CN216401106U - Lifting device, mobile chassis and robot - Google Patents

Abstract

The utility model relates to a lifting device, a mobile chassis and a robot. The lifting device comprises a rack, an installation frame, an elastic piece, a traction mechanism and a moving piece. The mounting frame is provided with a first connecting structure, a second connecting structure and a third connecting structure, and the first connecting structure is rotatably connected with the rack; two ends of the elastic piece are respectively connected with the second connecting structure and the rack; the traction mechanism is arranged on the rack, connected to the third connecting structure and used for pulling the mounting rack to rotate in the direction of overcoming the elastic force of the elastic piece; the moving member is arranged on the mounting frame, and when the mounting frame rotates relative to the rack, the moving member moves up and down along with the mounting frame. The movable chassis comprises a chassis support and the lifting device, and the rack is mounted on the chassis support. The robot comprises a robot body and the mobile chassis, wherein the robot body is connected to the mobile chassis.

Description

Lifting device, mobile chassis and robot

Technical Field

The utility model relates to the technical field of unmanned transportation, in particular to a lifting device, a mobile chassis and a robot.

Background

The robot is originally an important transport tool of an automatic factory and is used for realizing the flexible, integrated and efficient operation of a system. With the development of the unmanned transport vehicle technology, the robot is also applied to the fields of catering, retail sale, logistics, medical care, security and the like. In the moving process of the robot, moving parts (such as a steering wheel, a universal wheel and the like) of the robot need to be lifted at times so as to adjust the position of the robot. However, the flexibility of the lifting operation of the existing moving part is poor, so that the operation is difficult, time-consuming and labor-consuming.

SUMMERY OF THE UTILITY MODEL

Accordingly, there is a need to provide a lifting device, a mobile chassis and a robot to solve the above problems.

In one aspect, the present invention provides a lifting device comprising:

a frame;

the mounting frame is provided with a first connecting structure, a second connecting structure and a third connecting structure, and the first connecting structure is rotatably connected with the rack;

the two ends of the elastic piece are respectively connected with the second connecting structure and the rack;

the traction mechanism is arranged on the rack, is connected to the third connecting structure and is used for pulling the mounting frame to rotate in the direction of overcoming the elastic force of the elastic piece;

the moving piece is arranged on the mounting rack, and when the mounting rack rotates relative to the rack, the moving piece moves up and down along with the mounting rack.

In one embodiment, the rack includes a bottom plate and a column connected to the bottom plate, the first connecting structure is rotatably connected to the column, the bottom plate has a through hole, and when the mounting frame rotates relative to the column, the mounting frame can move in the through hole.

In one embodiment, the elastic member includes a tension spring, the bottom plate is provided with a second fixing structure, the tension spring is connected between the second connecting structure and the second fixing structure, and the second connecting structure is configured to be capable of being close to the second fixing structure under the pulling of the tension spring, so that the mounting frame is close to the bottom plate.

In one embodiment, the elastic member includes a pressure spring, the bottom plate is provided with a third fixing structure, the pressure spring is connected between the second connecting structure and the third fixing structure, and the second connecting structure is configured to be capable of being kept away from the third fixing structure under the abutting of the pressure spring, so that the mounting frame is kept away from the bottom plate.

In one embodiment, the traction mechanism comprises a traction rope, a traction motor and a traction seat, one end of the traction rope is connected with an output shaft of the traction motor, the other end of the traction rope is connected with the third connecting structure, the traction motor is connected with the rack through the traction seat, and the traction motor drives the traction rope to pull the third connecting structure to rotate relative to the rack in the direction of overcoming the elastic force of the elastic element.

In one embodiment, the lifting device further comprises a guide member, the guide member comprises a support frame and a guide rod, the support frame is located between the traction mechanism and the mounting frame, the height of the guide rod relative to the base plate is higher or lower than the third connecting structure, and the traction rope is wound on the guide rod.

In one embodiment, the traction mechanism further comprises a rope winding piece and a limiting block, the rope winding piece is sleeved on an output shaft of the traction motor, the traction rope is connected to the rope winding piece, the limiting block is arranged on the rack, the rope winding piece is provided with a stop block, and the stop block is matched with the limiting block to limit the rotation range of the rope winding piece.

In one embodiment, a through hole is formed in the rack, and the moving member is connected with the mounting rack through the through hole so as to be driven by the mounting rack to move up and down relative to the base plate.

On the other hand, the utility model provides a movable chassis, which comprises a chassis support and the lifting device in any one of the above embodiments, wherein the rack is mounted on the chassis support.

In another aspect, the utility model provides a wheeled robot, which includes a robot body and the above moving chassis, wherein the robot body is connected to the moving chassis.

Above-mentioned elevating gear through setting up elastic component and drive mechanism, rotates to the direction of overcoming the elastic component elasticity through drive mechanism pulling mounting bracket, makes the mounting bracket realize the lifting or descend to be used for adapting to different removal demands, make the flexibility of operation show the promotion.

Drawings

FIG. 1 is a schematic structural diagram of a lifting device according to an embodiment;

FIG. 2 is an enlarged view of a portion of FIG. 1 at A;

FIG. 3 is an exploded view of one embodiment of a lift device;

FIG. 4 is an enlarged view of a portion of FIG. 3 at B;

FIG. 5 is a schematic structural diagram of the lifting device according to an embodiment when the moving member is lifted;

FIG. 6 is a schematic structural view of the lifting device of an embodiment when the moving member descends;

FIG. 7 is a schematic structural diagram of a lifting device according to yet another embodiment;

FIG. 8 is an enlarged view of a portion of FIG. 7 at C;

fig. 9 is an exploded view of a lifting device according to yet another embodiment;

FIG. 10 is a schematic structural view of a lifting device according to yet another embodiment when a moving member is lowered;

fig. 11 is a schematic structural view of a lifting device according to yet another embodiment when a moving member is lifted.

Description of reference numerals:

100. a frame; 110. a base plate; 111. a through hole; 112. a second fixed structure; 113. a third fixed structure; 120. a column; 210. a mounting frame; 211. a first connecting structure; 212. a second connecting structure; 213. a third connecting structure; 220. an elastic member; 221. a tension spring; 222. a pressure spring; 230. a traction mechanism; 231. a hauling rope; 231a, a traction bar; 232. a traction motor; 233. a traction seat; 234. a rope winding member; 234a, a stop block; 235. a limiting block; 240. a guide member; 241. a support frame; 242. a guide bar; 300. a moving member.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

Referring to fig. 1 and 3, fig. 1 is a schematic structural view illustrating a lifting apparatus according to an embodiment of the present invention, and fig. 3 is an exploded view illustrating the lifting apparatus according to an embodiment of the present invention, and the present invention provides a lifting apparatus including a frame 100, a mounting frame 210, an elastic member 220, and a traction mechanism 230, wherein a moving member 300 is mounted on the mounting frame 210. Wherein, the mounting bracket 210 is provided with a first connecting structure 211, a second connecting structure 212 and a third connecting structure 213. The first connecting structure 211 is rotatably connected to the frame 100. The elastic member 220 has both ends connected to the second connection structure 212 and the frame 100, respectively. The pulling mechanism 230 is disposed on the frame 100, and the pulling mechanism 230 is connected to the third connecting structure 213 and is used for pulling the mounting bracket 210 to rotate in a direction against the elastic force of the elastic member 220. The moving member 300 is disposed on the mounting frame 210, and when the mounting frame 210 rotates relative to the rack 100, the moving member 300 moves up and down along with the mounting frame 210. It should be noted that the moving member 300 may refer to a steering wheel, a universal wheel or other movable device.

In the lifting device, the elastic member 220 and the traction mechanism 230 are arranged, and the traction mechanism 230 pulls the mounting frame 210 to rotate in a direction of overcoming the elastic force of the elastic member 220, so that the moving member 300 connected to the mounting frame 210 is lifted or lowered. When the moving member 300 is lifted, the moving member 300 is separated from the ground, so that the position of the lifting device can be conveniently adjusted manually; when the moving member 300 descends, the moving member 300 contacts the ground, and the position of the lifting device can be adjusted by controlling the moving member 300 to rotate. This elevating gear passes through the lift of moving member 300, and adaptable different removal demands, the operation flexibility is showing and is promoting.

Specifically, in the embodiment shown in fig. 3 and 5, the frame 100 includes a base plate 110 and a pillar 120 connected to the base plate 110. Mounting bracket 210 is rotatably connected to upright 120, and mounting bracket 210 is located between upright 120 and traction mechanism 230, i.e. upright 120 and traction mechanism 230 are distributed on two opposite sides of mounting bracket 210. The first connection structure 211, the second connection structure 212 and the third connection structure may be integrally formed structures, and the third connection structure 213 is located between the first connection structure 211 and the second connection structure 212. The first connection structure 211, the second connection structure 212 and the third connection structure 213 are all provided with through holes. The mounting frame 210 may be rotatably connected to the upright 120 through a through hole of the first connecting structure 211, for example, a pin shaft may pass through the through hole of the first connecting structure 211 to be fixed to the upright 120; one end of the elastic member 220 may be fixed to the mounting bracket 210 by passing through the through hole of the second connection structure 212; the pulling mechanism 230 can be partially fixed to the mounting bracket 210 through the through hole of the third connecting structure 213 to move the mounting bracket 210 relative to the base plate 110. It should be noted that the mounting frame 210 of the present application may include not only the first connecting structure 211, the second connecting structure 212, and the third connecting structure 213, but also a supporting structure or other components for connecting with the moving member 300.

More specifically, the through hole 111 is formed in the bottom plate 110, the moving member 300 is connected to the mounting frame 210 through the through hole 111, and the through hole 111 is configured to enable the moving member 300 to rotate in the through hole 111, that is, the through hole 111 is not fixed in shape and size, and it is only required that the moving member 300 can pass through the through hole 111 to be connected to the mounting frame 210, and cannot interfere with the hole wall of the through hole 111 when rotating relative to the through hole 111. The through hole 111 is formed in the bottom plate 110, so that the moving member 300 can be partially accommodated in the rack 100, and the risk of damage to the moving member 300 caused by a protrusion on a road surface is reduced.

Referring to fig. 3, 4 and 5, in some embodiments, the traction mechanism 230 includes a traction rope 231, a traction bar 231a, a traction motor 232 and a traction base 233. The traction base 233 is used to connect the traction motor 232 and the frame 100. The drawing rod 231a is inserted into the through hole of the third connecting structure 213 and fixed with the third connecting structure 213. One end of the traction rope 231 is connected to the output shaft 331 of the traction motor 232, and the other end is connected to the traction rod 231 a. Such structure setting makes haulage rope 231 can stimulate the relative frame 100 of mounting bracket 210 and rotate, realizes the control to moving member 300 height, has avoided complicated transmission structure, and transmission efficiency is high, and transmission structure is simple, and space occupancy is low, is favorable to promoting elevating gear's stability, alleviates elevating gear's weight, reduces elevating gear's consumption.

In some embodiments, the pulling rope 231 can be, but is not limited to, a steel rope, a nylon rope, or a kevlar rope, which is intended to ensure that the pulling rope 231 has sufficient strength to pull the moving member 300.

Referring to fig. 4 and 5, in some embodiments, the traction mechanism 230 further includes a rope winding member 234 and a limiting block 235, the rope winding member 234 is sleeved on an output shaft of the traction motor 232, the traction rope 231 is connected to an outer side of the rope winding member 234, and the rope winding member 234 can be used to increase a moving range of the traction rope 231, so as to increase a lifting range of the moving member 300; the stopper 235 is disposed on the base plate 110, and the rope winding member 234 is provided with a stopper 234a in a radial direction, and the stopper 234a cooperates with the stopper 235 to limit a lifting range of the moving member 300. In other words, the limiting block 235 is at least partially located on the rotation stroke of the stopper 234a, and when the stopper 234a rotates along with the rope 234, the limiting block 235 can limit the maximum rotation angle of the rope 234 by abutting against the stopper 234a, so as to limit the maximum distance that the pulling rope 231 can move under the driving of the rope 234, thereby limiting the lifting range of the moving member 300.

Referring to fig. 1 and 2, in some embodiments, the lifting device further includes a guide 240, and the guide 240 includes a support frame 241 and a guide rod 242. The support bracket 241 is located between the fifth wheel 233 and the mounting bracket 210. Wherein the height of the guide rod 242 relative to the base plate 110 is higher than that of the third connecting structure 213, and the height of the guide rod 242 relative to the base plate 110 is also higher than that of the fixing point of the traction rope 231 to the output shaft of the traction motor 232. The pulling rope 231 abuts against the side of the guide rod 242 away from the base plate 110 to change the pulling force direction of the pulling rope 231 on the third connecting structure 213, so as to increase the component force of the pulling rope 231 on the third connecting structure 213 in the direction that the third connecting structure 213 is away from the base plate 110, that is, the pulling force of the pulling rope 231 on the mounting frame 210 in the direction away from the base plate 110 is increased.

Further, as shown in fig. 1 to 6, the elastic member 220 may be a tension spring 221, the bottom plate 110 is provided with a second fixing structure 112, and two ends of the tension spring 221 are respectively connected to the second connecting structure 212 and the second fixing structure 112, that is, the tension spring 221 is connected between the second connecting structure 212 and the second fixing structure 112. The tension spring 221 is used to pull the mounting bracket 210 toward the bottom plate 110, so that the moving member 300 descends. The pulling rope 231 pulls the mounting frame 210 upward through the guide 240, so that the mover 300 is lifted. The moving member 300 is lowered and raised by the tension spring 221 and the traction mechanism 230.

In other embodiments, as shown in fig. 7 and 8, the height of the guide bar 242 relative to the base plate 110 is less than the height of the third connection structure 213, and the height of the guide bar 242 relative to the base plate 110 is also less than the height of the fixing point of the traction rope 231 to the output shaft of the traction motor 232. The pulling rope 231 abuts against one side of the guide rod 242 close to the bottom plate 110 to change the pulling force direction of the pulling rope 231 on the third connecting structure 213, so as to increase the component force of the pulling rope 231 on the third connecting structure 213 in the direction that the third connecting structure 213 is close to the bottom plate 110, that is, the pulling force of the pulling rope 231 on the mounting frame 210 in the direction close to the bottom plate 110 is increased.

Further, as shown in fig. 7 to 11, the elastic member 220 includes a compression spring 222, the base plate 110 is provided with a third fixing structure 113, and both ends of the compression spring 222 are respectively connected to the second connecting structure 212 and the third fixing structure 113, that is, the compression spring 222 is connected between the second connecting structure 212 and the third fixing structure 113. The compression spring 222 is used for pushing the mounting frame 210 away from the base plate 110, so that the moving member 300 is lifted, and the traction rope 231 pulls the mounting frame 210 downwards through the guide 240, so that the moving member 300 is lowered.

In some embodiments, the guide rod 242 has a circular cross-section, which is advantageous in reducing friction between the pull rope 231 and the guide rod 242 and prolonging the service life of the pulling mechanism 230, and further, a bearing may be disposed between the guide rod 242 and the support frame 241, which is advantageous in that the guide rod 242 can rotate with the pull rope 231 to further reduce friction between the pull rope 231 and the guide rod 242.

The present invention also provides a mobile chassis comprising a chassis support (not shown) on which the frame 100 is mounted, and a lifting device as described in any of the above embodiments.

The utility model also provides a robot comprising a robot body (not shown) and a mobile chassis as described in any of the above embodiments, the robot body being connected to the mobile chassis.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the utility model and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the utility model.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A lifting device, comprising:

a frame;

the mounting frame is provided with a first connecting structure, a second connecting structure and a third connecting structure, and the first connecting structure is rotatably connected with the rack;

the two ends of the elastic piece are respectively connected with the second connecting structure and the rack;

and the traction mechanism is arranged on the rack, is connected to the third connecting structure and is used for pulling the mounting frame to rotate in the direction of overcoming the elastic force of the elastic piece.

2. The lifting device as claimed in claim 1, wherein the frame includes a bottom plate and a vertical post connected to the bottom plate, the first connecting structure is rotatably connected to the vertical post, the bottom plate has a through hole, and when the mounting bracket rotates relative to the vertical post, the mounting bracket can move in the through hole.

3. The lifting device as claimed in claim 2, wherein the mounting frame is provided with a moving member, the moving member is connected to the mounting frame through the through hole, and the moving member moves up and down with the mounting frame when the mounting frame rotates relative to the frame.

4. The lifting device as claimed in claim 2, wherein the elastic member comprises a tension spring, the bottom plate is provided with a second fixing structure, the tension spring is connected between the second connecting structure and the second fixing structure, and the second connecting structure is configured to be capable of approaching the second fixing structure under the pulling of the tension spring, so as to realize that the mounting frame approaches the bottom plate.

5. The lifting device as claimed in claim 2, wherein the elastic member comprises a compression spring, the bottom plate is provided with a third fixing structure, the compression spring is connected between the second connecting structure and the third fixing structure, and the second connecting structure is configured to be capable of being kept away from the third fixing structure by the compression spring, so that the mounting frame is kept away from the bottom plate.

6. The lifting device as claimed in claim 2, wherein the traction mechanism comprises a traction rope, a traction motor and a traction base, one end of the traction rope is connected to an output shaft of the traction motor, the other end of the traction rope is connected to the third connecting structure, the traction motor is connected to the frame through the traction base, and the traction motor drives the traction rope to pull the third connecting structure to rotate relative to the frame in a direction overcoming the elastic force of the elastic member.

7. The lift mechanism of claim 6, further comprising a guide member, the guide member including a support bracket and a guide rod, the support bracket being positioned between the traction mechanism and the mounting bracket, the guide rod being at a height above or below the third attachment structure relative to the base plate, the traction cable being looped around the guide rod.

8. The lifting device as claimed in claim 6, wherein the traction mechanism further comprises a rope winding member and a limiting block, the rope winding member is sleeved on the output shaft of the traction motor, the traction rope is connected to the rope winding member, the limiting block is disposed on the frame, the rope winding member is provided with a stopper, and the stopper and the limiting block are matched to limit the rotation range of the rope winding member.

9. A mobile chassis comprising a chassis support and a lifting device as claimed in any one of claims 1 to 8, the frame being mounted on the chassis support.

10. A robot comprising a robot body and a mobile chassis according to claim 9, the robot body being connected to the mobile chassis.

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