CN109514588B - Lifting mechanism, display screen lifting mechanism and robot - Google Patents
Lifting mechanism, display screen lifting mechanism and robot Download PDFInfo
- Publication number
- CN109514588B CN109514588B CN201811649140.6A CN201811649140A CN109514588B CN 109514588 B CN109514588 B CN 109514588B CN 201811649140 A CN201811649140 A CN 201811649140A CN 109514588 B CN109514588 B CN 109514588B
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- arm
- lifting mechanism
- driving
- linear guide
- support column
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The invention provides a lifting mechanism, a display screen lifting mechanism and a robot, which comprise a driving arm, wherein the driving arm comprises a first arm and a second arm which are fixedly connected and form a preset angle; a driven arm including a first end and a second end; the first connecting piece is arranged at the joint of the first arm and the second arm, the first connecting piece is hinged with the driving arm, the first connecting piece is provided with a moving part which is in sliding contact with the driven arm, and the moving part can slide along the extending direction of the driven arm; the support frame is provided with a linear guide rail, a first limit part and a second limit part, and the linear guide rail is provided with a sliding piece; a mounting portion for mounting a load; a driving section; when the sliding piece moves to touch the first limiting part or the second limiting part, the driving part stops driving the sliding piece to move, and the sliding piece is kept at the stopping position. According to the lifting mechanism provided by the invention, the robot can automatically lift and rotate the interactive screen according to the interaction requirement of the user, so that the interactive screen is closer to the user, and the user interaction experience is improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a lifting mechanism, a display screen lifting mechanism and a robot.
Background
Mobile robots have been widely used in a variety of fields. In some scenarios, such as indoor office scenarios, it is desirable for mobile robots to have man-machine interaction functionality, such robots often having a display screen for man-machine interaction. However, in order for the robot to be able to stably move and execute instructions, the height of the robot is often low. In this case, a certain distance exists between the display screen for interaction of the robot and the user, so that the user has difficulty in interacting with the robot, and the user experience is poor.
Disclosure of Invention
The invention has been completed in view of the above-mentioned existing situation, and an object of the invention is to provide a lifting mechanism, which enables a robot to automatically lift and rotate an interactive screen according to the interaction needs of users, so that the interactive screen is closer to the users, and the user interaction experience is improved.
In order to achieve the above object, the present invention provides the following technical solutions:
the invention provides a lifting mechanism, comprising:
the driving arm comprises a first arm and a second arm which are fixedly connected and form a preset angle;
a driven arm including a first end and a second end;
the first connecting piece is arranged at the joint of the first arm and the second arm, the first connecting piece is hinged with the driving arm, the first connecting piece is provided with a moving part, the moving part is in sliding contact with the driven arm, and the moving part can slide along the extending direction of the driven arm;
the support frame is provided with a linear guide rail, a first limiting part and a second limiting part, and a sliding piece is arranged on the linear guide rail;
a mounting portion for mounting a load assembly; and
a driving part for driving the slider to move along the linear guide rail; wherein, the liquid crystal display device comprises a liquid crystal display device,
one end of the first arm far away from the first connecting piece is hinged to the sliding piece, one end of the second arm far away from the first connecting piece is hinged to the mounting portion, the first end of the second arm is hinged to the supporting frame, the second end of the second arm is hinged to the mounting portion, when the sliding piece moves to touch the first limiting portion or touches the second limiting portion, the driving portions all stop driving the sliding piece to move, and the sliding piece is kept at a stop position.
The lifting mechanism can be lifted properly in height and simultaneously realize preset angle rotation, and can be kept in a stop state at a preset position.
In addition, the support frame includes first support column and second support column, first support column with second support column symmetry and parallel arrangement, set up first on the first support column linear guide, set up the second on the second support column linear guide, first linear guide with second linear guide symmetry and parallel arrangement, set up first on the first linear guide the slider, set up the second on the second linear guide the slider, first slider with set up the second connecting piece between the second slider, the actuating arm includes first actuating arm and second actuating arm, first actuating arm with the second actuating arm symmetry sets up, first actuating arm with first slider articulates, the second actuating arm with the second slider articulates, the driven arm includes first slave arm and second slave arm, first slave arm with the second slave arm symmetry sets up. In this case, the first driving arm and the second driving arm can realize stable synchronous movement.
In addition, the drive portion includes lead screw, lead screw nut mounting and motor, the lead screw nut mounting set up in on the second connecting piece, the lead screw runs through the lead screw nut mounting, the one end of lead screw with the motor is connected, the lead screw with linear guide parallel arrangement. Therefore, the movement of the first driving arm and the second driving arm only need to be driven by the same motor, the cost is reduced, and the movement of the first driving arm and the movement of the second driving arm are kept synchronous.
In addition, the support frame includes first crossbeam, two are connected perpendicularly respectively to first crossbeam the support column, first crossbeam includes first rotation portion, the one end of lead screw runs through first rotation portion, one end with the motor is connected. In this case, the motor is more firmly fixed, and the screw can freely rotate.
In addition, the support frame includes the second crossbeam, the second crossbeam is perpendicular respectively to be connected two the support column, the second crossbeam with first crossbeam is parallel, the second crossbeam includes the second rotation portion, the lead screw keep away from the one end of motor inserts in the second rotation portion. From this, first crossbeam, second crossbeam, first support column, second support column constitute frame construction, have promoted the stability of mechanism under operating condition.
In addition, the first slider includes a first hinge portion, the second slider includes a second hinge portion, the first hinge portion and the second hinge portion are respectively disposed at both ends of the second connecting member and are connected with the second connecting member, the first driving arm is hinged to the first hinge portion, and the second driving arm is hinged to the second hinge portion. In this case, the first slider and the second slider are firmly connected, ensuring that the first slider and the second slider can move synchronously.
In addition, at least one of the first limiting part and the second limiting part is arranged on the supporting column. Therefore, when the sliding piece moves to a preset limit position along the linear guide rail, the sliding piece can touch the limiting part on the supporting column, and the sliding piece can stop at the preset position.
In addition, the installation department includes first mounting panel and second mounting panel, first actuating arm with first driven arm articulate respectively in first mounting panel, second actuating arm with second driven arm articulate respectively in the second mounting panel, first mounting panel with the second mounting panel orientation is the same and the symmetry sets up. Therefore, by using two mounting plates, the space occupied by the whole mounting plates can be reduced, so that the material is saved and the whole weight of the lifting mechanism is reduced.
The invention also provides a display screen lifting mechanism, which comprises the lifting mechanism and a display screen, wherein the display screen is arranged on the installation part. In this case, the display screen can be rotated by a predetermined angle while being lifted up appropriately in height, and can be kept stopped at a predetermined position.
The invention also provides a robot comprising a lifting mechanism as described above. Under the condition, the lifting mechanism of the robot can realize preset angle rotation while being lifted properly in height, and can keep a stop state at a preset position, so that the robot can be closer to a user, and interactive experience is improved.
According to the lifting mechanism, the display screen lifting mechanism and the robot, provided by the invention, the lifting mechanism can realize preset angle rotation while properly lifting at high, and can be kept in a stop state at a preset position, so that the lifting mechanism is closer to a user, and the interaction experience is improved.
Drawings
Fig. 1 is a schematic perspective view showing a lifting mechanism according to an embodiment of the present invention;
fig. 2 is a schematic perspective view showing a limit position of the lifting mechanism according to the embodiment of the present invention.
Detailed Description
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, the same members are denoted by the same reference numerals, and overlapping description thereof is omitted. In addition, the drawings are schematic, and the ratio of the sizes of the components to each other, the shapes of the components, and the like may be different from actual ones.
As shown in fig. 1, the lifting mechanism 1 according to the present embodiment includes a driving arm 10, a driven arm 20, a first link 30, a support frame 40, an attachment portion 50, and a driving portion 60. The lifting mechanism 1 may be used to lift a given object, such as a display screen, a pallet, or the like.
In the present embodiment, the driving arm 10 includes a first arm 111 and a second arm 112. The first arm 111 and the second arm 112 are fixedly connected and form a preset angle. In some examples, the preset angle may be any angle of 120 °, 160 °, etc. Specifically, the second arm extends generally toward the direction in which the lifting mechanism 1 is lifted. The first arm 111 and the second arm 112 may have an approximately rectangular parallelepiped shape. In some examples, the first arm 111 and the second arm 112 may each be solid structures. In some examples, the first arm 111 and the second arm 112 are each rectangular blocks hollowed out in the center. In this case, material can be saved while ensuring structural strength. Further, the first arm 111 and the second arm 112 may be integrally formed. It will be appreciated that the first arm 111 and the second arm 112 may also be secured by a connection.
Further, the follower arm 20 includes a first end 23 and a second end 24. In the present embodiment, the driven arm 20 has a rod shape. It will be appreciated that in some examples, follower arm 20 may also be cylindrical.
Further, the first connecting member 30 is disposed at a connection portion between the first arm 111 and the second arm 112. The first link 30 is hinged with the driving arm 10. In this case, the first link 30 is rotatable with respect to the driving arm 10. In some examples, the first connector 30 may be generally elliptical, or both ends of the first connector 30 may have rounded corners. The first link 30 has a moving portion 31. The moving portion 31 is in sliding contact with the driven arm 20. The moving portion 31 is slidable along the extending direction of the driven arm 20. Specifically, the first connector 30 may be generally in the form of a block. The moving portion 31 may have a channel, and the moving portion 31 may be disposed to extend along the width direction of the first link 30. The cross section of the moving part 31 may be circular. The moving portion 31 accommodates a length of the driven arm 20. In this embodiment, the channel is generally semicircular in cross section, in other words, the sides of the channel have openings. In the present embodiment, a recess is formed at the junction of the first arm 111 and the second arm 112, and the recess may have a flat bottom surface. The first connector 30 is countersunk on the bottom surface of the recess. In this case, the first link 30 has a space for rotation in the recess, and the space occupied by the link 30 as a whole with the driving arm 10 can be reduced.
Further, the support frame 40 has a linear guide 41, a first stopper 42, and a second stopper 43. The linear guide 41 is provided with a slider 47. Specifically, the linear guide 41 may be a straight slide, and the slider 47 is sleeved on the linear guide 41. The first and second limit portions 42 and 43 may be travel switches.
Further, the mounting portion 50 is used for mounting a load assembly. Specifically, the mounting portion 50 may mount a specified object, such as a display screen, a tray, or the like, which needs to be lifted.
Further, the driving part 60 is used to drive the slider 47 to move along the linear guide 41. In some examples, the drive portion 60 may be motor driven.
Further, an end of the first arm 111 remote from the first link 30 is hinged to the slider 47. The end of the second arm 112 remote from the first link 30 is hinged to the mounting portion 50. The first end 23 of the follower arm 20 is hinged to the support bracket 40. The second end 24 is hinged to the mounting portion 50. When the slider 47 moves to touch the first stopper 42 or the second stopper 43, the driving portion 60 stops driving the slider 47 to move, and the slider 47 is held at the stop position.
In this case, the lifting mechanism 1 according to the present invention can achieve a predetermined angular rotation while being lifted appropriately in height, and can maintain a stopped state at a predetermined position.
In some examples, the driving arm 10, the driven arm 20, the first connector 30, the linear guide 41, and the slider 47 may all be one. In other words, one drive arm 10, one driven arm 20, one first link 30, one linear guide 41 and one slider 47 constitute a set of lifting assemblies. It will be appreciated that the lifting assembly may be multiple sets and arranged in parallel.
As shown in fig. 1 and 2, in some examples, the support stand 40 includes a first support post 44 and a second support post 45. The first support columns 44 and the second support columns 45 are symmetrically and parallel arranged. Specifically, the first support column 44 and the second support column 45 are plate-shaped or column-shaped. The support 40 may also include a floor 46. The first support column 44 and the second support column 45 are fixed to the bottom plate 46. The first support column 44 and the second support column 45 may be disposed at an angle relative to the base plate 46. The included angle can be a larger acute angle of 70 degrees, 80 degrees, etc. In this case, when the bottom plate 46 is parallel to the ground, the first support column 44 and the second support column 45 may be oriented obliquely upward with respect to the ground at an angle, i.e., the orientation of the first support column 44 and the second support column 45 may be better oriented to a user higher than the height of the elevating mechanism 1. In some examples, the first support columns 44 and the second support columns 45 may also have a hollowed-out structure. Thereby, not only the structural strength can be ensured, but also the material can be saved, and the overall weight of the lifting mechanism 1 can be reduced. The first support column 44 is provided with a first linear guide 411. The second support column 45 is provided with a second linear guide 412. The first linear guide 411 and the second linear guide 412 are symmetrically and parallel arranged. Specifically, the first and second linear guides 411 and 412 may be disposed at opposite inner sides of the first and second support columns 44 and 45. The first linear guide 411 and the second linear guide 412 are disposed along the length direction of the support column. The first linear guide 411 is provided with a first slider 471. The second linear guide 412 is provided with a second slider 472. The second connector 48 is provided between the first slider 471 and the second slider 472. The drive arm 10 includes a first drive arm 11 and a second drive arm 12. The first driving arm 11 and the second driving arm 12 are symmetrically arranged. The first driving arm 11 is hinged to the first slider 471. The second driving arm 12 is hinged with the second slider 472. The follower arm 20 includes a first follower arm 21 and a second follower arm 22. The first driven arm 21 and the second driven arm 22 are symmetrically arranged. In this case, the first driving arm 11 and the second driving arm 12 can realize stable synchronous movement. Specifically, in the present embodiment, since the lifting assemblies are provided in two sets symmetrically, and the two sets of lifting mechanisms are connected by the second connector 48, stable synchronous movement can be achieved.
In some examples, the second connector 48 may be a plate. The second connector 48 may have a hollowed-out portion.
In some examples, the drive 60 includes a lead screw 61, a lead screw nut mount 62, and a motor 63. The lead screw nut mount 62 is disposed on the second connector 48. The screw 61 penetrates the screw nut holder 62. It will be appreciated that the screw 61 may have external threads and the screw nut mount 62 may have internal threads that threadably mate with the screw 61. One end of the screw 61 is connected to a motor 63. The screw 61 is disposed parallel to the linear guide. Specifically, the screw 61 is driven to rotate by the motor 63, and the screw nut holder 62 is moved in the longitudinal direction of the screw 61 by the rotation of the screw 61, and the screw nut holder 62 synchronously drives the first slider 471 and the second slider 472 to move along the linear guide rail via the second link 48. Thus, the movement of the first driving arm 11 and the second driving arm 12 only needs to be driven by the same motor 63, which reduces the cost and the system power consumption, and keeps the movement of the first driving arm 11 and the second driving arm 12 synchronous.
In some examples, the support 40 includes a first beam 401. Specifically, the first beam 401 may be a rectangular plate body. Also, the first beam 401 may have a hollowed-out portion. The first beams 401 are vertically connected to two support columns, respectively. The first cross member 401 includes a first rotating portion 491. The first rotating portion 491 may include a bearing that is sleeved on the lead screw 61 and fixed to the lead screw 61. One end of the lead screw 61 penetrates the first rotating portion 491. Said one end is connected to a motor 63. In this case, the motor 63 is fixed more firmly, and the screw 61 can be rotated freely.
In the present embodiment, the support 40 further includes a motor bracket 403. The motor bracket 403 is disposed on the first beam 401 and on a surface of the first beam 401 opposite to the second connecting member 48. The motor bracket 403 has a housing cavity. The receiving cavity is located between the first beam 401 and the motor bracket 403. The motor 63 is fixed outside the housing chamber. The housing cavity is internally provided with a coupling 404. The coupling 404 connects the screw 61 and the motor 63. In this case, the motor 63 is firmly fixed, and the driving of the screw 61 by the motor 63 is more stable.
In some examples, the support frame 40 may also include a second cross member 402. Specifically, the second beam 402 may be a rectangular plate. Also, the second beam 402 may have a hollowed-out portion. The second cross beams 402 are respectively and vertically connected with two support columns. The second beam 402 may be disposed on top of the first support column 44 and the second support column 45. The second beam 402 is parallel to the first beam 401. The second cross member 402 includes a second rotating portion 492. The second rotating portion 492 may be embedded in the second cross member 402. An end of the lead screw 61 remote from the motor 63 is inserted into the second rotating portion 492. In some examples, one end of the lead screw 61 may also extend through the second rotating portion 492. The second rotating portion 492 may include a bearing that is sleeved on the lead screw 61 and fixed with the lead screw 61. Therefore, the first cross beam 401, the second cross beam 402, the first supporting columns 44 and the second supporting columns 45 form a frame structure, and stability of the mechanism in a working state is improved.
In this embodiment, the lead screw nut fixing member 62 may be provided at the middle of the second connecting member 48. The first rotating portion 491 may be provided in the middle of the first cross member 401. The second rotating portion 492 may be provided at a middle portion of the second cross member 402. Specifically, the first support column 44 and the second support column 45 are symmetrical about the lead screw 61. In this case, the synchronous movement of the first driving arm 11 and the second driving arm 12 is more stable.
In the present embodiment, the plate surfaces of the first beam 401 and the second beam 402 are both disposed generally toward the bottom plate 46. The first linear guide 411 and the second linear guide 412 are disposed between the first beam 401 and the second beam 402. In other words, the first linear guide 411, the second linear guide 412, the first beam 401, and the second beam 402 are provided in a substantially rectangular frame.
In the present embodiment, the first driven arm 21 and the second driven arm 22 are both hinged to the second cross member 402. And the hinge locations are near the first support column 44 and the second support column 45, which are perpendicularly connected to the second cross beam 402. In this case, it is ensured that the driven arm and the driving arm move substantially in the same plane, improving the structural stability of the system.
In the present embodiment, the first slider 471 includes the first hinge 4711. The second slider 472 includes a second hinge 4721. The first hinge 4711 and the second hinge 4721 are provided at both ends of the second connection member 48, respectively, and are connected to the second connection member 48. Specifically, the first hinge 4711 and the second hinge 4721 may be disposed at opposite inner sides of the two linear guides, respectively, and disposed adjacent to the linear guides. The first driving arm 11 is hinged to the first hinge portion 4711. The second driving arm 12 is hinged to the second hinge portion 4721. In this case, the first slider 471 and the second slider 472 achieve a stable connection, ensuring that the first slider 471 and the second slider 472 can move synchronously.
In some examples, at least one of the first limiting portion 42 and the second limiting portion 43 is disposed on the support column. Specifically, when the support column is one, the first limiting portion 42 and the second limiting portion 43 may be disposed on the support column. In the present embodiment, the first stopper 42 is provided on the first support column 44. Specifically, the first limiting portion 42 may be disposed on the first supporting column 44 near the second cross beam 402. In some examples, the first limiting portion 42 may also be disposed at other locations on the first support column 44. The second limiting portion 43 may be disposed on the first beam 401 and near the first support column 44. It will be appreciated that the second limiting portion 43 may also be disposed on the first beam 401 and adjacent to the second support column 45. In the present embodiment, the slider touches the first stopper 42, the lifter 1 is lifted to the limit position, the slider touches the second stopper 43, and the lifter 1 is lowered to the lowest position, specifically, the driven arm may be substantially perpendicular to the linear rail in the limit position, and the driven arm may be substantially parallel to the linear rail in the lowest position. Therefore, when the sliding piece moves to a preset limit position along the linear guide rail, the limiting part on the supporting column can be touched, and the lifting mechanism 1 is stopped at the preset position.
In the present embodiment, the mounting portion 50 includes a first mounting plate 51 and a second mounting plate 52. The first mounting plate 51 and the second mounting plate 52 are rectangular and have hollowed-out portions. The first drive arm 11 and the first driven arm 21 are hinged to the first mounting plate 51, respectively. The second drive arm 12 and the second driven arm 22 are each hinged to a second mounting plate 52. The driving arm and the driven arm are respectively hinged to two ends of the bottom surface of the mounting plate. The first mounting plate 51 and the second mounting plate 52 are disposed in the same direction and symmetrically. In the present embodiment, the first mounting plate 51 and the second mounting plate 52 are symmetrical about the screw 61. Therefore, by using two mounting plates, the space occupied by the whole mounting plates can be reduced, so that the material is saved and the whole weight of the lifting mechanism is reduced.
In the present embodiment, the second arm of the first drive arm 11, the first driven arm 21, and the first mounting plate 51 form a triangular structure. The second arm of the second drive arm 12, the second driven arm 22 and the second mounting plate 52 form a triangular structure. And the second arm, the driven arm and the mounting plate still maintain a triangular structure in a moving state. In this case, even if the driving arm and the driven arm are relatively moved, the structural stability of the system is improved.
In the present embodiment, when the slider touches the first stopper 42 provided near the second beam 402, the mounting plate is oriented obliquely upward of the second beam 402 and at an angle of substantially 45 ° to the bottom plate 46. When the slide touches the second limiting portion 43, the mounting plate reaches a position closest to the two support columns. It will be appreciated that depending on the positions of the first and second limiting portions 42, 43, the mounting plate may be at any other angle such as 30 °, 40 ° with respect to the bottom plate 46 at the limit position.
The invention also provides a display screen lifting mechanism (not shown). The display lifting mechanism comprises the lifting mechanism 1 as described above, and the lifting mechanism 1 is not described herein. The display screen lifting mechanism further comprises a display screen. The display screen is mounted on the mounting portion. In this embodiment, the display screen is mounted to two mounting plates. In this case, the display screen can be rotated by a predetermined angle while being lifted up appropriately in height, and can be kept stopped at a predetermined position.
The invention also provides a robot (not shown). The robot comprises a lifting mechanism 1 as described above, and the lifting mechanism 1 will not be described here in detail. The robot may also include a display screen. The display screen is mounted on the mounting portion. Under the condition, the lifting mechanism of the robot can realize preset angle rotation while being lifted properly in height, and can keep a stop state at a preset position, so that the robot can be closer to a user, and interactive experience is improved.
In some examples, the robot may further include a housing, and when the slider touches the second limit portion (the closed state), the display screen is lowered to fit or substantially fit with the housing. The housing may house dispensing objects such as letters, documents, coffee, etc. In this case, the lifting mechanism 1 can protect the display screen from unnecessary collision and facilitate movement of the robot in the closed state.
The above-described embodiments do not limit the scope of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the above embodiments should be included in the scope of the present invention.
Claims (7)
1. A lifting mechanism is characterized in that,
comprising the following steps:
the driving arm comprises a first arm and a second arm which are fixedly connected and form a preset angle;
a driven arm including a first end and a second end;
the first connecting piece is arranged at the joint of the first arm and the second arm, the first connecting piece is hinged with the driving arm, the first connecting piece is provided with a moving part, the moving part is in sliding contact with the driven arm, and the moving part can slide along the extending direction of the driven arm;
the support frame is provided with a linear guide rail, a first limiting part and a second limiting part, and a sliding piece is arranged on the linear guide rail;
a mounting portion for mounting a load assembly; and
a driving part for driving the slider to move along the linear guide rail; wherein, the liquid crystal display device comprises a liquid crystal display device,
one end of the first arm far away from the first connecting piece is hinged to the sliding piece, one end of the second arm far away from the first connecting piece is hinged to the mounting part, the first end of the second arm is hinged to the supporting frame, the second end of the second arm is hinged to the mounting part, when the sliding piece moves to touch the first limiting part or touches the second limiting part, the driving part stops driving the sliding piece to move, and the sliding piece is kept at a stop position;
the support frame comprises a first support column and a second support column, wherein the first support column and the second support column are symmetrically and parallelly arranged, a first linear guide rail is arranged on the first support column, a second linear guide rail is arranged on the second support column, the first linear guide rail and the second linear guide rail are symmetrically and parallelly arranged, a first sliding piece is arranged on the first linear guide rail, a second sliding piece is arranged on the second linear guide rail, a second connecting piece is arranged between the first sliding piece and the second sliding piece, the driving arm comprises a first driving arm and a second driving arm, the first driving arm and the second driving arm are symmetrically arranged, the first driving arm is hinged with the first sliding piece, the second driving arm is hinged with the second sliding piece, the driven arm comprises a first driven arm and a second driven arm, and the first driven arm and the second driven arm are symmetrically arranged;
the first sliding piece comprises a first hinge part, the second sliding piece comprises a second hinge part, the first hinge part and the second hinge part are respectively arranged at two ends of the second connecting piece and are connected with the second connecting piece, the first driving arm is hinged to the first hinge part, and the second driving arm is hinged to the second hinge part;
the installation department includes first mounting panel and second mounting panel, first actuating arm with first driven arm articulate respectively in first mounting panel, the second actuating arm with the second driven arm articulate respectively in the second mounting panel, first mounting panel with the second mounting panel orientation is the same and the symmetry sets up.
2. The lifting mechanism of claim 1, wherein the lifting mechanism comprises a plurality of lifting mechanisms,
the driving part comprises a screw rod, a screw rod nut fixing piece and a motor, wherein the screw rod nut fixing piece is arranged on the second connecting piece, the screw rod penetrates through the screw rod nut fixing piece, one end of the screw rod is connected with the motor, and the screw rod is arranged in parallel with the linear guide rail.
3. The lifting mechanism of claim 2, wherein the lifting mechanism comprises a lifting mechanism,
the support frame includes first crossbeam, two are connected perpendicularly respectively to first crossbeam the support column, first crossbeam includes first rotation portion, the one end of lead screw runs through first rotation portion, one end with the motor is connected.
4. The lifting mechanism of claim 3, wherein the lifting mechanism comprises a plurality of lifting mechanisms,
the support frame includes the second crossbeam, the second crossbeam is perpendicular respectively to be connected two the support column, the second crossbeam with first crossbeam is parallel, the second crossbeam includes the second rotation portion, the lead screw keep away from the one end of motor inserts in the second rotation portion.
5. The lifting mechanism of claim 1, wherein the lifting mechanism comprises a plurality of lifting mechanisms,
at least one of the first limiting part and the second limiting part is arranged on the support column.
6. A display screen lifting mechanism is characterized in that,
the display screen lifting mechanism comprises the lifting mechanism as claimed in any one of claims 1 to 5, and further comprises a display screen mounted to the mounting portion.
7. A robot is characterized in that,
the robot comprising a lifting mechanism as claimed in any one of claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811649140.6A CN109514588B (en) | 2018-12-30 | 2018-12-30 | Lifting mechanism, display screen lifting mechanism and robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811649140.6A CN109514588B (en) | 2018-12-30 | 2018-12-30 | Lifting mechanism, display screen lifting mechanism and robot |
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| Publication Number | Publication Date |
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| CN109514588A CN109514588A (en) | 2019-03-26 |
| CN109514588B true CN109514588B (en) | 2023-09-22 |
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| CN201811649140.6A Active CN109514588B (en) | 2018-12-30 | 2018-12-30 | Lifting mechanism, display screen lifting mechanism and robot |
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| CN110253613A (en) * | 2019-06-02 | 2019-09-20 | 江苏三工建材科技有限公司 | A kind of arm clamping structure of air entrained concrete single mode fixture |
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| CN103321522A (en) * | 2013-06-09 | 2013-09-25 | 三一汽车制造有限公司 | Glass lifter, automobile cab and automobile |
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| CN109514588A (en) | 2019-03-26 |
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