CN111300486A - Lifting mechanism and robot equipment applying same - Google Patents

Abstract

The invention relates to the technical field of lifting mechanisms, and discloses a lifting mechanism and a robot device applying the lifting mechanism. The lifting mechanism includes a bearing platform and three toothed belts. One end of the toothed belt is connected to the bearing platform, and the other end is connected to the storage assembly. The three toothed belts can be driven out from the storage assembly and meshed with each other to form a rigid straight rod to lift the bearing platform; the three toothed belts can be further transmitted to the storage assembly. and separated from each other to lower the carrying platform. The toothed belt includes a main body that is arranged in a plane. The opposite sides of the main body are respectively provided with a plurality of meshing teeth spaced apart from each other by tooth slots. It is arranged to be inserted into the tooth grooves on the adjacent toothed belts and to engage with the meshing teeth on the adjacent toothed belts. In the above manner, the present invention can improve the smoothness of the lifting process, and can provide stable support.

Description

Lifting mechanism and robot equipment using the lifting mechanism

technical field

The present invention relates to the technical field of lifting mechanisms, in particular to a lifting mechanism and a robot device applying the lifting mechanism.

Background technique

At present, the lifting mechanism is widely used. Specifically, communication equipment and sensor equipment such as antennas, microphones, cameras, and related detection instruments can be installed on the lifting mechanism, so that the communication equipment and sensor equipment installed thereon can be lifted or lowered through the lifting mechanism, and then the communication equipment and sensor equipment can be lifted or lowered. Transport to the designated location for data collection.

However, due to the unreasonable design of the lifting mechanism on the market, the smoothness of the lifting process is poor, and it cannot provide a good and stable support for the equipment installed thereon.

SUMMARY OF THE INVENTION

In view of this, the main technical problem to be solved by the present invention is to provide a lifting mechanism and a robot device applying the lifting mechanism, which can improve the smoothness of the lifting process and provide stable support.

In order to solve the above technical problems, a technical solution adopted by the present invention is to provide a lifting mechanism. The lifting mechanism includes a bearing platform and three toothed belts. One end of the toothed belt is connected to the bearing platform, and the other end is connected to the storage assembly. The three toothed belts can be driven out from the storage assembly and meshed with each other to form a rigid straight rod to lift the bearing platform; the three toothed belts can be further transmitted to the storage assembly. and separated from each other to lower the carrying platform. The toothed belt includes a main body that is arranged in a plane. The opposite sides of the main body are respectively provided with a plurality of meshing teeth spaced apart from each other by tooth slots. It is arranged to be inserted into the tooth grooves on the adjacent toothed belts and to engage with the meshing teeth on the adjacent toothed belts.

In an embodiment of the present invention, the toothed belt has a bend between the carrying platform and the receiving assembly, the three toothed belts between the bending place and the carrying platform are engaged with each other, and the three toothed belts between the bending place and the receiving assembly The toothed belts are separated from each other, and the bending angle of the toothed belt at the bending position is α; the angle between the side edge of the main body at the position where the first engaging part is relatively close to the position and the extending direction of the main body at the position is β.

Among them, 90°-arcsin[sin(180°-α)*cos 30°]<β<90°.

In an embodiment of the present invention, the angle between the orthographic projection of the side edge of the main body at the position where the first engaging part is relatively close to the main body on the reference plane and the intersecting line of the reference plane and the main body at the position of the first engaging part is γ, where 110°<γ<130°, and the reference plane is perpendicular to the extending direction of the main body at the position of the first engaging portion.

In an embodiment of the present invention, γ is 120°.

In an embodiment of the present invention, the meshing teeth further have a crown portion and a second meshing portion, the crown portion is connected to the main body and is coplanar with the main body, and the first meshing portion and the second meshing portion are respectively provided on the crown portion in the extending direction of the main body. On the opposite sides of the belt, during the process of inserting the first engaging portion into the tooth slot on the adjacent toothed belt, the second engaging portion on the adjacent toothed belt can avoid the first engaging portion, and engage with the first engaging portion after insertion. mesh with each other.

In an embodiment of the present invention, the second engaging portion is coplanar with the crown portion.

In an embodiment of the present invention, the second engaging portion is bent toward or away from the adjacent toothed belt relative to the crown portion, and there is a first connecting line between the first engaging portion and the crown portion, and the second engaging portion and the crown portion are bent. There is a second connecting line between the parts, and the first connecting line and the second connecting line are arranged at an angle.

In an embodiment of the present invention, the first engaging portion is connected to the side of the main body along the extending direction of the main body.

In an embodiment of the present invention, a part of the tooth slot adjacent to the meshing tooth is recessed inward to form an escape groove. During the process of inserting the first meshing part into the tooth slot on the adjacent tooth belt, the avoidance groove on the adjacent tooth belt The first engaging portion can be avoided, wherein the avoidance groove is arc-shaped.

In order to solve the above technical problem, another technical solution adopted by the present invention is to provide a robot device. The robotic device includes a lift mechanism as set forth in the above embodiments.

The beneficial effects of the present invention are: different from the prior art, the present invention provides a lifting mechanism and a robot device applying the lifting mechanism. The three toothed belts of the lifting mechanism can be driven out from the storage assembly and meshed with each other to form a rigid straight rod to lift the bearing platform; or can be transmitted to the storage assembly and separated from each other to lower the bearing platform. Among them, the process of meshing and separation of the three toothed belts is relatively smooth, which is conducive to improving the smoothness of the lifting process. In addition, the first meshing portion of the meshing teeth on each toothed belt is bent and arranged toward the adjacent toothed belt relative to the main body, so as to be inserted into the toothed grooves on the adjacent toothed belts, and interact with the meshing teeth on the adjacent toothed belts. mesh. Among them, the three toothed belts are meshed with each other through the meshing teeth, which can reduce the risk of separation between the toothed belt and the toothed belt, so that the rigid straight rod formed by the meshing of the three toothed belts can provide stable support to the bearing platform. In addition, the cross section of the rigid straight rod formed by the meshing of the three toothed belts is triangular, which can reduce the influence of lateral force on the stability of the rigid straight rod and further ensure stable support.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description serve to explain the principles of the invention. Furthermore, these drawings and written descriptions are not intended to limit the scope of the inventive concept in any way, but rather to illustrate the inventive concept to those skilled in the art by referring to specific embodiments.

1 is a schematic structural diagram of an embodiment of a lifting mechanism of the present invention;

Fig. 2 is the structural schematic diagram of the first embodiment of the toothed belt of the present invention;

3 is a schematic structural diagram of an embodiment of the toothed belt meshing form of the present invention;

Fig. 4 is the structural representation of the second embodiment of the toothed belt of the present invention;

Fig. 5 is the structural representation of the third embodiment of the toothed belt of the present invention;

6 is a schematic structural diagram of a fourth embodiment of the toothed belt of the present invention;

Fig. 7 is the structural representation of the fifth embodiment of the toothed belt of the present invention;

FIG. 8 is a schematic structural diagram of an embodiment of a robotic device of the present invention.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are part of the implementation of the present invention. examples, but not all examples. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. The embodiments described below and features in the embodiments may be combined with each other without conflict.

In order to solve the technical problems that the lifting process of the lifting mechanism in the prior art has poor smoothness and cannot provide stable support, an embodiment of the present invention provides a lifting mechanism. The lifting mechanism includes a bearing platform and three toothed belts. One end of the toothed belt is connected to the bearing platform, and the other end is connected to the storage assembly. The three toothed belts can be driven out from the storage assembly and meshed with each other to form a rigid straight rod to lift the bearing platform; the three toothed belts can be further transmitted to the storage assembly. and separated from each other to lower the carrying platform. The toothed belt includes a main body that is arranged in a plane. The opposite sides of the main body are respectively provided with a plurality of meshing teeth spaced apart from each other by tooth slots. It is arranged to be inserted into the tooth grooves on the adjacent toothed belts and to engage with the meshing teeth on the adjacent toothed belts. Details are described below.

Please refer to FIG. 1 , which is a schematic structural diagram of an embodiment of a lifting mechanism of the present invention.

In one embodiment, the lifting mechanism 1 includes a carrying platform 11 and three toothed belts 12 . One end of the toothed belt 12 is connected to the carrying table 11 , and the other end is connected to the receiving assembly 13 , that is, the three toothed belts 12 are jointly connected to the carrying table 11 . The three toothed belts 12 can be driven out from the storage assembly 13 and mesh with each other to form a rigid straight rod. The rigid straight rod formed by the meshing lifts the bearing platform 11 and provides stable support. In addition, the three toothed belts 12 can be further conveyed to the storage assembly 13 and separated from each other, thereby lowering the stage 11 .

The carrying platform 11 is used to install communication equipment and sensor equipment such as antennas, microphones, cameras and related detection instruments, and then through the design of the above three toothed belts 12, the lifting and lowering of the carrying platform 11 is realized, and then the communication equipment installed on the carrying platform 11 is lifted. and sensor equipment, etc., to the designated location to perform corresponding operations, including information, data collection, etc.

The storage assembly 13 is used to store and store the toothed belt 12, so that when the toothed belt 12 needs to be meshed to form a rigid straight rod to lift the bearing platform 11, the output toothed belt 12, that is, the toothed belt 12 can be driven out from the storage assembly 13; and When the carrying platform 11 needs to be lowered, the toothed belts 12 are separated from each other and retracted into the storage assembly 13 , that is, the toothed belt 12 can be transferred to the storage assembly 13 and retracted into the storage assembly 13 . In a preferred embodiment, the storage assembly 13 may include a reel on which the toothed belt 12 is wound. Wherein, the toothed belt 12 is driven out from the storage assembly 13 by unwinding through the reel, and is wound through the reel so that the toothed belt 12 is transmitted to the storage assembly 13 and retracted into the storage assembly 13 .

Preferably, each toothed belt 12 is stored by different storage assemblies 13 respectively.

Please refer to FIG. 1 and FIG. 2. FIG. 2 is a schematic structural diagram of the first embodiment of the toothed belt of the present invention.

Specifically, the toothed belt 12 includes a main body 121 arranged in a plane, and opposite sides of the main body 121 are respectively provided with a plurality of meshing teeth 123 spaced from each other by the tooth slots 122 . The meshing teeth 123 have a first meshing portion 124, and the first meshing portion 124 is bent and arranged relative to the main body 121 toward the adjacent toothed belt 12, so as to be inserted into the toothed slot 122 on the adjacent toothed belt 12, and is connected with the adjacent toothed belt. The meshing teeth 123 on 12 mesh with each other.

As can be seen from the above, since the above-mentioned three toothed belts 12 are relatively smoothly engaged with and separated from each other, it is beneficial to improve the smoothness of the lifting process. In addition, the first meshing portion 124 of the meshing teeth 123 on the toothed belt 12 meshes with the meshing teeth 123 on the adjacent toothed belt 12 after being inserted into the toothed grooves 122 on the adjacent toothed belt 12, so that the rigidity can be reduced. There is a risk that the toothed belts 12 of the rod part are separated from each other, so that the rigid straight rod formed by the meshing of the three toothed belts 12 can provide stable support to the bearing platform 11 . In addition, the cross-section of the rigid straight rod formed by the meshing of the three toothed belts 12 is triangular, which can reduce the influence of lateral force on the stability of the rigid straight rod, and further ensure stable support.

Further, the dimensions of each toothed belt 12 in the above-mentioned three toothed belts 12 in a direction perpendicular to the respective extending directions (shown by arrow X in FIG. 2 ) are the same, that is, the width of each toothed belt 12 is the same. In this way, the cross section of the rigid straight rod formed by the meshing of the three toothed belts 12 is further an equilateral triangle, which can greatly improve the horizontal direction of the rigid straight rod formed by meshing (ie, the direction perpendicular to the axial direction of the rigid straight rod). The stability further ensures that it can provide stable support.

In one embodiment, the toothed belt 12 has a bend 125 between the carrying platform 11 and the receiving assembly 13 , the three toothed belts 12 between the bending place 125 and the carrying platform 11 are engaged with each other, and the bending place 125 is connected to the receiving part 12 . The three toothed belts 12 between the assemblies 13 are separated from each other, as shown in FIG. 3 . That is to say, the three toothed belts 12 driven from the storage assembly 13 mesh with each other at the bends 125 to form rigid straight rods, and the design of the bends 125 also facilitates the intermeshing action of the toothed belts 12 .

The bending angle of the toothed belt 12 at the bending portion 125 is α, as shown in FIG. 3 . The first engaging portion 124 is relatively close to the side edge of the main body 121 where it (referring to the first engaging portion 124 ) is located and the extending direction of the main body 121 at the location (referring to the first engaging portion 124 ) (as shown in FIG. 2 ). The included angle between arrows Y, the same below) is β, as shown in Figure 2.

Among them, 90°-arcsin[sin(180°-α)*cos 30°]<β<90°.

It should be noted that if β is too large, the first meshing portion 124 will not be able to interfere with the meshing teeth 123 on the adjacent toothed belt 12 to form meshing; and if β is too small, the first meshing portion 124 will not be able to engage in the insertion phase. The tooth slots 122 on the adjacent toothed belts 12 may collide with the meshing teeth 123 on the adjacent toothed belts 12 during the process, thereby affecting the structural stability and service life of the lifting mechanism 1 .

Please continue to refer to Figure 2. In one embodiment, the orthographic projection of the side edge of the main body 121 at the position where the first engaging portion 124 is relatively close to the position (referring to the first engaging portion 124 ) on the reference plane Z is related to the reference plane Z and the first engaging portion 124 The included angle of the intersecting lines of the main body 121 at the position (referring to the first engaging portion 124 ) is γ. The reference plane Z is perpendicular to the extending direction of the main body 121 where the first engaging portion 124 (referring to the first engaging portion 124 ) is located.

Specifically, as shown in FIG. 2 , the extension line of the orthographic projection of the side edge of the main body 121 on the reference plane Z where the first engaging portion 124 is relatively close to the position where the first engaging portion 124 is located (referring to the first engaging portion 124 ) is a, The intersection line of the reference plane Z and the main body 121 at the position of the first engaging portion 124 (referred to as the first engaging portion 124 ) is b, and the angle between a and b is γ, where 110°<γ<130°.

It should be noted that if γ is too large, the meshing effect between the first meshing portion 124 and the meshing teeth 123 on the adjacent toothed belt 12 will be poor, which is not conducive to ensuring the stability of the rigid straight rod formed by meshing; However, if γ is too small, the first meshing portion 124 will collide with the meshing teeth 123 on the adjacent toothed belt 12 during the process of being inserted into the tooth slot 122 on the adjacent toothed belt 12 , thereby affecting the operation of the lifting mechanism 1 . Structural stability and service life.

Further, γ is preferably 120°, which can ensure a sufficient meshing effect, and can also greatly reduce the risk of collision between the first meshing portion 124 and the meshing teeth 123 on the adjacent toothed belt 12 .

Further, a portion of the tooth slot 122 adjacent to the meshing tooth 123 is recessed inwardly to form an escape slot 1221 , as shown in FIG. 2 . During the process of inserting the first engagement portion 124 into the tooth slot 122 on the adjacent toothed belt 12, the avoidance groove 1221 on the adjacent toothed belt 12 can avoid the first engagement portion 124 (referring to the first engagement portion 124), so that the Reducing the risk of collision between the first meshing portion 124 (referred to as the first meshing portion 124 ) and the meshing teeth 123 on the adjacent toothed belt 12 is beneficial to improve the structural stability of the lifting mechanism 1 and prolong the service life.

It should be noted that it is precisely because of the design of the avoidance groove 1221 that the upper limit of the angle of γ is allowed to be set to 130°.

Further, the escape groove 1221 is preferably in an arc shape, such as a circular arc shape and the like. When the rigid straight rod formed by the meshing of the toothed belt 12 is used to support the bearing platform 11, the arc-shaped escape groove 1221 can effectively alleviate the phenomenon of stress concentration at the adjacent position of the meshing tooth 123 and the tooth groove 122, which is further conducive to improving the efficiency of the lifting mechanism 1. Structural stability and extended service life.

It should be noted that, as shown in FIG. 4 , FIG. 4 shows the situation when the first meshing portion 124 on the meshing teeth 123 is not bent. Wherein, the angle between the side edge of the main body 121 and the side edge of the main body 121 where the first engaging portion 124 is relatively close to the position (referring to the first engaging portion 124 ) is θ ₁ . The angle between the connecting line of the crown portion 126 (described below) and the side edge of the main body 121 is θ ₂ . Referring to FIG. 5 , the included angle between the plane where the first engaging portion 124 is located and the plane where the crown portion 126 is located is θ ₃ . The above-mentioned β and γ are jointly determined by θ ₁ , θ ₂ and θ ₃ , but β and γ are independent of each other and do not affect their respective values.

Please continue to refer to Figure 2. In one embodiment, the meshing teeth 123 further have a crown portion 126 and a second meshing portion 127. The crown portion 126 is connected to the main body 121 and is coplanar with the main body 121. The first meshing portion 124 and the second meshing portion 127 are respectively provided on the crown. The portions 126 are on opposite sides in the extending direction of the main body 121 . Wherein, the first engaging portion 124 is closer to the supporting platform 11 than the second engaging portion 127 . During the process of inserting the first engaging portion 124 into the tooth slot 122 on the adjacent toothed belt 12 , the second engaging portion 127 on the adjacent toothed belt 12 can avoid the first engaging portion 124 and engage with the first engaging portion after insertion. 124 mesh with each other.

In one embodiment, the second engaging portion 127 may be disposed coplanar with the crown portion 126 , as shown in FIG. 6 .

In an alternative embodiment, the second engaging portion 127 is bent relative to the crown portion 126 toward or away from the adjacent toothed belt 12 , and there is a first connecting line L ₁ between the first engaging portion 124 and the crown portion 126 . There is a second connecting line L ₂ between the two engaging portions 127 and the crown portion 126 , and the first connecting line L ₁ and the second connecting line L ₂ are arranged at an angle, as shown in FIG. 2 .

In another alternative embodiment, the first engaging portion 124 is connected to the side of the main body 121 along the extending direction of the main body 121 , as shown in FIG. 7 .

To sum up, in the lifting mechanism provided by the present invention, the three toothed belts can be driven out from the storage assembly, and meshed with each other to form a rigid straight rod to lift the bearing platform; or can be transmitted to the storage assembly, and separated from each other to lower the carrying platform. Among them, the process of meshing and separation of the three toothed belts is relatively smooth, which is beneficial to improve the smoothness of the lifting process. In addition, the first meshing portion of the meshing teeth on each toothed belt is bent and arranged toward the adjacent toothed belt relative to the main body, so as to be inserted into the toothed grooves on the adjacent toothed belts, and interact with the meshing teeth on the adjacent toothed belts. mesh. Among them, the three toothed belts are meshed with each other through the meshing teeth, which can reduce the risk of separation between the toothed belt and the toothed belt, so that the rigid straight rod formed by the meshing of the three toothed belts can provide stable support to the bearing platform. In addition, the cross section of the rigid straight rod formed by the meshing of the three toothed belts is triangular, which can reduce the influence of lateral force on the stability of the rigid straight rod and further ensure stable support.

Please refer to FIG. 8 . FIG. 8 is a schematic structural diagram of an embodiment of a robotic device of the present invention.

In one embodiment, the robotic device 2 includes a lift mechanism 1 . The robot equipment 2 can be such as a fire-fighting robot, etc., and is used in specific scenarios such as rescue and rescue. Enter the dangerous environment to perform the corresponding work instead of the personnel.

The elevating mechanism 1 has been described in detail in the above-mentioned embodiments, and will not be repeated here.

In addition, in the present invention, unless otherwise expressly specified and limited, the terms "connected", "connected", "stacked" and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection, or It can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two elements or the interaction relationship between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention. scope.

Claims (10)

1. A lifting mechanism, characterized in that, the lifting mechanism comprises: bearing platform; Three toothed belts, one end of the toothed belt is connected to the bearing platform, and the other end is connected to the storage assembly, the three toothed belts can be driven out from the storage assembly, and mesh with each other to form a rigid straight rod to lift the the carrying platform; the three toothed belts can be further conveyed to the storage assembly and separated from each other to lower the carrying platform; The toothed belt includes a main body arranged in a plane, and opposite sides of the main body are respectively provided with a plurality of meshing teeth spaced apart from each other by tooth slots, the meshing teeth have a first meshing portion, and the first meshing portion is opposite to the other. The main body is bent and arranged toward the adjacent toothed belts, so as to be inserted into the tooth grooves on the adjacent toothed belts, and engage with the meshing teeth on the adjacent toothed belts. 2 . The lifting mechanism according to claim 1 , wherein the toothed belt has a bend between the carrying platform and the storage assembly, and a gap between the bending place and the carrying platform is folded. 3 . The three toothed belts are meshed with each other, and the three toothed belts between the bending place and the storage assembly are separated from each other, and the bending angle of the toothed belt at the bending place is α; The angle between the side edge of the main body where the first engaging portion is relatively close to its location and the extending direction of the main body where it is located is β, Among them, 90°-arcsin[sin(180°-α)*cos 30°]<β<90°. 3 . The lifting mechanism according to claim 1 , wherein the orthographic projection of the side edge of the main body at the position where the first engaging portion is relatively close to the main body on the reference plane is the same as the reference plane and the The included angle of the intersecting lines of the main body at the position of the first engaging portion is γ, where 110°<γ<130°, and the reference plane is perpendicular to the extension of the main body at the position of the first engaging portion direction. 4 . The lifting mechanism according to claim 3 , wherein γ is 120°. 5 . 5 . The lifting mechanism according to claim 1 , wherein the meshing teeth further have a crown portion and a second meshing portion, and the crown portion is connected to the main body and is coplanar with the main body. 6 . The first engaging portion and the second engaging portion are respectively arranged on opposite sides of the crown portion in the extending direction of the main body, and the first engaging portion is inserted into the adjacent teeth on the toothed belt. In the process of the tooth slot, the second engagement portion on the adjacent toothed belt can avoid the first engagement portion and engage with the first engagement portion after insertion. 6 . The lifting mechanism of claim 5 , wherein the second engaging portion is coplanar with the crown portion. 7 . 7 . The lifting mechanism according to claim 5 , wherein the second engaging portion is bent toward or away from the adjacent toothed belt relative to the crown portion, and the first engaging portion is connected to the adjacent toothed belt. 8 . There is a first connection line between the crown parts, a second connection line is formed between the second engaging part and the crown part, and the first connection line and the second connection line are arranged at an angle. 8 . The lifting mechanism according to claim 1 , wherein the first engaging portion is connected to a side edge of the main body along the extending direction of the main body. 9 . 9 . The lifting mechanism according to claim 1 , wherein a part of the tooth groove adjacent to the meshing teeth is recessed inwardly to form an escape groove, and the first meshing part is inserted into the adjacent part. 10 . During the process of the tooth groove on the toothed belt, the avoidance groove on the adjacent toothed belt can avoid the first meshing portion, wherein the avoidance groove is in an arc shape. 10. A robotic device, characterized in that, the robotic device comprises the lifting mechanism according to any one of claims 1 to 9.

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