CN220614062U - Lifting device for be used for robot - Google Patents

Lifting device for be used for robot Download PDF

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Publication number
CN220614062U
CN220614062U CN202322134595.7U CN202322134595U CN220614062U CN 220614062 U CN220614062 U CN 220614062U CN 202322134595 U CN202322134595 U CN 202322134595U CN 220614062 U CN220614062 U CN 220614062U
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wheel
lifting
main
bracket
synchronous
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CN202322134595.7U
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Chinese (zh)
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郭飞
何斌
姜海谍
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Xi'an Ruixin Railway Equipment Co ltd
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Xi'an Ruixin Railway Equipment Co ltd
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Abstract

The utility model provides a lifting device for a robot, which comprises a main bracket, a sliding module, a driving mechanism, a lifting bracket, a first synchronous wheel, a second synchronous wheel, a synchronous belt and a workbench connecting frame, wherein the main bracket is connected with the sliding module; the sliding module is slidably arranged on the main support and is connected with a driving mechanism arranged on the main support so as to be driven to lift and slide; the sliding module is connected with the lifting bracket to synchronously lift; the first synchronous wheel and the second synchronous wheel are rotatably arranged at two ends of the lifting bracket; the synchronous belt is sleeved on the first synchronous wheel and the second synchronous wheel; the upper end of the synchronous belt is connected with the upper end of the main support, and the lower end of the synchronous belt is provided with a workbench connecting frame; the driving mechanism drives the lifting support to lift and drives the workbench connecting frame to lift through the synchronous belt, so that the problem that the two groups of servo motors are needed by the secondary lifting device for the robot in the prior art, the cost is high on one hand, and the lifting device is easy to cause potential safety hazards due to the fact that a group of servo motors rise in the operation process on the other hand.

Description

Lifting device for be used for robot
Technical Field
The utility model relates to the field of lifting structures, in particular to a lifting device for a robot.
Background
At present, robots are involved in the workflow of many industries, and the robots are machine devices for automatically executing work, so that many operations which are difficult for people can be realized, and many works become more convenient; in some specific working scenes, the robot needs to be lifted, and generally two-stage lifting is usually carried out, the two-stage lifting device of the robot commonly used at present adopts two groups of servo motors to correspond to two sets of lifting modules, but the scheme uses two groups of motors, occupies a larger space, particularly a primary lifting part, increases the design difficulty for a chassis space with limited space, and has the advantages that the total gravity center is too high in the lifting process, and one motor is in a suspended state to the highest in lifting process, so that the design is unreasonable.
Disclosure of Invention
The utility model aims to provide a two-stage lifting device for a robot, which at least solves the problems that two groups of servo motors are needed in a two-stage lifting device for the robot in the prior art, on one hand, the cost is high, and on the other hand, a group of servo motors can rise in operation to cause the center of gravity of the lifting device to be too high, so that potential safety hazards are easily caused.
In order to achieve the above object, the present utility model provides a lifting device for a robot, including a main bracket, a sliding module, a driving mechanism, a lifting bracket, a first synchronizing wheel, a second synchronizing wheel, a synchronous belt and a table connecting frame; the sliding module is slidably arranged on the main bracket along the height direction of the main bracket; the driving mechanism is arranged at the bottom end of the main support and connected with the sliding module to drive the sliding module to slide along the height direction of the main support; the bottom end of the lifting support is fixedly connected with the sliding module to lift up and down; the first synchronous wheel and the second synchronous wheel are correspondingly and rotatably arranged at two ends of the lifting bracket; the synchronous belt is sleeved on the first synchronous wheel and the second synchronous wheel and is provided with a toothed guide rail; the upper end of one side of the synchronous belt, facing the main support, is fixedly connected with the upper end of the main support, and the lower end of one side of the synchronous belt, facing away from the main support, is provided with a workbench connecting frame; when the driving mechanism drives the lifting support to lift up and down, the working table connecting frame is driven to lift synchronously through the synchronous belt.
Further, the driving mechanism comprises a servo motor, a bearing bracket, a bearing and a screw rod; the servo motor is arranged at the bottom of the main bracket; the two bearing supports are respectively arranged at the upper end and the bottom end of one side of the main support, which faces the lifting support; the two bearings are respectively rotatably arranged in the two bearing brackets; the screw rod is arranged on one side of the main support along the vertical direction, and the upper end and the bottom end of the screw rod are respectively and rotatably connected with the two bearings; the servo motor drives the screw rod to rotate, and the screw rod is connected with the sliding module to drive the sliding module to slide along the height direction of the main support.
Further, the servo motor is provided with an output shaft, and the driving mechanism further comprises a main driving wheel, an auxiliary driving wheel and a driving belt; the main driving wheel is connected with an output shaft of the servo motor; the auxiliary driving wheel is connected with the bottom end of the screw rod; the transmission belt is sleeved on the main transmission wheel and the auxiliary transmission wheel; wherein, the servo motor drives the screw rod to rotate through the main driving wheel, the auxiliary driving wheel and the driving belt.
Further, the sliding module comprises a sliding block and a module connecting block; the two sliding blocks are arranged on the main bracket in a sliding manner; the module connecting block is slidably arranged on the screw rod along the height direction of the screw rod; one end of the module connecting block is connected with the two sliding blocks, and the other end of the module connecting block is connected with the bottom end of the lifting bracket; the module connecting block is used for connecting the sliding block with the lifting support.
Further, the lifting device for the robot further comprises a synchronous belt fixing mechanism; the upper end of one side of the synchronous belt facing the main support is fixedly connected with the upper end of the main support through a synchronous belt fixing mechanism.
Further, the synchronous belt fixing mechanism comprises a fixing piece and a toothed plate; one end of the fixing piece is connected with the upper end of the main support, and the other end of the fixing piece is connected with the toothed plate to be clamped and fixed with the toothed guide rail of the synchronous belt, which faces to the upper end of one side of the main support.
Further, the lifting device for the robot further comprises an adjusting mechanism, wherein the adjusting mechanism is arranged at the upper end of the lifting bracket and is connected with the first synchronous wheel; the adjusting mechanism is used for adjusting the wheel distance between the first synchronous wheel and the second synchronous wheel.
Further, the adjusting mechanism comprises a bracket and an adjusting spring; the bracket is arranged at the upper end of the lifting bracket; the two adjusting springs are respectively arranged at two sides of the bracket and are connected with the first synchronous wheel; the adjusting spring is used for telescopically adjusting the wheel distance between the first synchronous wheel and the second synchronous wheel.
Further, the lifting device for the robot further comprises a reinforcing plate arranged on one side of the main support, which is away from the lifting support, and the reinforcing plate is used for reinforcing the main support.
The lifting device for the robot, which is applied to the technical scheme of the utility model, comprises a main bracket, a sliding module, a driving mechanism, a lifting bracket, a first synchronous wheel, a second synchronous wheel, a synchronous belt and a workbench connecting frame; the sliding module is slidably arranged on the main bracket along the height direction of the main bracket; the driving mechanism is arranged at the bottom end of the main support and connected with the sliding module to drive the sliding module to slide along the height direction of the main support; the bottom end of the lifting support is fixedly connected with the sliding module to lift up and down; the first synchronous wheel and the second synchronous wheel are correspondingly and rotatably arranged at two ends of the lifting bracket; the synchronous belt is sleeved on the first synchronous wheel and the second synchronous wheel and is provided with a toothed guide rail; the upper end of one side of the synchronous belt, facing the main support, is fixedly connected with the upper end of the main support, and the lower end of one side of the synchronous belt, facing away from the main support, is provided with a workbench connecting frame; the driving mechanism drives the lifting support to lift up and down, and the synchronous lifting of the workbench connecting frame is driven by the synchronous belt, so that the problem that the two groups of servo motors are needed by the secondary lifting device for the robot in the prior art, so that the cost is high on one hand, and the problem that the gravity center of the lifting device is too high and potential safety hazards are easily caused due to the fact that a group of servo motors rise in the running process is solved on the other hand.
Drawings
The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model. In the drawings:
FIG. 1 is a schematic elevational view of an alternative lifting device for a robot according to an embodiment of the present utility model;
FIG. 2 is a schematic side view of an alternative lifting device for a robot according to an embodiment of the present utility model;
wherein the above figures include the following reference numerals:
10. a main support; 20. a sliding module; 21. a slide block; 22. a module connecting block; 30. a driving mechanism; 31. a servo motor; 32. a bearing support; 33. a bearing; 34. a screw rod; 35. a main driving wheel; 36. an auxiliary driving wheel; 37. a transmission belt; 40. a lifting bracket; 50. a first synchronizing wheel; 60. a second synchronizing wheel; 70. a synchronous belt; 80. a workbench connecting frame; 90. a synchronous belt fixing mechanism; 91. a fixing piece; 92. a toothed plate; 100. an adjusting mechanism; 101. a bracket; 102. an adjusting spring; 110. reinforcing plate.
Detailed Description
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The utility model will be described in detail below with reference to the drawings in connection with embodiments.
The lifting device for a robot according to an embodiment of the present utility model, as shown in fig. 1, includes a main frame 10, a sliding module 20, a driving mechanism 30, a lifting frame 40, a first synchronizing wheel 50, a second synchronizing wheel 60, a synchronous belt 70, and a table connection frame 80; the slide module 20 is slidably installed on the main support 10 in the height direction of the main support 10; the driving mechanism 30 is installed at the bottom end of the main support 10 and connected with the sliding module 20 to drive the sliding module 20 to slide along the height direction of the main support 10; the bottom end of the lifting support 40 is fixedly connected with the sliding module 20 to lift up and down; the first synchronizing wheel 50 and the second synchronizing wheel 60 are rotatably disposed at both ends of the lifting bracket 40, respectively; the synchronous belt 70 is sleeved on the first synchronous wheel 50 and the second synchronous wheel 60, and the synchronous belt 70 is provided with a tooth-shaped guide rail; wherein, the upper end of the side of the synchronous belt 70 facing the main bracket 10 is fixedly connected with the upper end of the main bracket 10, and the lower end of the side of the synchronous belt 70 facing away from the main bracket 10 is provided with a workbench connecting frame 80; the driving mechanism 30 drives the lifting support 40 to lift up and down, and the synchronous belt 70 drives the workbench connecting frame 80 to lift synchronously, so that the workbench connecting frame 80 has multifunction, can erect equipment such as a functional intelligent robot, a cradle head, a mechanical arm and the like, has wider application range, and the lifting device only uses one group of driving mechanisms 30 to realize secondary lifting, thereby solving the problems that the two groups of servo motors are needed by the secondary lifting device for the robot in the prior art, the cost is higher on one hand, and the center of gravity of the lifting device is overhigh due to the fact that a group of servo motors are lifted in the operation on the other hand, and potential safety hazards are easily caused.
In particular, as shown in fig. 1, the driving mechanism 30 includes a servo motor 31, a bearing bracket 32, a bearing 33, and a screw 34; the servo motor 31 is provided at the bottom of the main support 10; the two bearing supports 32 are respectively arranged at the upper end and the bottom end of one side of the main support 10 facing the lifting support 40; the number of the bearings 33 is two, and the two bearings 33 are respectively rotatably installed in the two bearing brackets 32; the screw 34 is arranged at one side of the main support 10 in the vertical direction, and the upper end and the bottom end of the screw 34 are respectively rotatably connected with the two bearings 33; wherein, the servo motor 31 drives the screw rod 34 to rotate, and the screw rod 34 is connected with the sliding module 20 to drive the sliding module 20 to slide along the height direction of the main bracket 10; the screw 34 has a screw thread structure on the surface body, and the inner side of the sliding module 20 is also provided with a matched structure, so that when the screw 34 rotates, the sliding module 20 moves up and down along the track of the screw thread, the lifting of the sliding module 20 is more stable, and the fault occurrence rate is reduced.
In particular, as shown in fig. 1, the servomotor 31 has an output shaft, and the driving mechanism 30 further includes a main driving wheel 35, an auxiliary driving wheel 36, and a belt 37; the main driving wheel 35 is connected with the output shaft of the servo motor 31; the auxiliary driving wheel 36 is connected with the bottom end of the screw rod 34; the transmission belt 37 is sleeved on the main transmission wheel 35 and the auxiliary transmission wheel 36; the servo motor 31 drives the screw rod 34 to rotate through the main driving wheel 35, the auxiliary driving wheel 36 and the driving belt 37, namely, the force generated by the servo motor 31 is transmitted by the output shaft to enable the main driving wheel 35 to rotate, the main driving wheel 35 enables the auxiliary driving wheel 36 to synchronously rotate through the driving belt 37, the auxiliary driving wheel 36 drives the bearing 33 to rotate so as to enable the screw rod 34 to rotate, and accordingly the sliding module 20 is driven to ascend, ascending displacement is not generated between the servo motor 31 and the screw rod 34 in the ascending and descending process, and the problem of overhigh gravity center is avoided.
In practice, as shown in fig. 1, the sliding module 20 includes a slider 21 and a module connection block 22; two sliding blocks 21 are arranged, and the two sliding blocks 21 are slidably arranged on the main bracket 10; the module connecting block 22 is slidably mounted on the screw 34 in the height direction of the screw 34; one end of the module connecting block 22 is connected with the two sliding blocks 21, and the other end of the module connecting block 22 is connected with the bottom end of the lifting bracket 40; the module connecting block 22 is used for connecting the sliding block 21 and the lifting support 40, the lifting support 40 is fixed on the sliding block 21 by the module connecting block 22, so that the two sliding blocks 21, the module connecting block 22 and the lifting support 40 form a whole, when the module connecting block 22 slides along the lead screw 34 in a lifting manner, the corresponding sliding block 21 is driven to slide on the main support 10 in a lifting manner, meanwhile, the lifting support 40 is driven to lift, the lifting stroke is determined by the length of the lead screw 34, the lifting height is controllable, and the running stability of the lifting device is improved.
In particular, as shown in fig. 1, the lifting device for a robot further includes a timing belt fixing mechanism 90; the upper end of the side of the synchronous belt 70 facing the main bracket 10 is fixedly connected with the upper end of the main bracket 10 through a synchronous belt fixing mechanism 90; after the upper end of the synchronous belt 70 is fixedly connected with the main support 10, when the lifting support 40 is lifted upwards, the part of the upper end of the synchronous belt 70, which is connected with the point of the main support 10, is fixed at the current horizontal position because the main support 10 is fixed on the ground, but the synchronous belt 70 is sleeved on the first synchronous wheel 50 and the second synchronous wheel 60 to roll, so that the synchronous belt 70 rolls by taking the fixed connection point of the upper end as a pushing point, thereby lifting the working connection table 80, and realizing the operation of secondary lifting by using only one servo motor 31.
In particular, as shown in fig. 1, the timing belt fixing mechanism 90 includes a fixing piece 91 and a toothed plate 92; one end of the fixing piece 91 is connected with the upper end of the main support 10, the other end of the fixing piece 91 is connected with the toothed plate 92 to be clamped and fixed with the toothed guide rail of the synchronous belt 70 facing to the upper end of one side of the main support 10, and as the synchronous belt 70 is made of soft materials, if the synchronous belt 70 is connected by inserting or clamping, the synchronous belt 70 is damaged after long-time use, and as the toothed guide rail is arranged on the synchronous belt 70, the toothed plate 92 of the matched toothed mechanism is clamped and connected with the synchronous belt 70, so that the damage of the synchronous belt 70 is avoided to influence the operation of the lifting device.
In practice, as shown in fig. 1 and 2, the lifting device for a robot further comprises an adjusting mechanism 100; the adjusting mechanism 100 is disposed at the upper end of the lifting bracket 40 and connected to the first synchronizing wheel 50; the adjusting mechanism 100 is used for adjusting the wheel spacing between the first synchronizing wheel 50 and the second synchronizing wheel 60; during the operation of the synchronous belt 70, the synchronous belt 70 is always stretched by the first synchronous wheel 50 and the second synchronous wheel 60, and the synchronous belt 70 is damaged in this state for a long time, so the adjusting mechanism 100 can adjust the wheel spacing between the first synchronous wheel 50 and the second synchronous wheel 60 according to the situation, so as to reduce the outward stretching force to the synchronous belt 70 in a reasonable interval, and prolong the service life of the synchronous belt 70.
In particular, as shown in fig. 1 and 2, the adjustment mechanism 100 includes a bracket 101 and an adjustment spring 102; the bracket 101 is arranged at the upper end of the lifting bracket 40; the two adjusting springs 102 are respectively arranged at two sides of the bracket 101 and are connected with the first synchronous wheel 50; the adjusting spring 102 is used for telescopically adjusting the wheel spacing between the first synchronizing wheel 50 and the second synchronizing wheel 60; the two adjusting springs 102 are connected with the first synchronizing wheel 50, the horizontal position of the first synchronizing wheel 50 at the upper end of the lifting bracket 40 can be correspondingly lifted by squeezing or loosening the two adjusting springs 102, and the wheel distance between the first synchronizing wheel 50 and the second synchronizing wheel 60 can be shortened or increased by adjusting the position of the first synchronizing wheel 50.
In particular, as shown in fig. 2, the lifting device for a robot further includes a reinforcing plate 110; the reinforcing plate 110 is disposed on a side of the main support 10 facing away from the elevating support 40, and the reinforcing plate 110 serves to reinforce the main support 10; when the lifting support 40 is lifted, the gravity center can slightly move upwards, the main support 10 adopts a light structure, and the reinforcing plate 110 is arranged on the side surface of the main support 10 to act as a reinforcing rib, so that accidents caused by the fact that the main support 10 is damaged due to overhigh gravity center are prevented.
The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims (9)

1. A lifting device for a robot, comprising:
a main stand (10);
a sliding module (20), wherein the sliding module (20) is slidably installed on the main bracket (10) along the height direction of the main bracket (10);
the driving mechanism (30) is arranged at the bottom end of the main support (10) and is connected with the sliding module (20) to drive the sliding module (20) to slide along the height direction of the main support (10);
the bottom end of the lifting support (40) is fixedly connected with the sliding module (20) to lift up and down;
a first synchronizing wheel (50) and a second synchronizing wheel (60), wherein the first synchronizing wheel (50) and the second synchronizing wheel (60) are correspondingly and rotatably arranged at two ends of the lifting bracket (40);
the synchronous belt (70) is sleeved on the first synchronous wheel (50) and the second synchronous wheel (60), and the synchronous belt (70) is provided with a tooth-shaped guide rail;
the upper end of one side, facing the main support (10), of the synchronous belt (70) is fixedly connected with the upper end of the main support (10), and the lower end of one side, facing away from the main support (10), of the synchronous belt (70) is provided with a workbench connecting frame (80); the driving mechanism (30) drives the lifting support (40) to lift up and down, and the synchronous belt (70) drives the workbench connecting frame (80) to lift up and down synchronously.
2. Lifting device for robots according to claim 1, characterized in that the drive mechanism (30) comprises:
a servo motor (31), wherein the servo motor (31) is arranged at the bottom of the main bracket (10);
the two bearing supports (32) are arranged, and the two bearing supports (32) are respectively arranged at the upper end and the bottom end of one side, facing the lifting support (40), of the main support (10);
bearings (33), wherein the number of the bearings (33) is two, and the two bearings (33) are respectively rotatably arranged in the two bearing brackets (32);
the screw rod (34) is arranged on one side of the main bracket (10) along the vertical direction, and the upper end and the bottom end of the screw rod (34) are respectively and rotatably connected with the two bearings (33);
the servo motor (31) drives the screw rod (34) to rotate, and the screw rod (34) is connected with the sliding module (20) to drive the sliding module (20) to slide along the height direction of the main support (10).
3. Lifting device for robots according to claim 2, characterized in that the servo motor (31) has an output shaft, the drive mechanism (30) further comprising:
-a main drive wheel (35), said main drive wheel (35) being connected to said output shaft of said servomotor (31);
a secondary driving wheel (36), wherein the secondary driving wheel (36) is connected with the bottom end of the screw rod (34);
a transmission belt (37), wherein the transmission belt (37) is sleeved on the main transmission wheel (35) and the auxiliary transmission wheel (36);
wherein the servo motor (31) drives the screw rod (34) to rotate through the main driving wheel (35), the auxiliary driving wheel (36) and the driving belt (37).
4. A lifting device for a robot according to claim 3, characterized in that the sliding module (20) comprises:
the number of the sliding blocks (21) is two, and the two sliding blocks (21) are slidably arranged on the main bracket (10);
a module connection block (22), wherein the module connection block (22) is slidably mounted on the screw (34) along the height direction of the screw (34); one end of the module connecting block (22) is connected with the two sliding blocks (21), and the other end of the module connecting block (22) is connected with the bottom end of the lifting bracket (40); the module connecting block (22) is used for connecting the sliding block (21) with the lifting support (40).
5. The lifting device for a robot according to claim 4, further comprising:
and the upper end of one side of the synchronous belt (70) facing the main support (10) is fixedly connected with the upper end of the main support (10) through the synchronous belt fixing mechanism (90).
6. The lifting device for a robot according to claim 5, wherein the timing belt fixing mechanism (90) includes:
the device comprises a fixing piece (91) and a toothed plate (92), wherein one end of the fixing piece (91) is connected with the upper end of the main support (10), and the other end of the fixing piece (91) is connected with the toothed plate (92) so as to be fixedly clamped with the tooth-shaped guide rail of the synchronous belt (70) towards the upper end of one side of the main support (10).
7. The lifting device for a robot of claim 6, further comprising:
the adjusting mechanism (100) is arranged at the upper end of the lifting bracket (40) and is connected with the first synchronous wheel (50); the adjusting mechanism (100) is used for adjusting the wheel distance between the first synchronous wheel (50) and the second synchronous wheel (60).
8. Lifting device for robots according to claim 7, characterized in that the adjusting mechanism (100) comprises:
the bracket (101) is arranged at the upper end of the lifting bracket (40);
the two adjusting springs (102) are arranged on two sides of the bracket (101) respectively, and the two adjusting springs (102) are connected with the first synchronous wheel (50); the adjusting spring (102) is used for telescopically adjusting the wheel distance between the first synchronous wheel (50) and the second synchronous wheel (60).
9. The lifting device for a robot of claim 8, further comprising:
-a reinforcing plate (110), the reinforcing plate (110) being arranged on a side of the main support (10) facing away from the lifting support (40), the reinforcing plate (110) being used for reinforcing the main support (10).
CN202322134595.7U 2023-08-09 2023-08-09 Lifting device for be used for robot Active CN220614062U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202322134595.7U CN220614062U (en) 2023-08-09 2023-08-09 Lifting device for be used for robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202322134595.7U CN220614062U (en) 2023-08-09 2023-08-09 Lifting device for be used for robot

Publications (1)

Publication Number Publication Date
CN220614062U true CN220614062U (en) 2024-03-19

Family

ID=90229703

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202322134595.7U Active CN220614062U (en) 2023-08-09 2023-08-09 Lifting device for be used for robot

Country Status (1)

Country Link
CN (1) CN220614062U (en)

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