CN102295246A - Supporting-rod type small lifting table - Google Patents

Abstract

The invention relates to a pole-type small lifting platform, which includes a fixed base for installation, a rotatable movable base, a platform for loading equipment, an adjustable pole and two fixed poles. The ends are respectively hinged with the movable base and the stage, the output shaft of the lifting motor is connected with the lower shaft of the fixed support rod, one end of the booster spring is hingedly supported on the hinge pin of the movable base, and the other end is hinged with the hinge pin of the middle section of the fixed support rod. On the pin, the rotary motor is vertically installed on the movable base, and its shaft is equipped with a gear and extends into the base to mesh with the ring gear in the fixed base. Equipped with the robot vehicle of the present invention, the lifting and lowering of the stage can be realized with a small driving power, and the angle relative to the ground can be kept unchanged during the whole process, and the pitch angle, rotation angle, etc. can be adjusted at any time at any position.

Description

Pole type small lift table

technical field

The invention relates to an elevating workbench for a small robot, in particular to a device for realizing the elevating and turning of the workbench through a strut mechanism.

Background technique

There are generally the following types of lifting platforms on small robots: 1. Vertical lifting type, generally using screw rotation to control the height, can be divided into multiple sections to achieve a large range of lifting, the structure is relatively simple, and the application is relatively wide. 2. Scissor type, which realizes folding and unfolding through multi-bar scissors connection, with a stable structure and a relatively large platform area. The disadvantages of the first and second types are that they can only achieve one-dimensional direction changes. When the required lifting height is not large, they are cumbersome and must be installed vertically. The layout is not flexible enough, and high-power motors are required for high-speed lifting. The latter also has the problem that the volume occupied by the stowed state is relatively large, which is not conducive to the installation of small robots in a limited space. 3. Swing arm type, which can be retracted and retracted through one to three swing arms and motors installed at the joints. It can lift and swing within a certain range, and has a relatively large degree of freedom. It is a common application method at present. However, this method requires the motor at the joint to output a large torque, which requires a large reduction ratio reducer and a high-power motor. Because the parts here are under a lot of force, the transmission part is also relatively heavy.

Contents of the invention

The purpose of the present invention is to solve the above-mentioned deficiencies in the existing small-scale robot lifting platform technology, and provide a pole-type lifting workbench with small driving power, simple structure and light weight, aiming at improving the energy of the existing small-scale lifting platform. Consumption and weight reduction. Small-sized robots adopting the lifting platform not only have a wide range of degrees of freedom and fast lifting speed, but also have lower energy consumption and relatively light weight.

The technical solution to realize the purpose of the present invention is: a small pole-type lifting platform, including a fixed base, a movable base, a stage, an adjustable strut, a fixed strut, a lifting motor, a booster spring and a rotary motor, It is characterized in that a parallel four-bar mechanism is formed by hinged connection between the carrier platform and the movable base through adjustable struts and fixed struts, and the mechanism can swing within the range of 0-180°. The adjustable strut is a power part with controllable length, which is used to adjust the pitch angle of the stage; the fixed strut can be two separate struts, or can be fixedly connected by two struts The whole structure is used instead; a hinge of the movable base and the fixed support rod is provided with a worm gear pair lifting motor; one end of the booster spring is hinged to the transfer pin of the movable base, and the other end is hinged to the fixed support in the middle of the fixed support rod. On the hinge pin of the rod, when the booster spring adopts a thrust spring, the position of the hinge pin is below the hinge of the movable base and the fixed support rod; when the assist spring adopts a tension spring, the position of the hinge pin is between the movable base and the fixed support rod. Above the hinge; when the weight control requirement is high, the booster spring can also use a helical compression spring or extension spring to reduce the weight of the mechanism; the rotary motor is installed on the movable base and can rotate with the movable base. The fixed base is used to install the upper weight such as the movable base and the supporting pole, and it is also the fixed footing installed on the robot as a whole.

Equipped with the robot vehicle of the present invention, the platform can be lifted and lowered with a small driving power, and the angle relative to the ground can be kept constant during the whole process, and the pitch angle, rotation angle, etc. can be adjusted at any time at any position.

Compared with the prior art, the present invention has the following advantages and effects: 1. The use of the booster spring greatly reduces the load of the lifting motor, and the booster spring reasonably configured according to the load quality can make the load of the lifting motor close to the minimum value, so the lifting can be achieved with the minimum power consumption, and the lifting motor in the whole range mainly plays a role of positioning; 3. The parallel four-bar mechanism maintains the pitch angle of the stage without the need for continuous tracking adjustment with the lifting, which simplifies the control and reduces the energy consumption. 4. The strut plus booster structure, the transmission parts at the root of the rod are less stressed, so the overall weight is lighter.

Description of drawings

Fig. 1 is a schematic diagram of the structure of the pole-type small lifting platform of the present invention.

Figure 2 is a schematic diagram of a certain lifting position during the working process of the present invention.

Fig. 3 is a schematic diagram of the internal structure of the fixed base.

Detailed ways

Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

Referring to Fig. 1, the pole-type small lifting platform of the present invention includes a fixed base 1 for installation, a rotatable movable base 2 and a platform 6 for loading equipment, an adjustable pole 3 and two The two ends of the fixed struts 5 and 7 are respectively hinged with the movable base 2 and the stage 6, the output shaft of the lifting motor 8 is connected with the lower end rotating shaft of the fixed struts 7, and the booster spring 4 (the booster spring in this embodiment is a thrust Spring) one end is hingedly supported under the hinge pin 10 of the movable base, the other end is hinged on the fixed brace hinge pin 11 in the middle section of the fixed brace 5, and the rotary motor 9 is vertically installed on the movable base 2, and its shaft is equipped with a gear And extend into the base to engage with the ring gear in the fixed base 1.

The outer periphery of the fixed base 1 is provided with mounting screw holes, and there is a rotating shaft hole in the center, and a fixed ring gear is provided coaxially with the rotating shaft hole, see FIG. 3 .

The movable base 2 is installed on the fixed base 1, and can rotate around the center hole of the fixed base 1, driven by a rotary motor 9.

The lower section of the adjustable strut 3 is equipped with a deceleration motor, and its output shaft is a screw mandrel, and what is matched with the screw mandrel is a threaded sleeve on the upper section. The rod can change the length of the entire strut, and for the stage 6, the pitch angle of the stage 6 can be changed by adjusting the length of the adjustable strut 3 .

The booster spring 4 is an industrially produced thrust gas spring in this embodiment, and an ordinary coil spring can also be used if necessary. This spring also can replace with extension spring, but its lower end support needs to move to the top of fixed strut bar 5 hinged shaft centers.

Described lifting motor 8 is a deceleration motor with worm and gear pair, and its turbine shaft is coaxial with the rotating shaft at the lower end of fixed strut 7 and is fixedly connected.

The rotary motor 9 is a reduction motor with a gear output.

Referring to Fig. 2, when the lifting motor 8 is energized (assumed to be rising), the motor drives the turbine to rotate through the worm, and the fixed strut 7 connected with the turbine will swing upwards, because the adjustable strut 3, the fixed strut 5, 7 forms a parallel four-bar mechanism with the movable base 2 and the stage 6 (assuming that the length of the adjustable strut 3 is consistent with that of the fixed struts 5 and 7), the angle between the stage 6 and the horizontal plane will remain unchanged; When the stage 6 needs to adjust the pitch angle at a certain height, it can be realized by adjusting the length of the adjustable strut 3, and the adjustable strut 3 is lengthened to the elevation angle and shortened to the depression angle. The power-assist spring 4 installed on the fixed strut 5 is located below the center of the rotation axis of the fixed strut 5 due to its lower fulcrum rotation center, which makes the fixed strut 5 swing to obtain an upward auxiliary torque in a range not equal to 90° , and the torque is the largest at 0° and 180°, which matches the demand and plays a role in boosting. Obviously, as long as the elastic force of the booster spring 4 is properly configured according to the mass carried on the stage 6, the lifting force driving the stage 6 can be minimized. When the rotary motor 9 is energized, it will drive the movable base 2 to rotate around the central hole of the fixed base 1 through the gears. The combination of this rotary motion and the above-mentioned swing will make the carrier 6 be able to move between a hemispherical curved surface with the length of the pole as the radius. internal activities.

It should be understood that: the above-mentioned embodiments are only descriptions of the present invention, rather than limitations of the present invention, and any inventions that do not exceed the spirit of the present invention fall within the protection scope of the present invention.

Claims (8)

1. A small pole-type lifting platform, characterized in that it includes a fixed base (1), a movable base (2), a carrier (6), an adjustable strut (3), a fixed strut, a lifting The motor (8), the booster spring (4) and the rotary motor (9), wherein, the stage (6) and the movable base (2) form a The parallel four-bar mechanism can swing within the range of 0-180°. A lifting motor (8) is installed at a hinge between the movable base (2) and the fixed support rod, and the booster spring (4) is installed on the fixed support rod and Between the movable bases (2), the rotary motor (9) is installed on the movable base (2), the movable base (2) is installed on the fixed base (1), and the rotary motor (9) drives the movable base ( 2) Rotate around the center hole of the fixed base (1). 2. The pole-type small lifting platform according to claim 1, characterized in that the adjustable pole (3) can be driven by electric, hydraulic or pneumatic means. 3. The pole-type small lifting platform according to claim 1, characterized in that the booster spring (4) can be a thrust or tension gas spring, or a helical compression spring or extension spring. 4. The pole-type small lifting platform according to claim 1, characterized in that the fixed poles can be two separate poles (5, 7), or can be fixed together by two poles whole structure instead. 5. The pole-type small lifting platform according to claim 1, characterized in that the fixed base (1) and the movable base (2) are connected coaxially, and the rotary motor is vertically installed on the movable base And mesh with the gear transmission mechanism in the fixed base (1) through the gear. 6. The pole-type small lifting platform according to claim 1, characterized in that one end of the booster spring (4) is hinged on the transfer pin (10) of the movable base (2), and the other end is hinged on the fixed pole ( 5) On the hinge pin (11) of the fixed strut in the middle section, when the booster spring (4) adopts a thrust spring, the position of the hinge pin (10) is below the hinge of the movable base (2) and the fixed strut, and the booster spring (4) When a tension spring is used, the position of the hinge pin (10) is above the hinge of the movable base (2) and the fixed strut. 7. The pole-type small lifting platform according to claim 1, characterized in that the fixed base (1) is provided with a mounting screw hole around the outer circumference, and there is a rotating shaft hole in the center, and a fixed tooth is coaxial with the rotating shaft hole. lock up. 8. The pole-type small lifting platform according to claim 1, characterized in that the lifting motor (8) is a geared motor with a worm gear pair, and its turbine shaft is coaxial with the rotating shaft at the lower end of the fixed pole (7) And fixed.

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