Lifting mechanism and robot

Abstract

The utility model provides a lifting mechanism and a robot applying the lifting mechanism. The lifting mechanism comprises a rotating connecting rod set, the rotating connecting rod set comprises at least two rotating connecting rods which are arranged in parallel up and down and are equal in length, and the two ends of each rotating connecting rod are rotationally connected to a fixing base and a main arm respectively; the fixed seat is used as a base of the lifting mechanism; the rotating connecting rod group at least comprises a driving connecting rod, and the driving connecting rod is used for receiving rotating power input by a rotating shaft on the fixed seat so as to lift the main arm. The lifting arm can be suitable for the scene that the height of the lifting arm installation space is limited, but a certain requirement for the local lifting height is met.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of mechanical equipment, in particular to a lifting mechanism and a robot. BACKGROUND

[0002] Most of the robot heads in the prior art have a fixed height, and there are few robots that use a lifting mechanism to increase the height of the head or the upper body.

[0003] In the prior art, there are generally two types of lifting mechanisms. One is a conventional upright electric push rod structure. Although this solution is simple in structure, it has a high demand for the installation space of the push rod. If the lifting arm needs to have a lifting height of X, the installation space of the lifting arm needs to have a height of X+Y, where Y is the difference between the total length of the push rod and the stroke. The other is a multi-joint folding lifting arm. This solution requires a complex structure, a joint motor or a push rod at each joint as a joint drive, and joint drives that need to move jointly to meet the lifting requirements. The structure is complex and the cost is high.

[0004] The internal space of a robot is limited, and there is an urgent need for a lifting mechanism that occupies a small space and is simple. CONTENT OF THE UTILITY MODEL

[0005] One of the purposes of the present application is to provide a lifting mechanism that can be applied to a scenario where the installation space of the lifting arm is limited in height but has certain requirements for the lifting height. The second purpose of the present application is to provide a robot that uses the lifting mechanism.

[0006] The embodiment of the present application provides a lifting mechanism, comprising: a rotating linkage group, the rotating linkage group comprising at least two rotating links arranged in parallel and equal in length, both ends of each rotating link being rotatably connected to a fixed seat and a main arm respectively; the fixed seat being used as a base of the lifting mechanism; at least one driving link being included in the rotating linkage group, the driving link being used to receive rotating power input by a rotating shaft on the fixed seat to lift the main arm.

[0007] In one embodiment, the rotating linkage group comprises two rotating links.

[0008] In one embodiment, the rotating centers of the rotating links rotating around the fixed seat are located in the same vertical plane and have a parallel relationship.

[0009] In one embodiment, a driving motor is further included, the driving motor being fixed to the fixed seat and being used to drive the first rotating shaft to rotate.

[0010] In one embodiment, a driving module is further included, the driving module being fixed to the fixed seat, and the driving module being used to receive a control signal to control the driving motor.

[0011] In one embodiment, the control signal comprises at least one of: an electrical signal converted from a user direct operation input; or, a control instruction received by the control terminal.

[0012] In one embodiment, a lower limit proximity switch is arranged on the fixed base, and a lower limit sensing metal sheet is fixed on a lower rotating link of the rotating link set; when the distance between the lower limit sensing metal sheet and the lower limit proximity switch is within a preset threshold, the driving motor stops rotating.

[0013] In one embodiment, an upper limit proximity switch is arranged on the fixed base, and an upper limit sensing metal sheet is fixed on an upper rotating link of the rotating link set; when the distance between the upper limit sensing metal sheet and the upper limit proximity switch is within a preset threshold, the driving motor stops rotating.

[0014] In one embodiment, the upper end of the main arm is provided with a horizontal platform.

[0015] The embodiment of the present application also provides a robot, comprising: a mobile base, and the lifting mechanism as described in any one of the above embodiments arranged on the mobile base.

[0016] In the embodiment of the present application, the rotating link set of the lifting mechanism forms a parallelogram, and the smooth lifting of the main arm can be realized by rotating driving force, the space occupation is small, the structure is simple, the cost is low, and the control is easy; when the lifting mechanism provided by the present application is arranged vertically, it can be applied to the vertical telescopic movement of components (such as the head, upper body or foot of the robot) with limited installation space height but certain lifting height requirements. In addition, if the lifting mechanism provided by the present application is arranged horizontally (i.e. parallel to the horizontal plane, for example, the robot is lying on the ground), the corresponding components (such as the head, upper body or foot of the robot) can also be controlled to move in the horizontal plane. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments described in the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0018] Figure 1 is a front structure schematic diagram of a lifting mechanism of an embodiment of the present specification;

[0019] Figure 2Figure 1 is a schematic diagram of a back structure of a lifting mechanism according to an embodiment of the present specification;

[0020] Figure 3 Figure 2 is a schematic diagram of a parallelogram linkage of a lifting mechanism according to an embodiment of the present specification;

[0021] Figure 4 Figure 3 is a schematic diagram of upper and lower limit positions of a lifting mechanism according to an embodiment of the present specification;

[0022] Figure 5 Figure 4 is a schematic diagram of a shaft side structure of a lifting mechanism according to an embodiment of the present specification;

[0023] BRIEF DESCRIPTION OF DRAWINGS: 1, pin shaft, 2, main arm, 3, driven link, 4, driving link, 5, fixed base, 6, lower limit sensing metal sheet, 7, lower limit proximity switch, 8, motor driving module, 9, worm gear motor, 10, upper limit sensing metal sheet, 11, upper limit proximity switch, 12, joint pin shaft, 13, mounting positioning hole. DETAILED DESCRIPTION

[0024] In order to make the technical personnel in the technical field better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the person skilled in the art without making creative efforts should belong to the scope of protection of the present application.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application.

[0026] Please refer to Figure 1 The present specification provides a lifting mechanism, comprising:

[0027] a rotating link set, the rotating link set comprising at least two rotating links arranged in parallel and equal in length, both ends of each of the rotating links being rotatably connected to a fixed base 5 and a main arm 2 respectively; the fixed base 5 being used as a base of the lifting mechanism;

[0028] at least one driving link 4 is included in the rotating link set, the driving link 4 being used to receive rotating power input from a rotating shaft on the fixed base 5 to lift the main arm 2.

[0029] In the embodiment, the rotating linkage includes at least two rotating links arranged in parallel and equal in length. It is to be noted that the two ends of the rotating links are rotatably connected to the fixed base 5 and the main arm 2 respectively, and the equal length of the rotating links means that the distance between the centers of rotation of the two ends of the rotating links is equal, regardless of whether the rotating links are curved or extend beyond the rotating connections, that is, the equal length of the rotating links is only used to define that the distance between the centers of rotation of the two ends of the rotating links is equal. Please refer to Figure 3 , Figure 3 , in which the centers of rotation are A, B, C and D respectively, and A, B, C and D form a parallelogram.

[0030] In the embodiment, the rotating linkage can include two or more rotating links, and the centers of rotation of the rotating links form a parallelogram. In a preferred embodiment, the rotating linkage includes two rotating links. In a preferred embodiment, the positions of the rotating links are vertically above and below. Please refer to Figure 3 , in which AB or CD is vertically downward, and the axial direction of the fixed base 5 is the same. In a preferred embodiment, the rotating linkage includes two rotating links, the lower rotating link is the driving link 4, and the upper rotating link is the driven link 3. The driving link 4 is connected to the first rotating shaft with the fixed base 5, and the driving link 4 rotates synchronously with the first rotating shaft. This structure is more practical.

[0031] According to the above embodiment, the lifting mechanism occupies a small space, has a simple structure, low cost and is easy to control, and can be applied to robots with limited installation space height but certain lifting height requirements.

[0032] In an embodiment, a lifting mechanism is mainly driven by a worm gear motor 9, the worm gear motor 9 is connected to the fixed base 5, a motor drive module 8 is also connected to the fixed base 5, the motor drive module 8 can control the rotation, stop and reversing of the worm gear motor 9, and the output shaft of the worm gear motor 9 is fixedly connected to the driving link 4. When the worm gear motor 9 rotates, the driving link 4 can be driven to rotate around the output shaft of the motor.

[0033] In the embodiment, the driven link 3 is connected to the fixed base 5 through a pin shaft 1 directly above the output shaft of the motor, and the driven link 3 can rotate freely around the pin shaft 1. Please refer to Figure 2 , the other end of the driven link 3 is connected to the main arm 2 through a joint pin shaft 12, and the driving link can rotate freely around the joint pin shaft 12. The driving link 4 is connected to the main arm 2 through the joint pin shaft 12, and the driving link 4 can rotate freely around the joint pin shaft 12. At this time, it forms as Figure 3The shown parallelogram linkage, wherein ABCD four-axis are all rotatable axes, A is the output of the worm gear motor 9, according to the parallelogram principle, CD and AB always keep parallel, so the main arm 2 always keeps the same angle with the ground, in the worm gear motor driving the driving linkage 4 rotating around A, the lifting of the main arm 2 is completed. Please refer to Figure 5 In the axial side view, the main arm 2 is reserved with a mounting positioning hole 13, which can be used for mounting the robot head assembly.

[0034] In this embodiment, the worm gear motor 9 is used as the driving power source, because it is considered that only the worm can drive the turbine to rotate, and the turbine cannot drive the worm to rotate, so that the output shaft of the stroke motor is locked after power off, that is, after the motor is powered off, the lifting mechanism will not move downward due to its own gravity.

[0035] In this embodiment, it also includes an electronic limiting function: a lower limit proximity switch 7 is installed on the fixed seat 5, and a lower limit sensing metal sheet 6 is fixed on the driving linkage 4, the lower limit proximity switch 7 will generate an induction signal when it is 2-3mm away from the lower limit sensing metal sheet 6, so as to control the motor to stop rotating. Similarly, an upper limit proximity switch 11 is installed on the fixed seat 5, and an upper limit sensing metal sheet 10 is fixed on the driven linkage 3, the upper limit proximity switch 11 will generate an induction signal when it is 2-3mm away from the upper limit sensing metal sheet 10, so as to control the motor to stop rotating. In addition, during the lifting process, the induction signal cannot be generated due to too far distance, so as to realize the limiting function of the upper and lower limit positions.

[0036] In this embodiment, please refer to Figure 4 The upper limit position and the lower limit position are shown in the figure, the lifting mechanism is lifted from the lower limit position to the upper limit position, and the total lifting height is Y+X-(Y-X)=2X, which can greatly improve the lifting stroke in limited space.

[0037] In one embodiment, the rotating linkage group includes two rotating linkages.

[0038] Please refer to Figure 1 In this embodiment, the rotating linkages are only two, and the rotating linkages are arranged in parallel and equal length.

[0039] In one embodiment, the rotating centers of the rotating linkages rotating around the fixed seat 5 are located in the same vertical plane and in parallel relationship.

[0040] In this embodiment, the rotating centers of the rotating linkages rotating around the fixed seat 5 are located in the same vertical plane and in parallel relationship, which can ensure that the connecting line of the rotating shaft centers of the two ends of the rotating linkages is vertical. Please refer to Figure 3 AB or CD is perpendicular to the horizontal plane, and this structure is more practical and easy to calculate in design and installation.

[0041] In one embodiment, a driving motor is further included, which is fixed to the fixed base 5 and used to drive the first rotating shaft to rotate.

[0042] In the embodiment, the first rotating shaft can be a rotating shaft connected to the fixed base 5 and the driving link 4, so as to provide power for the rotation of the rotating link set.

[0043] In the embodiment, the driving motor can be a worm gear motor 9. The worm gear motor 9 is used as a driving power source, because the worm can only drive the turbine to rotate, but the turbine cannot drive the worm to rotate, so that the output shaft of the motor is locked after power-off, that is, the lifting mechanism cannot move downward due to its own gravity after power-off.

[0044] In one embodiment, a driving module is further included, which is fixed to the fixed base 5 and used to receive a control signal to control the driving motor.

[0045] In one embodiment, the control signal at least includes one of the following: an electrical signal converted by a user directly operating input; or a control instruction received by a control terminal.

[0046] In the embodiment, the control signal can be a signal such as “up”, “down” and “pause” input by a user on the driving module, or a signal such as “up”, “down” and “pause” input by a user on a control terminal, for example, a “client mobile phone” or a “remote control terminal computer”.

[0047] In one embodiment, a lower limit proximity switch 7 is arranged on the fixed base 5, and a lower limit sensing metal sheet 6 is fixed to the rotating link located at the lower side of the rotating link set; when the distance between the lower limit sensing metal sheet 6 and the lower limit proximity switch 7 is within a preset threshold value, the driving motor stops rotating.

[0048] In the embodiment, the threshold value can be 2 mm or 3 mm, etc. When the distance reaches the threshold value, a signal is sent to the driving module to pause the driving motor to continue to control the lifting mechanism to shrink downward.

[0049] In one embodiment, an upper limit proximity switch 11 is arranged on the fixed base 5, and an upper limit sensing metal sheet 10 is fixed to the rotating link located at the upper side of the rotating link set; when the distance between the upper limit sensing metal sheet 10 and the upper limit proximity switch 11 is within a preset threshold value, the driving motor stops rotating.

[0050] In the present embodiment, the threshold value can be 2mm or 3mm, etc. When the distance reaches the threshold value, the signal is sent to the driving module to pause the driving motor to continue to control the lifting mechanism to extend upward.

[0051] In one embodiment, the upper end of the main arm 2 is provided with a horizontal platform.

[0052] In the present embodiment, the horizontal platform at the upper end of the main arm 2 can be used to fix the robot head. The robot head is used to represent the functional output end. For example, the function of the robot is to obtain video or pictures, and the robot head can be a camera.

[0053] In a preferred embodiment, the horizontal platform is provided with a mounting positioning hole 13 to fix the robot head.

[0054] A robot, comprising: a mobile base, a lifting mechanism as described in any one of the preceding embodiments arranged on the mobile base.

[0055] In the present embodiment, only the differences from the foregoing embodiments are described, and other contents can be explained by referring to the contents of the foregoing embodiments, which will not be described here.

[0056] In the description of the present application, it should be understood that the terms "upper", "lower", etc. indicate the orientation or positional relationship defined based on the relative position or the direction of the drawing surface shown in each schematic view, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, and a particular orientation configuration and operation, and therefore cannot be understood as a limitation on the present disclosure, in addition, the terms "inner, outer" refer to the inner and outer of the corresponding structure profile. In addition, the terms "first", "second", etc. are only for the purpose of distinguishing one element from another element, and do not have sequentiality and importance. Unless otherwise specified, the meaning of "a plurality of" is two or more.

[0057] It should also be noted that unless otherwise specified and limited, the terms "provided", "connected", "connected", "mounted" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present disclosure can be understood according to the specific circumstances.

[0058] It is to be understood that the above description is intended to be illustrative, and not restrictive. Many embodiments and many applications other than the examples provided would be apparent upon reading the above description. The scope of the teachings should, therefore, be determined not with reference to the above description, but instead should be determined with reference to the appended claims, along with their full scope of equivalents. For a complete understanding of the present teachings, all articles and references, including patent applications and publications, are incorporated herein by reference for the period in which the article or reference is published. Any aspect of the subject matter disclosed herein that is not recited in the claims is hereby abandoned.

Claims

1. A lifting mechanism, characterized in that The application relates to a lifting mechanism and a lifting platform. The rotating linkage comprises at least two rotating links arranged in parallel and equal in length, and two ends of each of the rotating links are rotatably connected to a fixed base and a main arm respectively; the fixed base is used as a base of the lifting mechanism; At least one driving link is included in the rotating linkage, and the driving link is used for receiving rotating power input from a rotating shaft on the fixed base to lift the main arm.

2. The lifting mechanism of claim 1, wherein, The rotating linkage comprises two rotating links.

3. The lifting mechanism of claim 1, wherein, The rotating centers of the rotating links around the fixed base are located in the same vertical plane and arranged in parallel.

4. The lift mechanism of claim 1, wherein, A driving motor is further included, and the driving motor is fixed to the fixed base and used for driving a first rotating shaft to rotate.

5. The lifting mechanism of claim 4, wherein, A driving module is further included, and the driving module is fixed to the fixed base and used for receiving a control signal to control the driving motor.

6. The lifting mechanism of claim 5, wherein, The control signal at least includes one of the following: an electric signal converted by a user directly operating input; or a control instruction received by a control terminal.

7. The lift mechanism of claim 4, wherein, A lower limit proximity switch is arranged on the fixed base, and a lower limit sensing metal sheet is fixed to the lower rotating link in the rotating linkage; when the distance between the lower limit sensing metal sheet and the lower limit proximity switch is within a preset threshold, the driving motor stops rotating.

8. The lifting mechanism of claim 4, wherein, An upper limit proximity switch is arranged on the fixed base, and an upper limit sensing metal sheet is fixed to the upper rotating link in the rotating linkage; when the distance between the upper limit sensing metal sheet and the upper limit proximity switch is within a preset threshold, the driving motor stops rotating. The upper end of the main arm is provided with a horizontal platform.

9. The lift mechanism of claim 1, wherein, The application relates to a lifting mechanism and a lifting platform.

10. A robot, characterized in that The application relates to a lifting mechanism and a lifting platform. ​

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