Lifting / lowering robot, load-adaptive lifting / lowering robot, and control method

By using a fixed arm and a movable arm structure and load adaptive control, the problem of total height variation and load adaptation of a multi-stage lifting robotic arm is solved, achieving smooth lifting and lowering of the tool table and improving safety.

WO2026153321A1PCT designated stage Publication Date: 2026-07-23HANGZHOU SHENHAO TECH
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Patent Information

Authority / Receiving Office
WO · WO
Patent Type
Applications
Current Assignee / Owner
HANGZHOU SHENHAO TECH
Filing Date
2026-01-13
Publication Date
2026-07-23

AI Technical Summary

Technical Problem

Existing multi-stage lifting robotic arms have a total height that increases along with the tool table during the first-stage lifting process. During the second-stage lifting motion, the transmission screw also rises with the tool table. Furthermore, the lifting control cannot adapt to load changes, resulting in large vibrations, poor stability, and high costs.

Method used

It adopts a fixed arm and a movable arm structure, combined with primary and secondary lead screws, traction mechanism and drive mechanism, to realize independent control of primary and secondary lifting of the tool table, and dynamically adjusts the acceleration curve through pressure sensor and PID algorithm to adapt to load changes.

Benefits of technology

It improves the stability and safety of the tool table during lifting, reduces equipment modification costs, adapts to different load scenarios, and reduces vibration amplitude and failure risk.

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Abstract

Disclosed in the present invention are a lifting / lowering robot, a load-adaptive lifting / lowering robot, and a control method. The lifting / lowering robot comprises a fixed arm, a movable arm, a tool platform, and a first-stage screw rod system and a second-stage screw rod system that respectively drive the tool platform and the movable arm by means of traction mechanisms. By controlling a specific rotation combination of a first-stage screw rod and a second-stage screw rod, the total height of a lifting / lowering arm is unchanged and the positions of the screw rods are fixed during lifting and lowering of the tool platform. Further, in the present invention, a pressure sensor is integrated in the tool platform, a control unit matches a pre-stored S-shaped lifting / lowering acceleration curve on the basis of a real-time load, and closed-loop control is implemented by means of a PID algorithm of a motor driving unit, thereby dynamically adjusting lifting / lowering motion. The solution not only overcomes the structural defects of traditional multi-stage lifting / lowering, but also implements load-adaptive lifting / lowering, thereby significantly improving lifting / lowering stability (with a vibration amplitude smaller than or equal to ±0.05 g), operational safety, and the adaptability of an apparatus to different load scenarios; moreover, the solution does not require hardware modification, thereby resulting in low cost.
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