CN102295246A - Supporting-rod type small lifting table - Google Patents
Supporting-rod type small lifting table Download PDFInfo
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- CN102295246A CN102295246A CN2011102210369A CN201110221036A CN102295246A CN 102295246 A CN102295246 A CN 102295246A CN 2011102210369 A CN2011102210369 A CN 2011102210369A CN 201110221036 A CN201110221036 A CN 201110221036A CN 102295246 A CN102295246 A CN 102295246A
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Abstract
The invention relates to a supporting-rod type small lifting table, which comprises a fixed substrate, a movable substrate and a loading table, wherein the fixed substrate is used for installation, the movable substrate can rotate, the loading table is used for loading equipment, both ends of an adjustable supporting rod and two fixed supporting rods are respectively hinged with the movable substrate and the loading table, an output shaft of a lifting motor is connected with a rotating shaft at the lower end of each fixed supporting rod, one end of a power-assisted spring is hinged and supported on a hinged pin of the movable substrate, the other end of the power-assisted spring is hinged and supported on a hinged pin at the middle segment of each fixed supporting rod, a rotary motor is vertically installed on the movable substrate, and a gear is installed on the rotary motor through a shaft and extends into the movable substrate to be engaged with a gear ring inside the fixed substrate. In a robot vehicle with the supporting-rod type small lifting table, the lifting and the falling of the loading table can be realized through small driving power, the angle of the supporting-rod type small lifting table can be kept unchanged relative to the ground in the whole process, and a pitch angle, a rotating angle and the like can also be adjusted at any position and at any time.
Description
Technical field
The present invention relates to the self-powered platform that a kind of small scale robot is used, particularly a kind ofly realize worktable lifting and rotating device by strut mechanism.
Background technology
Bay-lift on the small scale robot generally has following several: 1, vertical Lift type, and generally adopt screw rod to rotate and control height, can be divided into more piece realization lifting in a big way, relatively simple for structure, use also relatively extensively.2, scissor-type is cut the fork type of attachment by many bars and is realized being folded to expansion, and structure is firm, and the platform area is bigger.The shortcoming of first and second type is to realize one dimension direction change, the adjustable height of the requirement comparison heaviness that seems when little, and must vertically install, arrange underaction, need the adapted heavy-duty motor when the high speed lifting.The latter also has the bigger problem of the shared volume ratio of collapsed state, is unfavorable for the installation in the small scale robot finite space.3, swing arm type is realized folding and unfolding by one to three joint swing arm and the motor that is installed on joint, can do the lifting and the swing of certain limit, and degree of freedom is bigger, is present common a kind of application mode.But this mode requires the motor of joint can export bigger torque, and this just must configuration big retarding ratio speed reducer and uses high power motor, because part stressed very big herein, running part is also therefore relatively heavy.
Summary of the invention
The objective of the invention is to solve the existing existing above-mentioned deficiency of small scale robot bay-lift technology, a kind of small driving power that has is provided, and lightweight Jackstay type self-powered platform simple in structure is intended to improve expenditure of energy and the expendable weight that has small-sized bay-lift now.Small scale robot adopts this bay-lift not only to have large-scale degree of freedom, lifting speed also will have lower expenditure of energy and relative lighter weight soon.
The technical solution that realizes the object of the invention is: the small-sized bay-lift of a kind of Jackstay type, comprise permanent seat, movable base, microscope carrier, adjustable strut, fixing strut, lifting motor, power assistant spring and turning motor, it is characterized in that between microscope carrier and the movable base by adjustable strut and fixedly strut be hinged and form a parallelogram lindage, this mechanism can swing in 0-180 ° of scope.Described adjustable strut is the power spare of a length controlled, is used to adjust the pitch angle of microscope carrier; Described fixedly strut can be two independent struts, also can be replaced by the integral structure that two struts are fixed together; Movable base and fixedly a hinged place of strut be provided with worm couple lifting motor; One end of power assistant spring is articulated on the handing-over pin of movable base, the other end is articulated on the fixedly strut swivel pin in fixing strut stage casing, when power assistant spring adopts thrust spring, the position of swivel pin movable base and fixedly strut the hinged place below, when power assistant spring adopts tension spring, the position of swivel pin movable base and fixedly strut the hinged place above; Weight control required described power assistant spring can also adopt spiral stage clip or extension spring to alleviate mechanism's weight when high; Described turning motor is installed on the movable base and can rotates with movable base, and described permanent seat is used to install top weight such as movable base and carrying strut, also is the fixedly footing of integral installation on robot simultaneously.
Dress robotic vehicle of the present invention can be realized the lifting and the let-down of microscope carrier with small driving power, and can keep relative ground angle constant in overall process, also can adjust pitch angle, angle of revolution etc. at an arbitrary position at any time.
The present invention compared with prior art, have the following advantages and effect: 1, the use of power assistant spring has alleviated the load of lifting motor significantly, can make the load of lifting motor approach minimum according to the good power assistant spring of quality of loads reasonable disposition, thereby can realize lifting with the power consumption of minimum, what the lifting motor was risen in the gamut mainly is positioning action; 2, adjustable strut moves down into the bottom with the pitch angle adjustment of top microscope carrier, has alleviated top weight, thereby has reduced lifting load, has reduced the lifting energy consumption; 3, parallelogram lindage is kept the pitch angle of microscope carrier and need constantly not follow the tracks of adjustment with lifting, has simplified control, has also reduced energy consumption; 4, strut adds boosting mechanism, and rod member root drive disk assembly is stressed less, thereby overall weight is lighter.
Description of drawings
Fig. 1 is the small-sized bay-lift structural representation of Jackstay type of the present invention.
Shown in Figure 2 is the scheme drawing of certain lift location in the working process of the present invention.
Fig. 3 is a permanent seat inner structure scheme drawing.
The specific embodiment
Below in conjunction with accompanying drawing, describe embodiments of the present invention in detail.
Referring to Fig. 1, the small-sized bay-lift of Jackstay type of the present invention comprises a permanent seat that is used to install 1, can be rotating movable base 2 and be used for the microscope carrier 6 of loading facilities, adjustable strut 3 and two are strut 5 fixedly, 7 two ends are hinged with movable base 2 and microscope carrier 6 respectively, the output shaft of lifting motor 8 links to each other with fixing strut 7 lower end rotating shafts, the power assistant spring of this embodiment of power assistant spring 4(is a thrust spring) the hinged below that is supported on movable base swivel pin 10 of an end, the other end is articulated on the fixedly strut swivel pin 11 in fixing strut 5 stage casings, turning motor 9 is vertically mounted on the movable base 2, and it is equipped with gear and stretches in the pedestal and is meshed with the gear ring of 1 li of permanent seat.
Described 1 an outside week of permanent seat is provided with the installation screw, and there is a shaft hole at its center, is provided with a fixed gear ring referring to Fig. 3 with shaft hole is coaxial.
Described movable base 2 is installed on the permanent seat 1, can be around the rotation of the centre hole of permanent seat 1, driving rotational be turning motor 9.
The following intersegmental part of described adjustable strut 3 is equipped with reducing motor, its output shaft is a rhizoid bar, what match with screw mandrel is the threaded sleeve pipe of epimere, rotary screw rod can change the length of whole strut after adjustable strut 3 two ends are fixing, for microscope carrier 6, just can change the pitch angle of microscope carrier 6 by the length of adjusting adjustable strut 3.
Described power assistant spring 4 is the thrust gas spring of a suitability for industrialized production in the present embodiment, also can adopt common coil spring in case of necessity.This spring also can replace with extension spring, but end bearing need move to the fixedly top at strut 5 jointed shaft centers under it.
Described lifting motor 8 is reducing motors that have worm couple, and its turbo-shaft is coaxial and be connected with fixing strut 7 lower end rotating shafts.
Described turning motor 9 is reducing motors of band gear output.
Referring to Fig. 2, when the 8 energising work of lifting motor (being assumed to be rising), motor drives the turbine rotation by worm screw, to upwards swing with the fixedly strut 7 that turbine is connected, because adjustable strut 3, fixedly strut 5,7 and movable base 2, microscope carrier 6 constitute a parallelogram lindage (establish the length of adjustable strut 3 at this moment and fixedly strut 5,7 is consistent), then the angle of microscope carrier 6 and horizontal surface will remain unchanged; Microscope carrier 6 need be adjusted pitch angle when certain height, can realize by the length of regulating adjustable strut 3, and adjustable strut 3 lengthenings shorten to the angle of depression for the elevation angle.Be installed on the power assistant spring 4 on the fixing strut 5 because its lower fulcrum center of gyration is positioned at the fixedly below at strut 5 rotating shaft centers, this makes 5 swings of fixing strut all can obtain assist torque upwards in being not equal to 90 ° scope, and torque is maximum when 0 ° and 180 °, is consistent with demand and has played power-assisted effect.Obviously need only elastic force, can make the hoisting force that drives microscope carrier 6 drop to minimum according to contained quality reasonable disposition power assistant spring 4 on the microscope carrier 6.To turn round around permanent seat 1 centre hole by gear driven movable base 2 during turning motor 9 energising work, this gyroscopic movement and above-mentioned swing synthesize will make microscope carrier 6 can one with strut length be between the hemispherical curved surface of radius in activity.
What should be understood that is: the foregoing description is just to explanation of the present invention, rather than limitation of the present invention, and any innovation and creation that do not exceed in the connotation scope of the present invention all fall within protection scope of the present invention.
Claims (8)
1. small-sized bay-lift of Jackstay type, it is characterized in that, comprise permanent seat (1), movable base (2), microscope carrier (6), adjustable strut (3), fixing strut, lifting motor (8), power assistant spring (4) and turning motor (9), wherein, between microscope carrier (6) and the movable base (2) by with fixing strut, parallelogram lindage of the hinged formation of adjustable strut (3), can in 0-180 ° of scope, swing, movable base (2) is provided with lifting motor (8) with a fixing hinged place of strut, power assistant spring (4) is installed in fixedly between the strut and movable base (2), turning motor (9) is installed on the movable base (2), movable base (2) is installed on the permanent seat (1), and turning motor (9) drives movable base (2) and rotates around permanent seat (1) centre hole.
2. the small-sized bay-lift of Jackstay type according to claim 1 is characterized in that described adjustable strut (3) can adopt electronic, hydraulic pressure or mode such as pneumatic to drive.
3. the small-sized bay-lift of Jackstay type according to claim 1 is characterized in that power assistant spring (4) can adopt thrust or pulling force gas spring, also can adopt spiral stage clip or extension spring.
4. the small-sized bay-lift of Jackstay type according to claim 1 is characterized in that described fixedly strut can also can be replaced by the integral structure that two struts are fixed together for two independent struts (5,7).
5. the small-sized bay-lift of Jackstay type according to claim 1, it is characterized in that adopting between described permanent seat (1) and the movable base (2) coaxial connection, turning motor is vertically mounted on the movable base and by the interior gear drive of gear and permanent seat (1) and is meshed.
6. the small-sized bay-lift of Jackstay type according to claim 1, an end that it is characterized in that power assistant spring (4) is articulated on the handing-over pin (10) of movable base (2), the other end is articulated on the fixedly strut swivel pin (11) in fixing strut (5) stage casing, when power assistant spring (4) adopts thrust spring, the position of swivel pin (10) is in the movable base (2) and the fixing below of the hinged place of strut, when power assistant spring (4) adopted tension spring, the position of swivel pin (10) was in the movable base (2) and the fixing top of the hinged place of strut.
7. the small-sized bay-lift of Jackstay type according to claim 1 is characterized in that an outside week of permanent seat (1) being provided with the installation screw, and there is a shaft hole at its center, is provided with a fixed gear ring with shaft hole is coaxial.
8. the small-sized bay-lift of Jackstay type according to claim 1 is characterized in that lifting motor (8) is a reducing motor that has worm couple, and its turbo-shaft is coaxial and be connected with fixing strut (7) lower end rotating shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011102210369A CN102295246A (en) | 2011-08-03 | 2011-08-03 | Supporting-rod type small lifting table |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011102210369A CN102295246A (en) | 2011-08-03 | 2011-08-03 | Supporting-rod type small lifting table |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102295246A true CN102295246A (en) | 2011-12-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011102210369A Pending CN102295246A (en) | 2011-08-03 | 2011-08-03 | Supporting-rod type small lifting table |
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| CN (1) | CN102295246A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102815645A (en) * | 2012-08-20 | 2012-12-12 | 郑州三和新型建材机械有限公司 | Clamping device and brick clamping machine using same |
| CN103010777A (en) * | 2012-12-07 | 2013-04-03 | 东莞市达成机械设备制造有限公司 | Movable tail-board |
| CN111360781A (en) * | 2020-04-27 | 2020-07-03 | 福建工程学院 | Automatic book taking device |
| CN111422783A (en) * | 2020-03-21 | 2020-07-17 | 四川华驿公路交通工程有限公司 | Sign installation auxiliary device |
| CN111717841A (en) * | 2019-03-19 | 2020-09-29 | 上海逸测检测技术服务有限公司 | Intelligent automatic control inclination test platform for automobile |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3861540A (en) * | 1973-02-15 | 1975-01-21 | Mageba Sa | Garage |
| US5156238A (en) * | 1991-11-18 | 1992-10-20 | Delaware Capital Formation, Inc. | Portable surface lift for a vehicle |
| CN2237034Y (en) * | 1996-01-25 | 1996-10-09 | 林清标 | Structure improved lift |
| US5613575A (en) * | 1993-08-10 | 1997-03-25 | Ackermann Inter Ltd. | Flat-structure lifting platform |
| US5833198A (en) * | 1997-05-22 | 1998-11-10 | Graetz Manufacturing Inc. | Mechanically operated lift table |
| CN202322199U (en) * | 2011-08-03 | 2012-07-11 | 南京理工大学 | Support rod type small lifting platform |
-
2011
- 2011-08-03 CN CN2011102210369A patent/CN102295246A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3861540A (en) * | 1973-02-15 | 1975-01-21 | Mageba Sa | Garage |
| US5156238A (en) * | 1991-11-18 | 1992-10-20 | Delaware Capital Formation, Inc. | Portable surface lift for a vehicle |
| US5613575A (en) * | 1993-08-10 | 1997-03-25 | Ackermann Inter Ltd. | Flat-structure lifting platform |
| CN2237034Y (en) * | 1996-01-25 | 1996-10-09 | 林清标 | Structure improved lift |
| US5833198A (en) * | 1997-05-22 | 1998-11-10 | Graetz Manufacturing Inc. | Mechanically operated lift table |
| CN202322199U (en) * | 2011-08-03 | 2012-07-11 | 南京理工大学 | Support rod type small lifting platform |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102815645A (en) * | 2012-08-20 | 2012-12-12 | 郑州三和新型建材机械有限公司 | Clamping device and brick clamping machine using same |
| CN102815645B (en) * | 2012-08-20 | 2015-10-28 | 郑州三和新型建材机械有限公司 | A kind of armful of clamp device and use this device embrace brick machine |
| CN103010777A (en) * | 2012-12-07 | 2013-04-03 | 东莞市达成机械设备制造有限公司 | Movable tail-board |
| CN111717841A (en) * | 2019-03-19 | 2020-09-29 | 上海逸测检测技术服务有限公司 | Intelligent automatic control inclination test platform for automobile |
| CN111422783A (en) * | 2020-03-21 | 2020-07-17 | 四川华驿公路交通工程有限公司 | Sign installation auxiliary device |
| CN111360781A (en) * | 2020-04-27 | 2020-07-03 | 福建工程学院 | Automatic book taking device |
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| PB01 | Publication | ||
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Application publication date: 20111228 |