these two sets of guide assemblies are fixedly connected to the top of the lifting platform 51 near both ends. These two sets of guide assemblies ensure smooth vertical operation of the lifting platform 51, reducing swing or deviation during operation, thereby improving the stability and safety of the lifting platform 51.

[0054] like Figure 1 As shown, the mobile wheel set 70 includes a driving wheel, a passive wheel and a hub motor. The mobile wheel set 70 enables the mobile robot to perform linear or curved motion on a plane, thereby moving from one position to another.

[0055] Specifically, the driving wheel can be a straight wheel for providing linear motion power for the robot. The driving wheel can be an active wheel driven by a hub motor.

[0056] The driving wheel can also be a steering wheel, such as a steering wheel, which has a steering function, can control the direction of travel of the robot, and can achieve precise steering control.

[0057] The passive wheels follow the movement of the mobile robot. Passive wheels can be universal wheels, which are used to support the weight of the robot and allow the robot to move flexibly in different directions. Universal wheels are usually not powered but can rotate freely.

[0058] The hub motor integrates the drive motor, transmission device, braking device, and detection device into the hub of the drive wheel, simplifying the mechanical structure.

[0059] In a further embodiment, in order to improve the stability and comfort of the mobile robot on uneven ground, the mobile wheel set 70 further includes a shock absorbing mechanism. The shock absorbing mechanism such as a spring or a shock absorber may be on the driving wheel and / or the passive wheel.

[0060] The working principle of this embodiment is as follows:

[0061] When the push rod of the linear module 31 is pushed out or pulled back, the flexible traction member 42 is released or pulled, thereby driving the vertical movement of the lifting platform 51. In order to ensure the stability and safety of the lifting platform 51, the guide assembly guides the vertical movement of the lifting platform 51 and prevents deviation.

[0062] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A lifting device, characterized in that: include: First platform (10); A second platform (20) is provided above the first platform (10); and an installation space is formed between the first platform (10) and the second platform (20); A driving mechanism (30) is installed in the installation space; the driving mechanism (30) includes a linear module (31) provided on the first platform (10) and hinged to the first platform (10); A lifting mechanism (50) includes a lifting platform (51) that is liftably disposed below the first platform (10); The traction mechanism (40) comprises a first traction sleeve (41) fixed to the second platform (20), a second traction sleeve (43) fixed to the first platform (10), and a flexible traction member (42) one end of which is connected to the movable end of the linear module (31); the other end of the flexible traction member (42) passes through the first traction sleeve (41) and the second traction sleeve (43) in sequence and is then connected to the lifting platform (51).

2. The lifting device according to claim 1, characterized in that: The driving mechanism (30) further comprises a connecting bracket (33) hinged to the movable end of the linear module (31), and two pins (34) axially passing through the connecting bracket (33); the connecting bracket (33) is hinged to the linear module (31) via one of the pins (34); and the flexible traction member (42) is connected to the connecting bracket (33) via the other pin (34).

3. The lifting device according to claim 2, characterized in that: One end of the flexible traction member (42) close to the movable end of the linear module (31) surrounds and is fixed around the pin shaft (34) to form an annular structure.

4. The lifting device according to claim 3, characterized in that: The traction mechanism (40) further comprises a protective sleeve (44) sleeved on the flexible traction member (42); two ends of the protective sleeve (44) are respectively connected to the first traction sleeve (41) and the second traction sleeve (43).

5. The lifting device according to claim 4, characterized in that: The traction mechanism (40) further comprises a collar protective sleeve (45) sleeved on the pin shaft (34); the flexible traction member (42) extends along the concave curved surface of the collar protective sleeve (45) to form an annular structure around the pin shaft (34).

6. The lifting device according to claim 1, characterized in that: The lifting mechanism (50) further comprises a guide assembly for guiding the lifting platform (51) to rise and fall.

7. The lifting device according to claim 6, characterized in that: The guide assembly comprises a lifting guide rod (53) vertically arranged and slidably connected to the first platform (10), a connecting support (55) arranged at the top end of the lifting guide rod (53), and an elastic element (56) arranged between the connecting support (55) and the first platform (10); the bottom end of the lifting guide rod (53) passes through the first platform (10) from top to bottom and is fixedly connected to the lifting platform (51); the two ends of the elastic element (56) are respectively connected to the connecting support (55) and the first platform (10).

8. The lifting device according to claim 6, characterized in that: The guide components are provided in two groups; the two groups of guide components are symmetrically arranged with respect to the lifting platform (51).

9. The lifting device according to claim 1, characterized in that: It also includes a platform bracket (60) arranged between the first platform (10) and the second platform (20).

10. A mobile robot, characterized in that: include: The lifting device according to any one of claims 1 to 9; A moving wheel set (70) is installed on the bottom of the first platform (10).

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