Lifting robot

Abstract

The utility model relates to a lifting robot which comprises a wheel type chassis, idler wheels are installed at the bottom of the wheel type chassis, and a lifting device is installed on the upper portion of the wheel type chassis. The upper part of the top mounting piece is connected with a trunk assembly; a mechanical arm is mounted on the trunk assembly; the upper portion of the trunk assembly is connected with a head assembly. Through the robot, the problem that the operating space range in the height direction of a wheeled robot is limited is solved, the operating space in the horizontal direction is adjustable, the gravity center of the whole robot can be adjusted in the horizontal direction, and stability is enhanced; the problem that energy consumption is wasted when a robot lifting device is in a non-working state and used for keeping the weight of the robot lifting device is solved. The harm such as impact caused by abnormal power failure of an execution element of the robot lifting device or power loss under other conditions is overcome; and the reliability of the robot is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot lifting technical field, especially a lifting robot. BACKGROUND

[0002] Mobile robots have chassis type and foot type (two feet, four feet) two categories, wherein the foot type robot moves by leg foot, and utilizes double arms (or single arm) operation; the chassis type robot moves by wheel type chassis, and utilizes double arms (or single arm) operation. At present, most chassis type robots are fixed trunk, utilize the movement of chassis to realize horizontal direction movement, and utilize the movement of arm to realize different height space, the height of trunk and the length of arm determine the height operation space of robot, different application scene selects different height trunk, can satisfy the application of different height operation scene, but this mode has poor flexibility. In view of the deficiency of fixed trunk scheme, there is a lifting trunk scheme, and its structural type has lifting column type, guide rail type and various forms, can increase the operation space in height direction, but this lifting structure often occupies larger height space, and the higher lifting stroke is, the larger height space is occupied, so that the lowest operation position of arm is lifted, and the height operation space of arm is increased by adding this lifting device, but the lowest operation position of arm is sacrificed, so that the arm cannot operate the space close to the ground. For example, the patent document disclosed in patent number "201711174128.X" has the above-mentioned deficiency.

[0003] The above-mentioned fixed trunk or lifting trunk scheme also has the defect of poor stability. Since different position operations are realized by the movement of arm, when single arm or double arm stretches forward or single arm stretches laterally for operation, the overall gravity center of robot will change with the movement of arm, and when the gravity center position caused by arm and external load is beyond the support point of chassis, the robot will incline. In order to avoid the inclination, additional counterweight is needed for the whole machine to ensure the stability of robot within the load range. UTILITY MODEL CONTENTS

[0004] In order to realize the above-mentioned purpose, the technical scheme of the utility model is as follows:

[0005] A lifting robot is provided, which comprises a wheel type chassis, a roller is installed at the bottom of the wheel type chassis, and a lifting device is installed at the upper part of the wheel type chassis.

[0006] The lifting device comprises a bottom mounting part, the bottom mounting part is connected with a first parallel link assembly through a rotating shaft assembly, and the first parallel link assembly is connected with a movable mounting part through a rotating shaft assembly; the movable mounting part is connected with a second parallel link assembly through a rotating shaft assembly, and the second parallel link assembly is connected with a top mounting part through a rotating shaft assembly.

[0007] The top mounting part is connected with a trunk assembly at the upper part.

[0008] The mechanical arm is mounted on the torso assembly.

[0009] The head assembly is connected to the upper part of the torso assembly.

[0010] As a further improvement, a linear actuator is mounted inside the first parallel linkage assembly.

[0011] As a further improvement, a linear actuator is mounted inside the second parallel linkage assembly.

[0012] As a further improvement, the mounting angle of the linear actuator inside the first parallel linkage assembly and the second parallel linkage assembly is adjustable.

[0013] As a further improvement, the linear actuator includes a housing and an energy storage spring; a power element is mounted inside the housing; one end of the energy storage spring is mounted on the housing, and the other end is mounted on the power element; the power element mounting end of the energy storage spring is provided with a first mounting hole assembly; a second mounting hole assembly is provided on the linear actuator away from the first mounting hole assembly.

[0014] As a further improvement, the linear actuator is connected through the first mounting hole assembly and the bottom mounting piece; the end of the linear actuator away from the first mounting hole assembly is connected through the second mounting hole assembly and the rotating shaft assembly with the movable mounting piece.

[0015] As a further improvement, at the connection between the first parallel linkage assembly and the bottom mounting piece, a roller pin is mounted on the edge of the middle outer wall of the rotating shaft assembly, and the roller pin is located in the ear of the bottom mounting piece.

[0016] As a further improvement, at the connection between the first parallel linkage assembly and the movable mounting piece, a roller pin is mounted on the edge of the middle outer wall of the rotating shaft assembly, and the roller pin is located in the ear of the movable mounting piece.

[0017] As a further improvement, the connection between the first linkage of the first parallel linkage assembly and the bottom mounting piece is coaxial with the connection between the linear actuator and the bottom mounting piece.

[0018] As a further improvement, the connection between the first parallel linkage of the first linkage and the movable mounting piece is coaxial with the connection between the linear actuator and the movable mounting piece.

[0019] As a further improvement, the first parallel linkage assembly and the second parallel linkage assembly are structurally identical.

[0020] As a further improvement, the power element (1063) includes a motor (1066) mounted on the second mounting hole assembly;

[0021] A speed reducer (1067) is mounted on the motor (1066) and located inside the housing (1061);

[0022] Lead screw shaft (1068) mounted on the decelerator (1067);

[0023] Lead screw nut (1069) mounted on the lead screw shaft (1068) away from the decelerator (1067) end.

[0024] As a further improvement, the second mounting hole assembly (1065) is fixed on the lead screw nut (1069) by screwing.

[0025] The above technical scheme of the utility model has the following beneficial effects:

[0026] Through the robot, the problem that the height direction operation space range of the wheeled robot is limited is solved, vertical direction 0 height operation is realized, the horizontal direction operation space can be adjusted, the whole machine gravity center can be adjusted in the horizontal direction, and the stability is enhanced; the problem that the robot lifting device is used to maintain its own weight in the non-working state is solved. Energy waste problem; overcome the impact and other hazards caused by the loss of power of the robot lifting device execution element abnormal power failure or other conditions; improve the reliability of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 The lowest state of the utility model of a whole structure schematic diagram of a lifting robot;

[0028] Figure 2 The highest state of the utility model of a whole structure schematic diagram of a lifting robot;

[0029] Figure 3 The first sectional view of the lifting device of the utility model;

[0030] Figure 4 The second sectional view of the lifting device of the utility model;

[0031] Figure 5 The utility model of Figure 4 The enlarged sectional view of the rotating shaft assembly in A of the utility model;

[0032] Figure 6 The linear actuator retracts two limit position diagram of the utility model;

[0033] Figure 7 The linear actuator extends two limit position diagram of the utility model;

[0034] Figure 8 The sectional view of the linear actuator of the utility model;

[0035] Figure 9 The left limit position diagram of the utility model of lifting device adjusting gravity center;

[0036] Figure 10 The figure of the right limit position of the gravity center of the lifting device of the utility model is adjusted;

[0037] Figure 11 The main view of the lowest state of the lifting device of the utility model is adjusted;

[0038] Figure 12 The side view of the lowest state of the lifting device of the utility model is adjusted;

[0039] Figure 13 The top view of the lowest state of the lifting device of the utility model is adjusted;

[0040] Figure 14 The main view of the highest state of the lifting device of the utility model is adjusted;

[0041] Figure 15 The side view of the highest state of the lifting device of the utility model is adjusted;

[0042] Figure 16 The top view of the highest state of the lifting device of the utility model is adjusted;

[0043] Figure 17 The first schematic diagram of the structure of the lifting device of the utility model is adjusted;

[0044] Figure 18 The first schematic diagram of the connection relationship between the first parallel connecting rod assembly and the linear actuator of the lowest state of the lifting device of the utility model is adjusted;

[0045] Figure 19 The first schematic diagram of the connection relationship between the second parallel connecting rod assembly and the linear actuator of the lowest state of the lifting device of the utility model is adjusted;

[0046] Figure 20 The second schematic diagram of the structure of the lifting device of the utility model is adjusted;

[0047] Figure 21 The second schematic diagram of the connection relationship between the first parallel connecting rod assembly and the linear actuator of the lowest state of the lifting device of the utility model is adjusted;

[0048] Figure 22 The second schematic diagram of the connection relationship between the second parallel connecting rod assembly and the linear actuator of the lowest state of the lifting device of the utility model is adjusted. DETAILED DESCRIPTION

[0049] The following examples further illustrate the content of the utility model, but should not be understood as limiting the utility model. The modification or replacement of the method, steps or conditions of the utility model without departing from the spirit and essence of the utility model belongs to the scope of the utility model.

[0050] The embodiments of the present application will be described in detail below with reference to the drawings and examples.

[0051] Please refer to Figures 1 to 22 As shown in the figure, the utility model discloses a kind of lifting robots, including wheeled chassis 5, the wheeled chassis 5 bottom is equipped with gyro wheel, the wheeled chassis 5 upper portion is equipped with lifting device 1;

[0052] For example, the whole individual of robot is installed on chassis, and a plurality of wheels are installed under the chassis, which can drive the whole robot to move.

[0053] The lifting device 1 includes a bottom mounting member 101, which is connected to a first parallel link assembly 102 on one side through a pivot shaft assembly, and the first parallel link assembly 102 is connected to a movable mounting member 103 on one side through a pivot shaft assembly; The movable mounting member 103 is connected to a second parallel link assembly 104 on one side through a pivot shaft assembly, and the second parallel link assembly 104 is connected to a top mounting member 105 on one side through a pivot shaft assembly.

[0054] For example, the bottom mounting member 101 is installed on the wheeled chassis 5; as Figure 1 、 2 As shown in the figure, the first parallel link assembly 102 is installed on one side of the bottom mounting member 101; the bottom mounting member 101 and the first parallel link assembly 102 are connected through a plurality of pivot shaft assemblies (2 sets are provided in the figure); the first parallel link assembly 102 is composed of two parallel links, and each parallel link is provided with a connecting hole at both ends, which is connected to the bottom mounting member 101 and the movable mounting member 103 respectively through the connecting holes at both ends; when connected, they are connected through a pivot shaft 107. Each parallel link is connected to the bottom mounting member 101 and the movable mounting plate 103 through 2 sets of pivot shafts respectively, and a needle roller is arranged between the pivot shaft 107 and the parallel link and the movable mounting plate, and the needle roller 110 is located in the ear piece of the movable mounting plate. A needle roller is arranged between the pivot shaft 107 and the parallel link and the bottom mounting member 101, and the needle roller 110 is located in the ear piece of the bottom mounting member 101. The structure of the second parallel link assembly 104 is the same as that of the first parallel link assembly 102, and the connection mode when the second parallel link assembly 104 is connected to the top mounting member 105 and the movable mounting plate 103 is also the same, and at this time the needle roller 110 is located in the ear piece of the top mounting member 105 and the movable mounting member 103 respectively. As Figure 5As shown, the rotating shaft assembly includes rotating shaft 107, needle roller 110 installed in the lug of the bottom mounting member 101 or the movable mounting plate 103 or the lug of the top mounting member 105, and the limiting piece 108 (including the connecting rod limiting piece and the actuator limiting piece) between the two end connecting holes of the connecting rod or the linear actuator 106 and the bottom mounting member 101 or the movable mounting member 103 or the top mounting member 105. The first parallel connecting rod assembly 102 and the second parallel connecting rod assembly 104 are arranged in the horizontal direction, and the two parallel connecting rod mechanisms are connected through the movable mounting plate. Each group of parallel connecting rods is connected with the movable mounting plate through two rotating shafts, and a needle roller is arranged between the rotating shaft and the parallel connecting rod and the movable mounting plate, and the needle roller is located in the lug of the movable mounting plate. The two connecting holes of the linear actuator 105 are fixedly connected with the bottom mounting member 101, the top mounting member 105 and the movable mounting member 103 through two shafts and bearings respectively.

[0055] In some embodiments of the utility model, the top mounting member 105 is connected with the trunk assembly 2 at the upper portion; the trunk assembly 2 is installed with the mechanical arm 4; and the trunk assembly 2 is connected with the head assembly 3 at the upper portion.

[0056] In some embodiments of the utility model, the first parallel connecting rod assembly 102 is internally installed with the linear actuator 106.

[0057] For example, the first parallel connecting rod assembly 102 is connected by two parallel connecting rods, and the two parallel connecting rods are connected with the bottom mounting member 101 and the movable mounting member 103 respectively. The linear actuator 106 is arranged between the two parallel connecting rods, and the linear actuator 106 is connected with the bottom mounting member 101 and the movable mounting member 103 or the top mounting member 105 and the movable mounting member 103 at the two ends through the rotating shaft assembly. Among them, as shown in the figure, Figure 4 When the linear actuator 106 is connected with the bottom mounting member 101 or the movable mounting member 103 or the top mounting member 105, two of the four connecting positions are coaxial (the coaxial part is the linear actuator 106 in the first parallel connecting rod assembly 102 or the second parallel connecting rod assembly 104.

[0058] In some embodiments of the utility model, the second parallel connecting rod assembly 104 is internally installed with the linear actuator 106.

[0059] In some embodiments of the utility model, the installation angle of the linear actuator 106 in the first parallel connecting rod assembly 102 and the second parallel connecting rod assembly 104 can be adjusted.

[0060] In some embodiments of this utility model, the linear actuator 106 includes a housing 1061 and an energy storage spring 1062; a power element 1063 is installed inside the housing 1061; one end of the energy storage spring 1062 is installed on the housing 1061, and the other end is installed on the power element 1063; a first mounting hole assembly 1064 is provided at the end of the power element 1063 where the energy storage spring 1062 is installed; a second mounting hole assembly 1065 is provided on the linear actuator 106 at the end away from the first mounting hole assembly 1064.

[0061] For example, the two mounting holes of the linear actuator 106 are installed collinearly with the two short-side rotating shafts of the first and second parallel linkage assemblies. When the linear actuator 106 extends, it lowers either the first parallel linkage assembly 102 or the second parallel linkage assembly 104; when the linear actuator 106 retracts, it raises either the first parallel linkage assembly 102 or the second parallel linkage assembly 104. When the lifting device 1 is subjected to a downward vertical external load transmitted by the top mounting member 105, the linear actuator 106 is subjected to tension. The energy storage spring 1062 is a tension spring, with one end fixed to the housing 1061 of the linear actuator and the other end connected to the telescopic shaft of the linear actuator 106. Figure 6 , 7 The linear actuator 106 is shown in two states: extension and retraction. When the linear actuator 106 is extended, the energy storage spring 1062 is stretched. The tension of the energy storage spring 1062 under external load is jointly borne by the power element 1063 of the linear actuator 106 and the energy storage spring 1062. The stiffness and installation load of the energy storage spring 1062 can be determined according to the expected external load, and its size is set to be able to support the weight of the torso, arm, head, and the lifting device itself. This reduces the energy consumption of the linear actuator and can also mitigate the impact in the event of abnormal loss of power by the actuator, improving safety and reliability. The linear actuator 106 utilizes the elastic energy storage characteristics of the energy storage spring 1062 to reduce the operating energy consumption of the lifting device and improve reliability.

[0062] In some embodiments of this utility model, the linear actuator 106 is connected to the bottom mounting member 101 via the first mounting hole assembly 1064; the end of the linear actuator 106 away from the first mounting hole assembly 1064 is connected to the movable mounting member 103 via the second mounting hole assembly 1065 and the rotating shaft assembly.

[0063] In some embodiments of this utility model, at the connection between the first parallel link assembly 102 and the bottom mounting member 101, a needle roller 110 is installed on the outer edge of the middle wall of the rotating shaft assembly, and the needle roller 110 is located in the lug of the bottom mounting member 101.

[0064] In some embodiments of the utility model, power element 1063 includes motor 1066 installed on the second mounting hole assembly, speed reducer 1067 is installed on motor 1066, and is located inside the shell 1061, lead screw shaft 1068 is installed on speed reducer 1067, and lead screw nut 1069 is installed on the lead screw shaft 1068 away from the end of speed reducer 1067.

[0065] For example, the executor of execution is composed of motor 1066, speed reducer 1067, lead screw shaft 1068, lead screw nut 1069, shell 1061, energy storage spring 1062 and first mounting hole 1064 and second mounting hole 1065 and its connecting piece.The linear executor is powered by motor, and the rotation power of the motor is converted into linear power through the lead screw shaft and the lead screw nut, and the second mounting hole is fixedly connected on the lead screw nut through screw thread, and the power is output.

[0066] In some embodiments of the utility model, the second mounting hole assembly 1065 is fixed on the lead screw nut 1069 by screw thread.

[0067] In some embodiments of the utility model, the outer wall edge of the rotating shaft assembly is installed with the needle roller 110 at the connecting place of the first parallel connecting rod assembly 102 and the movable mounting piece 103, and the needle roller 110 is located in the ear piece of the movable mounting piece 103.

[0068] In some embodiments of the utility model, the connecting place of the first connecting rod 1021 of the first parallel connecting rod assembly 102 and the bottom mounting piece 101 is coaxial with the connecting place of the linear executor 106 and the bottom mounting piece 101.

[0069] In some embodiments of the utility model, the connecting place of the first parallel connecting rod 1022 of the first connecting rod 1021 and the movable mounting piece 103 is coaxial with the connecting place of the linear executor 106 and the movable mounting piece 103.

[0070] In some embodiments of the utility model, the first parallel connecting rod assembly 102 and the second parallel connecting rod assembly 104 are the same in structure.As shown in Figures 11-16 The first parallel connecting rod assembly 102 and the second parallel connecting rod assembly 104 can be arranged horizontally and side by side, and multiple stages of lifting can be set according to lifting stroke.

[0071] In some embodiments of the utility model, as shown in Figure 9 , 10As shown, the first parallel linkage assembly 102 and the second parallel linkage assembly 104 can be independently moved to realize the horizontal movement components: the left limit position of the gravity center adjusted by the lifting device, the right limit position of the gravity center adjusted by the lifting device. The horizontal forward and backward translation movement of the robot trunk, head and arm is realized, the horizontal operation space range is increased, and the adjustment of the gravity center can be realized. The first parallel linkage assembly 102 and the second parallel linkage assembly 104 can be independently moved to realize a certain range of horizontal forward and backward movement.

[0072] As shown in the figure, Figure 17 When the lifting device receives external load Fm, the load borne by the two linear actuators is tensile load. When the first parallel linkage assembly 102 and the second parallel linkage assembly 104 are both lifted, at this time, the lifting height of the first parallel linkage assembly 102 is H, the length is L2, the angle between the first parallel linkage assembly 102 and the horizontal plane is α, the angle between the first parallel linkage assembly 102 and the horizontal plane is β, and the angle between the first parallel linkage assembly 102 and the linear actuator 106 is θ; the linear actuator 106 provided with the power element 1063 and the energy storage spring 1062 is elongated by a length s.

[0073] As shown in the figure, Figure 17 The structure is the structure adopted by the utility model. The linear actuators 106 are respectively installed at the A and D connecting points of the first parallel linkage assembly 102 and the C and E points of the second parallel linkage assembly 104; when the lifting device receives external load Fm, the load borne by the two linear actuators is tensile load. As shown in the figure, Figure 18 , 19 The connection relationship diagram of the two linkage assemblies and the linear actuators in the lowest state of the lifting device is shown in the figure. In the lowest state, the two linear actuators are in the longest state, the actuator is retracted, the linkage mechanism rotates along the arrow, and the lifting device rises.

[0074] As shown in the figure, Figure 20 The linear actuators 106 are respectively installed at the B and C connecting points of the first parallel linkage assembly 102 and the D and F points of the second parallel linkage assembly 104; when the lifting device receives external load Fm, the load borne by the two linear actuators is compressive load. As shown in the figure, Figure 21 , 22 The connection relationship diagram of the two linkage assemblies and the linear actuators in the lowest state of the lifting device is shown in the figure. In the lowest state, the two linear actuators are in the shortest state, the actuator is elongated, the linkage mechanism rotates along the arrow, and the lifting device rises.

[0075] As can be seen from the above two linear actuator installation positions, when the lifting device is in its lowest position, the initial length of the actuator is the same for both installation methods. The difference is that when the lifting device is raised, the actuator in the first installation method retracts, while the actuator in the second installation method extends. Therefore, the actuator in the first installation method is at its longest position in the horizontal position; the actuator in the second installation method is at its shortest position in the horizontal position. Under the same linkage size, the second installation method allows for a larger actuator space than the first installation method. By switching between different linear actuator installation methods, the horizontal operating space can be adjusted.

[0076] In some embodiments of this utility model, the mounting angle of the linear actuator 106 within the first parallel link assembly 102 and the second parallel link assembly 104 is adjustable. The load on the linear actuator is pressure, and the mounting angle of the linear actuator's installation space can be adjusted according to different lifting strokes and requirements (from...). Figure 17 The installation style shown becomes Figure 20 The installation style can be flexibly selected. When the first parallel link assembly and / or the first parallel link assembly are in the lowest state, the operation on objects on the ground is realized, thereby realizing vertical 0-height operation; the lowest working position is achieved, enabling operation on the ground and even near the ground.

[0077] This utility model adopts a parallel linkage structure (for example, the first parallel linkage assembly 102 and the second parallel linkage assembly 104 in a double linkage structure), which can be flexibly applied according to needs, with single linkage, double linkage or multi-link (the parallel linkage assembly and movable mounting parts can be added or reduced to continuously increase or decrease the achievable height), and different maximum lifting strokes can be achieved without changing the minimum height.

[0078] The actuator of this utility model uses an energy storage spring, which can effectively reduce the power consumption of lifting.

[0079] The actuator of this utility model has a spring energy storage device, which can reduce the impact and improve the reliability of the whole machine when the power output is not possible due to unexpected power failure or other abnormal conditions.

[0080] The parallel linkage mechanism described in this utility model is a two-stage (two parallel linkage assemblies), and similarly it can be a single-stage (one parallel linkage assembly), a three-stage (three parallel linkage assemblies, each of which is connected by a movable mounting member), or a multi-stage (multiple parallel linkage assemblies, each of which is connected by a movable mounting member).

[0081] The structure scheme, the linear actuator is retracted, the lifting device is lifted, and the load borne by the linear actuator is tension force; when the installation position of the linear actuator is changed, the linear actuator is extended, the lifting device is lifted, and the load borne by the linear actuator is pressure force, and different lifting strokes and installation spaces can be flexibly selected.

[0082] The spring is a tensile spring, and a compression spring can also be used to realize the function of the utility model, and different pre-tension forces or pre-pressures can be selected according to different energy storage requirements.

[0083] In conclusion, the robot solves the problem that the operation space range of the wheeled robot in the height direction is limited, realizes 0-height operation in the vertical direction, and the operation space in the horizontal direction can be adjusted, the gravity center of the whole machine can be adjusted in the horizontal direction, and the stability is enhanced; the problem that the energy consumption of the robot lifting device is wasted in the non-working state to maintain its own weight is solved; the impact and other hazards caused by the loss of power of the robot lifting device execution element under abnormal power-off or other conditions are overcome; and the reliability of the robot is improved.

[0084] The above-described embodiments are merely preferred embodiments of the utility model, and do not limit the scope of the utility model, and various deformations and improvements of the technical solutions of the utility model made by those skilled in the art without departing from the design spirit of the utility model shall fall within the protection scope of the claims of the utility model.

Claims

1. An elevating robot comprising a wheeled chassis (5) having bottom mounted rollers, characterized in that, The wheel chassis (5) is provided with a lifting device (1) on the upper portion thereof; The lifting device (1) comprises a bottom mounting member (101), the bottom mounting member (101) is connected with a first parallel link assembly (102) through a rotating shaft assembly, the first parallel link assembly (102) is connected with a movable mounting member (103) through a rotating shaft assembly, the movable mounting member (103) is connected with a second parallel link assembly (104) through a rotating shaft assembly, the second parallel link assembly (104) is connected with a top mounting member (105) through a rotating shaft assembly; The top mounting member (105) is connected with a trunk assembly (2) on the upper portion thereof; A mechanical arm (4) is mounted on the trunk assembly (2); A head assembly (3) is connected with the trunk assembly (2) on the upper portion thereof; Linear actuators (106) are respectively mounted in the first parallel link assembly (102) and the second parallel link assembly (104); The installation angle of the linear actuators (106) inside the first parallel link assembly (102) and the second parallel link assembly (104) is adjustable.

2. The lifting robot according to claim 1, characterized in that The linear actuators (106) comprise a housing (1061) and an energy storage spring (1062), a power element (1063) is mounted inside the housing (1061), one end of the energy storage spring (1062) is mounted on the housing (1061), and the other end of the energy storage spring (1062) is mounted on the power element (1063), the power element (1063) is provided with a first mounting hole assembly (1064) at the end where the energy storage spring (1062) is mounted, and the linear actuators (106) are provided with a second mounting hole assembly (1065) at the end away from the first mounting hole assembly (1064).

3. The lifting robot according to claim 2, wherein The linear actuators (106) are connected with the bottom mounting member (101) through the first mounting hole assembly (1064), and the linear actuators (106) are connected with the movable mounting member (103) through the second mounting hole assembly (1065) and the rotating shaft assembly at the end away from the first mounting hole assembly (1064).

4. The lifting robot according to claim 1, wherein Rolling pins (110) are mounted on the edge of the outer wall of the rotating shaft assembly at the connection between the first parallel link assembly (102) and the bottom mounting member (101), and the rolling pins (110) are located in the ear of the bottom mounting member (101).

5. The lifting robot of claim 1, wherein, Rolling pins (110) are mounted on the edge of the outer wall of the rotating shaft assembly at the connection between the first parallel link assembly (102) and the movable mounting member (103), and the rolling pins (110) are located in the ear of the movable mounting member (103).

6. The lifting robot of claim 1, wherein, The connection between the first link (1021) of the first parallel link assembly (102) and the bottom mounting member (101) is coaxial with the connection between the linear actuator (106) and the bottom mounting member (101).

7. The lifting robot according to claim 6, wherein The connection between the first parallel link (1022) of the first link (1021) and the movable mounting member (103) is coaxial with the connection between the linear actuator (106) and the movable mounting member (103).

8. The lifting robot of claim 2, wherein, The power element (1063) comprises a motor (1066) mounted on the second mounting hole assembly; A speed reducer (1067) is mounted on the motor (1066) inside the shell (1061); A lead screw shaft (1068) is mounted on the speed reducer (1067); A lead screw nut (1069) is mounted on the lead screw shaft (1068) away from the speed reducer (1067).

9. The lifting robot according to claim 8, wherein The second mounting hole assembly (1065) is fixed on the lead screw nut (1069) by screwing.

10. The lifting robot of claim 1, wherein, The first parallel linkage assembly (102) and the second parallel linkage assembly (104) are identical in structure.

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