WO2024125323A1 - 升降机构及机器人 - Google Patents
升降机构及机器人 Download PDFInfo
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- WO2024125323A1 WO2024125323A1 PCT/CN2023/135868 CN2023135868W WO2024125323A1 WO 2024125323 A1 WO2024125323 A1 WO 2024125323A1 CN 2023135868 W CN2023135868 W CN 2023135868W WO 2024125323 A1 WO2024125323 A1 WO 2024125323A1
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- lifting
- lifting structure
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- 101100012902 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) FIG2 gene Proteins 0.000 description 3
- 101100233916 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) KAR5 gene Proteins 0.000 description 3
- 101001121408 Homo sapiens L-amino-acid oxidase Proteins 0.000 description 2
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Definitions
- the present disclosure relates to the field of lifting mechanisms, and in particular, to a lifting mechanism and a robot.
- An image acquisition device for inspecting external equipment is arranged inside the robot, and the image acquisition device is installed on a lifting mechanism so as to be able to move up and down.
- the purpose of the present disclosure is to provide a lifting mechanism and a robot.
- a first aspect of some embodiments of the present disclosure provides a lifting mechanism, comprising:
- a first lifting structure is movably connected to the fixed structure in an up-down direction so as to be able to extend upward from the fixed structure;
- a second lifting structure configured to be able to move up and down relative to the first lifting structure
- a driving structure used for driving the first lifting structure to move up and down relative to the fixed structure
- the synchronous assembly comprises a first synchronous wheel and a synchronous member, wherein the first synchronous wheel is rotatably arranged at the upper end of the first lifting structure, the synchronous member is wound around the first synchronous wheel, and the synchronous member has a first connecting portion and a second connecting portion, the first connecting portion and the second connecting portion are respectively located on both sides of the first synchronous wheel, the first connecting portion is fixed to the fixed structure, and the second connecting portion is fixed to the second lifting structure, so that the synchronous member can be moved relative to the first lifting structure when the first lifting structure is relative to the lifting structure.
- the fixed structure moves up and down, it drives the second lifting structure to move up and down relative to the first lifting structure.
- the distance between the first connecting portion and the first synchronous wheel is the same as the distance between the second connecting portion and the second synchronous wheel.
- the first lifting structure has a maximum extension position and a maximum retraction position.
- the maximum extension position the first connection portion is close to the second synchronization wheel, and the second connection portion is close to the first synchronization wheel.
- the maximum retraction position the first connection portion is close to the first synchronization wheel, and the second connection portion is close to the second synchronization wheel.
- the driving structure includes a motor, a first bevel gear, a second bevel gear and a transmission shaft, the output shaft of the motor extends along the up-down direction, the rotation axis of the first bevel gear extends along the up-down direction, the rotation axis of the second bevel gear is perpendicular to the rotation axis of the first bevel gear, the output shaft of the motor is connected to the first bevel gear, the first bevel gear and the second bevel gear are meshed with each other, and the second bevel gear is connected to the first synchronous gear or the second synchronous gear through the transmission shaft.
- the synchronous member is a synchronous belt
- the first synchronous wheel is a first synchronous pulley
- the second synchronous wheel is a second synchronous pulley
- the synchronous member is a synchronous chain
- the first synchronous wheel is a first synchronous sprocket
- the second synchronous wheel is a second synchronous sprocket.
- the fixed structure has a first slide groove portion opening toward the first lifting structure, and the first lifting structure is formed with a groove along the upper and lower sides on a side close to the fixed structure.
- a first slide rail portion extending in a direction of the first slide rail portion, the first slide rail portion slidably cooperates with the first slide groove portion, and the first connecting portion is located in the first slide groove portion and fixed to the first slide groove portion;
- the second lifting structure has a second slide groove portion opening toward the first lifting structure, and a second slide rail portion extending along the up-down direction is formed on a side of the first lifting structure close to the second lifting structure, the second slide rail portion is slidably matched with the second slide groove portion, and the second connecting portion is located in the second slide groove portion and fixed to the second slide groove portion.
- first connection portion is bonded to the first slide groove portion
- second connection portion is bonded to the second slide groove portion
- the lifting mechanism further includes a first pressing plate, at least a portion of which is located in the first slide groove portion and is used to press the first connecting portion against the inner wall of the first slide groove portion;
- the lifting mechanism further includes a second pressing plate, at least a portion of which is located in the second sliding groove portion and is used to press the second connecting portion against the inner wall of the second sliding groove portion.
- a limiting structure is provided on the first lifting structure, the limiting structure protrudes outward from the first slide rail portion and the second slide rail portion, the limiting structure is arranged close to the lower end of the first lifting structure, and the limiting structure can stop at the lower end of the first slide groove portion during the upward movement of the first lifting structure, and stop at the lower end of the second slide groove portion during the downward movement of the first lifting structure.
- a second aspect of an embodiment of the present disclosure provides a robot, comprising an image acquisition device and the above-mentioned lifting mechanism, wherein the image acquisition device is installed on a second lifting structure of the lifting mechanism.
- FIG. 1 is a perspective view of a lifting mechanism provided by an exemplary embodiment of the present disclosure, wherein A lifting structure is located at a maximum retracted position;
- FIG2 is a perspective view of a lifting mechanism provided by an exemplary embodiment of the present disclosure, wherein the first lifting structure is located at a maximum extension position;
- FIG3 is a side view of a lifting mechanism provided by an exemplary embodiment of the present disclosure, wherein the first lifting structure is located in a maximum retracted position;
- FIG. 4 is a front view of a lifting mechanism provided by an exemplary embodiment of the present disclosure, wherein the first lifting structure is located at a maximum retracted position, and a partial structure of the lifting mechanism is cut away to show the motor;
- Fig. 5 is a cross-sectional view taken along line "A-A" in Fig. 4;
- Fig. 6 is a cross-sectional view taken along line "B-B" in Fig. 4 .
- 100-lifting mechanism 1-fixed structure; 11-first slide groove part; 2-first lifting structure; 21-first slide rail part; 22-second slide rail part; 23-limiting structure; 3-second lifting structure; 31-second slide groove part; 4-driving structure; 41-motor; 42-transmission shaft; 43-motor mounting frame; 5-synchronizing assembly; 50-synchronizing member; 51-first connecting part; 52-second connecting part; 53-first synchronous wheel; 54-second synchronous wheel; 61-first pressure plate; 62-second pressure plate.
- the robot is equipped with an image acquisition device for inspecting external equipment.
- the image acquisition device is installed on the lifting mechanism so that it can move up and down.
- the lifting mechanism in the robot in the related art usually includes a slide rail structure, and the image acquisition device can move up and down along the slide rail structure. Since the robot needs to move to different heights to work, the size of the slide rail structure in the up and down direction is large, which makes the center of gravity of the robot high, resulting in poor movement stability of the robot and easy rollover.
- the purpose of the present disclosure is to provide a lifting mechanism and a robot to solve the technical problems existing in the related art.
- a first aspect of the present disclosure provides a lifting mechanism 100, comprising a fixed structure 1, a first lifting structure 2, a second lifting structure 3, a driving structure 4 and a synchronization assembly 5.
- the first lifting structure 2 is movably connected to the fixed structure 1 along the up-down direction so as to be able to extend upward from the fixed structure 1.
- the second lifting structure 3 is configured to be able to move up and down relative to the first lifting structure 2.
- the driving structure 4 is used to drive the first lifting structure 2 to move up and down relative to the fixed structure 1.
- the synchronization assembly 5 comprises a first synchronization wheel 53 and a synchronization member 50.
- the first synchronization wheel 53 is rotatably arranged at the upper end of the first lifting structure 2.
- the synchronization member 50 is arranged around the first synchronization wheel 53.
- the synchronization member 50 has a first connection portion 51 and a second connection portion 52.
- the first connection portion 51 and the second connection portion 52 are respectively located on both sides of the first synchronization wheel 53.
- the first connection portion 51 is fixed to the fixed structure 1
- the second connection portion 52 is fixed to the second lifting structure 3, so that the synchronization member 50 can drive the second lifting structure 3 to move up and down relative to the first lifting structure 2 when the first lifting structure 2 moves up and down relative to the fixed structure 1.
- the synchronizer 50 since the synchronizer 50 is wound around the first synchronous wheel 53, the synchronizer 50 has a first connecting portion 51 and a second connecting portion 52, and the first connecting portion 51 and the second connecting portion 52 are respectively located on both sides of the first synchronous wheel 53, the first connecting portion 51 is fixed to the fixed structure 1, and the second connecting portion 52 is fixed to the second lifting structure 3, so that the first lifting structure 2 and the second lifting structure 3 can be linked to each other when moving up and down, and the first lifting structure 2 and the second lifting structure 3 have the same moving direction, that is, when the first lifting structure 2 moves up relative to the fixed structure 1, the second lifting structure 3 can move up relative to the first lifting structure 2, and when the first lifting structure 2 moves down relative to the fixed structure 1, the second lifting structure 3 can move down relative to the first lifting structure 2.
- the first lifting structure 2 moves upward relative to the fixed structure 1 under the driving action of the driving structure 4 , since the first connecting portion 51 is fixed to the fixed structure 1 , The position between the first connection part 51 and the fixed structure 1 remains unchanged, and the first synchronous wheel 53 at the upper end of the first lifting structure 2 moves upward with the first lifting structure 2, so that the synchronous member 50 wound around the first synchronous wheel 53 slides relative to the first synchronous wheel 53, and the second connection part 52 of the synchronous member 50 is fixed to the second lifting structure 3.
- the synchronous member 50 can provide the second lifting structure 3 with a driving force to pull the second lifting structure 3 upward relative to the first lifting structure 2, so that the second lifting structure 3 moves upward relative to the first lifting structure 2.
- the distance that the second lifting structure 3 moves upward relative to the fixed structure 1 is equal to the sum of the distance that the first lifting structure 2 moves upward relative to the fixed structure 1 and the distance that the second lifting structure 3 moves upward relative to the first lifting structure 2.
- the lifting mechanism 100 can realize the synchronous linkage between the first lifting structure 2 and the second lifting structure 3 through the synchronization component 5, and the moving directions of the first lifting structure 2 and the second lifting structure 3 are the same.
- the lifting mechanism 100 can realize a driving structure 4 to drive the first lifting structure 2 to move up and down relative to the fixed structure 1, and at the same time drive the second lifting structure 3 to move up and down relative to the first lifting structure 2, that is, the first lifting structure 2 and the second lifting structure 3 can be moved up or down at the same time through a driving structure 4, thereby simplifying the structure of the lifting mechanism 100 and saving costs.
- the linkage of the first lifting structure 2 and the second lifting structure 3 can realize the rapid movement of the second lifting structure 3 in the up and down direction, and the distance that the second lifting structure 3 moves upward relative to the fixed structure 1 is equal to the sum of the distance that the first lifting structure 2 moves upward relative to the fixed structure 1 and the distance that the second lifting structure 3 moves upward relative to the first lifting structure 2. Therefore, compared with the solution of directly driving the lifting structure to move, the second lifting structure 3 of the present disclosure can move more quickly in the up and down direction, quickly realize the lifting function, and thus improve the lifting efficiency.
- the lifting mechanism 100 can have a stowed state and an extended state when in use.
- the first lifting structure 2 moves downward relative to the fixed structure 1
- the second lifting structure 3 moves downward relative to the fixed structure 1.
- the overall height of the lifting mechanism 100 can be reduced, thereby lowering the center of gravity of the lifting mechanism 100, so as to improve the stability of the lifting mechanism 100 and facilitate movement.
- the lifting mechanism 100 when the above-mentioned lifting mechanism 100 is applied to a movable device such as a robot or a transport robot, during the movement, the lifting mechanism 100 can be in a stowed state to lower the center of gravity of the overall structure, improve the movement stability and safety of the overall structure, and reduce the possibility of the structure tipping over due to an excessively high center of gravity during movement.
- the lifting mechanism 100 also has an extended state. In the extended state, the first lifting structure 2 moves upward relative to the fixed structure 1, and the second lifting structure 3 moves upward relative to the first lifting structure 2, so that the second lifting structure 3 can move to the upper end of the lifting mechanism 100 to meet the height requirement.
- the second lifting structure 3 can be used as a transportation platform or a transfer platform.
- the second lifting structure 3 moves in the up and down directions to move the object upward to a specified height.
- the second lifting structure 3 can also be used as a mounting platform for a sensor or an image acquisition device.
- the second lifting structure 3 moves in the up and down directions to change the detection or acquisition range of the sensor or the image acquisition device to meet the height requirement of the structure in different application scenarios.
- the present disclosure does not specifically limit the application scenario of the above-mentioned lifting mechanism 100.
- the lifting mechanism 100 can have a storage state and an extended state when in use.
- the lifting mechanism 100 can lower the overall center of gravity in the storage state to improve the structural stability of the lifting mechanism 100 and facilitate the movement of the lifting mechanism 100.
- the lifting mechanism 100 can make the second lifting structure 3 have a larger height in the extended state to meet the height requirements of different application scenarios.
- the above-mentioned lifting mechanism 100 realizes the linkage between the first lifting structure 2 and the second lifting structure 3 through the synchronization component 5, and can realize the upward movement of the first lifting structure 2 and the second lifting structure 3 at the same time through a driving structure 4, simplifying the structure and saving costs.
- the linkage of the first lifting structure 2 and the second lifting structure 3 can realize the rapid movement of the second lifting structure 3 in the up and down directions, improve the lifting efficiency of the second lifting structure 3, and is conducive to meeting the needs of different application scenarios.
- the lifting mechanism 100 can be applied to a robot, and the second lifting structure 3 can be fixed with an image acquisition device of the robot.
- the first lifting structure 2 and the second lifting structure 3 in the lifting mechanism 100 can both move downward to make the robot move downward.
- the lifting mechanism 100 is in a storage state, thereby reducing the overall center of gravity of the robot and improving the stability and safety of the robot during movement.
- the robot collects images of external structures (such as chassis, storage cabinets or containers, etc.), the first lifting structure 2 and the second lifting structure 3 in the lifting mechanism 100 can move upward respectively, so that the image acquisition device on the second lifting structure 3 can have a suitable image acquisition height to realize the image acquisition function.
- the upward movement of the first lifting structure 2 and the second lifting structure 3 can be realized by one drive at the same time, which can simplify the internal structure of the robot and save costs, reduce the dead weight of the robot, and improve the endurance of the robot.
- the linkage of the first lifting structure 2 and the second lifting structure 3 can realize the rapid movement of the second lifting structure 3 in the up and down directions, which can improve the moving efficiency of the image acquisition device in the up and down directions, realize rapid storage and extension, and can quickly reach the specified height to realize rapid acquisition, thereby improving the image acquisition efficiency.
- the above-mentioned synchronous member 50 can be a structure such as a synchronous belt, a synchronous chain or a pull rope.
- the synchronous member 50 can be a pull rope, one end of which can be fixed to the fixed structure 1, and the other end can be fixed to the second lifting structure 3.
- the pull rope is wound around the first synchronous wheel 53.
- the driving structure 4 can be a linear driving structure such as a linear motor, a screw nut structure, a gear rack structure or a telescopic rod.
- the driving structure 4 can directly or indirectly drive the first lifting structure 2 to move in the up and down directions. During the upward movement of the first lifting structure 2 relative to the fixed structure 1, the pull rope is in a tensioned state.
- One end of the pull rope is fixed to the fixed structure 1, and the other end can pull the second lifting structure 3 to move upward relative to the first lifting structure 2.
- the pull rope loses its pulling force on the second lifting structure 3, and the second lifting structure 3 moves downward relative to the first lifting structure 2 under the action of its own gravity.
- the synchronous member 50 may be a synchronous belt or a synchronous chain.
- the synchronization component 5 may further include a second synchronization wheel 54, which is rotatably disposed at the lower end of the first lifting structure 2, the synchronization member 50 is formed into a ring shape and is wound around the second synchronization wheel 54, the driving structure 4 is fixed to the first lifting structure 2, and the driving structure 4 is connected to the first synchronization wheel 53 or the second synchronization wheel 54 and is used to drive the first synchronization wheel 53 or the second synchronization wheel 54 to rotate.
- a second synchronization wheel 54 which is rotatably disposed at the lower end of the first lifting structure 2
- the synchronization member 50 is formed into a ring shape and is wound around the second synchronization wheel 54
- the driving structure 4 is fixed to the first lifting structure 2
- the driving structure 4 is connected to the first synchronization wheel 53 or the second synchronization wheel 54 and is used to drive the first synchronization wheel 53 or the second synchronization wheel 54 to rotate.
- the synchronizer 50 is formed in an annular shape and is wound around the first synchronizer wheel 53 and the As shown in FIG1 and FIG2 , when the first lifting structure 2 moves upward relative to the fixed structure 1 under the driving action of the driving structure 4, the second synchronous wheel 54, located between the upper part of the second lifting structure 3 and the first connecting part 51, is in a tensioned state, and the synchronous wheel 50 can provide the second lifting structure 3 with a pulling force to pull the second lifting structure 3 upward, so that the second lifting structure 3 moves upward relative to the first lifting structure 2.
- the synchronous wheel 50 located between the lower part of the second lifting structure 3 and the first connecting part 51 is in a tensioned state, and the synchronous wheel 50 can provide the second lifting structure 3 with a pulling force to pull the second lifting structure 3 downward, so that the second lifting structure 3 moves downward relative to the first lifting structure 2. It can be seen that no matter whether the first lifting structure 2 moves upward or downward, the synchronous wheel 50 can apply a pulling force to the second lifting structure 3, ensuring that the second lifting structure 3 can move relative to the first lifting structure 2, so that the second lifting structure 3 has good movement stability and safety.
- the synchronizer 50 is formed in a ring shape and is wound around the first synchronizer wheel 53 and the second synchronizer wheel 54 at the same time, so that the transmission relationship among the synchronizer 50 , the first synchronizer wheel 53 and the second synchronizer wheel 54 has better stability and is less likely to be disengaged.
- the distance between the first connection part 51 and the first synchronous wheel 53 can be the same as the distance between the second connection part 52 and the second synchronous wheel 54, that is, the two parts of the annular synchronous belt between the first connection part 51 and the second connection part 52 have the same length.
- the distance that the synchronous member 50 drives the second lifting structure 3 to move up or down can be equal, which is convenient for planning the linkage relationship between the first lifting structure 2 and the second lifting structure 3.
- the first lifting structure 2 may have a maximum extension position and a maximum retracted position, in which the first connection portion 51 is close to the second synchronous wheel 54 and the second connection portion 52 is close to the first synchronous wheel 53, and in which the first connection portion 51 is close to the first synchronous wheel 53 and the second connection portion 52 is close to the second synchronous wheel 54.
- the maximum retracted position of the first lifting structure 2 refers to the position of the first lifting structure 2 when the lower end of the first lifting structure 2 moves downward to the lowest point of the preset moving range of the first lifting structure 2
- the maximum extension position of the first lifting structure 2 refers to the position of the first lifting structure 2 when the upper end of the first lifting structure 2 moves upward to the highest point of the preset moving range of the first lifting structure 2.
- the first lifting structure 2 When the lifting mechanism 100 is in the storage state, as shown in FIG. 1 , the first lifting structure 2 is relative to The fixed structure 1 moves to the maximum retracted position, the first connecting part 51 is close to the second synchronous wheel 54, and the second connecting part 52 is close to the first synchronous wheel 53. At this time, the second lifting structure 3 is also in the maximum retracted position relative to the first lifting structure 2. The first lifting structure 2 and the second lifting structure 3 are both in the maximum retracted position, which can minimize the center of gravity of the lifting mechanism 100 and improve stability.
- the lifting mechanism 100 when the lifting mechanism 100 is in the extended state, as shown in Figure 2, the first lifting structure 2 moves to the maximum extended position relative to the fixed structure 1, the first connecting part 51 is close to the first synchronous wheel 53, the second connecting part 52 is close to the second synchronous wheel 54, and the second lifting structure 3 is also in the maximum extended position relative to the first lifting structure 2.
- the first lifting structure 2 and the second lifting structure 3 are both in the maximum extended position, which can make the second lifting structure 3 have the maximum height and realize the lifting function. It can be seen that the lifting mechanism 100 in the above embodiment can maximize the use of the size of the first lifting structure 2 and the second lifting structure 3, so that the second lifting structure 3 can have a larger stroke in the up and down directions.
- the synchronous member 50 can be a synchronous belt
- the first synchronous wheel 53 is a first synchronous pulley
- the second synchronous wheel 54 is a second synchronous pulley.
- the synchronous belt and the first synchronous pulley and the second synchronous pulley can be driven by friction, and the synchronous belt is light in weight and stable in structure, and no abnormal noise will occur during operation, so that the lifting mechanism 100 has the advantages of stable structure and function, small overall weight and low operating noise.
- the synchronous member 50 may also be a synchronous chain
- the first synchronous wheel 53 is a first synchronous sprocket
- the second synchronous wheel 54 is a second synchronous sprocket.
- the synchronous chain and the first synchronous sprocket and the second synchronous sprocket may be driven by meshing, and have high transmission stability and strong bearing capacity, and can drive the movement of the first lifting structure 2 and the second lifting structure 3 with a large mass.
- the synchronizer 50 can always be in a tensioned state, that is, the synchronizer 50 can rotate under the drive of the first synchronizer wheel 53 or the second synchronizer wheel 54.
- the driving structure 4 can be a rotation driving structure 4, and the rotation driving structure 4 can drive the first synchronizer wheel 53 or the second synchronizer wheel 54 to rotate.
- the rotating first synchronizer wheel 53 or the second synchronizer wheel 54 can provide a rotation driving force for the synchronizer 50.
- the first connecting portion 51 of the synchronizer 50 is fixed to the fixed structure 1
- the second connecting portion 52 is fixed to the second lifting structure 3
- the tensioning force on the synchronous member 50 can be transmitted to the first lifting structure 2, thereby driving the first lifting structure 2 to move in the up and down directions.
- the driving structure 4 can drive the second synchronous wheel 54 to rotate.
- the synchronous member 50 is formed in a ring shape and is wound between the second synchronous wheel 54 and the first synchronous wheel 53. Since the first connecting portion 51 of the synchronous member 50 is fixed to the fixed structure 1, the second connecting portion 52 is fixed to the second lifting structure 3, and the second synchronous wheel 54 is located at the lower end of the first lifting structure 2 and connected to the first lifting structure 2, the second synchronous wheel 54 and the first lifting structure 2 can only move in the up and down direction.
- the driving structure 4 drives the second synchronous wheel 54 to rotate
- the rotational torque of the second synchronous wheel 54 is transmitted to the synchronous member 50 in contact therewith, and the synchronous member 50 generates tension after being subjected to force.
- the tension of the synchronous member 50 acts on the second synchronous wheel 54 and the first lifting structure 2, and the second synchronous wheel 54 and the first lifting structure 2 can only move upward, thereby realizing driving the first lifting structure to move upward.
- the driving structure 4 in the above embodiment achieves the technical effect of driving the first lifting structure 2 to move upward while driving the second lifting structure 3 to move upward.
- the driving structure 4 may include a motor 41.
- the driving structure 4 is used to drive the first synchronous wheel 53 or the second synchronous wheel 54 to rotate.
- the driving structure 4 also moves in the up-down direction following the first lifting structure 2.
- the lifting mechanism 100 may include a motor mounting frame 43, which may be fixedly connected to the first lifting structure 2.
- the motor 41 may be mounted on the motor mounting frame 43 so as to be able to move in the up-down direction following the first lifting structure 2, thereby ensuring that the motor 41 can always drive the first synchronous wheel 53 or the second synchronous wheel 54.
- the driving structure 4 may include a motor 41, the output shaft of the motor 41 may be perpendicular to the up-down direction, and the output shaft of the motor 41 is connected to the first The synchronous wheel 53 or the second synchronous wheel 54.
- the output shaft of the motor 41 is directly connected to the first synchronous wheel 53 or the second synchronous wheel 54, and the driving efficiency is high.
- the driving structure 4 may include a motor 41, a first bevel gear, a second bevel gear, and a transmission shaft 42, wherein the output shaft of the motor 41 extends in the up-down direction, the rotation axis of the first bevel gear extends in the up-down direction, the rotation axis of the second bevel gear is perpendicular to the rotation axis of the first bevel gear, the output shaft of the motor 41 is connected to the first bevel gear, the first bevel gear and the second bevel gear are meshed with each other, and the second bevel gear is connected to the first synchronous gear 53 or the second synchronous gear 54 through the transmission shaft 42.
- the output shaft of the motor 41 in this embodiment extends in the up-down direction, which can facilitate the arrangement of the motor 41, reduce the size of the lifting mechanism 100 in the left-right direction, and thus facilitate the arrangement of the lifting mechanism 100.
- the first lifting structure 2 is movably connected to the fixed structure 1 along the up-down direction so as to be able to extend upward from the fixed structure 1, as shown in Figures 4 and 5.
- the fixed structure 1 may have a first slide groove portion 11 with an opening toward the first lifting structure 2, and a first slide rail portion 21 extending along the up-down direction is formed on one side of the first lifting structure 2 close to the fixed structure 1.
- the first slide rail portion 21 is slidably matched with the first slide groove portion 11, and the first connecting portion 51 is located in the first slide groove portion 11 and fixed to the first slide groove portion 11.
- the first connection portion 51 is bonded to the first slide groove portion 11.
- the first connection portion 51 of the synchronizer 50 can be located in the first slide groove, and the first connection portion 51 can be bonded to the inner wall of the first slide groove portion 11 to achieve the fixation of the first connection portion 51 and the first slide groove portion 11.
- the lifting mechanism 100 may further include a first pressing plate 61, at least part of which is located in the first slide groove part 11 and is used to press the first connection part 51 against the inner wall of the first slide groove part 11.
- the first pressing plate 61 and the inner wall of the first slide groove part 11 can clamp the first connection part 51 together and improve the bonding effect between the inner wall of the first slide groove part 11 and the first connection part 51.
- the friction between the first pressing plate 61 and the first connection part 51 can fix the first connection part 51, reduce the possibility of relative movement between the first connection part 51 and the fixed structure 1 when the bonding effect between the inner wall of the first slide groove part 11 and the first connection part 51 fails, thereby improving the connection stability between the first connection part 51 and the fixed structure 1.
- the first pressing plate 61 can be fixed to the fixed Structure 1, as an exemplary embodiment, a plug-in opening may be formed on the fixed structure 1, and the first pressing plate 61 may enter the interior of the first chute portion 11 through the plug-in opening, and a limiting groove may be formed inside the first chute portion 11, and one end of the first pressing plate 61 is located in the limiting groove, and the other end is clamped in the plug-in opening, so that the first pressing plate 61 can be fixed to the fixed structure 1, and the first pressing plate 61 and the inner wall of the first chute portion 11 can stably clamp the first connecting portion 51.
- the first pressing plate 61 can be connected to the fixed structure 1 by bolts.
- the bolts can be sequentially passed through the threaded holes on the first pressing plate 61, the first connecting portion 51 and the bottom wall of the first chute portion 11 to fix the first pressing plate 61, the first connecting portion 51 and the first chute portion 11 as a whole.
- the bolts can further ensure the stable connection between the first connecting portion 51 and the fixed structure 1, and improve the bearing capacity of the lifting mechanism 100.
- the second lifting structure 3 is configured to be able to move up and down relative to the first lifting structure 2.
- the second lifting structure 3 has a second slide groove portion 31 with an opening toward the first lifting structure 2.
- a second slide rail portion 22 extending in the up and down direction is formed on one side of the first lifting structure 2 close to the second lifting structure 3.
- the second slide rail portion 22 is slidably matched with the second slide groove portion 31.
- the second connecting portion 52 is located in the second slide groove portion 31 and is fixed to the second slide groove portion 31.
- the second connection portion 52 may be bonded to the second slide groove portion 31.
- the second connection portion 52 may be bonded to the inner wall of the second slide groove portion 31.
- the lifting mechanism 100 may further include a second pressing plate 62, at least part of which is located in the second slide groove part 31 and is used to press the second connection part 52 against the inner wall of the second slide groove part 31.
- the second pressing plate 62 and the inner wall of the second slide groove part 31 can jointly clamp the second connection part 52 to improve the bonding effect between the inner wall of the second slide groove part 31 and the second connection part 52.
- the friction force between the second pressing plate 62 and the second connection part 52 can fix the second connection part 52, reduce the possibility of relative movement between the second connection part 52 and the first lifting structure 2 when the bonding effect between the inner wall of the second slide groove part 31 and the second connection part 52 fails, thereby ensuring the connection stability between the second connection part 52 and the first lifting structure 2.
- the above-mentioned second pressing plate 62 can be fixed to the first lifting structure 2 by plugging, clamping or bolting.
- a lifting structure 2, the present disclosure does not limit its specific connection method.
- the lifting mechanism 100 may be provided with a limiting structure 23, which is used to limit the first slide rail portion from being disengaged from the first slide groove portion, and to limit the second slide rail portion from being disengaged from the second slide groove portion.
- the limiting structure 23 may be provided on the first lifting structure 2, or may be provided on the second lifting structure 3 and the fixed structure 1, respectively.
- the first lifting structure 2 may be provided with a limiting structure 23, which protrudes outwardly from the first slide rail portion 21 and the second slide rail portion 22, and is arranged near the lower end of the first lifting structure 2.
- the limiting structure 23 can stop at the lower end of the first slide groove portion 11 during the upward movement of the first lifting structure 2, and stop at the lower end of the second slide groove portion 31 during the downward movement of the first lifting structure 2.
- the limiting structure 23 can stop at the lower end of the second slide groove portion 31 when the second lifting structure 3 moves downward to the maximum retracted position, thereby preventing the second lifting structure 3 from continuing to move downward. Since the second lifting structure 3 and the first lifting structure 2 have a linkage relationship through the synchronization component, when the second lifting structure 3 moves downward to the maximum retracted position, the first lifting structure 2 also moves downward to the maximum retracted position. The limiting structure 23 can simultaneously limit the downward movement of the first lifting structure 2 and the second lifting structure 3, thereby ensuring the stability of the lifting mechanism 100.
- the limiting structure 23 can stop at the lower end of the first slide groove portion 11 when the first lifting structure 2 moves upward to the maximum extended position, thereby limiting the continued upward movement of the first lifting structure 2, thereby ensuring the stability of the lifting mechanism 100.
- the limiting structure 23 and the motor mounting bracket 43 are integrally formed, as shown in Figures 1 to 3, the top of the motor mounting bracket 43 can be used to stop at the lower end of the first slide groove portion 11 or the second slide groove portion 31 to serve as a limiting structure 23, and the motor mounting bracket 43 can be used to fix the motor 41, thereby improving the integration of the lifting mechanism 100.
- a second aspect of the present disclosure provides a robot, comprising an image acquisition device and the above-mentioned lifting mechanism 100 , wherein the image acquisition device is installed on the second lifting structure 3 of the lifting mechanism 100 .
- the first lifting structure 2 and the second lifting structure 3 in the lifting mechanism 100 can both move downward, so that the lifting mechanism 100 is in a storage state, thereby lowering the overall center of gravity of the robot and improving the stability and safety of the robot during movement.
- the first lifting structure 2 and the second lifting structure 3 in the mechanism 100 can move upwards respectively, so that the image acquisition device on the second lifting structure 3 can have a suitable image acquisition height, realizing the image acquisition function.
- the upward movement of the first lifting structure 2 and the second lifting structure 3 can be realized simultaneously through a driving structure 4, which can simplify the internal structure of the robot and save costs, reduce the dead weight of the robot, and improve the endurance of the robot.
- the linkage of the first lifting structure 2 and the second lifting structure 3 can realize the rapid movement of the second lifting structure 3 in the up and down directions, improve the moving efficiency of the image acquisition device in the up and down directions, realize rapid storage and extension, and can realize rapid arrival at a specified height for rapid acquisition, thereby improving image acquisition efficiency.
- the lifting mechanism can have a storage state and an extended state when in use.
- the lifting mechanism can lower the overall center of gravity in the storage state to improve the structural stability of the lifting mechanism and facilitate the movement of the lifting mechanism.
- the lifting mechanism can make the second lifting structure have a larger height in the extended state to meet the height requirements of different application scenarios.
- the above lifting mechanism realizes the linkage between the first lifting structure and the second lifting structure through a synchronization component, and can realize the upward movement of the first lifting structure and the second lifting structure at the same time through a driving structure, simplifying the structure and saving costs.
- the linkage between the first lifting structure and the second lifting structure can realize the rapid movement of the second lifting structure in the up and down directions, improve the lifting efficiency of the second lifting structure, and is conducive to meeting the needs of different application scenarios.
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Abstract
本公开涉及一种升降机构及机器人，升降机构包括固定结构、第一升降结构、第二升降结构、驱动结构以及同步组件，第一升降结构沿上下方向可移动地连接于固定结构，以能够向上伸出于固定结构，第二升降结构能够相对于第一升降结构上下移动，驱动结构用于驱动第一升降结构相对于固定结构上下移动，同步组件包括第一同步轮和同步件，第一同步轮可转动地设置在第一升降结构的上端，同步件绕设于第一同步轮并具有分别位于第一同步轮的两侧的第一连接部和第二连接部，第一连接部固定于固定结构，第二连接部固定于第二升降结构，以使同步件能够在第一升降结构相对于固定结构上下移动时带动第二升降结构相对于第一升降结构上下移动。
Description
本申请是以中国申请号为202211600421.9，申请日为2022年12月13日的申请为基础，并主张其优先权，该中国申请的公开内容在此作为整体引入本申请中。
本公开涉及升降机构领域，具体地，涉及一种升降机构及机器人。
机器人的内部设置有用于对外界的设备进行检查的图像采集装置，图像采集装置安装于升降机构上以能够实现上下移动。
发明内容
本公开的目的是提供一种升降机构及机器人。
本公开的一些实施例的第一方面提供一种升降机构，包括：
固定结构；
第一升降结构，沿上下方向可移动地连接于所述固定结构，以能够向上伸出于所述固定结构；
第二升降结构，设置为能够相对于所述第一升降结构上下移动；
驱动结构，用于驱动所述第一升降结构相对于所述固定结构上下移动；
同步组件，包括第一同步轮和同步件，所述第一同步轮可转动地设置在所述第一升降结构的上端，所述同步件绕设于所述第一同步轮，所述同步件具有第一连接部和第二连接部，所述第一连接部和所述第二连接部分别位于所述第一同步轮的两侧，所述第一连接部固定于所述固定结构，所述第二连接部固定于所述第二升降结构，以使所述同步件能够在所述第一升降结构相对于所
述固定结构上下移动时带动所述第二升降结构相对于所述第一升降结构上下移动。
在一些实施例中，所述同步组件还包括第二同步轮，所述第二同步轮可转动地设置在所述第一升降结构的下端，所述同步件形成为环形并绕设于所述第二同步轮，所述驱动结构固定于所述第一升降结构，所述驱动结构连接于所述第一同步轮或所述第二同步轮并用于驱动所述第一同步轮或所述第二同步轮转动。
在一些实施例中，所述第一连接部与所述第一同步轮之间的距离与所述第二连接部与所述第二同步轮之间的距离相同。
在一些实施例中，所述第一升降结构具有最大伸出位置和最大缩回位置，在所述最大伸出位置，所述第一连接部靠近所述第二同步轮，所述第二连接部靠近所述第一同步轮，在所述最大缩回位置，所述第一连接部靠近所述第一同步轮，所述第二连接部靠近所述第二同步轮。
在一些实施例中，所述驱动结构包括电机，所述电机的输出轴与所述上下方向垂直，且所述电机的输出轴连接于所述第一同步轮或所述第二同步轮；或者，
所述驱动结构包括电机、第一锥齿轮、第二锥齿轮以及传动轴，所述电机的输出轴沿所述上下方向延伸，所述第一锥齿轮的旋转轴线沿所述上下方向延伸，所述第二锥齿轮的旋转轴线与所述第一锥齿轮的旋转轴线垂直，所述电机的输出轴连接于所述第一锥齿轮，所述第一锥齿轮与所述第二锥齿轮相互啮合，所述第二锥齿轮通过所述传动轴与所述第一同步轮或第二同步轮连接。
在一些实施例中，所述同步件为同步带，所述第一同步轮为第一同步带轮，所述第二同步轮为第二同步带轮；或者，
所述同步件为同步链，所述第一同步轮为第一同步链轮，所述第二同步轮为第二同步链轮。
在一些实施例中，所述固定结构具有开口朝向所述第一升降结构的第一滑槽部，所述第一升降结构靠近于所述固定结构的一侧上形成有沿所述上下
方向延伸的第一滑轨部，所述第一滑轨部与所述第一滑槽部滑动配合，所述第一连接部位于所述第一滑槽部内并固定于所述第一滑槽部；
所述第二升降结构具有开口朝向所述第一升降结构的第二滑槽部，所述第一升降结构靠近所述第二升降结构的一侧上形成有沿所述上下方向延伸的第二滑轨部，所述第二滑轨部与所述第二滑槽部滑动配合，所述第二连接部位于所述第二滑槽部内并固定于所述第二滑槽部。
在一些实施例中，所述第一连接部与所述第一滑槽部粘接，所述第二连接部与所述第二滑槽部粘接。
在一些实施例中，所述升降机构还包括第一压板，至少部分所述第一压板位于所述第一滑槽部内并用于将所述第一连接部压紧在所述第一滑槽部的内壁上；
所述升降机构还包括第二压板，至少部分所述第二压板位于所述第二滑槽部内并用于将所述第二连接部压紧在所述第二滑槽部的内壁上。
在一些实施例中，所述第一升降结构上设置有限位结构，所述限位结构向外凸出于所述第一滑轨部和所述第二滑轨部，所述限位结构靠近所述第一升降结构的下端布置，所述限位结构能够在所述第一升降结构向上移动的过程中止挡在所述第一滑槽部的下端，并在所述第一升降结构向下移动的过程中止挡在所述第二滑槽部的下端。
本公开实施例第二方面提供一种机器人，包括图像采集装置和上述的升降机构，所述图像采集装置安装在所述升降机构的第二升降结构上。
本公开的其他特征和优点将在随后的具体实施方式部分予以详细说明。
附图是用来提供对本公开的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本公开，但并不构成对本公开的限制。在附图中：
图1是本公开一种示例性实施方式提供的升降机构的立体图，其中，第
一升降结构位于最大缩回位置；
图2是本公开一种示例性实施方式提供的升降机构的立体图，其中，第一升降结构位于最大伸出位置；
图3是本公开一种示例性实施方式提供的升降机构的侧视图，其中，第一升降结构位于最大缩回位置；
图4是本公开一种示例性实施方式提供的升降机构的正视图，其中，第一升降结构位于最大缩回位置，并对升降机构的局部结构进行了剖视以示出电机；
图5是沿图4中“A-A”进行剖切后的截面图；
图6是沿图4中“B-B”进行剖切后的截面图。
附图标记说明
100-升降机构；1-固定结构；11-第一滑槽部；2-第一升降结构；21-第一滑轨部；22-第二滑轨部；23-限位结构；3-第二升降结构；31-第二滑槽部；4-驱动结构；41-电机；42-传动轴；43-电机安装架；5-同步组件；50-同步件；51-第一连接部；52-第二连接部；53-第一同步轮；54-第二同步轮；61-第一压板；62-第二压板。
以下结合附图对本公开的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本公开，并不用于限制本公开。
在本公开中，在未作相反说明的情况下，使用的方位词如“上、下”是指升降机构在使用状态时的上、下，参照图1至图6所示的上、下，“内、外”是指相关零部件轮廓的内、外。此外，需要说明的是，使用的术语如“第一”、“第二”等是为了区别一个要素和另一个要素，不具有顺序性和重要性。另外，在参考附图的描述中，不同附图中的同一标记表示相同的要素。
机器人的内部设置有用于对外界的设备进行检查的图像采集装置，图像
采集装置安装于升降机构上以能够实现上下移动。相关技术中的机器人内的升降机构通常包括滑轨结构，图像采集装置沿滑轨结构在上下方向上可移动。由于机器人需要移动至不同的高度位置工作，滑轨结构在上下方向上的尺寸较大，使得机器人的重心偏高，会导致机器人的移动稳定性差，容易发生侧翻。
本公开的目的是提供一种升降机构及机器人，以解决相关技术中存在的技术问题。
如图1至图6所示，本公开第一方面提供一种升降机构100，包括固定结构1、第一升降结构2、第二升降结构3、驱动结构4以及同步组件5，第一升降结构2沿上下方向可移动地连接于固定结构1，以能够向上伸出于固定结构1，第二升降结构3设置为能够相对于第一升降结构2上下移动，驱动结构4用于驱动第一升降结构2相对于固定结构1上下移动，同步组件5包括第一同步轮53和同步件50，第一同步轮53可转动地设置在第一升降结构2的上端，同步件50绕设于第一同步轮53，同步件50具有第一连接部51和第二连接部52，第一连接部51和第二连接部52分别位于第一同步轮53的两侧，第一连接部51固定于固定结构1，第二连接部52固定于第二升降结构3，以使同步件50能够在第一升降结构2相对于固定结构1上下移动时带动第二升降结构3相对于第一升降结构2上下移动。
在上述的升降机构100中，由于同步件50绕设于第一同步轮53，同步件50具有第一连接部51和第二连接部52，第一连接部51和第二连接部52分别位于第一同步轮53的两侧，第一连接部51固定于固定结构1，第二连接部52固定于第二升降结构3，使得第一升降结构2和第二升降结构3在上下移动时能够相互联动，且第一升降结构2和第二升降结构3具有相同的移动方向，即，在第一升降结构2相对于固定结构1上移时，第二升降结构3能够相对于第一升降结构2上移，而在第一升降结构2相对于固定结构1下移时，第二升降结构3能够相对于第一升降结构2下移。
在一些实施例中，如图1和图2所示，第一升降结构2在驱动结构4的驱动作用下相对于固定结构1上移时，由于第一连接部51固定于固定结构1，
第一连接部51和固定结构1之间的位置不变，第一升降结构2上端的第一同步轮53跟随第一升降结构2上移，使得绕设于第一同步轮53上的同步件50相对于第一同步轮53产生滑动，同步件50的第二连接部52固定于第二升降结构3，同步件50能够为第二升降结构3提供拉动第二升降结构3相对于第一升降结构2上移的驱动力，以使得第二升降结构3相对于第一升降结构2上移。此时，第二升降结构3相对于固定结构1向上移动的距离，等于第一升降结构2相对于固定结构1向上移动的距离和第二升降结构3相对于第一升降结构2向上移动的距离的总和。
而在第一升降结构2在驱动结构4的驱动作用下相对于固定结构1下移时，同理，由于第一升降结构2上端的第一同步轮53跟随第一升降结构2下移，绕设于第一同步轮53上的同步件50相对于第一同步轮53滑动，第二升降结构3能够在自身重力或者同步件50的驱动作用下相对于第一升降结构2下移。
由此可见，上述的升降机构100通过同步组件5能够实现第一升降结构2和第二升降结构3之间的同步联动，且第一升降结构2和第二升降结构3的移动方向相同。上述的升降机构100可以实现一个驱动结构4驱动第一升降结构2相对于固定结构1上下移动，同时带动第二升降结构3相对于第一升降结构2上下移动，即通过一个驱动结构4可以同时实现第一升降结构2和第二升降结构3的上移或者下移，从而简化升降机构100的结构并节省成本。并且，第一升降结构2和第二升降结构3的联动可以实现第二升降结构3在上下方向上的快速移动，第二升降结构3相对于固定结构1向上移动的距离，等于第一升降结构2相对于固定结构1向上移动的距离和第二升降结构3相对于第一升降结构2向上移动的距离的总和，因此，相比于直接驱动升降结构移动的方案而言，本公开的第二升降结构3能够更加快速地在上下方向上移动，快速实现升降功能，从而提高升降效率。
并且，上述的升降机构100在使用时可以具有收纳状态和伸出状态，在收纳状态下，第一升降结构2相对于固定结构1向下移动，第二升降结构3相
对于第一升降结构2向下移动，可以使得升降机构100的整体高度降低，从而降低升降机构100的重心，以提高升降机构100的稳定性，便于移动。例如，在上述的升降机构100应用于机器人或者运输机器人等可移动装置中时，在移动过程中，升降机构100可以处于收纳状态，以降低整体结构的重心，提高整体结构的移动稳定性和安全性，降低结构在移动过程中因为重心过高产生侧翻的可能性。
升降机构100还具有伸出状态，在伸出状态下，第一升降结构2相对于固定结构1向上移动，第二升降结构3相对于第一升降结构2向上移动，以使得第二升降结构3能够移动至升降机构100的上端，以满足高度需求。例如，第二升降结构3可以作为运输平台或者传递平台，第二升降结构3在上下方向上移动可以将物品向上移动至指定高度。或者，第二升降结构3也可以作为传感器或者图像采集装置的安装平台，第二升降结构3在上下方向上移动可以改变传感器或者图像采集装置的探测或者采集范围，以满足结构在不同应用场景中的高度需求。本公开对于上述的升降机构100的应用场景不做具体限制。
通过上述技术方案，升降机构100在使用时可以具有收纳状态和伸出状态，升降机构100在收纳状态下可以降低整体的重心，以提高升降机构100的结构稳定性，便于升降机构100的移动。升降机构100在伸出状态下可以使得第二升降结构3具有较大的高度，以满足不同应用场景的高度需求。且上述的升降机构100通过同步组件5实现第一升降结构2和第二升降结构3之间的联动，可以实现通过一个驱动结构4同时实现第一升降结构2和第二升降结构3的上移，简化结构并节省成本，且第一升降结构2和第二升降结构3的联动可以实现第二升降结构3在上下方向上的快速移动，提高了第二升降结构3的升降效率，有利于适用于不同应用场景的需求。
作为一种示例性应用场景，上述的升降机构100可以应用于机器人，第二升降结构3可以固定有机器人的图像采集装置。在机器人移动的过程中，升降机构100中的第一升降结构2和第二升降结构3可以均向下移动，以使
得升降机构100处于收纳状态，从而降低机器人的整体重心，提高机器人在移动过程中的稳定性和安全性。在机器人对外界结构(例如机箱、储物柜或者货柜等)进行图像采集时，升降机构100中的第一升降结构2和第二升降结构3可以分别向上移动，以使得第二升降结构3上的图像采集装置能够具有合适的图像采集高度，实现图像采集功能。由于第一升降结构2和第二升降结构3之间通过同步组件5联动，可以实现通过一个驱动同时实现第一升降结构2和第二升降结构3的上移，能够简化机器人内部的结构并节省成本，降低机器人的自重，提高机器人的续航能力。并且第一升降结构2和第二升降结构3的联动可以实现第二升降结构3在上下方向上的快速移动，能够提高图像采集装置在上下方向上的移动效率，实现快速的收纳和伸出，并且能够实现快速到达指定高度实现快速采集，提高图像采集效率。
上述的同步件50可以为同步带、同步链或拉绳等结构，作为一种示例性实施方式，同步件50可以为拉绳，拉绳的一端可以固定于固定结构1，另一端可以固定于第二升降结构3，拉绳绕设于第一同步轮53，驱动结构4可以为直线电机、丝杠螺母结构、齿轮齿条结构或者伸缩杆等直线驱动结构，驱动结构4可以直接或间接驱动第一升降结构2在上下方向上移动，在第一升降结构2相对于固定结构1上移的过程中，拉绳处于张紧状态，拉绳的一端固定于固定结构1，另一端能够拉动第二升降结构3相对于第一升降结构2上移。而在第一升降结构2相对于固定结构1下移的过程中，拉绳失去对第二升降结构3的拉力，第二升降结构3在自身重力的作用下相对于第一升降结构2下移。
作为另一种示例性实施方式，同步件50可以为同步带或者同步链等结构。
在一些实施例中，同步组件5还可以包括第二同步轮54，第二同步轮54可转动地设置在第一升降结构2的下端，同步件50形成为环形并绕设于第二同步轮54，驱动结构4固定于第一升降结构2，驱动结构4连接于第一同步轮53或第二同步轮54并用于驱动第一同步轮53或第二同步轮54转动。
在上述实施例中，同步件50形成为环形并同时绕设于第一同步轮53和
第二同步轮54，如图1和图2所示，在第一升降结构2在驱动结构4的驱动作用下相对于固定结构1上移时，位于第二升降结构3上方和第一连接部51之间的同步件50处于张紧状态，同步件50能够为第二升降结构3提供拉动第二升降结构3上移的拉力，以使得第二升降结构3相对于第一升降结构2上移。而在第一升降结构2在驱动结构4的驱动作用下相对于固定结构1下移时，位于第二升降结构3的下方和第一连接部51之间的同步件50处于张紧状态，同步件50能够为第二升降结构3提供拉动第二升降结构3下移的拉力，以使得第二升降结构3相对于第一升降结构2下移。由此可见，无论是第一升降结构2上移或者下移，同步件50均能够对第二升降结构3施加拉力，确保第二升降结构3能够相对于第一升降结构2产生移动，使得第二升降结构3具有良好的移动稳定性和安全性。并且，同步件50形成为环形并同时绕设于第一同步轮53和第二同步轮54，能够使同步件50、第一同步轮53和第二同步轮54至今的传动关系具有更好的稳定性，不易发生脱离等问题。
如图1和图2所示，在一些实施例中，第一连接部51与第一同步轮53之间的距离可以与第二连接部52与第二同步轮54之间的距离相同，即，环形的同步带位于第一连接部51和第二连接部52之间的两个部分的长度相同。同步件50带动第二升降结构3上移或者下移的距离能够相等，便于规划第一升降结构2和第二升降结构3之间的联动关系。
在一些实施例中，第一升降结构2可以具有最大伸出位置和最大缩回位置，在最大伸出位置，第一连接部51靠近第二同步轮54，第二连接部52靠近第一同步轮53，在最大缩回位置，第一连接部51靠近第一同步轮53，第二连接部52靠近第二同步轮54。这里，第一升降结构2的最大缩回位置指的是，第一升降结构2的下端向下移动到第一升降结构2的预设移动范围的最低点时第一升降结构2所在的位置，第一升降结构2的最大伸出位置指的是，第一升降结构2的上端向上移动到第一升降结构2的预设移动范围的最高点时第一升降结构2所在的位置。
在升降机构100处于收纳状态时，如图1所示，第一升降结构2相对于
固定结构1移动至最大缩回位置，第一连接部51靠近第二同步轮54，第二连接部52靠近第一同步轮53，此时第二升降结构3相对于第一升降结构2也处于最大缩回位置，第一升降结构2和第二升降结构3均处于最大缩回位置，能够最大限度降低升降机构100的重心，提高稳定性。同理，在升降机构100处于伸出状态时，如图2所示，第一升降结构2相对于固定结构1移动至最大伸出位置，第一连接部51靠近第一同步轮53，第二连接部52靠近第二同步轮54，第二升降结构3相对于第一升降结构2也处于最大伸出位置，第一升降结构2和第二升降结构3均处于最大伸出位置，能够使得第二升降结构3具有最大的高度，实现升降功能。由此可见，上述实施例中的升降机构100能够最大限度地利用第一升降结构2和第二升降结构3的尺寸，使得第二升降结构3能够在上下方向上具有较大的行程。
在上述实施例中，作为一种示例性实施方式，同步件50可以为同步带，第一同步轮53为第一同步带轮，第二同步轮54为第二同步带轮。同步带与第一同步带轮和第二同步带轮之间可以通过摩擦力驱动，并且同步带的质量轻结构稳定，运行过程中不会发生异响，使得升降机构100具有结构功能稳定、整体质量小且运行噪音小的优点。
作为另一种示例性实施方式，同步件50也可以为同步链，第一同步轮53为第一同步链轮，第二同步轮54为第二同步链轮。同步链与第一同步链轮和第二同步链轮之间可以通过啮合驱动，传动稳定性高，且承载能力强，能够带动较大质量的第一升降结构2和第二升降结构3的移动。
在同步件50为环形的实施例中，由于同步件50同时绕设在第一同步轮53和第二同步轮54之间，同步件50能够始终处于张紧状态，即，同步件50可以在第一同步轮53或者第二同步轮54的驱动下转动。在该实施例中，在一些实施例中，驱动结构4可以为转动驱动结构4，转动驱动结构4可以驱动第一同步轮53或者第二同步轮54转动。当驱动结构4驱动第一同步轮53或者第二同步轮54转动时，转动的第一同步轮53或者第二同步轮54能够为同步件50提供转动的驱动力，由于同步件50的第一连接部51固定于固定结构
1，第二连接部52固定于第二升降结构3，同步件50上的张紧力能够传递给第一升降结构2，从而带动第一升降结构2在上下方向上移动。
作为一种示例性实施方式，驱动结构4可以驱动第二同步轮54转动，以驱动第一升降结构2上移为例，如图1和图2所示，在一些实施例中，同步件50形成为环形并绕设于第二同步轮54和第一同步轮53之间，由于同步件50的第一连接部51固定于固定结构1，第二连接部52固定于第二升降结构3，且第二同步轮54位于第一升降结构2的下端并连接于第一升降结构2，第二同步轮54和第一升降结构2仅能够沿上下方向移动。在驱动结构4驱动第二同步轮54转动时，第二同步轮54的转动力矩传递给与之接触的同步件50，同步件50在受力后产生张紧力，由于第一升降结构2和同步组件仅具有上下移动的力矩，同步件50的张紧力作用在第二同步轮54和第一升降结构2上，第二同步轮54和第一升降结构2只能发生向上移动的位移，从而实现驱动第一升降结构上移。在第一升降结构2上移的过程中，同步件50的第一连接部51相对于固定结构1保持不变，而同步件50相对于第一同步轮53和第二同步轮54转动，从而带动第二升降结构3相对于第一升降结构2上移。由此可见，上述实施例中的驱动结构4实现了驱动第一升降结构2上移的同时带动第二升降结构3上移的技术效果。
上述的驱动结构4可以包括电机41，在驱动结构4为电机41的实施例中，驱动结构4用于驱动第一同步轮53或第二同步轮54转动，第一同步轮53或第二同步轮54跟随第一升降结构2在上下方向上移动时，驱动结构4也跟随第一升降结构2在上下方向上移动。为了便于驱动结构4的布置，如图3所示，在一些实施例中，升降机构100可以包括电机安装架43，该电机安装架43可以固定连接于第一升降结构2，电机41可以安装在电机安装架43上，以能够跟随第一升降结构2在上下方向上移动，从而保证电机41始终能够对第一同步轮53或第二同步轮54起到驱动作用。
作为一种示例性实施方式，在一些实施例中，驱动结构4可以包括电机41，电机41的输出轴可以与上下方向垂直，且电机41的输出轴连接于第一
同步轮53或第二同步轮54。该实施例中的电机41直接的输出轴直接连接于第一同步轮53或第二同步轮54，驱动效率高。
作为另一种示例性实施方式，驱动结构4可以包括电机41、第一锥齿轮、第二锥齿轮以及传动轴42，电机41的输出轴沿上下方向延伸，第一锥齿轮的旋转轴线沿上下方向延伸，第二锥齿轮的旋转轴线与第一锥齿轮的旋转轴线垂直，电机41的输出轴连接于第一锥齿轮，第一锥齿轮与第二锥齿轮相互啮合，第二锥齿轮通过传动轴42与第一同步轮53或第二同步轮54连接。该实施例中的电机41的输出轴沿上下方向延伸，能够便于电机41的布置，缩小升降机构100在左右方向上的尺寸，从而便于升降机构100的布置。
第一升降结构2沿上下方向可移动地连接于固定结构1，以能够向上伸出于固定结构1，如图4和图5所示，在一些实施例中，固定结构1可以具有开口朝向第一升降结构2的第一滑槽部11，第一升降结构2靠近于固定结构1的一侧上形成有沿上下方向延伸的第一滑轨部21，第一滑轨部21与第一滑槽部11滑动配合，第一连接部51位于第一滑槽部11内并固定于第一滑槽部11。
在上述实施例中，第一连接部51与第一滑槽部11粘接。如图5所示，同步件50的第一连接部51可以位于第一滑槽内，第一连接部51可以粘接于第一滑槽部11的内壁，实现第一连接部51和第一滑槽部11的固定。
为了提高第一连接部51和固定结构1的连接稳定性，如图5所示，在一些实施例中，升降机构100还可以包括第一压板61，至少部分第一压板61位于第一滑槽部11内并用于将第一连接部51压紧在第一滑槽部11的内壁上。第一压板61和第一滑槽部11的内壁可以共同夹持第一连接部51，并提高第一滑槽部11的内壁和第一连接部51之间的粘接作用。第一压板61和第一连接部51之间的摩擦力能够对第一连接部51起到固定，减少第一滑槽部11的内壁和第一连接部51之间的粘接作用失效时第一连接部51和固定结构1发生相对移动的可能性，从而使得第一连接部51和固定结构1之间的连接稳定性。
上述的第一压板61可以通过插接、卡接或者螺栓连接等方式固定于固定
结构1，作为一种示例性实施方式，固定结构1上可以形成有插接开口，第一压板61可以通过插接开口进入第一滑槽部11的内部，第一滑槽部11的内部可以形成有限位槽，第一压板61的一端位于限位槽内，另一端卡接于插接开口内，以使得第一压板61能够和固定结构1固定，第一压板61和第一滑槽部11的内壁可以稳定地夹持第一连接部51。作为另一种示例性实施方式，第一压板61可以通过螺栓连接于固定结构1。在一些实施例中，螺栓可以依次穿设过第一压板61、第一连接部51和第一滑槽部11的底壁上的螺纹孔，以将第一压板61、第一连接部51和第一滑槽部11固定为一体。在该实施例中，螺栓能够进一步保证第一连接部51和固定结构1的稳定连接，提高升降机构100的承载能力。
第二升降结构3设置为能够相对于第一升降结构2上下移动，在一些实施例中，第二升降结构3具有开口朝向第一升降结构2的第二滑槽部31，第一升降结构2靠近第二升降结构3的一侧上形成有沿上下方向延伸的第二滑轨部22，第二滑轨部22与第二滑槽部31滑动配合，第二连接部52位于第二滑槽部31内并固定于第二滑槽部31。
在上述实施例中，在一些实施例中，第二连接部52可以与第二滑槽部31粘接。作为一种示例性实施方式，第二连接部52可以粘接于第二滑槽部31的内壁。
为了提高第二连接部52和第二滑槽部31之间的连接稳定性，在一些实施例中，升降机构100还可以包括第二压板62，至少部分第二压板62位于第二滑槽部31内并用于将第二连接部52压紧在第二滑槽部31的内壁上。第二压板62和第二滑槽部31的内壁可以共同夹持第二连接部52，提高第二滑槽部31的内壁和第二连接部52之间的粘接作用。第二压板62和第二连接部52之间的摩擦力能够对第二连接部52起到固定，减少第二滑槽部31的内壁和第二连接部52之间的粘接作用失效时第二连接部52和第一升降结构2发生相对移动的可能性，从而使得第二连接部52和第一升降结构2之间的连接稳定性。上述的第二压板62可以通过插接、卡接或者螺栓连接等方式固定于第
一升降结构2，本公开对其具体连接方式不做限制。
升降机构100可以设置有限位结构23，限位结构23用于限制第一滑轨部与第一滑槽部脱离，并用于限制第二滑轨部与第二滑槽部脱离，该限位结构23可以设置在第一升降结构2上，也可以分别设置在第二升降结构3和固定结构1上。如图3和图4所示，在一些实施例中，第一升降结构2上可以设置有限位结构23，限位结构23向外凸出于第一滑轨部21和第二滑轨部22，限位结构23靠近第一升降结构2的下端布置，限位结构23能够在第一升降结构2向上移动的过程中止挡在第一滑槽部11的下端，并在第一升降结构2向下移动的过程中止挡在第二滑槽部31的下端。
在上述实施例中，如图1所示，限位结构23能够在第二升降结构3向下移动至最大缩回位置时止挡在第二滑槽部31的下端，避免第二升降结构3继续下移，由于第二升降结构3和第一升降结构2之间通过同步组件具有联动关系，第二升降结构3向下移动至最大缩回位置时，第一升降结构2也向下移动至最大缩回位置，限位结构23可以同时限制第一升降结构2和第二升降结构3的下移，保证升降机构100的稳定性。如图2所示，限位结构23能够在第一升降结构2向上移动至最大伸出位置时止挡在第一滑槽部11的下端，从而限制第一升降结构2的继续上移，保证升降机构100的稳定性。
在包括电机安装架43的实施例中，在一些实施例中，限位结构23和电机安装架43一体成型，如图1至图3所示，电机安装架43的顶部可以用于止挡在第一滑槽部11或者第二滑槽部31的下端以作为限位结构23，且电机安装架43可以用于固定电机41，提高升降机构100的集成度。
本公开第二方面提供一种机器人，包括图像采集装置和上述的升降机构100，图像采集装置安装在升降机构100的第二升降结构3上。
通过上述技术方案，机器人在移动的过程中，升降机构100中的第一升降结构2和第二升降结构3可以均向下移动，以使得升降机构100处于收纳状态，从而降低机器人的整体重心，提高机器人在移动过程中的稳定性和安全性。在机器人对目标结构(例如机箱、储物柜或者货柜等)进行检查时，升降
机构100中的第一升降结构2和第二升降结构3可以分别向上移动，以使得第二升降结构3上的图像采集装置能够具有合适的图像采集高度，实现图像采集功能。由于第一升降结构2和第二升降结构3之间通过同步组件5联动，可以实现通过一个驱动结构4同时实现第一升降结构2和第二升降结构3的上移，能够简化机器人内部的结构并节省成本，降低机器人的自重，提高机器人的续航能力。第一升降结构2和第二升降结构3的联动可以实现第二升降结构3在上下方向上的快速移动，能够提高图像采集装置在上下方向上的移动效率，实现快速的收纳和伸出，并且能够实现快速到达指定高度实现快速采集，提高图像采集效率。
通过上述技术方案，升降机构在使用时可以具有收纳状态和伸出状态，升降机构在收纳状态下可以降低整体的重心，以提高升降机构的结构稳定性，便于升降机构的移动。升降机构在伸出状态下可以使得第二升降结构具有较大的高度，以满足不同应用场景的高度需求。且上述的升降机构通过同步组件实现第一升降结构和第二升降结构之间的联动，可以实现通过一个驱动结构同时实现第一升降结构和第二升降结构的上移，简化结构并节省成本，且第一升降结构和第二升降结构的联动可以实现第二升降结构在上下方向上的快速移动，提高了第二升降结构的升降效率，有利于适用于不同应用场景的需求。
以上结合附图详细描述了本公开的优选实施方式，但是，本公开并不限于上述实施方式中的具体细节，在本公开的技术构思范围内，可以对本公开的技术方案进行多种简单变型，这些简单变型均属于本公开的保护范围。
另外需要说明的是，在上述具体实施方式中所描述的各个具体技术特征，在不矛盾的情况下，可以通过任何合适的方式进行组合，为了避免不必要的重复，本公开对各种可能的组合方式不再另行说明。
此外，本公开的各种不同的实施方式之间也可以进行任意组合，只要其不违背本公开的思想，其同样应当视为本公开所公开的内容。
Claims (11)
- 一种升降机构，包括：固定结构；第一升降结构，沿上下方向可移动地连接于所述固定结构，以能够向上伸出于所述固定结构；第二升降结构，设置为能够相对于所述第一升降结构上下移动；驱动结构，用于驱动所述第一升降结构相对于所述固定结构上下移动；同步组件，包括第一同步轮和同步件，所述第一同步轮可转动地设置在所述第一升降结构的上端，所述同步件绕设于所述第一同步轮，所述同步件具有第一连接部和第二连接部，所述第一连接部和所述第二连接部分别位于所述第一同步轮的两侧，所述第一连接部固定于所述固定结构，所述第二连接部固定于所述第二升降结构，以使所述同步件能够在所述第一升降结构相对于所述固定结构上下移动时带动所述第二升降结构相对于所述第一升降结构上下移动。
- 根据权利要求1所述的升降机构，其中所述同步组件还包括第二同步轮，所述第二同步轮可转动地设置在所述第一升降结构的下端，所述同步件形成为环形并绕设于所述第二同步轮，所述驱动结构固定于所述第一升降结构，所述驱动结构连接于所述第一同步轮或所述第二同步轮并用于驱动所述第一同步轮或所述第二同步轮转动。
- 根据权利要求2所述的升降机构，其中所述第一连接部与所述第一同步轮之间的距离与所述第二连接部与所述第二同步轮之间的距离相同。
- 根据权利要求2-3中任一项所述的升降机构，其中所述第一升降结构具有最大伸出位置和最大缩回位置，在所述最大伸出位置处，所述第一连接部 靠近所述第二同步轮，所述第二连接部靠近所述第一同步轮，在所述最大缩回位置处，所述第一连接部靠近所述第一同步轮，所述第二连接部靠近所述第二同步轮。
- 根据权利要求2-4中任一项所述的升降机构，其中所述驱动结构包括电机，所述电机的输出轴与所述上下方向垂直，且所述电机的输出轴连接于所述第一同步轮或所述第二同步轮；或者，所述驱动结构包括电机、第一锥齿轮、第二锥齿轮以及传动轴，所述电机的输出轴沿所述上下方向延伸，所述第一锥齿轮的旋转轴线沿所述上下方向延伸，所述第二锥齿轮的旋转轴线与所述第一锥齿轮的旋转轴线垂直，所述电机的输出轴连接于所述第一锥齿轮，所述第一锥齿轮与所述第二锥齿轮相互啮合，所述第二锥齿轮通过所述传动轴与所述第一同步轮或第二同步轮连接。
- 根据权利要求2-5中任一项所述的升降机构，其中所述同步件为同步带，所述第一同步轮为第一同步带轮，所述第二同步轮为第二同步带轮；或者，所述同步件为同步链，所述第一同步轮为第一同步链轮，所述第二同步轮为第二同步链轮。
- 根据权利要求1-6中任一项所述的升降机构，其中所述固定结构具有开口朝向所述第一升降结构的第一滑槽部，所述第一升降结构靠近于所述固定结构的一侧上形成有沿所述上下方向延伸的第一滑轨部，所述第一滑轨部与所述第一滑槽部滑动配合，所述第一连接部位于所述第一滑槽部内并固定于所述第一滑槽部；所述第二升降结构具有开口朝向所述第一升降结构的第二滑槽部，所述第一升降结构靠近所述第二升降结构的一侧上形成有沿所述上下方向延伸的第二滑轨部，所述第二滑轨部与所述第二滑槽部滑动配合，所述第二连接部位于所述第二滑槽部内并固定于所述第二滑槽部。
- 根据权利要求7所述的升降机构，其中所述第一连接部与所述第一滑槽部粘接，所述第二连接部与所述第二滑槽部粘接。
- 根据权利要求8所述的升降机构，其中所述升降机构还包括第一压板，至少部分所述第一压板位于所述第一滑槽部内并用于将所述第一连接部压紧在所述第一滑槽部的内壁上；所述升降机构还包括第二压板，至少部分所述第二压板位于所述第二滑槽部内并用于将所述第二连接部压紧在所述第二滑槽部的内壁上。
- 根据权利要求7-9中任一项所述的升降机构，其中所述第一升降结构上设置有限位结构，所述限位结构向外凸出于所述第一滑轨部和所述第二滑轨部，所述限位结构靠近所述第一升降结构的下端布置，所述限位结构能够在所述第一升降结构向上移动的过程中止挡在所述第一滑槽部的下端，并在所述第一升降结构向下移动的过程中止挡在所述第二滑槽部的下端。
- 一种机器人，包括图像采集装置和根据权利要求1-10中任一项所述的升降机构，所述图像采集装置安装在所述升降机构的第二升降结构上。
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| JPH09285989A (ja) * | 1996-04-19 | 1997-11-04 | Yamaha Motor Co Ltd | 産業用ロボットの多段式伸縮装置 |
| CN203331030U (zh) * | 2013-05-17 | 2013-12-11 | 杭州史宾纳机械设备有限公司 | 磁瓦取出机械手的伸缩臂 |
| CN105234934A (zh) * | 2015-10-30 | 2016-01-13 | 江苏亿嘉和科技股份有限公司 | 一种多级式机器人升降装置及升降方法 |
| CN107642587A (zh) * | 2017-09-15 | 2018-01-30 | 深圳市朗驰欣创科技股份有限公司 | 轨道升降机构及具有该机构的巡检机器人 |
| CN215242375U (zh) * | 2021-06-24 | 2021-12-21 | 泉州市锐铭智能科技有限公司 | 一种高精度双向伸缩装置 |
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| JPH09285989A (ja) * | 1996-04-19 | 1997-11-04 | Yamaha Motor Co Ltd | 産業用ロボットの多段式伸縮装置 |
| CN203331030U (zh) * | 2013-05-17 | 2013-12-11 | 杭州史宾纳机械设备有限公司 | 磁瓦取出机械手的伸缩臂 |
| CN105234934A (zh) * | 2015-10-30 | 2016-01-13 | 江苏亿嘉和科技股份有限公司 | 一种多级式机器人升降装置及升降方法 |
| CN107642587A (zh) * | 2017-09-15 | 2018-01-30 | 深圳市朗驰欣创科技股份有限公司 | 轨道升降机构及具有该机构的巡检机器人 |
| CN215242375U (zh) * | 2021-06-24 | 2021-12-21 | 泉州市锐铭智能科技有限公司 | 一种高精度双向伸缩装置 |
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