robot

Abstract

This utility model discloses a robot, which includes a frame, a lifting component, a lifting actuator, a drive device, and a transmission assembly. The lifting actuator includes a first support member, a second support member, a first movable member, and a second movable member. Both the first and second movable members are movably connected to the frame and move in parallel and opposite directions. The two ends of the first support member are hinged to the first movable member and the lifting component, respectively, and the two ends of the second support member are hinged to the second movable member and the lifting component, respectively. The output end of the drive device is connected to the input end of the transmission assembly, and the output end of the transmission assembly is connected to both the first and second movable members. The drive device drives the first and second movable members to move synchronously and in opposite directions through the transmission assembly, so that the first and second support members drive the lifting component to rise and fall. This solution addresses the problem of the robot's initial height being too high.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a robot. Background Technology

[0002] In the field of intelligent warehouse management, the handling of goods can be accomplished by robots. Robots can perform picking tasks, that is, retrieving goods from a designated location in the warehouse, or they can perform storage tasks, that is, placing the transported goods into a designated location. Robots are equipped with lifting mechanisms. When performing picking or storage tasks, the robot drives the lifting mechanism to move along a planned path to the task endpoint, and then controls the lifting mechanism to rise or fall to meet the height requirements for placing the goods.

[0003] In related technologies, the lifting mechanism adopts a scissor structure, which achieves the lifting and lowering of goods through the extension and retraction of the scissor structure.

[0004] However, scissor lift mechanisms typically consist of multiple sets of intersecting scissor arms, each with a fixed thickness. When these multiple sets of scissor arms are fully lowered, they must overlap and interlock, resulting in a relatively high initial height for the entire lifting mechanism (low position), and consequently, a relatively high initial height for the robot. This higher initial robot height necessitates a higher bottom shelf height for the racks being used for picking or placing goods. A higher bottom shelf height tends to reduce storage density and space utilization. Therefore, robots in related technologies often result in lower warehouse density and space utilization. Utility Model Content

[0005] This utility model discloses a robot to solve the technical problem of high initial height of the robot.

[0006] To solve the above problems, the present invention adopts the following technical solution: A robot includes a frame, a lifting component, a lifting actuator, a drive unit, and a transmission assembly; The lifting mechanism includes a first support member, a second support member, a first movable member, and a second movable member. Both the first and second movable members are movably connected to the vehicle frame and move in parallel and opposite directions. The two ends of the first support member are hinged to the first movable member and the lifting member, respectively, and the two ends of the second support member are hinged to the second movable member and the lifting member, respectively. The output end of the drive device is connected to the input end of the transmission assembly, and the output end of the transmission assembly is connected to both the first and second movable members. The drive device drives the first and second movable members to move synchronously and in opposite directions via the transmission assembly, so that the first and second support members lift and lower the lifting member.

[0007] The technical solution adopted in this utility model can achieve the following beneficial effects: In the robot disclosed in this utility model, the lifting actuator includes a first support member, a second support member, a first movable member, and a second movable member. Both the first and second movable members are movably connected to the frame and move in parallel and opposite directions. The two ends of the first support member are hinged to the first movable member and the lifting member, respectively, and the two ends of the second support member are hinged to the second movable member and the lifting member, respectively. In the specific lifting operation, the drive device drives the first and second movable members to move synchronously and in opposite directions through a transmission assembly, so that the first and second support members drive the lifting member to lift. In this scheme, the translational movement of the first and second movable members enables the rotation of the first and second support members relative to the lifting member. Therefore, the first and second support members can rotate to a low position approximately parallel to the plane of the frame, thereby maximizing the compression of the vertical space of the lifting actuator and significantly reducing the initial height of the robot. Therefore, compared with the solutions in related technologies, the initial height of the lifting actuator of the robot in this application is lower, which can effectively reduce the height of the bottom shelf from the ground and increase the shelf capacity. Thus, the robot disclosed in this application is beneficial to improving the density and space utilization of warehousing. Attached Figure Description

[0008] The accompanying drawings, which are included to provide a further understanding of the present invention and constitute a part of this invention, illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the present invention and do not constitute an undue limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the structure of the robot disclosed in an embodiment of the present utility model; Figures 2 to 7 The figure is a schematic diagram of the lifting actuator of the robot disclosed in an embodiment of this utility model; Figure 8 This is a schematic diagram of the drive device and transmission assembly of the robot disclosed in an embodiment of the present utility model; Figure 9 This is a schematic diagram of the robot structure of the first embodiment disclosed in this utility model; Figure 10 This is a schematic diagram of the second type of robot structure disclosed in the embodiments of this utility model; Figure 11 This is a schematic diagram of the third type of robot structure disclosed in this utility model embodiment.

[0009] Explanation of reference numerals in the attached figures: 100-Chassis, 110-Guide rail, 111-First rail, 112-Second rail, 1101-First guide rail section, 1102-Second guide rail section, 120-First limiting part, 130-Second limiting part, 140-Mounting bracket; 200-Lifting component, 210-First strip rod, 220-Second strip rod, 230-Hollow bracket; 300-Lifting actuator, 310-First support member, 311-First connecting rod, 312-Second connecting rod, 320-Second support member, 321-Third connecting rod, 322-Fourth connecting rod, 330-First moving member, 331-First slider, 332-Second slider, 340-Second moving member, 341-Third slider, 342-Fourth slider, 350-Third support member; 400 - Drive unit, 410 - Drive motor, 420 - Reducer, 430 - Output gear; 500-Transmission assembly, 510-First rotating component, 511-Driving shaft, 512-Driving pulley, 513-Input gear, 520-Second rotating component, 521-Driven shaft, 522-Driven pulley, 530-Transmission belt, 531-First side, 532-Second side; 600 - Walking device; 700 - Inspection Items; 800-material bin. Detailed Implementation

[0010] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0011] The technical solutions disclosed in the various embodiments of this utility model are described in detail below with reference to the accompanying drawings.

[0012] like Figures 1 to 11 As shown in the figure, this utility model embodiment discloses a robot, which includes a frame 100, a lifting component 200, a lifting actuator 300, a drive device 400, and a transmission assembly 500.

[0013] The frame 100 provides a mounting base for the other components of the robot. The lifting component 200 is used to carry goods. For example... Figure 7As shown, the lifting component 200 can be used to support the material box 800. Of course, the goods supported by the lifting component 200 are not limited to the material box 800 in this article, and can also be used to support other goods, which is not limited in this article.

[0014] The lifting actuator 300 is used to lift the lifting member 200. The lifting actuator 300 includes a first support member 310, a second support member 320, a first moving member 330, and a second moving member 340. Both the first moving member 330 and the second moving member 340 are movably connected to the frame 100, and the first moving member 330 and the second moving member 340 move in parallel and opposite directions. At this time, the movement directions of the first moving member 330 and the second moving member relative to the frame 100 are parallel and opposite.

[0015] The first support member 310 is hinged at both ends to the first moving member 330 and the lifting member 200, respectively. Specifically, one end of the first support member 310 is rotatably connected to the first moving member 330, and the other end of the first support member 310 is rotatably connected to the lifting member 200. Here, the first support member 310 can rotate relative to the first moving member 330 about a first axis, and the first support member 310 can rotate relative to the lifting member 200 about a second axis. In order for the first support member 310 to be able to rotate simultaneously relative to the first moving member 330 and the lifting member 200, the first axis and the second axis need to be set parallel to avoid inconsistent rotation directions and jamming.

[0016] The two ends of the second support member 320 are hinged to the second moving member 340 and the lifting member 200, respectively. Specifically, one end of the second support member 320 is rotatably connected to the second moving member 340, and the other end of the second support member 320 is rotatably connected to the lifting member 200. Here, the second support member 320 can rotate relative to the second moving member 340 about a third axis, and the second support member 320 can rotate relative to the lifting member 200 about a fourth axis. In order for the second support member 320 to be able to rotate simultaneously relative to the second moving member 340 and the lifting member 200, the third axis and the fourth axis need to be set parallel to avoid inconsistent rotation orientations and jamming.

[0017] Similarly, since the first support member 310 and the second support member 320 jointly support the lifting member 200, the axes around which the first support member 310 and the second support member 320 rotate also need to be parallel. Therefore, the first axis, the second axis, the third axis and the fourth axis mentioned above are all parallel to each other.

[0018] In the above embodiments, the first support member 310, the first moving member 330, and the lifting member 200 are rotatably connected via rotating components such as rotating shafts and hinges. Similarly, the second support member 320, the second moving member 340, and the lifting member 200 can also be rotatably connected via rotating components such as rotating shafts and hinges. Of course, rotation can also be achieved through other components, which is not limited herein.

[0019] The output end of the drive device 400 is connected to the input end of the transmission assembly 500, and the output end of the transmission assembly 500 is connected to both the first moving member 330 and the second moving member 340. Here, the output end of the drive device 400 refers to the output end of the driving force of the drive device 400. Specifically, the drive device 400 drives the first moving member 330 and the second moving member 340 to move synchronously and in opposite directions via the transmission assembly 500, so that the first support member 310 and the second support drive the lifting member 200 to rise and fall.

[0020] In specific operation, the drive unit 400, through the transmission assembly 500, can drive the first moving member 330 and the second moving member 340 to move closer or further apart, thereby causing the lifting member 200 to move in a direction away from or closer to the frame 100. The lifting direction of the lifting member 200 is as follows: Figure 4 As shown on the Y-axis.

[0021] For example, such as Figure 4 In the illustrated scheme, as the lifting member 200 descends, the drive device 400 drives the first moving member 330 and the second moving member 340 to move synchronously and towards each other via the transmission assembly 500. At this time, the first moving member 330 drives one end of the first support member 310 to move towards the middle position of the frame 100. As the first moving member 330 moves, the first support member 310 also rotates relative to the first moving member 330, and the angle between the first support member 310 and the frame 100 gradually decreases. This can be understood as the first support member 310 rotating from a position approaching vertical to a position approaching horizontal. The first support member 310 and the lifting member 200 also rotate to match the position change of the first support member 310, thus causing the lifting member 200 to move towards the frame 100, thereby causing the position of the lifting member 200 to descend. The positional change of the second support member 320 is the same as that of the first support member 310. This article only uses the positional change of the first support member 310 to illustrate the descent process. In the actual descent process, the positions of the first support member 310 and the second support member 320 change synchronously.

[0022] As the lifting member 200 rises, the first moving member 330 and the second moving member 340 move in a direction away from each other. At this time, the first moving member 330 drives one end of the first support member 310 to move towards the edge of the frame 100. As the first moving member 330 moves, the first support member 310 also rotates relative to it, and the angle between the first support member 310 and the frame 100 gradually increases. This can be understood as the first support member 310 rotating from a near-horizontal position to a near-vertical position. The first support member 310 and the lifting member 200 also rotate to match the positional change of the first support member 310, thus causing the lifting member 200 to move away from the frame 100, thereby raising its position. The positional change of the second support member 320 is the same as that of the first support member 310. This article only describes the rising process using the positional change of the first support member 310. In actual rising, the positions of the first support member 310 and the second support member 320 change synchronously.

[0023] Of course, the first support member 310 and the second support member 320 are positioned differently on the frame 100, and the first movable member 330 and the second movable member 340 slide in different directions. (See attached image) Figure 9 As shown, the first support member 310 and the second support member 320 are arranged at intervals along their moving direction; the first support member 310 and the second support member 320 are respectively hinged to opposite ends of the lifting member 200, and the moving positions of the first moving member 330 and the second moving member 340 are located between the connection point of the first support member 310 and the lifting member 200 and the intersection point of the second support member 320 and the lifting member 200. At this time, the farthest position that the first support member 310 moves toward the edge of the frame 100 will not exceed the intersection point of the first support member 310 and the lifting member 200, and the farthest position that the second support member 320 moves toward the edge of the frame 100 will not exceed the hinge point of the second support member 320 and the lifting member 200. The hinge point of the first support member 310 and the lifting member 200 is as follows. Figure 9 Point A is shown in the diagram. The hinge position between the second support member 320 and the lifting member 200 is shown in the diagram. Figure 9 As shown at point B in the diagram. Therefore, when the first moving member 330 and the second moving member 340 move away from each other, the lifting member 200 rises; while when the first moving member 330 and the second moving member 340 move closer to each other, the lifting member 200 falls.

[0024] like Figure 10As shown, when the first moving member 330 is located to the left of the hinge between the first support member 310 and the lifting member 200, and the second moving member 340 is located to the right of the hinge between the second support member 320 and the lifting member 200, when the first moving member 330 and the second moving member 340 move in opposite directions, the first moving member 330 moves away from the hinge between the first support member 310 and the lifting member 200 along the left direction, and the second moving member 340 moves away from the hinge between the second support member 320 and the lifting member 200 along the right direction. At this time, the lifting member 200 descends; and when the first moving member 330 and the second moving member 340 move closer to each other, the lifting member 200 rises. The first moving member 330 approaches the connection point between the first support member 310 and the lifting member 200 in the right direction. The first moving member 330 moves to its furthest position in the right direction, which is the hinge point between the first support member 310 and the lifting member 200, and will not exceed the hinge point between the first support member 310 and the lifting member 200. The second moving member 340 approaches the hinge point between the second support member 320 and the lifting member 200 in the left direction. The second moving member 340 moves to its furthest position in the left direction, which is the hinge point between the second support member 320 and the lifting member 200, and will not exceed the hinge point between the second support member 320 and the lifting member 200. When the first moving member 330 moves to the connection point between the first support member 310 and the lifting member 200, and the second moving member 340 moves to the connection point between the second support member 320 and the lifting member 200, the lifting member 200 rises to its highest position.

[0025] In addition, such as Figure 11 As shown, when the first support member 310 and the second support member 320 are arranged crosswise, the lifting member 200 rises when the first moving member 330 and the second moving member 340 approach each other; the lifting member 200 falls when the first moving member 330 and the second moving member 340 move in opposite directions. In this application, the first support member 310 and the second support member 320 only cross in position and are not physically connected to avoid a situation where they become stuck and unable to rotate.

[0026] In the embodiments disclosed in this application, the first moving member 330 and the second moving member 340 can rotate relative to the lifting member 200 through translational movement. This allows the first supporting member 310 and the second supporting member 320 to rotate to a low position approximately parallel to the plane of the frame 100, thereby maximally compressing the vertical space of the lifting actuator 300 to achieve flattening of the lifting actuator 300 and significantly reducing the robot's initial height. Here, the initial height refers to the height when the lifting mechanism is in its lowest position.

[0027] Therefore, compared with the solutions in related technologies, the initial height of the lifting actuator 300 of the robot in this application is lower, which can effectively reduce the height of the bottom shelf from the ground and increase the shelf capacity. Thus, the robot disclosed in this application is beneficial to improving the density and space utilization of the warehouse.

[0028] Furthermore, in the relevant technology, at least one of the two crossbars in the scissor arm needs to be slidably connected to the lifting component 200. Therefore, during the process of raising the lifting component 200, the lateral distance between the two crossbars decreases, and the distance between the connection points of the two crossbars and the lifting component 200 gradually decreases. As a result, the distance between the two crossbars is relatively close, and the support area for the lifting component 200 becomes smaller. This can easily reduce the support balance of the lifting component 200, thereby increasing the risk of the lifting component 200 tilting.

[0029] In the scheme disclosed in this application, both the first support member 310 and the second support member 320 are rotatably connected to the lifting member 200. Therefore, the connection position between the first support member 310 and the lifting member 200 and the connection position between the second support member 320 and the lifting member 200 will not change during the lifting process. Therefore, the support area of ​​the first support member 310 and the second support member 320 on the lifting member 200 remains unchanged. Thus, the first support member 310 and the second support member 320 in this application have better support balance on the lifting member 200, and therefore the risk of the lifting member 200 tilting is not likely to occur.

[0030] In addition, the first moving member 330 and the second moving member 340 in this application move simultaneously. Therefore, compared with the solutions in related technologies, the first moving member 330 and the second moving member 340 move a shorter distance when lifting and lowering by the same distance, thus occupying less space.

[0031] In another alternative embodiment, the lifting actuator 300 may further include a third support member 350, one end of which is rotatably connected to the second support member 320 or the first support member 310, and the other end of which is rotatably connected to the frame 100. Here, the third support member 350 can rotate relative to the second support member 320 or the first support member 310 about a fifth axis, and can rotate relative to the frame 100 about a sixth axis. The fifth and sixth axes are parallel.

[0032] In this design, the third support member 350 can provide auxiliary support for the first support member 310 or the second support member 320, thereby making the first support member 310 and the second support member 320 more stable when the lifting member 200 is raised.

[0033] In an optional embodiment, the first support 310, the second support 320, the first movable member 330, and the second movable member 340 can be adopted as follows: Figure 2 The arrangement is shown. The first support member 310 and the second support member 320 are arranged at intervals along their moving direction. The moving positions of the first moving member 330 and the second moving member 340 are both located between the hinge point of the first support member 310 and the lifting member 200 and the hinge point of the second support member 320 and the lifting member 200. This can be understood as the moving distance of the first moving member 330 and the second moving member 340 always being between the hinge points of the first support member 310 and the lifting member 200 and the second support member 320 and the lifting member 200. Therefore, the moving space occupied by the first moving member 330 and the second moving member 340 is located directly below the lifting member 200, which makes the volume of the lifting actuator 300 smaller, thus helping to reduce the overall volume of the robot and promoting the miniaturization of the robot.

[0034] In one embodiment, the drive unit 400 can be fixed as a whole to the lifting actuator 300, for example, the drive unit 400 can be fixed to one of the first support member 310 or the second support member 320.

[0035] In another alternative embodiment, the fixed end of the drive unit 400 can be fixedly connected to the frame 100. The fixed end of the drive unit 400 can be understood as a non-powered component, such as the housing of the drive unit 400, used to fix the drive source.

[0036] In this design, the drive unit 400 is mounted on the frame 100, so the wiring of the drive unit 400 is not easily cut or damaged, thereby reducing the risk of the drive unit 400 being disconnected and thus improving the safety of the robot.

[0037] This application discloses a specific structure of a transmission assembly 500. Of course, the transmission assembly 500 can also have other structures, which are not limited herein. The transmission assembly 500 may include a first rotating member 510, a second rotating member 520, and a transmission belt 530. Both the first rotating member 510 and the second rotating member 520 can be rotatably connected to the frame 100 and are arranged at intervals along the moving direction of the first moving member 330. This can also be understood as the first rotating member 510 and the second rotating member 520 being arranged at intervals along the extending direction of the first moving member 330 and the second moving member 340. The transmission belt 530 can be fitted onto the first rotating member 510 and the second rotating member 520, where the first rotating member 510 and the second rotating member 520 jointly tension the transmission belt 530. The output end of the drive device 400 can be connected to the first rotating member 510, and the drive device 400 can drive the transmission belt 530 to rotate via the first rotating member 510.

[0038] like Figure 5 As shown, the conveyor belt 530 may have a first side 531 and a second side 532 distributed circumferentially therearound, with the transmission direction of the conveyor belt 530 on the first side 531 being opposite to that on the second side 532. Figure 5 As shown, the transmission directions of the conveyor belt 530163 on the first side 531 and the second side 532 can be X1 and X2, respectively. When the transmission direction of the first side 531 is X1 (horizontal to the right), the transmission direction of the second side 532 is X2 (horizontal to the left). Alternatively, the transmission direction of the first side 531 can be X2, and the transmission direction of the second side 532 can be X1. A first moving member 330 is connected to the first side 531 of the conveyor belt 530, and a second moving member 340 is connected to the second side 532 of the conveyor belt 530. Since the transmission directions of the conveyor belt 530 on the first side 531 and the second side 532 are opposite, when the conveyor belt 530 drives the first moving member 330 and the second moving member 340 to move simultaneously, the movement directions of the first moving member 330 and the second moving member 340 are opposite, thereby achieving movement of the first moving member 330 and the second moving member 340 in directions that are closer to or further away from each other.

[0039] In specific operation, the driving device 400 can drive the first rotating member 510 to rotate along a first rotation direction or a second rotation direction, the first rotation direction and the second rotation direction being opposite. The first rotation direction can be clockwise, and the second rotation direction can be counterclockwise. Different rotation directions of the first rotating member 510 can cause changes in the transmission direction of the first side 531 and the second side 532.

[0040] In this scheme, the first moving part 330 and the second moving part 340 can be driven to move simultaneously in opposite directions by the conveyor belt 530, thus simplifying the structure of the transmission component 500, making the robot structure simpler and the cost lower.

[0041] Furthermore, in Figure 4In the illustrated scheme, when the first rotating member 510 rotates along the first rotation direction, the conveyor belt 530 can drive the first moving member 330 and the second moving member 340 to move in a direction closer to each other, thereby causing the lifting member 200 to move in a direction closer to the frame 100. At this time, the first moving member 330 slides horizontally to the right, while the second moving member 340 slides horizontally to the left. When the first rotating member 510 rotates along the second rotation direction, the conveyor belt 530 can drive the first moving member 330 and the second moving member 340 to move in a direction further away from each other, thereby causing the lifting member 200 to move in a direction further away from the frame 100. At this time, the first moving member 330 slides horizontally to the left, while the second moving member 340 slides horizontally to the right. The first rotation direction can be clockwise, and the second rotation direction can be counterclockwise.

[0042] In another alternative embodiment, the first rotating component 510 may include a drive shaft 511 and a drive pulley 512, with the drive shaft 511 rotatably connected to the frame 100. The drive shaft 511 can rotate relative to the frame 100 about its central axis. The drive shaft 511 can be rotatably connected to the frame 100 via bearings, bushings, or other components. The drive pulley 512 is mounted on the drive shaft 511. The output end of the drive unit 400 can be connected to the drive shaft 511 to drive the drive shaft 511 to rotate the drive pulley 512 in a first rotation direction or a second rotation direction.

[0043] The second transmission component may include a driven shaft 521 and a driven pulley 522, with the driven shaft 521 rotatably connected to the frame 100. The installation method of the driven shaft 521 to the frame 100 is the same as that of the driving shaft 511, and will not be described in detail here. The driving shaft 511 is parallel to the driven shaft 521, and the driven pulley 522 can be fitted onto the driven shaft 521. The transmission belt 530 is fitted onto the driving pulley 512 and the driven pulley 522.

[0044] In this design, the pulley can increase the friction with the transmission belt 530, thus avoiding the risk of the transmission belt 530 slipping and further improving the transmission reliability of the robot.

[0045] In the above scheme, the specific structures of the driving pulley 512 and the driven pulley 522 can be selected according to the specific structure of the transmission belt 530, and this article does not impose any restrictions.

[0046] In another alternative embodiment, the transmission component may also include an input gear 513, which may be mounted on the drive shaft 511. The input gear 513 can drive the drive shaft 511 to rotate.

[0047] The drive unit 400 may include a drive motor 410, a reducer 420, and an output gear 430. The housing of the drive motor 410 is fixedly connected to the housing of the reducer 420. At least one of the housings of the drive motor 410 and the reducer 420 may be fixedly connected to the frame 100. The drive shaft of the drive motor 410 may be connected to the transmission part of the reducer 420. The transmission part of the reducer 420 may be connected to the output gear 430. The output gear 430 may mesh with the input gear 513.

[0048] This solution can further improve the transmission efficiency of the lifting actuator 300, thereby giving the lifting actuator 300 better transmission performance.

[0049] Optionally, the diameter of the output gear 430 is smaller than the diameter of the input gear 513. In this case, the diameter of the input gear 513 is larger than that of the output gear 430, which is beneficial to increasing the torque of the first rotating member 510.

[0050] In another alternative embodiment, the first support member 310 may include a first link 311 and a second link 312, which may be spaced apart in a direction perpendicular to the movement direction of the first moving member 330. One end of the first link 311 and the second link 312 may be hinged to the lifting member 200, and the other end may be hinged to the first moving member 330. Similarly, the second support member 320 may include a third link 321 and a fourth link 322, which may be spaced apart in a direction perpendicular to the movement direction of the second moving member 340. One end of the third link 321 and the fourth link 322 may be hinged to the lifting member 200, and the other end may be hinged to the second moving member 340.

[0051] In this design, both the first support member 310 and the second support member 320 are composed of two connecting rods. In this case, the first support member 310 and the second support member 320 have good support performance, and the structure of the first support member 310 and the second support member 320 is simple and the weight is light.

[0052] Furthermore, the first moving member 330 may include a first slider 331 and a second slider 332 that are movably connected to the frame 100. The first slider 331 and the second slider 332 may be located on both sides of the frame 100, and the arrangement direction of the first slider 331 and the second slider 332 is perpendicular to the moving direction of the first moving member 330.

[0053] The second moving member 340 may include a third slider 341 and a fourth slider 342 that are movably connected to the frame 100. The third slider 341 and the fourth slider 342 may be located on both sides of the frame 100, and the arrangement direction of the third slider 341 and the fourth slider 342 is perpendicular to the moving direction of the second moving member 340.

[0054] The first slider 331 and the third slider 341 can be located on the same side of the frame 100, and the second slider 332 and the fourth slider 342 can be located on the same side of the frame 100. The two ends of the first connecting rod 311 are hinged to the lifting member 200 and the first slider 331, respectively. The two ends of the second connecting rod 312 are hinged to the lifting member 200 and the second slider 332, respectively. The two ends of the third connecting rod 321 are hinged to the lifting member 200 and the third slider 341, respectively. The two ends of the fourth connecting rod 322 are hinged to the lifting member 200 and the fourth slider 342, respectively.

[0055] In this design, the first slider 331, the third slider 341, the first link 311, and the third link 321 form a lifting structure on one side, while the second slider 332, the fourth slider 342, the third link 321, and the fourth link 322 form a lifting structure on the other side. Therefore, the robot has two lifting structures that can lift simultaneously on opposite sides, which helps to further improve the lifting performance of the lifting actuator 300 and ensures the reliability and safety performance of the lifting actuator 300.

[0056] In the above embodiments, the frame 100 may be provided with a guide rail 110, and the first moving member 330 and the second moving member 340 are arranged at intervals along the extension direction of the guide rail 110, and are slidably connected to the guide rail 110 along the extension direction of the guide rail 110.

[0057] In this scheme, the first moving part 330 and the second moving part 340 are arranged side by side on the guide rail 110 along the extension direction of the guide rail 110. The guide rail 110 is used to guide and limit the sliding direction of the first moving part 330 and the second moving part 340.

[0058] Furthermore, the guide rail 110 may include a first rail 111 and a second rail 112, which are spaced apart along the arrangement direction of the first slider 331 and the second slider 332, and the extending direction of the first rail 111 is parallel to the extending direction of the second rail 112. The first slider 331 and the third slider 341 are both slidably connected to the first rail 111 along its extending direction. The second slider 332 and the fourth slider 342 are both slidably connected to the second rail 112 along its extending direction. The extending directions of the first rail 111 and the second rail 112 are the same as the extending directions of the guide rail 110 described above. In this application, the first moving member 330 and the second moving member 340 move in parallel; therefore, the guide rail 110 is a linear rail, and the first rail 111 and the second rail 112 are also linear rails.

[0059] In another alternative embodiment, both the first track 111 and the second track 112 may include a first guide rail segment 1101 and a second guide rail segment 1102 spaced apart along their extension direction. The first slider 331 may be slidably connected to the first guide rail segment 1101 of the first track 111, the third slider 341 may be connected to the second guide rail segment 1102 of the first track 111, the second slider 332 may be connected to the first guide rail segment 1101 of the second track 112, and the fourth slider 342 may be connected to the second guide rail segment 1102 of the second track 112.

[0060] In this design, the first track 111 and the second track 112 are divided into two spaced-apart guide rail segments, avoiding the risk of collision between two sliders on the same track. Furthermore, dividing a single-sided track into two spaced-apart guide rail segments helps to reduce the track length, thereby lowering the robot's manufacturing cost.

[0061] In the case where the first support member 310 and the second support member 320 include two connecting rods, the third support member 350 may also be two connecting rods. One end of each connecting rod in the third support member 350 is rotatably connected to one of the connecting rods in the first support member 310 or the second support member 320, and the other end is rotatably connected to the frame 100.

[0062] In the above scheme, there can be two conveyor belts 530, namely a first conveyor belt 530 and a second conveyor belt 530. The first conveyor belt 530 and the second conveyor belt 530 are arranged at intervals along the arrangement direction of the first track 111 and the second track 112. The first slider 331 can be connected to the first side 531 of the first conveyor belt 530, and the third slider 341 can be connected to the second side 532 of the first conveyor belt 530. The second slider 332 can be connected to the first side 531 of the second conveyor belt 530, and the fourth slider 342 can be connected to the second side 532 of the second conveyor belt 530.

[0063] In one embodiment, the frame 100 is further provided with a mounting bracket 140, to which a portion of the transmission assembly 500 is connected. For example, the mounting bracket 140 can be used to mount one of the rotating components of the transmission assembly 500; for instance, a second rotating component 520 can be rotatably mounted on the mounting bracket 140. A portion of the mounting bracket 140 is located between the first guide rail segment 1101 and the second guide rail segment 1102. In this configuration, the mounting bracket 140, positioned between the first guide rail segment 1101 and the second guide rail segment 1102, can also limit the movement of the sliders on the first light guide segment and the second guide rail segment 1102, thereby preventing the sliders from detaching from their respective guide rail segments.

[0064] In another embodiment, the mounting position of the mounting bracket 140 on the frame 100 is adjustable along the arrangement direction of the first rotating member 510 and the second rotating member 520. In this case, the tension of the conveyor belt 530 can be adjusted by adjusting the mounting position of the mounting bracket 140 on the frame 100. Optionally, the frame 100 may be provided with multiple spaced threaded holes along the arrangement direction of the first rotating member 510 and the second rotating member 520, and the mounting bracket 140 can be fixed to different threaded holes, resulting in different tensions of the conveyor belt 530. Of course, the mounting bracket 140 and the frame 100 can also be adjustedly connected through other structures, which is not limited herein.

[0065] This solution enables tension adjustment of the conveyor belt 530.

[0066] In another optional embodiment, the frame 100 is further provided with a first limiting part 120 and a second limiting part 130. The first limiting part 120 and the second limiting part 130 are respectively connected to both ends of the guide rail 110. The first moving member 330 is limited and engaged with the first limiting part 120 in a direction away from the second moving member 340, and the second moving member 340 is limited and engaged with the second limiting part 130 in a direction away from the first moving member 330. This solution can prevent the first moving member 330 and the second moving member 340 from sliding out from both ends of the guide rail 110, thereby avoiding the risk of failure of the lifting actuator 300 and improving the safety of the lifting actuator 300.

[0067] Specifically, the first limiting part 120 is located at the end of the first guide rail segment 1101 opposite to the second guide rail segment 1102, and the second limiting part 130 is located at the end of the second guide rail segment 1102 opposite to the first guide rail segment 1101. The specific structure of the first limiting part 120 and the second limiting part 130 can be flexibly set, and this article does not impose any restrictions.

[0068] In the above embodiments, the supporting member 200 can be a plate-like structure.

[0069] In another alternative embodiment, the lifting component 200 may include a first strip rod 210, a second strip rod 220, and a hollow bracket 230, with the hollow bracket 230 located between the first strip rod 210 and the second strip rod 220 and used to connect the first strip rod 210 and the second strip rod 220. This embodiment can reduce the weight of the lifting component 200, thereby achieving a lightweight design for the lifting robot.

[0070] Optionally, when the first support member 310 includes a first link 311 and a second link 312, and the second support member 320 includes a third link 321 and a fourth link 322, the first link 311 and the third link 321 may both be hinged to the first strip rod 210, and the second link 312 and the fourth link 322 may both be hinged to the second strip rod 220.

[0071] The transmission assembly 500 disclosed in this application is not limited to the structure described above, and may also include a screw. The screw has a first threaded section and a second threaded section, and the threads of the first threaded section and the second threaded section are in opposite directions. In this case, the first moving member 330 can be threadedly connected to the first sliding section, and the second moving member 340 can be threadedly connected to itself. When the screw rotates, it can drive the first moving member 330 and the second moving member 340 to move in opposite directions.

[0072] In one optional embodiment, the lifting member 200 may be provided with a detection element 700, which is used to detect whether there is goods on the lifting member 200. Optionally, the detection element 700 can be a photoelectric sensor, and of course, the detection element 700 can also be other detection structures, which are not limited herein.

[0073] The robot disclosed in this application also includes a walking device 600, to which a frame 100 is connected. The robot moves on the ground via the walking device 600. The frame 100 can be fixedly connected to the walking device 600 using bolts, rivets, or other components. The specific structure of the aforementioned walking device 600 is known technology and will not be described in detail herein.

[0074] The above embodiments of this utility model mainly describe the differences between the various embodiments. As long as the different optimization features between the various embodiments are not contradictory, they can be combined to form a better embodiment. For the sake of brevity, they will not be described in detail here.

[0075] The above description is merely an embodiment of this utility model and is not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of this utility model should be included within the scope of the claims of this utility model.

Claims

1. A robot, characterized in that, It includes a frame (100), a lifting component (200), a lifting actuator (300), a drive unit (400), and a transmission assembly (500). The lifting actuator (300) includes a first support member (310), a second support member (320), a first moving member (330), and a second moving member (340). Both the first moving member (330) and the second moving member (340) are movably connected to the frame (100), and move in parallel and opposite directions. The two ends of the first support member (310) are respectively hinged to the first moving member (330) and the lifting member (200). The two ends of the second support member (320) are respectively hinged to... The second moving member (340) and the lifting member (200); the output end of the driving device (400) is connected to the input end of the transmission assembly (500), and the output end of the transmission assembly (500) is connected to both the first moving member (330) and the second moving member (340); wherein, the driving device (400) drives the first moving member (330) and the second moving member (340) to move synchronously and in opposite directions through the transmission assembly (500), so that the first support member (310) and the second support member drive the lifting member (200) to rise and fall.

2. The robot according to claim 1, characterized in that, The lifting actuator (300) further includes a third support member (350), one end of which is hinged to the second support member (320) or the first support member (310), and the other end of which is hinged to the vehicle frame (100).

3. The robot according to claim 1, characterized in that, The first support member (310) and the second support member (320) are arranged at intervals along their moving direction; the first support member (310) and the second support member (320) are respectively hinged to the opposite ends of the lifting member (200), and the moving positions of the first moving member (330) and the second moving member (340) are both located between the hinge of the first support member (310) and the lifting member (200) and the hinge of the second support member (320) and the lifting member (200).

4. The robot according to claim 1, characterized in that, The fixed end of the drive unit (400) is fixedly connected to the frame (100).

5. The robot according to claim 4, characterized in that, The transmission assembly (500) includes a first rotating member (510), a second rotating member (520), and a transmission belt (530). The first rotating member (510) and the second rotating member (520) are rotatably connected to the frame (100) and are arranged at intervals along the moving direction of the first moving member (330). The transmission belt (530) is sleeved on the first rotating member (510) and the second rotating member (520). The output end of the drive device (400) is connected to the first rotating member (510). The drive device (400) drives the transmission belt (530) to rotate through the first rotating member (510). The conveyor belt (530) has a first side (531) and a second side (532) distributed circumferentially thereon. The transmission direction of the conveyor belt (530) on the first side (531) is opposite to its transmission direction on the second side (532). The first moving member (330) is connected to the first side (531) of the conveyor belt (530), and the second moving member (340) is connected to the second side (532) of the conveyor belt (530).

6. The robot according to claim 5, characterized in that, The first rotating component (510) includes a drive shaft (511) and a drive pulley (512). The drive shaft (511) is rotatably connected to the frame (100), and the drive pulley (512) is mounted on the drive shaft (511). The output end of the drive device (400) is connected to the drive shaft (511) to drive the drive shaft (511) to rotate the drive pulley (512). The second rotating component (520) includes a driven shaft (521) and a driven pulley (522). The driven shaft (521) is rotatably connected to the frame (100). The driving shaft (511) is parallel to the driven shaft (521). The driven pulley (522) is fitted onto the driven shaft (521). The transmission belt (530) is fitted onto the driving pulley (512) and the driven pulley (522).

7. The robot according to claim 6, characterized in that, The first rotating component (510) further includes an input gear (513), which is mounted on the drive shaft (511); The drive unit (400) includes a drive motor (410), a reducer (420), and an output gear (430). The housing of the drive motor (410) is fixedly connected to the housing of the reducer (420). At least one of the housings of the drive motor (410) and the reducer (420) is fixedly connected to the frame (100). The power shaft of the drive motor (410) is drivenly connected to the transmission part of the reducer (420). The transmission part of the reducer (420) is drivenly connected to the output gear (430). The output gear (430) meshes with the input gear (513).

8. The robot according to claim 1, characterized in that, The first support member (310) includes a first connecting rod (311) and a second connecting rod (312). The first connecting rod (311) and the second connecting rod (312) are arranged at intervals along a direction perpendicular to the moving direction of the first moving member (330). The two ends of the first connecting rod (311) and the second connecting rod (312) are respectively hinged to the lifting member (200) and the first moving member (330). The second support member (320) includes a third link (321) and a fourth link (322). The third link (321) and the fourth link (322) are arranged at intervals in a direction perpendicular to the moving direction of the second moving member (340). The two ends of the third link (321) and the fourth link (322) are respectively hinged to the lifting member (200) and the second moving member (340).

9. The robot according to claim 8, characterized in that, The first moving member (330) includes a first slider (331) and a second slider (332) that are movably connected to the frame (100). The first slider (331) and the second slider (332) are located on both sides of the frame (100), and the arrangement direction of the first slider (331) and the second slider (332) is perpendicular to the moving direction of the first moving member (330). The second moving member (340) includes a third slider (341) and a fourth slider (342) that are movably connected to the frame (100); the third slider (341) and the fourth slider (342) are respectively located on both sides of the frame (100), and the arrangement direction of the third slider (341) and the fourth slider (342) is perpendicular to the moving direction of the second moving member (340); Wherein, the first slider (331) and the third slider (341) are located on the same side of the frame (100), and the second slider (332) and the fourth slider (342) are located on the same side of the frame (100); the two ends of the first connecting rod (311) are respectively hinged to the lifting member (200) and the first slider (331), the two ends of the second connecting rod (312) are respectively hinged to the lifting member (200) and the second slider (332); the two ends of the third connecting rod (321) are respectively hinged to the lifting member (200) and the third slider (341), and the two ends of the fourth connecting rod (322) are respectively hinged to the lifting member (200) and the fourth slider (342).

10. The robot according to claim 9, characterized in that, The frame (100) is provided with a guide rail (110), and the first moving member (330) and the second moving member (340) are arranged at intervals along the extension direction of the guide rail (110), and are slidably connected to the guide rail (110) along the extension direction of the guide rail (110). The guide rail (110) includes a first rail (111) and a second rail (112). The first rail (111) and the second rail (112) are spaced apart along the arrangement direction of the first slider (331) and the second slider (332). The extension direction of the first rail (111) is parallel to the extension direction of the second rail (112). The first slider (331) and the third slider (341) are both slidably connected to the first rail (111) along the extension direction of the first rail (111). The second slider (332) and the fourth slider (342) are both slidably connected to the second rail (112) along the extension direction of the second rail (112).

11. The robot according to claim 10, characterized in that, Both the first track (111) and the second track (112) include a first guide rail segment (1101) and a second guide rail segment (1102) spaced apart along their extension direction. The first slider (331) is slidably connected to the first guide rail segment (1101) of the first track (111). The third slider (341) is connected to the second guide rail segment (1102) of the first track (111). The second slider (332) is connected to the first guide rail segment (1101) of the second track (112). The fourth slider (342) is connected to the second guide rail segment (1102) of the second track (112). The frame (100) is also provided with a mounting bracket (140), a portion of the transmission assembly (500) is connected to the mounting bracket (140), and a portion of the mounting bracket (140) is located between the first guide rail section (1101) and the second guide rail section (1102).

12. The robot according to claim 10, characterized in that, The frame (100) is also provided with a first limiting part (120) and a second limiting part (130). The first limiting part (120) and the second limiting part (130) are respectively located at both ends of the guide rail (110). The first moving member (330) is limited and cooperates with the first limiting part (120) in a direction away from the second moving member (340). The second moving member (340) is limited and cooperates with the second limiting part (130) in a direction away from the first moving member (330).

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