CN220145941U - Lifting device and robot - Google Patents

Abstract

The utility model relates to the technical field of robots, in particular to a lifting device and a robot, wherein the lifting device comprises a top plate, a driving mechanism, an upright post and a counterweight mechanism, the driving mechanism comprises a driving component and a switching component, the bottom end of the switching component is connected with the driving component, the top end of the switching component is connected with the top plate, and the driving component is suitable for driving the switching component to drive the top plate to lift; the upright posts extend along the lifting direction of the top plate; the movable end of the counterweight mechanism is arranged on the top plate, and the fixed end of the counterweight mechanism is arranged on the upright post. Along with the lifting of the top plate, the counterweight mechanism can be driven to synchronously act, the driving mechanism is assisted to work, the lifting weight is balanced integrally, the load of the driving mechanism is reduced, the overall service life of the driving mechanism is prolonged, the stability of the lifting device is enhanced, and the running noise of the driving mechanism is effectively reduced.

Description

Lifting device and robot

Technical Field

The utility model relates to the technical field of robots, in particular to a lifting device and a robot.

Background

With the rapid development of the robot industry, the requirements for the household service robot are also higher and higher, and the robot is required to complete more things, such as adding a mechanical arm on the robot body to complete grabbing objects, arranging households and the like.

In a home scene, the robot needs to complete the requirements of grabbing ground objects and a cabinet door at a higher position, which requires that the mechanical arm can reach the ground on one hand and rise to the cabinet door at the higher position on the other hand, and the coverage area of the general mechanical arm is in a certain range. For home scenarios, the mechanical arm is lifted and lowered, which usually encounters a lifting stiffness problem.

For a robot in a lifting scene, the weight supported by a lifting device usually comprises a chest, a mechanical arm, a clamping jaw, a head and the like, and the whole weight is more than 20 kg; moreover, the mechanical arm itself has an offset distance (reference model) relative to the lifting center of the lifting device, which generates a large bending moment, and the general lifting device is difficult to bear the bending moment during lifting. Generally, for high rigidity, the lifting with large weight has high requirements on a motor, and the service life of the lifting mechanism is also influenced. For home robots, noise and life problems are generated accordingly. This is also a problem that must be considered.

Disclosure of Invention

The present utility model is directed to solving at least one of the technical problems existing in the related art. Therefore, the lifting device provided by the utility model can drive the counterweight mechanism to synchronously act along with the lifting of the top plate, and assist the driving mechanism to work, so that the lifting weight is balanced as a whole, the load of the driving mechanism is reduced, the overall service life of the driving mechanism is prolonged, the stability of the lifting device is enhanced, and the running noise of the driving mechanism is effectively reduced.

The utility model further provides a robot.

An elevating device according to an embodiment of a first aspect of the present utility model includes:

a top plate;

the driving mechanism comprises a driving component and a switching component, the bottom end of the switching component is connected with the driving component, the top end of the switching component is connected with the top plate, and the driving component is suitable for driving the switching component to drive the top plate to lift;

the upright post is arranged in an extending manner along the lifting direction of the top plate;

and the two ends of the weight balancing mechanism are respectively connected with the top plate and the upright post.

According to the lifting device provided by the embodiment of the utility model, the upright post is used as the supporting center of the lifting device and is supported on the outer side of the driving mechanism, the driving component is connected with the switching component and can drive the switching component to do lifting motion, the top of the switching component is connected with the top plate, so that the lifting of the switching component can drive the lifting of the top plate.

The switching assembly provides a further driving core support for the driving assembly, the driving force is stabilized, the driving assembly is prevented from generating additional bending moment when carrying objects with larger weight or larger offset distance with the lifting center, lifting of the large offset weight can be realized in a smaller space, meanwhile, the overall rigidity of the driving mechanism is improved, and the driving stability and reliability are ensured.

In this embodiment, along with the lift of roof, can drive the synchronous action of counter weight mechanism, supplementary actuating mechanism's work, the weight of whole balanced lift reduces actuating mechanism's own load, improves actuating mechanism's whole life-span, reinforcing elevating gear's stability, the effectual noise that reduces actuating mechanism operation.

According to one embodiment of the utility model, the weight mechanism comprises at least two elastic weight pieces, the movable ends of the elastic weight pieces are arranged on the top plate, and the fixed ends of the elastic weight pieces are arranged on the upright post.

According to one embodiment of the utility model, the upright is provided with a mounting groove extending in the axial direction of the upright, and the elastic weight is arranged in the mounting groove.

According to one embodiment of the utility model, the upright is hollow and is formed with a mounting cavity for the drive mechanism, and a plurality of elastic weight pieces are uniformly distributed around the axial direction of the drive mechanism.

According to one embodiment of the utility model, the elastic weight is a gas spring, an oil spring or a column spring.

According to one embodiment of the utility model, the drive assembly comprises:

the switching assembly is sleeved on the screw rod;

the nut is in threaded connection with the screw rod, and the bottom end of the switching assembly is connected with the nut;

and the driver is connected with the screw rod to drive the screw rod to rotate.

According to one embodiment of the utility model, the adapter assembly comprises:

the connecting rods are arranged along the axial extension of the screw rod;

the first transfer block is arranged at the top end of the connecting rod and is connected with the top plate;

the second transfer block is arranged at the bottom end of the connecting rod and is connected with the nut.

According to one embodiment of the utility model, the elastic weight pieces are arranged in one-to-one correspondence with the connecting rods.

According to one embodiment of the present utility model, further comprising:

the guide mechanism comprises a guide assembly and a slide plate assembly, the top end of the slide plate assembly is connected with the top plate, the slide plate assembly is arranged on the outer side of the upright post in a surrounding mode, and one side, close to the upright post, of the slide plate assembly is connected with the upright post in a sliding mode through the guide assembly.

According to an embodiment of the second aspect of the present utility model, a robot includes:

a lifting device as described above;

and the mechanical arm is connected with the top plate of the lifting device.

The above technical solutions in the embodiments of the present utility model have at least one of the following technical effects:

according to the lifting device disclosed by the embodiment of the utility model, the upright post is used as the supporting center of the lifting device and is supported on the outer side of the driving mechanism, the driving assembly is connected with the switching assembly and can drive the switching assembly to do lifting motion, the top of the switching assembly is connected with the top plate, so that the lifting of the switching assembly can drive the lifting of the top plate, and as the lifting motion of the switching assembly is carried out along the axial direction of the upright post, namely the axial direction of the upright post is the lifting center of the whole lifting device, the integral upward lifting force formed by the driving assembly and the switching assembly is on the lifting center of the whole lifting device, and therefore, the driving mechanism does not bring additional offset bending moment during driving of the lifting device.

The switching assembly provides a further driving core support for the driving assembly, the driving force is stabilized, the driving assembly is prevented from generating additional bending moment when carrying objects with larger weight or larger offset distance with the lifting center, lifting of the large offset weight can be realized in a smaller space, meanwhile, the overall rigidity of the driving mechanism is improved, and the driving stability and reliability are ensured.

In this embodiment, along with the lift of roof, can drive the synchronous action of counter weight mechanism, supplementary actuating mechanism's work, the weight of whole balanced lift reduces actuating mechanism's own load, improves actuating mechanism's whole life-span, reinforcing elevating gear's stability, the effectual noise that reduces actuating mechanism operation.

Additional aspects and advantages of the utility model will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the utility model.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the related art, the drawings that are required to be used in the embodiments or the related technical descriptions will be briefly described, and it is apparent that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to the drawings without inventive effort for those skilled in the art.

FIG. 1 is a schematic view of a lifting device according to the present utility model;

FIG. 2 is a schematic diagram of the driving mechanism and the upright post of the lifting device;

fig. 3 is a schematic structural view of a driving mechanism of the lifting device provided by the utility model;

FIG. 4 is an exploded view of the drive mechanism and upright of the lift provided by the present utility model;

FIG. 5 is an exploded view of the guide mechanism and upright of the lifting device provided by the utility model;

fig. 6 is a schematic structural diagram of a wire arranging mechanism of the lifting device provided by the utility model;

FIG. 7 is an exploded view of a wire arrangement mechanism of the lifting device provided by the utility model;

FIG. 8 is an exploded view of a counterweight mechanism of a lifting device provided by the utility model;

fig. 9 is an exploded view of the lifting device provided by the utility model.

Reference numerals:

100. a top plate;

200. a driving mechanism; 210. a drive assembly; 211. a screw rod; 212. a nut; 213. a driver; 2131. a driving motor; 2132. a first transmission gear; 2133. a second transmission gear; 2134. a first shaft adapter; 2135. a second shaft adapter; 220. a switching component; 221. a connecting rod; 222. a first transfer block; 223. a second transfer block;

300. a column; 310. a support base; 320. a fixing seat; 330. wire passing grooves;

400. a guide mechanism; 410. a guide assembly; 411. a guide rail; 412. a slide block; 420. a skateboard assembly; 421. a mounting plate; 422. a support plate;

500. a bottom plate;

600. a wire arrangement mechanism; 610. a drag chain; 620. a partition plate; 630. a wire harness; 611. a drag chain fixing plate; 700. a weight mechanism; 710. an elastic weight member; 711. a movable end; 712. and a fixed end.

Detailed Description

Embodiments of the present utility model are described in further detail below with reference to the accompanying drawings and examples. The following examples are illustrative of the utility model but are not intended to limit the scope of the utility model.

In the description of the embodiments of the present utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the embodiments of the present utility model and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In describing embodiments of the present utility model, it should be noted that, unless explicitly stated and limited otherwise, the terms "coupled," "coupled," and "connected" should be construed broadly, and may be either a fixed connection, a removable connection, or an integral connection, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in embodiments of the present utility model will be understood in detail by those of ordinary skill in the art.

In embodiments of the utility model, unless expressly specified and limited otherwise, a first feature "up" or "down" on a second feature may be that the first and second features are in direct contact, or that the first and second features are in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the embodiments of the present utility model. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

As shown in fig. 1, 8 and 9, the lifting device provided by the embodiment of the utility model comprises a top plate 100, a driving mechanism 200, a column 300 and a counterweight mechanism 700, wherein the driving mechanism 200 comprises a driving component 210 and a switching component 220, the bottom end of the switching component 220 is connected with the driving component 210, the top end of the switching component 220 is connected with the top plate 100, and the driving component 210 is suitable for driving the switching component 220 to drive the top plate 100 to lift; upright post 300 is provided extending in the lifting direction of top plate 100; both ends of the weight mechanism 700 are connected to the top plate 100 and the column 300, respectively.

In the lifting device of the embodiment of the utility model, the upright post 300 is supported on the outer side of the driving mechanism 200, the driving component 210 is connected with the switching component 220, and can drive the switching component 220 to do lifting motion along the lifting center of the lifting device, and the top of the switching component 220 is connected with the top plate 100, so that the lifting of the switching component 220 can drive the top plate 100 to lift. So the whole upward lifting force formed by the driving component 210 and the switching component 220 is on the lifting center of the whole lifting device, the switching component 220 provides further driving core support for the driving component 210, and the driving force is stabilized, so that the driving component 210 can generate additional bending moment when the lifting device carries an object with large weight or a large offset distance from the lifting center, the lifting of a large offset weight can be realized in a small space, the whole rigidity of the driving mechanism 200 is improved, and the driving stability and reliability are ensured.

In this embodiment, along with the lifting of the top plate 100, the counterweight mechanism 700 can be driven to synchronously act, so as to assist the operation of the driving mechanism 200, balance the lifting weight as a whole, reduce the load of the driving mechanism 200 itself, improve the overall service life of the driving mechanism 200, enhance the stability of the lifting device, and effectively reduce the running noise of the driving mechanism 200.

According to one embodiment of the present utility model, the weight mechanism 700 includes at least two elastic weight members 710, the movable ends 711 of the elastic weight members 710 are disposed on the top plate 100, and the fixed ends 712 of the elastic weight members 710 are disposed on the pillar 300. In this embodiment, the weight mechanism 700 is at least two elastic weight members 710, the fixed end 712 of the elastic weight member 710 is connected with the upright post 300, the movable end 711 of the elastic weight member 710 is connected with the top cover, when the driving mechanism 200 drives the top cover to lift, the elastic weight member 710 can synchronously stretch out and draw back, the driving mechanism 200 is assisted to balance the lifting weight, the load of the motor can be greatly reduced, that is, the load acting on the screw rod 211 and the nut 212 is greatly reduced, the overall service life of the motor and the driving system can be prolonged, and the running noise of the motor can be effectively reduced.

In this embodiment, the fixed end 712 and the movable end 711 of the elastic weight 710 are respectively connected to elastic weight adapters, and the two elastic weight adapters are respectively fixed to the upright post 300 and the top plate 100 by screws. In other embodiments, the weight mechanism 700 may also employ a cylinder or ram that is automatically controlled to follow the load changes.

According to one embodiment of the utility model, the upright is provided with a mounting groove extending in the axial direction of the upright, in which the elastic weight 710 is arranged. In this embodiment, the upright post 300 is provided with a mounting groove, the mounting groove is a through groove, the elastic weight member is embedded in the mounting groove, and when the elastic weight member stretches out and draws back along with lifting of the top plate 100, the movable end 711 is connected with the top plate 100 to extend out or retract into the mounting groove. Namely, the counterweight mechanism 700 can be integrated with the upright post 300 into a whole, so that on one hand, the installation space is saved, the device structure is more integrated and miniaturized, and on the other hand, the upright post 300 can be used as an installation foundation of the elastic counterweight, and the installation space and the installation stability of the elastic counterweight are ensured.

According to one embodiment of the utility model, the plurality of elastomeric weights 710 are evenly distributed about the axial direction of the drive mechanism 200. In this embodiment, all the elastic weight members 710 are uniformly distributed around the lifting center of the lifting device, so that the lifting weight is balanced as a whole, and the load of the motor itself can be greatly reduced, i.e. the load acting on the screw rod 211 and the nut 212 is greatly reduced, so that the overall service life of the motor and the driving system can be prolonged, and the running noise of the motor can be effectively reduced.

In one embodiment, the weight mechanism 700 is two elastic weight members 710, and the two elastic weight members 710 are symmetrically arranged at both sides of the column 300 with respect to the lifting center, and in other embodiments, the specific number and distribution state of the elastic weight members 710 may be determined according to practical situations.

According to one embodiment of the utility model, the elastic weight 710 is a gas spring, an oil spring, or a column spring. In this embodiment, the two elastic weight members 710 are gas springs, and in other embodiments, the elastic weight members may be selected according to actual requirements, and all the elastic weight members may be of one type or different types.

As shown in fig. 1, 2, 3 and 4, according to one embodiment of the present utility model, the driving assembly 210 includes a screw 211, a nut 212 and a driver 213, and the adapter assembly 220 is sleeved on the screw 211; the nut 212 is in threaded connection with the screw rod 211, and the bottom end of the switching assembly 220 is connected with the nut 212; the driver 213 is connected to the screw 211 to drive the screw 211 to rotate. In this embodiment, the axial direction of the screw rod 211 is coincident with the axial direction of the upright post 300, the driver 213 can drive the screw rod 211 to rotate, the nut 212 is in threaded connection with the screw rod 211, the screw rod 211 rotates and drives the nut 212 to move linearly along the axial direction of the screw rod 211, and the switching assembly 220 is connected with the nut 212, so as to drive the switching assembly 220 to lift along the axial direction of the screw rod 211. Adopt lead screw 211 nut 212 complex drive assembly 210, can stabilize the lift center, the outside at lead screw 211 is established to switching subassembly 220 cover simultaneously, and is located between stand 300 and the lead screw 211, and the axial of stand 300, the axial of lead screw 211 and the axial of adaptor can unify, and the device structure is more integrated, provides stronger jacking force simultaneously, reduces the production of moment of flexure and skew. Meanwhile, when the structures of the screw rod 211 and the nut 212 are matched, the transmission of the driving assembly 210 is smoother, and the noise in the lifting process is low.

In this embodiment, column 300 is fixed to base plate 500 by screws.

The driver 213 includes a driving motor 2131, a first transmission gear 2132 and a second transmission gear 2133, the driving motor 2131 is fixed on the upright post 300, an output shaft of the driving motor 2131 is fixedly connected with the first shaft adapting piece 2134 through a screw, the first transmission gear 2132 is sleeved on the first shaft adapting piece 2134 and is fixedly connected with the second shaft adapting piece 2135 through a screw, the second transmission gear 2133 is connected with the fixing seat 320 through a screw, the bottom end of the screw rod 211 is connected with the second shaft adapting piece 2135 through a screw, and the second transmission gear 2133 is sleeved on the second shaft adapting piece 2135, so that the connection between the screw rod 211 and the second transmission gear 2133 is realized. The first transmission gear 2132 is meshed with the second transmission gear 2133, the driving motor 2131 drives the first transmission gear 2132 to rotate, the first transmission gear 2132 drives the second transmission gear 2133 to rotate, the second transmission gear 2133 synchronously drives the screw rod 211 to rotate, and then the nut 212 drives the switching assembly 220 to lift.

In other embodiments, the actuator 213 may employ other jacking devices, such as air cylinders, hydraulic cylinders, and the like.

According to one embodiment of the present utility model, the adapter assembly 220 includes at least two connection bars 221, a first adapter block 222 and a second adapter block 223, each connection bar 221 is disposed to extend along an axial direction of the screw rod 211, and the connection bars 221 are uniformly distributed around the screw rod 211; the first adapter block 222 is disposed at the top end of the connecting rod 221 and connected to the top plate 100; the second adapter block 223 is disposed at the bottom end of the connecting rod 221 and connected to the nut 212. In this embodiment, the second adapter block 223 is sleeved on the screw rod 211 and is fixedly connected with the nut 212, the connecting rods 221 are coaxially extended from the screw rod 211, all the connecting rods 221 are uniformly distributed around the circumference of the screw rod 211, the top ends of the connecting rods 221 are connected with the first adapter block 222, the bottom ends of the connecting rods 221 are connected with the second adapter block 223, the first adapter block 223 is also connected with the top plate 100, that is, the first adapter block 222, the connecting rods 221, the second adapter block 223 and the top plate 100 are connected into a whole, the connecting rods 221 are uniformly distributed around the screw rod 211, the lifting center of the lifting device can be further stabilized, the whole stress of the adapter assembly 220 is balanced, the bending moment and deflection are reduced, and the lifting of the adapter assembly 220 can be more stable when the driving assembly 210 drives the lifting.

In this embodiment, two connecting rods 221 are symmetrically disposed on two sides of the screw rod 211, and the first connecting block 222 is fixedly connected with the two connecting rods 221, the second connecting block 223 is fixedly connected with the two connecting rods 221, the second connecting block and the nut 212, and the first connecting block and the top plate 100 through screws. Thus, the first adapter block 222, the second adapter block 223 and the two connecting rods 221 form a frame, and the top end of the upright 300 is provided with a through hole through which the first adapter block 222 and the connecting rods pass.

In other embodiments, the number of the connecting rods 221 can be adjusted according to the actual situation, and when the higher lifting force and the higher rigidity of the mechanism are required, the number of the connecting rods 221 can be increased appropriately, and the shape and structure of the first and second adapter blocks 222 and 223 can be changed according to the actual requirement. The first adapter block 222 is detachably mounted with the connecting rod 221 and the top plate 100, and the second adapter block 223 is detachably mounted with the connecting rod 221 and the nut 212, so that the replacement and maintenance of the adapter assembly 220 and the driving assembly 210 are facilitated.

According to an embodiment of the present utility model, the elastic weight pieces 710 are provided in one-to-one correspondence with the connection bars 221. In the present embodiment, the elastic weight member is provided corresponding to the connection rod 221, and the elastic weight is disposed outside the distribution range of the connection rod 221 and corresponds to the position of the connection rod 221. The lifting action of each connecting rod 221 is accurately assisted, the acting pressure of each connecting rod 221 is shared, meanwhile, the lifting force to the top plate 100 is provided in a larger range outside the driving mechanism 200, and the bending moment born by the switching assembly 220 and the driving assembly 210 is further reduced.

According to one embodiment of the present utility model, shaft 300 is provided with a mounting cavity extending axially thereof, and drive mechanism 200 is disposed within the mounting cavity. In this embodiment, a mounting cavity extending along the lifting direction of the top plate 100 is provided inside the upright post 300, the mounting cavity is a through cavity, the driving mechanism 200 is disposed in the mounting cavity, and the switching assembly 220 can extend out from the mounting cavity during the lifting process of the switching assembly 220 driven by the driving assembly 210. The driving mechanism 200 is arranged in the mounting cavity, so that the upright 300 is arranged in a mode of surrounding the driving mechanism 200, namely, the axial direction of the upright 300 is used as the supporting center of the lifting device, and as the lifting movement of the switching assembly 220 is carried out along the axial direction of the upright 300, namely, the axial direction of the upright 300 is the lifting center of the whole lifting device, the axial direction of the upright 300, the lifting center and the supporting center are completely overlapped, on one hand, the upright 300 provides a mounting space for the driving mechanism 200, the stability of the arrangement of the driving mechanism 200 is ensured, on the other hand, the action of the driving mechanism 200 is provided for supporting, the lifting force generated by the action of the switching assembly 220 is further assisted, and the bending moment bearing performance of the driving mechanism 200 is improved.

In other embodiments, the relative position between the upright 300 and the driving mechanism 200 may be designed according to practical needs, and may be disposed on one side of the driving mechanism 200, or symmetrically disposed on both sides of the driving mechanism 200, or disposed in a semi-surrounding manner.

According to one embodiment of the utility model, the top of the installation cavity is provided with the supporting seat 310, the supporting seat 310 is connected with the upright post 300, the supporting seat 310 is positioned below the first conversion block 222, the supporting seat 310 is arranged at the bottom of the installation cavity in the space surrounded by all the connecting rods 221, and the top of the screw rod 211 is penetrated through the supporting seat 310. In this embodiment, the supporting seat 310 is fixed at the top of the installation cavity, the top of the screw rod 211 is fixed at the top of the upright post 300 through the supporting seat 310, the screw rod 211 is arranged on the supporting seat 310 in a penetrating manner and can rotate relative to the supporting seat 310, the driver 213 drives the screw rod 211 to rotate, the nut 212 moves up and down on the screw rod 211 along with the rotation of the screw rod 211, the switching assembly 220 is synchronously driven to move up and down in a linear manner, the supporting seat 310 moves relatively between the first switching block 222 and the second switching block 223, namely, the first switching block 222 is always located above the supporting seat 310, the second switching block 223 is always located below the supporting seat 310, and the connecting rod 221 is always located around the supporting seat 310. On the basis of fixing the screw rod 211 and the upright post 300 relatively, the lifting motion of the switching assembly 220 relative to the upright post 300 is not hindered, and the stability of the driving action of the driving mechanism 200 is further improved.

In this embodiment, the support base 310 is fixedly connected with the upright post 300 through a screw, and a rotating bearing or the like can be arranged between the screw rod 211 and the support base 310 to realize rotation connection.

According to one embodiment of the utility model, the bottom of the installation cavity is provided with the fixing seat 320, the fixing seat 320 is connected with the upright post 300, the bottom of the screw rod 211 is penetrated through the fixing seat 320, and the nut 212 is positioned above the fixing seat 320. In this embodiment, the fixing seat 320 is fixed at the bottom of the mounting cavity, the bottom end of the screw rod 211 is fixed at the bottom of the upright post 300 through the fixing seat 320, the screw rod 211 passes through the supporting seat 310 to be connected with the second transmission gear 2133, the screw rod 211 can rotate relative to the supporting seat 310, the driver 213 drives the screw rod 211 to rotate, the nut 212 moves up and down on the screw rod 211 along with the screw rod 211 rotating, and the switching assembly 220 is synchronously driven to move up and down in a straight line, and the second switching block 223 is always located above the fixing seat 320. On the basis of fixing the screw rod 211 and the upright post 300 relatively, the lifting motion of the switching assembly 220 relative to the upright post 300 is not hindered, and the stability of the driving action of the driving mechanism 200 is further improved. The fixing seat 320 and the supporting seat 310 are matched and arranged, so that the top end and the bottom end of the screw rod 211 can rotate concentrically and smoothly.

In this embodiment, the fixing base 320 is fixedly connected with the upright post 300 through a screw, and a rotating bearing and the like can be arranged between the screw rod 211 and the fixing base 320 to realize rotation connection.

As shown in fig. 1 and 5, according to one embodiment of the present utility model, the lifting device further includes a guide mechanism 400, the guide mechanism 400 includes a guide assembly 410 and a slide plate assembly 420, and the top end of the slide plate assembly 420 is connected with the top plate 100, the slide plate assembly 420 is enclosed on the outer side of the column 300, and one side of the slide plate assembly 420 close to the column 300 is slidably connected with the column 300 through the guide assembly 410. In this embodiment, the driving mechanism 200 formed by the driving assembly 210 and the adapting assembly 220 is integrated inside the upright 300, and is used as a supporting framework of the lifting device, the guiding mechanism 400 is fixedly connected with the top plate 100 and is slidably connected with the upright 300, and in the process that the driving assembly 210 drives the adapting assembly 220 to lift, the top plate 100 drives the guiding mechanism 400 to slide along the upright 300 to lift, so as to guide and stably support the movement of the driving mechanism 200 and the top plate 100, and the adapting assembly 220 can play a certain role in protecting the guiding mechanism 400 while improving the overall rigidity of the driving mechanism 200, so that the load of the guiding mechanism 400 is reduced.

The slide subassembly 420 is connected with roof 100 and is an integral structure, namely slide subassembly 420 sets up around stand 300, sets up direction subassembly 410 between slide subassembly 420 and stand 300, and in the in-process that actuating mechanism 200 drive roof 100 goes up and down, roof 100 drive slide subassembly 420 goes up and down, and direction subassembly 410 provides the direction support for the removal of slide subassembly 420 on the one hand, and on the other hand can stabilize the positional relationship of stand 300 and slide subassembly 420, avoids the skew of slide subassembly 420 and the production of slide subassembly 420 and stand 300 each other to hinder.

In this embodiment, the slide plate assembly 420 is fixedly connected to the top plate 100 by screws. The sliding plate assembly 420 is arranged around the upright post 300, that is, a certain installation space is enclosed on the inner side of the sliding plate assembly 420, so that the upright post 300 and the driving mechanism 200 in the upright post 300 can be protected.

According to one embodiment of the present utility model, guide assembly 410 includes a guide rail 411 and a slider 412, guide rail 411 being disposed at one of slide plate assembly 420 and upright 300; a slider 412 is provided on the other of the slider assembly 420 and the column 300, the slider 412 being slidably coupled to the rail 411 and adapted to slide along the rail 411. In this embodiment, the guide assembly 410 adopts a mechanism with the guide rail 411 and the slide block 412 being matched, the guide rail 411 is fixed on the upright 300 and extends along the lifting direction, the slide block 412 is arranged on one side of the slide plate assembly 420 close to the upright 300 and corresponds to the guide rail 411, when the driving assembly 210 drives the adapting assembly 220 to lift the top plate 100, the top plate 100 synchronously drives the slide plate assembly 420 to lift, the slide block 412 can contact with the guide rail 411 and slide along the guide rail 411, so that the movement guiding of the slide plate assembly 420 is realized, meanwhile, the lifting action of the driving assembly 210 and the adapting assembly 220 is further stabilized, and the integral rigidity of the lifting device is enhanced.

In other embodiments, the guide 411 may also be disposed on a side of the sliding plate assembly 420 near the column 300, and the sliding block 412 is fixed on the column 300, and the guide 411 moves up and down relative to the sliding block 412 during the lifting process of the sliding plate assembly 420. The guide rail 411 and the slide block 412 are also assembled with the column 300 and the slide plate assembly 420 in other forms, so as to meet the guiding requirement.

In this embodiment, vertically disposed rails 411 are secured to shaft 300 by screws, and slide blocks 412 are secured to slide plate assembly 420 by screws.

According to one embodiment of the present utility model, the slide plate assembly 420 includes a mounting plate 421 and a support plate 422, the mounting plate 421 being slidably coupled to the column 300 by a guide assembly 410; the support plates 422 are alternately arranged with the mounting plates 421, and adjacent two mounting plates 421 are connected by the support plates 422. In this embodiment, the mounting plates 421 and the support plates 422 are alternately connected and surrounded around the upright post 300 at intervals, wherein the mounting plates 421 are used as a mounting structure of the guide assembly 410, and the support plates 422 are used for connecting the mounting plates 421 together, and simultaneously assist the mounting plates 421 to support the guide assembly 410, so that the overall rigidity of the slide plate assembly 420 is improved, and the bending moment generated on the guide assembly 410 can be shared, so that the overall structural rigidity of the lifting device is improved.

In this embodiment, the sliding plate assembly 420 is at least two mounting plates 421, all the mounting plates 421 are arranged in the center symmetry on both sides of the lifting center, the guide assembly 410 is arranged between the mounting plates 421 and the upright 300, the mounting plates 421 arranged in the center symmetry surround the upright 300, the lifting stress can be balanced, and meanwhile, the structural rigidity is improved, so that the guide assembly 410 can provide supporting force better.

In this embodiment, the number of mounting plates 421 is two, and in other embodiments, the number of mounting plates 421 can be adjusted according to the actual needs, and the setting range of the guiding assembly 410 or the magnitude of the lifting force can be changed according to the actual needs.

In this embodiment, the number of mounting plates 421 is two, namely, a first mounting plate 421 and a second mounting plate 421, the number of supporting plates 422 is two, namely, a first supporting plate 422 and a second supporting plate 422, and the first mounting plate 421, the first supporting plate 422, the second mounting plate 421 and the second supporting plate 422 are sequentially connected end to form an annular sliding plate assembly 420. The top of the mounting plate 421 and the top of the supporting plate 422 are fixed with the top plate 100 through screws, and the mounting plate 421 and the supporting plate 422 are also fixed and mounted through screws. In other embodiments, the number of mounting plates 421 is not less than two, and the number of corresponding support plates 422 is set.

In this embodiment, mounting panel 421 and backup pad 422 are arc structure, and mounting panel 421 is being close to the one side construction plane portion of stand 300 for installation direction subassembly 410, mounting panel 421 and backup pad 422 set up the arc portion in the one side of keeping away from stand 300, and the arc of mounting panel 421 encloses into cylindric slide subassembly 420 jointly with the cambered surface of backup pad 422, integrated configuration, reduces elevating gear's space occupation, can satisfy space dimension's restriction, reduces whole device weight correspondingly, adapts to elevating gear's rigidity requirement.

According to one embodiment of the present utility model, each guide 411 is correspondingly connected with at least two sliders 412. In this embodiment, the number of the guide rails 411 is plural, and at least two sliding blocks 412 are disposed on each guide rail 411, so that the overall rigidity and bending moment resistance of the lifting device in the lifting process can be improved to a great extent. On the one hand, the cooperation of the plurality of guide rails 411 and the sliding blocks 412 can be guaranteed to be stressed uniformly at the same time, the limit value of the bending moment borne by the single guide rail 411 can be greatly reduced under the condition that the external input condition is certain, and the integral size of the guide rails 411 and the sliding blocks 412 can be greatly reduced under the condition that the bending moment borne by the single guide rail 411 and the sliding blocks 412 is greatly reduced, so that the large rigidity can be met in a limited space, and the large bending moment can be resisted.

In this embodiment, the guide rails 411 of the guide assembly 410 are disposed on the upright 300, the sliding blocks 412 are disposed on the mounting plates 421, the sliding block 412 on each mounting plate 421 corresponds to at least two guide rails 411, the guide rails 411 corresponding to the mounting plates 421 do not overlap, and the guide rails 411 corresponding to one mounting plate 421 are disposed parallel to each other. In other embodiments, the mounting plate 421 may be provided with a guide 411, and the column 300 may be provided with a slider 412.

In this embodiment, the sliding plate assembly 420 is two mounting plates 421, four parallel guide rails 411 are disposed on the upright 300, two sliding blocks 412 are disposed on each guide rail 411, that is, two groups of sliding blocks 412 are disposed on each mounting plate 421, each group of sliding blocks 412 includes two sliding blocks 412 disposed up and down, and the guide assembly 410 is formed by four guide rails 411 and eight sliding blocks 412 disposed thereon.

The four guide rails 411 are uniformly distributed around the screw rod 211 in the circumferential direction, so that the center of the guide mechanism 400 is arranged in the lifting center, the whole stress of the guide mechanism 400 is more balanced, and the lifting device is more stable. In other embodiments, the number of the guide rails 411 is at least two according to actual needs, and the guide rails 411 may be uniformly distributed around the axial direction of the screw rod 211, and the number of the sliding blocks 412 may also be adapted to the guide rails 411 according to actual needs.

As shown in fig. 1, 6 and 7, according to one embodiment of the present utility model, the lifting device further includes a wire arrangement mechanism 600, the wire arrangement mechanism 600 includes a drag chain 610 and a partition 620, the drag chain 610 is connected with the top plate 100, the other end is connected with the upright 300, the drag chain 610 is used for passing the wire harness 630, the upright 300 is provided with a wire passing groove 330 for fixing the wire harness 630, and the partition 620 is covered on the wire passing groove 330.

For the home robot, there are power lines, signal lines, etc. from the chassis to the body, the harness 630 of the head. On the one hand, the number of the wire harnesses 630 is relatively large, and meanwhile, the wire harnesses 630 with different signals also consider interference problems; how to ensure stability of so many different harnesses 630 during lifting is a problem that must be solved.

In this embodiment, the wire harness 630 of the lifting device passes through the inside of the drag chain 610, the first end of the drag chain 610 is fixed on the top plate 100, then extends downwards and is bent upwards until the second end is fixed on the top of the upright post 300, that is, the drag chain 610 is in a U-shaped bending arrangement, in the lifting process of the top plate 100, the first end of the drag chain 610 is lifted along with the lifting process, the wire harness 630 inside the drag chain 610 can also lift along with the lifting process, and the lifting action of the top plate 100 is not affected while the connection of the wire harness 630 is ensured. The wire harness 630 also passes through the wire passing groove 330, the wire harness 630 can be fixedly arranged in the wire passing groove 330 and can also move in the wire passing groove 330, meanwhile, the wire passing groove 330 is covered with the baffle 620, and the sliding block 412 and the wire harness 630 are prevented from being scratched and rubbed in the lifting process, so that the service life of the wire harness 630 is influenced.

In this embodiment, the drag chains 610 are arranged in a row on two sides of the upright post 300, and are suspended downwards from the top plate 100, so that on one hand, multiple groups of wire harnesses 630 can pass through conveniently, on the other hand, the wire harnesses 630 with signal interference can pass through different drag chains 610, signal interference is avoided, and stable installation of multiple groups of different wire harnesses 630 in the lifting process can be better ensured.

In this embodiment, the second end of the drag chain 610 is fixed to the column 300 by a screw, the first end of the drag chain 610 is fixed to the drag chain fixing plate 611, and the drag chain fixing plate 611 is fixed to the top plate 100 by a screw. The partition 620 is fixed to the column 300 by screws. Similarly, the wire-passing grooves 330 on the upright 300 are also arranged corresponding to the number and positions of the drag chains 610. In other embodiments, the number of towlines 610 may be adjusted according to the actual wire passing requirements, and the number is not limited.

According to one embodiment of the utility model, mast 300 is provided with a tow chain slot for receiving tow chain 610. The drag chain 610 is disposed in the drag chain groove of the upright post 300, on one hand, to provide space support for movement of the drag chain 610, and in the course of movement of the drag chain 610, the drag chain is not affected by the guide mechanism 400 enclosed outside, on the other hand, the simplified integration of the device structure can be improved.

According to an embodiment of the present utility model, the lifting device further includes a weight mechanism 700, the weight mechanism 700 includes an elastic weight 710, a movable end 711 of the elastic weight 710 is disposed on the top plate 100, and a fixed end 712 of the elastic weight 710 is disposed on the upright 300.

The robot provided by the embodiment of the utility model comprises the lifting device and the mechanical arm; the mechanical arm is arranged on the top plate 100 of the lifting device.

According to the robot disclosed by the embodiment of the utility model, the robot is required to finish the requirements of grabbing ground objects and cabinet doors at higher positions, the coverage area of the mechanical arm is in a certain range, the robot can have a certain stroke in the aspect of height, the mechanical arm is driven to lift by the lifting device, and the lifting device can meet the requirements that the mechanical arm can reach the ground on one hand and can reach the cabinet doors at higher positions on the other hand. The lifting device of the utility model lifts the mechanical arm, the weight of the whole lifting is more than 20kg, the larger bending moment generated by the offset distance between the mechanical arm and the lifting center can be overcome, and correspondingly, the whole rigidity of the lifting device is sufficient to resist the external bending moment.

Finally, it should be noted that the above-mentioned embodiments are merely illustrative of the utility model, and not limiting. While the utility model has been described in detail with reference to the embodiments, those skilled in the art will appreciate that various combinations, modifications, or equivalent substitutions can be made to the technical solutions of the present utility model without departing from the spirit and scope of the technical solutions of the present utility model, and it is intended to be covered by the scope of the claims of the present utility model.

Claims (10)

1. A lifting device, comprising:

a top plate;

the driving mechanism comprises a driving component and a switching component, the bottom end of the switching component is connected with the driving component, the top end of the switching component is connected with the top plate, and the driving component is suitable for driving the switching component to drive the top plate to lift;

the upright post is arranged in an extending manner along the lifting direction of the top plate;

and the two ends of the weight balancing mechanism are respectively connected with the top plate and the upright post.

2. The lifting device of claim 1, wherein the weight mechanism comprises at least two elastic weight members, the movable ends of the elastic weight members are disposed on the top plate, and the fixed ends of the elastic weight members are disposed on the upright posts.

3. The lifting device of claim 2, wherein the upright is provided with a mounting groove extending in an axial direction of the upright, and the elastic weight is disposed in the mounting groove.

4. A lifting device according to claim 2, wherein the upright is hollow with a mounting cavity for the drive mechanism, and a plurality of said resilient weights are evenly distributed around the axis of the drive mechanism.

5. The lifting device of claim 2, wherein the elastic weight is a gas spring, an oil spring, or a column spring.

6. A lifting device according to any one of claims 2 to 5, wherein the drive assembly comprises:

the switching assembly is sleeved on the screw rod;

the nut is in threaded connection with the screw rod, and the bottom end of the switching assembly is connected with the nut;

and the driver is connected with the screw rod to drive the screw rod to rotate.

7. The lifting device of claim 6, wherein the adapter assembly comprises:

the connecting rods are arranged along the axial extension of the screw rod;

the first transfer block is arranged at the top end of the connecting rod and is connected with the top plate;

the second transfer block is arranged at the bottom end of the connecting rod and is connected with the nut.

8. The lifting device of claim 7, wherein the elastic weight members are disposed in one-to-one correspondence with the connecting rods.

9. The lifting device according to any one of claims 1 to 5, further comprising:

the guide mechanism comprises a guide assembly and a slide plate assembly, the top end of the slide plate assembly is connected with the top plate, the slide plate assembly is arranged on the outer side of the upright post in a surrounding mode, and one side, close to the upright post, of the slide plate assembly is connected with the upright post in a sliding mode through the guide assembly.

10. A robot, comprising:

a lifting device as claimed in any one of claims 1 to 9;

and the mechanical arm is connected with the top plate of the lifting device.