Robot lifting structure capable of being folded and stored

Abstract

The utility model discloses a robot lifting structure capable of being folded and stored. The robot lifting structure sequentially comprises a first connecting assembly, a second connecting assembly and a third connecting assembly from bottom to top. The first connecting assembly, the second connecting assembly and the third connecting assembly are rotationally connected through the motor speed reducer module. In a contraction state, the first connecting assembly, the second connecting assembly and the third connecting assembly are in a horizontal state; in the unfolded state, the included angle between the first connecting assembly and the second connecting assembly is 100-160 degrees; the included angle between the second connecting assembly and the third connecting assembly is 100-160 degrees. The three-section folding structure is adopted, three-section completely horizontal type storage and folding can be achieved, the occupied space is small, and the whole body is convenient to transport out. And the three-section type connecting structure adopts a multi-layer nested connecting mode, so that the structure is stable, the self shaking is reduced in the lifting process, and the stability is higher in the lifting process.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, concretely relates to a kind of folding storage's robot lifting structure. BACKGROUND

[0002] Robot height adjustment in prior art includes the following several:1) connecting rod mechanism design: utilize complex connecting rod mechanism, such as clank connecting rod, Jansen connecting rod etc., through the interconnection and rotation of connecting rod to realize the telescopic action of robot.2) screw drive: adopt screw drive device, cooperate motor drive, realize the accurate adjustment and telescopic of robot height.3) telescopic component and compensation component: set up telescopic component, such as three-stage telescopic structure, cooperate compensation component to promote telescopic arm to be in place accuracy, applicable to the environment of limited space.4) multifunctional mechanical arm: through design mechanical arm with telescopic, folding, rotating and bending function, expand the working space range of robot, complete different operation.

[0003] Although there are many techniques in prior art, there are still some problems, such as the telescopic design of mechanical arm, cannot realize the overall storage of entire robot body, leading to large space occupation, and for the robot needing to install holder on top, the stability requirement of robot lifting is higher, and prior art still cannot solve. UTILITY MODEL CONTENT

[0004] The utility model aims at overcoming at least one defect of above-mentioned prior art, provides a kind of folding storage's robot lifting structure, to realize the purpose of small space occupation after folding, and stable to high.

[0005] Specifically, the utility model provides a kind of folding storage's robot lifting structure, from bottom to top sequentially includes first connecting component, second connecting component, third connecting component;The first connecting component, second connecting component, third connecting component are connected by motor speed reducer module;In retracted state, the first connecting component, second connecting component, third connecting component are horizontal state;In unfolded state, the included angle between the first connecting component, second connecting component is 100-160 °;The included angle between the second connecting component, third connecting component is 100-160 °.

[0006] The robot lifting structure of the utility model adopts three-stage telescopic structure, wherein the first connecting assembly is used for rotating connection with the base of the robot, and can also be connected with the motor reducer module in a rotating mode, and the relative included angle is adjusted to realize lifting. The second connecting assembly plays a role of connecting the previous and the next, and the third connecting assembly is at the uppermost end in the platform state, and a gimbal, a robot arm and other mechanisms can be installed above. The included angle between the first connecting assembly and the second connecting assembly is 100-160°; the included angle between the second connecting assembly and the third connecting assembly is 100-160°, and when the included angle is 0°, the second connecting assembly and the third connecting assembly are in a horizontal folding state, so that the space occupied after folding is minimized.

[0007] Further, the first connecting assembly comprises a first base and a first connecting shell; the motor reducer module comprises a first motor speed reduction module, a second motor speed reduction module and a third motor speed reduction module; the first motor speed reduction module is installed in the first base and connected to the inner side of the bottom of the first connecting shell at both ends; the top inner side of the first connecting shell is connected to both ends of the second motor speed reduction module; the second motor speed reduction module is sleeved on one end of the second connecting assembly; and the third motor speed reduction module is sleeved on the other end of the second connecting assembly.

[0008] The robot lifting structure of the utility model has simple overall structure, low manufacturing cost and convenience in disassembly. The first base plays a role of support and fixation and can be used for connecting the base of the robot, and the inside of the first base is used for fixing the first motor speed reduction module. The motor reducer module of the utility model belongs to a conventional motor speed reducer device, comprising a harmonic reducer, a torque sensor, a frameless torque motor and other structural members, and the working principle thereof belongs to the prior art, which will not be described herein. The first connecting shell plays a role of connection and support, and the two ends of the first connecting shell are connected, the middle part is in the structure of a square column, the width of the bottom connecting end of the first connecting shell is greater than that of the top connecting end, and the stability of support is improved.

[0009] Further, the robot lifting structure of the utility model further comprises a first fixing shell, which is buckled on the outer side of the two ends of the first connecting shell. The first fixing shell can play a role of fastening the first connecting shell and the motor speed reduction modules at both ends.

[0010] Further, the two ends of the first connecting shell are U-shaped, forming an inner recessed mounting space, the bottom of which can embed the first base, and the top of which can embed the second connecting assembly; the second motor reducer module and the third motor reducer module are respectively sleeved in the cavities of the first base and the second connecting assembly, and the two ends are respectively connected with the first connecting shell, realizing three-layer nested design, and the stability is higher.

[0011] Further, the first base is cylindrical, and a fixed bearing is arranged in the middle part, a plurality of through holes are arranged on the fixed bearing, and the first motor reducer module is connected with the through holes through screws.

[0012] Preferably, the rotation angle range of the first motor reducer module driving the first connecting shell relative to the first base is 0-60°.

[0013] Preferably, the two ends of the second connecting assembly are similar in structure to the first base, and are cylindrical, and the second motor reducer module and the third motor reducer module are respectively sleeved at the two ends of the second connecting assembly.

[0014] Preferably, the second connecting assembly is internally provided with a plurality of reinforcing ribs; and the rotation angle range of the second motor reducer module driving the second connecting assembly relative to the first connecting shell is 0-140°.

[0015] Preferably, the third connecting assembly is similar in structure to the first connecting assembly, comprising a second connecting shell and a second fixed shell; one end of the second connecting shell is connected with the two ends of the third motor reducer module, and the second fixed shell is fixed outside the connecting end of the second connecting shell.

[0016] Further, the two ends of the second connecting shell are U-shaped, one end of which is used for connecting the third motor reducer module, and the other end of which forms a containing space; the rotation angle range of the third motor reducer module driving the second connecting shell relative to the second connecting assembly is 0-140°. The top of the second connecting shell can mount a holder, and the holder can be accommodated by arranging the containing space, so that the accommodation volume is minimized.

[0017] Compared with the prior art, the utility model has the advantages that:

[0018] The utility model discloses a three -section type folding structure can realize three -section complete horizontal type's storage folding, and the space is small, and the whole is convenient for carrying out. And the three -section type connecting structure of the utility model discloses adopts the connecting mode of multilayer nesting, makes the stable structure, reduces the shaking of self in the lifting process, and the stability is higher in the lifting process. And the whole structure of the utility model discloses robot lifting structure is simple, and the production cost is low, is applicable to industrial production, and simultaneously, the main parts are fixed and engaged through screw, and the dismounting and maintenance are convenient and quick. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is the side surface three -dimensional structure schematic diagram of the utility model robot lifting structure unfolding state.

[0020] Figure 2 It is the three -dimensional structure schematic diagram of the utility model robot lifting structure contraction state.

[0021] Figure 3 It is the front three -dimensional structure schematic diagram of the utility model robot lifting structure unfolding state.

[0022] Figure 4 It is the partial explosion structure schematic diagram of the utility model robot lifting structure unfolding state.

[0023] Figure 5 It is the first connecting shell structure schematic diagram of the utility model robot lifting structure.

[0024] Figure 6 It is the second connecting shell structure schematic diagram of the utility model robot lifting structure. DETAILED DESCRIPTION

[0025] The accompanying drawings of the embodiments, the technical scheme in the embodiment of the utility model is described in more detail. In the drawings, the same or similar signs represent the same or similar elements or elements with the same or similar functions from beginning to end. The described embodiment is a part of the embodiment of the utility model, not all the embodiments. The embodiments described below by reference to the drawings are exemplary, and are intended to explain the utility model, and can not be understood as the limitation of the utility model. Based on the embodiments in the utility model, all other embodiments obtained by the ordinary skill in the art without making creative labor are within the scope of the utility model protection. The embodiments of the utility model are described in detail below in combination with the drawings.

[0026] It should be explained that if the directionality indication (such as up, down, left, right, front, back...) is involved in the embodiment of the application, the directionality indication is only used to explain the relative position relationship, movement condition and the like between components in a certain specific posture (as shown in the drawings), if the specific posture changes, then the directionality indication also changes accordingly.

[0027] In addition, if the description of "first", "second" and the like is involved in the embodiments of the present application, the description of "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can be explicitly or implicitly included at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor in the protection scope claimed by the present application.

[0028] Embodiments

[0029] The present embodiment provides a foldable storage robot lifting structure, as shown in Figure 1 The first connecting assembly 1, the second connecting assembly 2 and the third connecting assembly 3 are rotationally connected through a motor reducer module. Figure 2 As shown in

[0030] As shown in Figure 2 The first connecting assembly 1 includes a first base 11, a first connecting shell 12 and a first fixed shell 13. Figure 4 The motor reducer module includes a first motor speed reduction module 41, a second motor speed reduction module 42 and a third motor speed reduction module 43. Figure 5 As shown in The two ends of the first connecting shell 12 are U-shaped, forming an inner recessed mounting space, and the inside is a hollow structure, and the inner wall is provided with a reinforcing rib (not marked in the figure), which can reduce the weight of the first connecting shell 12 while ensuring the stability of the overall structure. The bottom of the first connecting shell 12 can embed the first base 11, and the top can embed the second connecting assembly 2; the first motor speed reduction module 41 is installed in the first base 11, and the two ends are connected to the inner side of the bottom of the first connecting shell 12; the two sides of the mounting space at the top of the first connecting shell 12 are connected to the two ends of the second motor speed reduction module 42; the second motor speed reduction module 42 is sleeved on one end of the second connecting assembly 2; the third motor speed reduction module 43 is sleeved on the other end of the second connecting assembly 2, and the first fixed shell 13 is buckled on the outside of the two ends of the first connecting shell 12.

[0031] In this embodiment, as shown in Figure 4 The first base 11 is cylindrical, and a fixed bearing 10 is arranged in the middle of the first base 11. A plurality of through holes 20 are arranged on the fixed bearing 10, and the first motor reduction module 41 is connected to the through holes 20 by screws. Figure 1 In this embodiment, as shown in The first motor reduction module 41 drives the first connecting shell 12 to rotate relative to the first base 11 by an angle range of 0-52°.

[0032] In this embodiment, as shown in Figure 4 and Figure 5 In this embodiment, the two ends of the second connecting assembly 2 are similar to the structure of the first base 11, and are cylindrical. The second motor reduction module 42 and the third motor reduction module 43 are respectively sleeved on the two ends of the second connecting assembly 2. A plurality of reinforcing ribs 30 are arranged in the second connecting assembly 2. The second motor reduction module 42 drives the second connecting assembly 2 to rotate relative to the first connecting shell 12 by an angle range of 0-127°.

[0033] In this embodiment, as shown in Figure 4 The third connecting assembly 3 is similar to the first connecting assembly 1 in structure, and includes a second connecting shell 31 and a second fixed shell 32. Figure 6 As shown in Figure 4 One end of the second connecting shell 31 is used to connect the third motor reduction module 43, and the other end forms a containing space 100. The third motor reduction module 43 drives the second connecting shell 31 to rotate relative to the second connecting assembly 2 by an angle range of 0-131°. The top of the second connecting shell 31 can be provided with a holder. The containing space can accommodate the holder, so that the accommodation volume is minimized. The second fixed shell 32 is connected to the outer side of the connecting end of the second connecting shell 31.

[0034] The above embodiments are only used to illustrate the technical solutions of the present application and are not limited. Although the present application has been described in detail with reference to the above preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced by equivalents without departing from the spirit and scope of the present application. Those skilled in the art can make other changes within the spirit of the present application, and the changes can be used in the design of the present application, as long as they do not deviate from the technical effects of the present application. These changes made according to the spirit of the present application should be included in the scope of protection of the present application.

Claims

1. A foldable stowable robotic lift structure, comprising: The first connecting assembly (1), the second connecting assembly (2) and the third connecting assembly (3) are sequentially arranged from bottom to top and are rotationally connected through a motor reducer module. In the contracted state, the first connecting assembly (1), the second connecting assembly (2) and the third connecting assembly (3) are in a horizontal state; in the expanded state, the included angle between the first connecting assembly (1) and the second connecting assembly (2) is 100-160°, and the included angle between the second connecting assembly (2) and the third connecting assembly (3) is 100-160°.

2. The robotic lift structure of claim 1, wherein, The first connecting assembly (1) comprises a first base (11) and a first connecting shell (12); the motor reducer module comprises a first motor speed reduction module (41), a second motor speed reduction module (42) and a third motor speed reduction module (43). The first motor speed reduction module (41) is installed in the first base (11) and connected to the inner side of the bottom of the first connecting shell (12) at both ends; the inner side of the top of the first connecting shell (12) is connected to both ends of the second motor speed reduction module (42). The second motor speed reduction module (42) is sleeved on one end of the second connecting assembly (2); the third motor speed reduction module (43) is sleeved on the other end of the second connecting assembly (2).

3. The robotic lift structure of claim 2, wherein, A first fixing shell (13) is further provided, which is buckled on both sides of the first connecting shell (12).

4. The robotic lift structure of claim 2, wherein, Both ends of the first connecting shell (12) are in a U shape, the middle part is a hollow cavity, and the inner wall is provided with reinforcing ribs.

5. The robotic lift structure of claim 2, wherein, The first base (11) is in a cylindrical shape, the middle part is provided with a fixed bearing (10), a plurality of through holes (20) are arranged on the fixed bearing (10), and the first motor speed reduction module (41) is connected to the through holes (20) through screws.

6. The robotic lift structure of claim 2, wherein, The rotation angle range of the first connecting shell (12) relative to the first base (11) driven by the first motor speed reduction module (41) is 0-60°.

7. The robotic lift structure of claim 2, wherein, Both ends of the second connecting assembly (2) are in a cylindrical shape, and the second motor speed reduction module (42) and the third motor speed reduction module (43) are respectively sleeved on both ends of the second connecting assembly (2).

8. The robotic lift structure of claim 6, wherein, The inside of the second connecting assembly (2) is provided with a plurality of reinforcing ribs; the rotation angle range of the second connecting assembly (2) relative to the first connecting shell (12) driven by the second motor speed reduction module (42) is 0-140°.

9. The robotic lift structure of claim 2, wherein, The third connecting assembly (3) comprises a second connecting shell (31) and a second fixing shell (32); one end of the second connecting shell (31) is connected to both ends of the third motor speed reduction module (43), and the second fixing shell (32) is fixed on the outer side of the second connecting shell (31).

10. The robotic lift structure of claim 9, wherein, Both ends of the second connecting shell (31) are in a U shape, one end is used for connecting the third motor speed reduction module (43), and the other end forms a containing space; The rotation angle range of the second connecting shell (31) relative to the second connecting assembly (2) driven by the third motor speed reduction module (43) is 0-140°.

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