CN209481103U - Elevating mechanism and robot - Google Patents
Elevating mechanism and robot Download PDFInfo
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- CN209481103U CN209481103U CN201822262182.6U CN201822262182U CN209481103U CN 209481103 U CN209481103 U CN 209481103U CN 201822262182 U CN201822262182 U CN 201822262182U CN 209481103 U CN209481103 U CN 209481103U
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- lifting unit
- mounting base
- lower slips
- guide track
- actuating arm
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Abstract
The utility model provides a kind of elevating mechanism and robot, including the first lifting unit, the second lifting unit, driving portion and erecting bed；First lifting unit includes that the first bottom guide track, the first bottom mounting base and the first lower slips, the first lower slips are slidably installed on the first bottom guide track；Second lifting unit includes the second bottom guide track, the second bottom mounting base and the second lower slips, second lower slips are slidably installed on the second bottom guide track, first lifting unit is arranged in parallel with the second lifting unit, driving portion drives the first lower slips and the second lower slips mobile towards opposite direction, and the holding of the distance between the distance between the first bottom mounting base and first lower slips and the second bottom mounting base and second lower slips is equal.While elevating mechanism and robot provided by the utility model realize elevating function, the stability of lifting is promoted, and reduce manufacturing cost.
Description
Technical field
The utility model relates to robotic technology field, in particular to a kind of elevating mechanism and robot.
Background technique
Extensive use has been obtained in multiple fields in mobile robot.Mobile robot can be positioned accurately and be led
Boat technology realizes free autonomous.However, robot needs to realize other further service function in some scenes
Can, such as scene of handling official business indoors, mobile robot needs to transport office appliance, when conveying articles are delivered at user,
Elevating mechanism can usually be used.Existing elevating mechanism, such as formula, scissor-type, column type, boom type sleeve oil cylinder etc., it is past
Toward needing the cabinet for storing object to robot to carry out larger change, lead to manufacturing cost height.
Utility model content
The utility model is completed in view of above-mentioned current condition, and its purpose is to provide a kind of elevating mechanisms, real
While existing elevating function, the stability of lifting is promoted, and reduce manufacturing cost.
To achieve the goals above, the utility model embodiment provides the following technical solutions:
The utility model provides a kind of elevating mechanism, comprising:
First lifting unit, the second lifting unit, driving portion and erecting bed；
First lifting unit includes the first actuating arm, the first slave arm and the first bottom for being set to the erecting bed
Component, first base assemblies include the first bottom guide track, the first bottom mounting base and the first lower slips, and described the
One actuating arm and first slave arm are hinged, and one end of first actuating arm is articulated with first lower slips, institute
The one end for stating the first slave arm is articulated with first bottom mounting base, and first lower slips are slidably installed on institute
State the first bottom guide track；
Second lifting unit includes the second actuating arm, the second slave arm and the second bottom for being set to the erecting bed
Component, second base assemblies include the second bottom guide track, the second bottom mounting base and the second lower slips, and described the
Two actuating arms and second slave arm are hinged, and one end of second actuating arm is articulated with second lower slips, institute
The one end for stating the second slave arm is articulated with second bottom mounting base, and second lower slips are slidably installed on institute
State the second bottom guide track；
Wherein, first lifting unit is arranged in parallel with second lifting unit, and the driving portion drives first bottom
Portion's sliding part and the second lower slips are mobile towards opposite direction, and first bottom mounting base and first bottom
The holding of the distance between the distance between sliding part and second bottom mounting base and second lower slips is equal.
Elevating mechanism involved in the utility model drives two lifting units by driving portion simultaneously, realizes precisely and steady
Surely synchronization lifting.
Wherein, the driving portion includes the first transmission parts and the second transmission parts being parallel to each other, first transmission parts with
First bottom guide track is parallel, and first transmission parts are opposite with the second transmission parts direction of motion and movement velocity is identical, institute
The first lower slips are stated with the first connector, second lower slips have the second connector, first connection
Part is fixed with first transmission parts, and second connector is fixed with second transmission parts.First transmission parts and as a result,
Two transmission parts can drive that the first connector is opposite with the second connector direction of motion and movement velocity is identical respectively.
Wherein, the driving portion further includes first pulley, the second belt wheel and conveyer belt, and the conveyer belt is installed on described
In first pulley and second belt wheel, the first pulley is driving wheel, and second belt wheel is driven wheel, the conveyer belt
Be first transmission parts close to one section of first bottom guide track, the conveyer belt close to second bottom guide track one
Section is second transmission parts.In this case, the movement side of the first transmission parts and the second transmission parts is realized by V belt translation
It is identical to opposite and movement velocity.
It wherein, further include third lifting unit, the third lifting unit includes third actuating arm, third slave arm and setting
In the third base assemblies of the erecting bed, the third base assemblies include third bottom guide track, third bottom mounting base with
And third lower slips, the third actuating arm and the third slave arm are hinged, and one end of the third actuating arm is hinged
In the third lower slips, one end of the third slave arm is articulated with third bottom mounting base, the third bottom
Portion's sliding part is slidably installed on the third bottom guide track, and the third lifting unit and first lifting unit are parallel and right
Claim setting, first lower slips are fixed with the third lower slips by third connector.First bottom as a result,
Sliding part can be moved synchronously with third lower slips, and then the first lifting unit is synchronous with the movement of third lifting unit, also, be driven
Dynamic portion can synchronize the steady lifting of three lifting units of driving simultaneously.
Wherein, second lifting unit is set between first lifting unit and the third lifting unit, and described second
Bottom guide track is parallel to the erecting bed and has gap between the erecting bed, and the third connector is from the gap
It passes through.In this case, the movement of third connector will not influence the sliding of the second lower slips.
Wherein, first bottom guide track, second bottom guide track, the third bottom guide track are parallel and are suspended on
Erecting bed setting, and with erecting bed distance having the same.Thus, it is easier to realize the first lifting unit,
Two lifting units, third lifting unit adjustable height synchronization.
Wherein, the third lifting unit include with the symmetrically arranged third top assembly of the third base assemblies, it is described
Third top assembly includes third head rail, third top mounting base and third top slide part, the third actuating arm
The other end be articulated with mounting base at the top of the third, the other end of the third slave arm is articulated with the third top slide
Part, the third top slide part are slidably installed on the third head rail.In this case, third lifting unit
Lifting can be more steady.
Wherein, first lifting unit include with symmetrically arranged first top assembly of first base assemblies, it is described
First top assembly includes the first head rail, the first top mounting base and the first top slide part, first actuating arm
The other end be articulated with first top mounting base, the other end of first slave arm is articulated with first top slide
Part, the first top slide part are slidably installed on first head rail；
Second lifting unit includes and symmetrically arranged second top assembly of second base assemblies second top
Parts include the second head rail, the second top mounting base and the second top slide part, second actuating arm it is another
End is articulated with second top mounting base, and the other end of second slave arm is articulated with the second top slide part, institute
It states the second top slide part and is slidably installed on second head rail.First lifting unit and the second lifting unit as a result,
Elevating movement is more steady.
Wherein, further include and erecting bed supporting part disposed in parallel, the fixed hinge of the other end of first actuating arm
Be connected to the supporting part, the other end of first slave arm is slide hinged in the supporting part, second actuating arm it is another
For one end fixed hinge in the supporting part, the other end of second slave arm is slide hinged in the supporting part.In this feelings
Under condition, the first lifting unit and the second lifting unit can smoothly go up and down supporting part.
The utility model also provides a kind of robot, and the robot includes elevating mechanism as described above.In this feelings
, it can be achieved that precisely and steadily synchronization lifting under condition.
Lifting is promoted while realizing elevating function according to elevating mechanism provided by the utility model and robot
Stability, and it is low in energy consumption, and reduce manufacturing cost.
Detailed description of the invention
Fig. 1 shows the schematic perspective view of elevating mechanism involved in the embodiments of the present invention；
Fig. 2 shows the stereochemical structure signals that elevating mechanism involved in the embodiments of the present invention promotes state
Figure；
Fig. 3 shows the stereochemical structure signal at another visual angle of elevating mechanism involved in the embodiments of the present invention
Figure；
Fig. 4 shows the stereochemical structure at elevating mechanism supporting part bottom surface visual angle involved in the embodiments of the present invention
Schematic diagram.
Specific embodiment
Hereinafter, explaining preferred embodiments of the present invention in detail with reference to attached drawing.In the following description, for
Identical component assigns identical symbol, and the repetitive description thereof will be omitted.In addition, only schematical figure, component are mutual for attached drawing
Size ratio or the shape of component etc. can be with actual difference.
As shown in Figure 1, elevating mechanism 1 involved in present embodiment includes the first lifting unit 10, the second lifting unit 20, drives
Dynamic portion 40 and erecting bed 50.Elevating mechanism 1 can be used for vertically being lifted specified object, such as pallet, package etc..
In some instances, the first lifting unit 10 includes the first actuating arm 11, the first slave arm 12 and is set to installation
First base assemblies 13 of platform 50.First base assemblies 13 include the first bottom guide track 131, the first bottom mounting base 132 and
First lower slips 133.First actuating arm 11 and the first slave arm 12 are hinged.One end of first actuating arm 11 is articulated with first
Lower slips 133.One end of first slave arm 12 is articulated with the first bottom mounting base 132.First lower slips 133 can be slided
Dynamic is installed on the first bottom guide track 131.
Further, the second lifting unit 20 includes the second actuating arm 21, the second slave arm 22 and is set to erecting bed 50
The second base assemblies 23.Second base assemblies 23 include the second bottom guide track 231, the second bottom mounting base 232 and second
Lower slips 233.Second actuating arm 21 and second slave arm 22 are hinged.One end of second actuating arm 21 is articulated with second
Lower slips 233.One end of second slave arm 22 is articulated with second bottom mounting base 232.Second lower slips 233
Slidably it is installed on the second bottom guide track 231.
Further, the first lifting unit 10 is arranged in parallel with the second lifting unit 20.First bottom guide track 131 and the second bottom
Guide rail 231 is linear guide.Driving portion 40 drives the first lower slips 133 and the second lower slips 233 towards opposite
Direction is mobile.And the distance between the first bottom mounting base 132 and the first lower slips 133 and the second bottom mounting base
232 is equal with the holding of the distance between the second lower slips 233.In this case, two are driven simultaneously by driving portion
Lifting unit realizes elevating mechanism 1 precisely and steadily synchronization lifting.
In some instances, actuating arm and slave arm are in the form of a column.The length of actuating arm and the slave arm hinged with it can
With unequal.Preferably, the equal length of actuating arm and slave arm.The articulated position of actuating arm and slave arm be located at actuating arm and
The middle part of slave arm.In this case, the elevating movement of actuating arm and slave arm can be more stable.
In the present embodiment, as shown in Fig. 2, actuating arm can have open slot (111,211).Open slot (111,
211) extend along actuating arm length direction, open slot (111,211) penetrates through actuating arm on the thickness direction of actuating arm.It is driven
Arm can be articulated in open slot (111,211).In this case, slave arm can be around hinged place in the inside of open slot
Rotation.Bottom mounting base can be coaxially disposed with lower slips as a result,.In the present embodiment, bottom mounting base is set to
One end of bottom guide track.
In some instances, slave arm can also be with the external articulation (not shown) of slave drive arm.In this case, bottom
Mounting base and the cross-shaped state in the respective central axes of lower slips.
In the present embodiment, the first bottom guide track 131 can be with 231 equal length of the second bottom guide track and relative to peace
It is contour arranged symmetrically to fill platform 50.
In the present embodiment, the first bottom mounting base 132 is set to one end of the first bottom guide track 131.Second bottom
Mounting base 232 is set to the one end of the second bottom guide track 231 far from the first bottom mounting base 132.
In some instances, as shown in figure 3, driving portion 40 includes the first transmission parts 41 and the second transmission parts being parallel to each other
42.First transmission parts 41 are parallel with the first bottom guide track 131.First transmission parts 41 it is opposite with 42 direction of motion of the second transmission parts and
Movement velocity is identical.First lower slips 133 have the first connector 1331.Second lower slips 233 have second to connect
Fitting 2331.First connector 1331 and the first transmission parts 41 are fixed, and the second connector 2331 and the second transmission parts 42 are fixed.By
This, the first transmission parts 41 and the second transmission parts 42 can drive 2331 side of moving of the first connector 1331 and the second connector respectively
It is identical to opposite and movement velocity.
In the present embodiment, driving portion 40 further includes first pulley 43, the second belt wheel 44 and conveyer belt 45.Conveyer belt
45 are installed in first pulley 43 and the second belt wheel 44.First pulley 43 is driving wheel, and the second belt wheel 44 is driven wheel.Conveyer belt
45 close to one section of the first bottom guide track 131 be the first transmission parts 41.Conveyer belt 45 is close to one section of the second bottom guide track 231
Second transmission parts 42.In this case, the direction of motion of the first transmission parts 41 and the second transmission parts 42 is realized by V belt translation
Opposite and movement velocity is identical.
Further, first pulley 43 is driven by motor 46.Motor 46 is coaxially set with first pulley 43.
In the present embodiment, first pulley 43 and the second belt wheel 44 can be equal with outer diameter.First pulley 43 and the second band
The arrangement of wheel 44 can be parallel with the first bottom guide track 131.Conveyer belt 45 has two sections to be parallel to each other as a result, i.e., first passes
Send part 41 and the second transmission parts 42.Conveyer belt 45 can be synchronous belt.It is understood that correspondingly, first pulley 43 and
Two belt wheels 44 are synchronous pulley.It is understood that transmission belt can also use chain conveyer or other forms circumferentially
The transmission of movement.In this case, the first transmission parts 41 and the second transmission parts 42 can keep counter motion and movement velocity
It is equal.
In the present embodiment, driving portion 40 further includes tightening part 47.It tightens part 47 and is set to erecting bed 50.Tighten part 47
It is set to by the second belt wheel 44.Tighten the distance between fine-tuning second belt wheel 44 of part 47 and first pulley 43.In such case
Under, tighten the tensile force that conveyer belt 45 is adjusted in part 47.In the present embodiment, driving portion 40 further includes band wheel carrier 48.Belt wheel
Frame 48 has opening, and the second belt wheel 44 is articulated in the opening with wheel carrier 48, and can be freely rotated in the opening.Band wheel carrier 48 with
Tighten the connection of part 47, and with wheel carrier 48 with to tighten the distance between part 47 adjustable.In some instances, it can be adjusted by screw rod
Tighten part 47 and with the distance between wheel carrier 48.In this case, the distance between the second belt wheel 44 and first pulley 43 can
It adjusts, so as to adjust the tensile force of conveyer belt 45.
In the present embodiment, driving portion 40 can be set between the first lifting unit 10 and the second lifting unit 20.It is preferred that
Ground, the first lifting unit 10 and the second lifting unit 20 can be about 40 central symmetries of driving portion.In this case, driving portion 40 is right
It is more balanced in the driving force of the first lifting unit 10 and the second lifting unit 20, system is more stable.
In the present embodiment, elevating mechanism 1 further includes third lifting unit 30.Third lifting unit 30 includes third actuating arm
31, third slave arm 32 and the third base assemblies 33 of erecting bed 50 are set to.Third base assemblies 33 include third bottom
Guide rail 331, third bottom mounting base 332 and third lower slips 333.Third actuating arm 31 and third slave arm hinge 32
It connects.One end of third actuating arm 31 is articulated with third lower slips 333.One end of third slave arm 32 is articulated with third bottom
Mounting base 332.The third lower slips 333 are slidably installed on third bottom guide track 331.Third lifting unit 30 and
The parallel and symmetrical setting of one lifting unit 10.In other words, the complete phase of composition component of third lifting unit 30 and the first lifting unit 10
Together.First lower slips 133 are fixed by third connector 60 with third lower slips 333.First basal sliding as a result,
Part 133 can be moved synchronously with third lower slips 333, and then the first lifting unit 10 is synchronous with the movement of third lifting unit 30,
Also, driving portion 40 can synchronize the steady lifting of three lifting units of driving simultaneously.
In the present embodiment, the second lifting unit 20 is set between the first lifting unit 10 and third lifting unit 30.Second
Bottom guide track 231 is parallel to erecting bed 50 and has gap between erecting bed 50.Third connector 60 is worn from the gap
It crosses.In this case, the movement of third connector 60 will not influence the sliding of the second lower slips 231.
In the present embodiment, third connector 60 can be parallel to erecting bed 50.Third connector 60 can substantially be in
Strip.Third connector 60 can have a certain distance apart from erecting bed 50.In this case, third connector 60 is moving
During dynamic, erecting bed 50 will not be touched, so as to avoid unstable problem is moved.
In the present embodiment, third lifting unit 30 and the first lifting unit 10 are symmetrical arranged about the second lifting unit 20.It can
With understanding, in some instances, the second lifting unit 20 also can be set in the first lifting unit 10 and third lifting unit 30 it
Between other positions.
In some instances, the second lifting unit 20 also can be set common in the first lifting unit 10 and third lifting unit 30
Outside.In other words, the first lifting unit 10 is set between the second lifting unit 20 and third lifting unit 30.Driving portion 40 can be set
It is placed between the first lifting unit 10 and the second lifting unit 20.First lifting unit of the connection of third connector 50 10 and third lifting unit
30。
In the present embodiment, the first bottom guide track 131, the second bottom guide track 231, third bottom guide track 331 are parallel
And be suspended on erecting bed 50 setting, and with the distance having the same of erecting bed 50.Specifically, bottom guide track can pass through
It supports seat supports and makes bottom guide track that there is a certain distance apart from erecting bed 50.In the present embodiment, the two of bottom guide track
End setting support base 80.First bottom mounting base 132, the second bottom mounting base 232, third bottom mounting base 332 are installed on respectively
On the support base 80 of wherein one end of self-corresponding bottom guide track.Thus, it is easier to realize the first lifting unit 10, the second lifting unit
20, the synchronization of the adjustable height of third lifting unit 30.
In the present embodiment, erecting bed 50 can be mounting plate or platform for fixing.Erecting bed 50 can be set
It is placed on the mobile chassis of robot.
In the present embodiment, third lifting unit 30 includes and the symmetrically arranged third top assembly of third base assemblies 33
34.Third top assembly 34 includes third head rail 341, third top mounting base 342 and third top slide part 343.
The other end of third actuating arm 31 is articulated with mounting base 342 at the top of third.The other end of third slave arm 32 is articulated with third top
Portion's sliding part 343.Third top slide part 343 is slidably installed on third head rail 341.In this case, third
The lifting of lifting unit 30 can be more steady.
In the present embodiment, the first lifting unit 10 includes and symmetrically arranged first top assembly of the first base assemblies 13
14.First top assembly 14 includes the first head rail 141, the first top mounting base 142 and the first top slide part 143.
The other end of first actuating arm 11 is articulated with the first top mounting base 142.The other end of first slave arm 12 is articulated with the first top
Portion's sliding part 143.First top slide part 143 is slidably installed on the first head rail 141.In the present embodiment,
Two lifting units 20 include and symmetrically arranged second top assembly 24 of the second base assemblies 23.Second top assembly 24 includes second
Head rail 241, the second top mounting base 242 and the second top slide part 243.The other end of second actuating arm 21 is articulated with
Second top mounting base 242.The other end of second slave arm 22 is articulated with the second top slide part 243.Second top slide part
243 are slidably installed on the second head rail 241.The elevating movement of the first lifting unit 10 and the second lifting unit 29 is more as a result,
Add steady.
In the present embodiment, the first base assemblies 13 and the first top assembly 14 drive about the first slave arm 12 and first
The hinged place of swing arm 11 is symmetrical.Second base assemblies 23 and the second top assembly 24 are about the second slave arm 22 and the second actuating arm
21 hinged place is symmetrical.Third base assemblies 33 and third top assembly 34 are about third slave arm 32 and third actuating arm 31
Hinged place is symmetrical.In other words, base assemblies are identical and symmetrical as the composition of corresponding top assembly.
In the present embodiment, as shown in figure 4, elevating mechanism 1 further includes and the supporting part 70 disposed in parallel of erecting bed 50.
The other end fixed hinge of first actuating arm 11 is in supporting part 70.The other end of first slave arm 12 is slide hinged in supporting part
70.The other end fixed hinge of second actuating arm 21 is in supporting part 70.The other end of second slave arm 21 is slide hinged in carrying
Portion 70.In this case, the first lifting unit 10 and the second lifting unit 20 can smoothly go up and down supporting part 70.
In the present embodiment, the first top assembly 14, the second top assembly 24, third top assembly 34 are all set in and hold
Load portion 70.Specifically, the first top assembly 14 is symmetrical about the second top assembly 24 with third top assembly 34.Supporting part 70
It can be pallet.The top surface of supporting part 70 is for installing object.First top assembly 14, the second top assembly 24, third top
Component 34 is set to the bottom surface of supporting part 70.In this case, system can drive three lifting units same by a driving portion
Step movement, and the lifting supporting part 70 of stable point.
It is understood that lifting unit also can be set it is multiple.Each lifting unit is set parallel to each other.It does not do herein superfluous
It states.
The utility model also provides a kind of robot (not shown).Robot includes elevating mechanism 1 as described above.About
This will not be repeated here for elevating mechanism 1.In this case, the elevating mechanism of robot is only by a motor driven, and can be real
Now precisely and steadily synchronization lifting, and then supporting part can steadily be gone up and down, low in energy consumption, and reduce manufacturing cost.
In some instances, shell can be set in elevating mechanism surrounding.The supporting part of elevating mechanism surrounds jointly with shell
Accommodating space.Accommodating space is for installing dispatching object, such as mail, file, coffee, dessert etc. object.Elevating mechanism exists
Lifting action is executed in shell.In this case, elevating mechanism can steadily go up and down in shell and not send out with shell
Life is touched, and does not need to be modified shell (such as fluting etc. on shell) to be adapted to elevating mechanism, reduces machine
The difficulty of device people manufacture.
Embodiments described above does not constitute the restriction to the technical solution protection scope.It is any in above-mentioned implementation
Made modification, equivalent replacement and improvement etc., should be included in the protection model of the technical solution within the spiritual and principle of mode
Within enclosing.
Claims (10)
1. a kind of elevating mechanism characterized by comprising
First lifting unit, the second lifting unit, driving portion and erecting bed；
First lifting unit includes the first actuating arm, the first slave arm and the first bottom group for being set to the erecting bed
Part, first base assemblies include the first bottom guide track, the first bottom mounting base and the first lower slips, described first
Actuating arm and first slave arm are hinged, and one end of first actuating arm is articulated with first lower slips, described
One end of first slave arm is articulated with first bottom mounting base, and first lower slips are slidably installed on described
First bottom guide track；
Second lifting unit includes the second actuating arm, the second slave arm and the second bottom group for being set to the erecting bed
Part, second base assemblies include the second bottom guide track, the second bottom mounting base and the second lower slips, described second
Actuating arm and second slave arm are hinged, and one end of second actuating arm is articulated with second lower slips, described
One end of second slave arm is articulated with second bottom mounting base, and second lower slips are slidably installed on described
Second bottom guide track；
Wherein, first lifting unit is arranged in parallel with second lifting unit, and the driving portion drives first bottom sliding
Moving part and second lower slips are mobile towards opposite direction, and first bottom mounting base and first bottom
The holding of the distance between the distance between sliding part and second bottom mounting base and second lower slips is equal.
2. elevating mechanism as described in claim 1, which is characterized in that the driving portion includes the first transmission parts being parallel to each other
With the second transmission parts, first transmission parts are parallel with first bottom guide track, first transmission parts and the second transmission parts
The direction of motion is opposite and movement velocity is identical, and first lower slips have the first connector, second basal sliding
Part has the second connector, and first connector is fixed with first transmission parts, second connector and described second
Transmission parts are fixed.
3. elevating mechanism as claimed in claim 2, which is characterized in that the driving portion further includes first pulley, the second belt wheel
And conveyer belt, the conveyer belt are installed in the first pulley and second belt wheel, the first pulley is driving wheel,
Second belt wheel is driven wheel, and the conveyer belt is first transmission parts, institute close to one section of first bottom guide track
Conveyer belt is stated close to second bottom guide track one section is second transmission parts.
4. elevating mechanism as described in claim 1, which is characterized in that it further include third lifting unit, the third lifting unit packet
Include third actuating arm, third slave arm and the third base assemblies for being set to the erecting bed, the third base assemblies packet
Third bottom guide track, third bottom mounting base and third lower slips are included, the third actuating arm and the third are driven
Arm is hinged, and one end of the third actuating arm is articulated with the third lower slips, and one end of the third slave arm is hinged
In third bottom mounting base, the third lower slips are slidably installed on the third bottom guide track, and described
Three lifting units and the parallel and symmetrical setting of the first lifting unit, first lower slips and the third lower slips
It is fixed by third connector.
5. elevating mechanism as claimed in claim 4, which is characterized in that second lifting unit is set to first lifting unit
Between the third lifting unit, second bottom guide track is parallel to the erecting bed and has between the erecting bed
Gap, the third connector are passed through from the gap.
6. elevating mechanism as claimed in claim 4, which is characterized in that first bottom guide track, second bottom guide track,
The third bottom guide track is parallel and is suspended on the erecting bed setting, and with the erecting bed it is having the same away from
From.
7. elevating mechanism as claimed in claim 4, which is characterized in that the third lifting unit includes and third bottom group
The symmetrically arranged third top assembly of part, the third top assembly include third head rail, at the top of third mounting base and
Third top slide part, the other end of the third actuating arm are articulated with mounting base at the top of the third, the third slave arm
The other end be articulated with the third top slide part, the third top slide part is slidably installed at the top of the third
Guide rail.
8. elevating mechanism as described in claim 1, which is characterized in that first lifting unit includes and first bottom group
Symmetrically arranged first top assembly of part, first top assembly include the first head rail, the first top mounting base and
First top slide part, the other end of first actuating arm are articulated with first top mounting base, first slave arm
The other end be articulated with the first top slide part, the first top slide part is slidably installed on first top
Guide rail；
Second lifting unit includes and symmetrically arranged second top assembly of second base assemblies, second top group
Part includes the second head rail, the second top mounting base and the second top slide part, and the other end of second actuating arm is cut with scissors
It is connected to second top mounting base, the other end of second slave arm is articulated with the second top slide part, and described
Two top slide parts are slidably installed on second head rail.
9. elevating mechanism as described in claim 1, which is characterized in that further include and erecting bed carrying disposed in parallel
Portion, for the other end fixed hinge of first actuating arm in the supporting part, the other end of first slave arm is slide hinged
In the supporting part, the other end fixed hinge of second actuating arm in the supporting part, second slave arm it is another
It holds slide hinged in the supporting part.
10. a kind of robot, which is characterized in that the robot includes such as the described in any item elevating mechanisms of claim 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822262182.6U CN209481103U (en) | 2018-12-30 | 2018-12-30 | Elevating mechanism and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822262182.6U CN209481103U (en) | 2018-12-30 | 2018-12-30 | Elevating mechanism and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209481103U true CN209481103U (en) | 2019-10-11 |
Family
ID=68128286
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822262182.6U Active CN209481103U (en) | 2018-12-30 | 2018-12-30 | Elevating mechanism and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209481103U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022238002A1 (en) * | 2021-05-14 | 2022-11-17 | Sew-Eurodrive Gmbh & Co. Kg | Mobile transport system |
| WO2023025357A1 (en) * | 2021-08-24 | 2023-03-02 | Stow Robotics Gmbh | Self-driving wagon for a storage system with retaining device for containers |
-
2018
- 2018-12-30 CN CN201822262182.6U patent/CN209481103U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022238002A1 (en) * | 2021-05-14 | 2022-11-17 | Sew-Eurodrive Gmbh & Co. Kg | Mobile transport system |
| WO2023025357A1 (en) * | 2021-08-24 | 2023-03-02 | Stow Robotics Gmbh | Self-driving wagon for a storage system with retaining device for containers |
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