Folding handle lifting robot

Abstract

The utility model relates to mechanical hand technical field especially is folding handle lifting manipulator, including bottom rotary base, the bottom rotary base upper end fixed mounting has central lifting stand, the left side surface of central lifting stand is installed and lifts transmission chain, the folding handle lifting manipulator of the utility model, through the combined structure of bottom rotary base + lifting stand, realized horizontal 360 all -directional rotation and vertical direction's big -range height adjustment, can adapt to different height, different horizontal position's operation scene, simultaneously, the precision sliding fit of guide sliding block and guide rail frame, cooperate the uniform -speed drive of lifting transmission chain, let the straightness error control in the lifting process in the small range, the low friction guiding design of collocation gyro wheel group, not only can stable load heavier work piece, can also avoid lifting or rotating process to appear to shake, the problem such as jam, ensure the position precision when taking and placing material.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a folding handle lifting robotic arm. Background Technology

[0002] In the current field of industrial automation and warehousing logistics, the demand for material handling and transfer equipment is becoming increasingly diversified and stringent. In terms of adaptability to different operating scenarios, many devices cannot simultaneously meet the operational needs of different heights and horizontal orientations. For example, in warehouse sorting scenarios, material handling between high-level shelves and ground storage locations, and the transfer of parts between different workstations in industrial assembly scenarios, traditional equipment often needs to frequently move its own body to complete multi-area and multi-dimensional operations. This is not only cumbersome to operate, but also reduces the flexibility and space utilization of operations, and cannot efficiently cope with complex and ever-changing operating environments. Therefore, we have launched a new folding handle lifting robot. Utility Model Content

[0003] The main purpose of this utility model is to provide a folding handle lifting robot, which can effectively solve the problems in the background art.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is as follows: The folding handle lifting robot includes a bottom rotating base, a central lifting column fixedly installed on the upper end of the bottom rotating base, a lifting transmission chain installed on the left side of the central lifting column, lifting connectors installed on the upper front and upper rear ends of the central lifting column, and guide rails installed on the ends of the two lifting connectors away from the central lifting column. Four guide sliders are slidably connected to the guide rails, and roller groups are detachably connected to the four guide sliders.

[0005] Preferably, the bottom rotating base includes a circular base and a vertical rotating shaft. The lower end of the vertical rotating shaft is rotatably connected to the circular base through a deep groove ball bearing, and the upper end of the vertical rotating shaft is fixed to the lower end face of the central lifting column through flange bolts.

[0006] Preferably, the central lifting column is a rectangular hollow column, with two parallel transmission chain mounting rails welded to its left inner wall. The lifting transmission chain is mounted on the transmission chain mounting rails through a chain plate fixing seat.

[0007] By adopting the above technical solution, the rectangular hollow structure not only ensures the structural strength of the central lifting column and can stably bear the weight of the guide rail frame, roller assembly and external actuators, but also reduces the overall weight of the equipment and reduces the load pressure on the bottom rotating base. The connection method of the chain plate fixing seat realizes the stable assembly of the lifting transmission chain, preventing it from loosening or shifting when lifting at high speed or carrying heavy objects. At the same time, it facilitates the disassembly and maintenance of the transmission chain in the later stage. With the meshing transmission of the transmission chain and the lifting connecting parts, the smoothness and transmission efficiency of the lifting movement are improved.

[0008] Preferably, the guide rail frame is a U-shaped frame structure, with four rectangular sliding grooves adapted to the guide slider on its inner side wall. Each rectangular sliding groove has a limit block at both ends, and the outer side wall of the guide rail frame is welded with a threaded connection seat for installing external actuators.

[0009] By adopting the above technical solutions: the U-shaped frame structure has a balanced force distribution characteristic, which can evenly transfer the load of the external actuator to the four rectangular sliding grooves, avoiding excessive local force that could cause deformation of the guide rail frame; the four rectangular sliding grooves that are adapted to the guide slider form a four-point guiding structure, which improves the straightness and stability of the guide rail frame during the lifting process and effectively suppresses shaking; the limit block can precisely limit the lifting stroke of the guide rail frame, preventing it from having a hard collision with the central lifting column or the bottom rotating base, and protecting the guide slider and transmission components from damage.

[0010] Preferably, the roller assembly includes a roller bracket, a polyurethane roller, and a rotating shaft. The upper end of the roller bracket is detachably connected to the lower end face of the guide slider via a quick-release buckle. The rotating shaft is horizontally inserted through the lower end of the roller bracket. The polyurethane roller is sleeved on the outside of the rotating shaft and is axially positioned by an elastic retaining ring. An annular guide groove is provided on the outer wall of the polyurethane roller.

[0011] By adopting the above technical solutions: the quick-release buckle connection method enables the rapid assembly and disassembly of the roller assembly and the guide slider, allowing for roller replacement and maintenance without the need for professional tools, thus improving maintenance efficiency; the polyurethane rollers combine high elasticity and wear resistance, which can buffer the impact force generated during operation, avoid damage to the workpiece surface, and reduce rolling friction loss, extending service life; the axial positioning design of the elastic retaining ring can prevent the rollers from moving on the shaft, ensuring the consistency of the rolling trajectory.

[0012] Preferably, a counterweight guide rail is installed on the inner right side of the central lifting column. A counterweight block matching the weight of the lifting connector is slidably connected to the counterweight guide rail. The counterweight block is connected to the lifting connector by a steel wire rope to offset part of the weight of the guide rail frame.

[0013] By adopting the above technical solutions, the weight matching design of the counterweight and the lifting connector can effectively offset the gravity of the guide rail frame, roller group and some external actuators, reduce the load pressure on the lifting transmission chain, and reduce the driving force requirement of the transmission chain by more than 30%. This not only reduces the energy consumption of the power source, but also avoids fatigue wear of the transmission chain caused by long-term heavy load, extending its service life. The counterweight guide rail provides precise sliding guidance for the counterweight, ensuring that the counterweight can move synchronously and smoothly with the lifting connector, avoiding jamming or shaking, and thus ensuring the stability of the lifting process. The wire rope connection method has the characteristics of high strength and low elongation, which can realize reliable linkage between the counterweight and the lifting connector, while reducing energy loss during the movement process, making the lifting operation more labor-saving and the response faster.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. Through the combination structure of bottom rotating base + lifting column, 360° horizontal omnidirectional rotation and a wide range of vertical height adjustment are achieved, which can adapt to different working scenarios with different heights and horizontal orientations. At the same time, the precise sliding cooperation between the guide slider and the guide rail frame, combined with the uniform speed drive of the lifting transmission chain, keeps the straightness error of the lifting process within a very small range. With the low friction guide design of the roller group, it can not only stably bear heavy workpieces, but also avoid swaying and jamming during lifting or rotation, ensuring the positional accuracy when picking up and placing materials. 2. The design of the roller assembly using rolling friction instead of sliding friction not only keeps the noise during lifting and rotation below 60 decibels, but also extends the replacement cycle of core components (the service life of the transmission chain and rollers can be increased by more than 40%). At the same time, the modular integrated design of each component (such as the detachable fixing of the lifting connector and the guide rail frame, and the quick-installation structure of the roller assembly) eliminates the need to disassemble the entire device during later maintenance. Only worn parts need to be replaced individually, reducing maintenance costs and downtime. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the folding handle lifting robot of this utility model; Figure 2 This is a front structural diagram of the folding handle lifting robot of this utility model; Figure 3 This is a schematic diagram of the planar structure of the folding handle lifting robot of this utility model; Figure 4 This is a side view of the folding handle lifting robot of this utility model. Figure 5 This is a top view of the folding handle lifting robot of this utility model.

[0016] In the diagram: 1. Bottom rotating base; 2. Central lifting column; 3. Lifting transmission chain; 4. Lifting connector; 5. Guide rail frame; 6. Guide slider; 7. Roller assembly. Detailed Implementation

[0017] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0018] In the description of this utility model, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0019] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," and "connected," etc., should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0020] Please see Figure 1-5 This utility model provides a technical solution: The folding handle lifting robot includes a bottom rotating base 1, a central lifting column 2 fixedly installed on the upper end of the bottom rotating base 1, a lifting transmission chain 3 installed on the left side of the central lifting column 2, lifting connectors 4 installed on the upper front and upper rear ends of the central lifting column 2, and guide rails 5 installed on the ends of the two lifting connectors 4 away from the central lifting column 2. Four guide sliders 6 are slidably connected on the guide rails 5, and roller groups 7 are detachably connected to the four guide sliders 6.

[0021] In this embodiment, the bottom rotating base 1 includes a circular base and a vertical rotating shaft. The lower end of the vertical rotating shaft is rotatably connected to the circular base through a deep groove ball bearing. The upper end of the vertical rotating shaft is fixed to the lower end face of the central lifting column 2 through flange bolts. The central lifting column 2 is a rectangular hollow column. Two parallel transmission chain mounting guides are welded to its left inner wall. The lifting transmission chain 3 is mounted on the transmission chain mounting guides through a chain plate fixing seat. The guide rail frame 5 is a U-shaped frame structure. Four rectangular sliding grooves adapted to the guide slider 6 are opened on its inner side wall. Each rectangular sliding groove has a limit stop at both ends. The outer side wall of the guide rail frame 5 is welded with a threaded connection seat for installing external actuators.

[0022] The above solution employs a combination structure of a circular base and a vertical rotating shaft for the bottom rotating base 1. Deep groove ball bearings enable flexible rotation between the vertical rotating shaft and the circular base. Combined with flange bolt fixing, this ensures the stability of the connection between the central lifting column 2 and the bottom rotating base 1, while also allowing the central lifting column 2 to drive the entire upper structure to rotate 360° horizontally, providing a basis for flexible adjustment of the working position. The central lifting column 2 is designed as a rectangular hollow structure, which, while ensuring structural strength to support the weight of components such as the guide rail frame 5 and guide slider 6, effectively reduces the equipment's own weight and lowers the load pressure on the bottom rotating base 1. The two parallel transmission chain mounting rails welded to the inner wall on the left side provide a precise installation benchmark for the lifting transmission chain 3. The assembly of the chain plate fixing seat ensures that the lifting transmission chain 3 always maintains a straight running state, avoiding jamming caused by transmission deviation. The guide rail frame 5 adopts a U-shaped frame structure, which can evenly distribute the load of the external actuators and prevent local deformation due to stress. The four rectangular sliding grooves opened on the inner side wall are precisely matched with the guide slider 6 to form a four-point guiding structure, which improves the straightness and stability of the guide rail frame 5 during the lifting process. The limit blocks at both ends of the rectangular sliding grooves can precisely limit the lifting stroke and prevent the guide rail frame 5 from having a hard collision with other components.

[0023] In this embodiment, the roller assembly 7 includes a roller bracket, polyurethane rollers, and a rotating shaft. The upper end of the roller bracket is detachably connected to the lower end face of the guide slider 6 via a quick-release buckle. The rotating shaft is horizontally inserted through the lower end of the roller bracket. The polyurethane roller is sleeved on the outside of the rotating shaft and is axially positioned by an elastic retaining ring. An annular guide groove is provided on the outer side wall of the polyurethane roller. A counterweight guide rail is installed on the right inner wall of the central lifting column 2. A counterweight block matching the weight of the lifting connector 4 is slidably connected on the counterweight guide rail. The counterweight block is connected to the lifting connector 4 via a steel wire rope to offset part of the weight of the guide rail frame 5.

[0024] Through the above solution: the roller bracket and guide slider 6 in roller assembly 7 are connected by quick-release buckles, which can be quickly disassembled and assembled without professional tools, improving the maintenance and replacement efficiency of roller assembly 7; the polyurethane rollers have both elasticity and wear resistance, which can not only buffer the impact force during operation to avoid damage to the workpiece surface, but also reduce rolling friction loss. With the axial positioning of the horizontally inserted shaft and the elastic retaining ring, the polyurethane rollers can be prevented from moving around during movement, ensuring consistent rolling trajectory. The annular guide groove on its outer wall can further enhance the guiding effect and prevent movement deviation. At the same time, the design of rolling friction reduces The noise and energy consumption during lifting and rotation are reduced. The counterweight guide rail on the inner right side of the central lifting column 2 provides precise sliding guidance for the counterweight. The counterweight is connected to the lifting connector 4 by a steel wire rope, and its weight matches that of the lifting connector 4. This effectively counteracts the weight of the guide rail frame 5, roller group 7, and some external actuators, reducing the load pressure of the lifting transmission chain 3 by more than 30%. This not only reduces the energy consumption of the power source but also prevents fatigue wear of the lifting transmission chain 3 due to long-term heavy loads, extending the service life of core components. At the same time, it makes lifting operation more labor-saving and response faster.

[0025] It should be noted that this utility model is a folding handle lifting robot. During use, it first combines the bottom rotating base 1 and the central lifting column 2. The bottom rotating base 1 uses deep groove ball bearings to achieve flexible rotation between the vertical rotating shaft and the circular base. Combined with the stable connection of the flange bolts, it not only ensures the reliability of the installation of the central lifting column 2 and the upper structure, but also achieves 360° omnidirectional horizontal rotation. Combined with the wide range of vertical lifting function of the central lifting column 2, it can easily adapt to the operation needs of different heights and horizontal positions. Whether it is the material picking and placing on high shelves and ground positions in warehouse sorting, or the parts transfer between different workstations in industrial assembly, it can complete multi-area and multi-dimensional operations without moving the mobile unit itself. The high-precision lifting mechanism enhances operational flexibility and space utilization. The central lifting column 2 features a rectangular hollow structure, which, while ensuring structural strength to stably support the weight of the guide rail frame 5, roller assembly 7, and external actuators, reduces the overall weight of the equipment and lowers the load on the bottom rotating base 1. The guide rail frame 5 is designed with a U-shaped frame structure, with four rectangular sliding grooves on its inner wall precisely matching the guide slider 6 to form four-point guidance. Combined with the lifting transmission chain 3, which smoothly drives the guide rail and chain plate fixing seat through a parallel transmission chain, the straightness error during lifting is controlled to a minimum. Furthermore, the low-friction characteristics of the polyurethane rollers in the roller assembly 7 not only stably support heavy workpieces but also prevent slippage during lifting or rotation. To address issues such as shaking and jamming, and ensure positional accuracy during material handling, the limit blocks at both ends of the rectangular sliding groove of the guide rail frame 5 precisely limit the lifting stroke, preventing hard collisions between components and further ensuring operational safety and equipment integrity. Secondly, the roller assembly 7 uses rolling friction instead of traditional sliding friction. The polyurethane rollers combine high elasticity and wear resistance, buffering impacts during operation to prevent damage to the workpiece surface and reducing frictional losses during movement. This keeps noise during lifting and rotation below 60 decibels, while also extending the service life of core components such as the transmission chain and rollers, increasing the replacement cycle by more than 40% compared to traditional structures. All components adopt a modular integrated design, and the roller assembly 7... The lifting transmission chain 3 is detachably connected to the guide slider 6 via quick-release buckles. It is mounted on the transmission chain mounting rail via the chain plate fixing seat. During later maintenance, there is no need to disassemble the entire device. Only worn parts need to be disassembled and replaced, which shortens maintenance time, reduces maintenance costs and equipment downtime losses. The counterweight guide rail and counterweight added to the inner wall on the right side of the central lifting column 2 are connected to the lifting connector 4 by steel wire rope and the weight is precisely matched. It can effectively offset the weight of the guide rail frame 5, roller group 7 and some external actuators, reducing the load pressure of the lifting transmission chain 3 by more than 30%. This not only reduces the energy consumption of the power source, but also avoids fatigue wear of the transmission chain caused by long-term heavy load, while making the lifting operation more labor-saving and the response faster.

[0026] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A folding handle lifting robot, including a bottom rotating base (1), characterized in that: The bottom rotating base (1) is fixedly installed with a central lifting column (2). A lifting transmission chain (3) is installed on the left side of the central lifting column (2). Lifting connectors (4) are installed on the upper front and upper rear ends of the central lifting column (2). A guide rail frame (5) is installed on the end of each of the two lifting connectors (4) away from the central lifting column (2). Four guide sliders (6) are slidably connected on the guide rail frame (5). Roller sets (7) can be detachably connected to each of the four guide sliders (6).

2. The folding handle lifting robot according to claim 1, characterized in that: The bottom rotating base (1) includes a circular base and a vertical rotating shaft. The lower end of the vertical rotating shaft is rotatably connected to the circular base through a deep groove ball bearing. The upper end of the vertical rotating shaft is fixed to the lower end face of the central lifting column (2) through flange bolts.

3. The folding handle lifting robot according to claim 1, characterized in that: The central lifting column (2) is a rectangular hollow column with two parallel transmission chain mounting rails welded to its left inner wall. The lifting transmission chain (3) is mounted on the transmission chain mounting rails through a chain plate fixing seat.

4. The folding handle lifting robot according to claim 1, characterized in that: The guide rail frame (5) is a U-shaped frame structure. Its inner side wall has four rectangular sliding grooves that are adapted to the guide slider (6). Each rectangular sliding groove has a limit block at both ends. The outer side wall of the guide rail frame (5) is welded with a threaded connection seat for installing external actuators.

5. The folding handle lifting robot according to claim 1, characterized in that: The roller assembly (7) includes a roller bracket, a polyurethane roller and a rotating shaft. The upper end of the roller bracket is detachably connected to the lower end face of the guide slider (6) via a quick-release buckle. The rotating shaft is horizontally inserted through the lower end of the roller bracket. The polyurethane roller is sleeved on the outside of the rotating shaft and is axially positioned by an elastic retaining ring. An annular guide groove is provided on the outer wall of the polyurethane roller.

6. The folding handle lifting robot according to claim 1, characterized in that: The inner right side of the central lifting column (2) is equipped with a counterweight guide rail. A counterweight block matching the weight of the lifting connector (4) is slidably connected on the counterweight guide rail. The counterweight block is connected to the lifting connector (4) by a steel wire rope to offset part of the weight of the guide rail frame (5).

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