CN104016266A - Six-degree-of-freedom 3D lifting platform - Google Patents
Six-degree-of-freedom 3D lifting platform Download PDFInfo
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- CN104016266A CN104016266A CN201410216122.4A CN201410216122A CN104016266A CN 104016266 A CN104016266 A CN 104016266A CN 201410216122 A CN201410216122 A CN 201410216122A CN 104016266 A CN104016266 A CN 104016266A
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Abstract
A six-degree-of-freedom 3D lifting platform is composed of an upper layer, a middle layer and a lower layer, wherein each layer can achieve different movements, each movement can be controlled independently, the lower layer is composed of two directional wheels and two universal wheels, the middle layer is composed of four scissor fork type developable branched chains of the same structure, four corresponding electric sliding tables and a middle layer platform, the four electric sliding tables are of the same structure and push the developable branched chains, and the upper layer is composed of an upper layer platform and an electric sliding table. The six-degree-of-freedom 3D lifting platform is small in size, high in stroke, low in energy consumption, and capable of achieving free movement in all directions and accurate locating. Compared with a traditional lifting platform, the six-degree-of-freedom 3D lifting platform is more varied and flexible in movement mode and can reach the position which multiple other lifting platforms cannot reach within the limited space.
Description
Technical field the invention belongs to electromechanical appliance technical field, particularly a kind of lifting mechanism.
Although the scissor-type lifting platform that background technology is traditional is because good stability, easy operating, the features such as volume is little are widely used in each engineering field, but still there are a lot of problems, underaction for example, can only in certain space, realize the motion of upper and lower and former and later two directions, when needs also need to re-start position adjustment, very trouble when other several directions are moved.
Summary of the invention the object of the present invention is to provide a kind of volume little, and energy consumption is low, easy to operate, and the six degree of freedom 3D lifting table that can move freely in certain space.
The present invention is mainly comprised of three layers of upper, middle and lowers, orlop is comprised of two directional wheels and two cardan wheels, four wheels is fixed on the lower plane of underlying platform, the four wheels arrangement that assumes diamond in shape, wherein two cardan wheels lay respectively on two short diagonal angles, the directional wheel of two step motor control lays respectively on long diagonal angle, has so not only guaranteed the stability of whole lifting table but also has guaranteed the alerting ability of platform.Interlayer mainly can be opened up by four identical scissor-types of structure electronic slide unit and the middle level platform that side chain and the identical promotion of corresponding four structures can open up side chain and form, wherein side chain base is fixed on underlying platform, the sidewall of this side chain base is provided with chute of base, two one group interior outside that is relatively separately fixed at side chain base of four electronic slide units, electronic slide unit is fixed on underlying platform, each can open up side chain two lower ends and a upper end, wherein two lower ends are positioned at side chain base inner side, and a lower end is connected with middle level platform.Above-mentioned two lower ends that are positioned at the side chain opened up of side chain base inner side, one end is in the outer part connected with the side chain base being fixed on underlying platform, one end is in the inner part connected with one end of rolling rod, the other end of this rolling rod is connected through horizontal concrete chute and the electronic slide unit of base, when the motion of electronic slide unit, can drive and can open up side chain one end in the inner part and move along horizontal concrete chute, and then just can form the movement of whole side chain; Laterally relative two upper ends that can open up side chain are connected by the lower plane of revolute pair and middle level platform, laterally upper end and the sliding wheel of two other relative side chain opened up are connected, this sliding wheel is positioned at the sliding tray that is located at middle level platform lower plane, can make sliding wheel move forwards, backwards and can not move leftwards and rightwards, making middle level platform more stable.The superiors are comprised of upper platform and electronic slide unit, and in the middle of electronic slide unit is fixed on above the platform of middle level, upper platform is fixed on this electronic slide unit, and when electronic slide unit moves, upper mounting plate also just produces corresponding movement, and on upper mounting plate, plane is operational space.
Every one deck of the present invention can be responsible for movement or the rotation of several directions.Suppose take that horizontal surface is as XOY plane, take vertical direction as Z-direction, the movement that orlop can implementation platform Y direction and the rotation that the Z axis of take is axle center; Interlayer can be opened up side chain by four scissor-types and form, four scissor-types can be opened up side chain and can independently control its motion in Z-direction, by the control to its different move mode on Z axis, movement that can implementation platform Z-direction, and take the rotation that X-axis, Y-axis be axle center; The superiors can implementation platform Y direction movement.When carrying out dangerous operation, can connect wireless terminal, Ze Gai mechanism can realize visual unattended by computer or other wireless terminals.
The present invention compared with prior art tool has the following advantages: volume is little, stroke is large, energy consumption is low, and can realize the free motion of all directions and accurately locate, compare with traditional lifting table, mode of motion is more changeable, more flexible, can in limited space, reach a lot of other bay-lifts position that is beyond one's reach.
Accompanying drawing explanation
Fig. 1 is three-dimensional simplified schematic diagram of the present invention.
Fig. 2 is front view of the present invention.
Fig. 3 is birds-eye view of the present invention.
Fig. 4 is upward view of the present invention.
Fig. 5 is the A-A cutaway view of Fig. 2.
Fig. 6 is lateral plan of the present invention.
Fig. 7 is the part enlarged drawing of Fig. 1.
The specific embodiment
In figure: 1, upper platform, 2, middle level platform, 3, side chain c end, 4, side chain a end, 5, electronic slide unit, 6, middle level platform sliding tray, 7, rolling rod, 8, side chain b end, 9, chute of base, 10, side chain base, 11, underlying platform, 12, sliding wheel, 13, cardan wheel, 14, directional wheel, 15, side chain A, 16, side chain B, 17, side chain C, 18, side chain D.
In a kind of six degree of freedom 3D lifting table schematic diagram shown in Fig. 1 to Fig. 7, undermost four wheels is fixed on the lower plane of underlying platform 11, the four wheels arrangement that assumes diamond in shape, wherein two cardan wheels 13 lay respectively on two short diagonal angles, and the directional wheel 14 of two step motor control lays respectively on long diagonal angle, interlayer mainly can be opened up side chain A by four identical scissor-types of structure, B, C, electronic slide unit and middle level platform that D and the identical promotion of corresponding four structures can be opened up side chain form, wherein side chain base 10 is fixed on underlying platform, the sidewall of this side chain base is provided with chute of base 9, 5 two one group interior outside that is relatively separately fixed at side chain base of four electronic slide units, each can open up side chain two lower end a, b and a upper end c, wherein lower end a4 is in the outer part connected with the side chain base being fixed on underlying platform, lower end b8 is in the inner part connected with one end of rolling rod 7, the other end of this rolling rod is connected through the slide block on above-mentioned chute of base and electronic slide unit, this slide block can horizontal slip on electronic slide unit, and drive lower end b to move along horizontal concrete chute by rolling rod, laterally relative two upper end c3 that can open up side chain A15 and B16 are connected by the lower plane of revolute pair and middle level platform 2, laterally relative two other side chain opened up C17 and upper end and the sliding wheel 12 of D18 are connected, this sliding wheel is positioned at the sliding tray 6 that is located at middle level platform lower plane, in the middle of electronic slide unit is fixed on above the platform of middle level, upper platform 1 is fixed on this electronic slide unit, when electronic slide unit moves, upper mounting plate also just produces corresponding movement, and on upper mounting plate, plane is operational space.
While starting working, utilize the diamond structure wheels on chassis can just walk to target location, by the Collaborative Control of cardan wheel and stepping motor, can realize bay-lift XOY plane horizontal motion and around the rotation of Z axis.Thereby the b end that four electronic slide units of interlayer can promote A, B, C, tetra-side chains of D by rolling rod can make side chain carry out up-and-down movement.Due to the revolute pair that is connected to of middle level platform and A, B side chain, with the revolute pair-moving sets that is connected to of C, D end, by the difference to four side chain height, control and just can realize the horizontal tilt of upper mounting plate, the attitudes such as vertical bank like this.The connection mode of upper platform and middle level platform is that its effect of moving sets is to carry out fine adjustment of attitude, to realize the object of accurate operation.
Claims (1)
1. a six degree of freedom 3D lifting table, it is characterized in that: it is comprised of three layers of upper, middle and lowers, orlop is comprised of two directional wheels and two cardan wheels, four wheels is fixed on the lower plane of underlying platform, the four wheels arrangement that assumes diamond in shape, wherein two cardan wheels lay respectively on two short diagonal angles, and the directional wheel of two step motor control lays respectively on long diagonal angle, interlayer mainly can be opened up by four identical scissor-types of structure electronic slide unit and the middle level platform that side chain and the identical promotion of corresponding four structures can open up side chain and form, wherein side chain base is fixed on underlying platform, the sidewall of this side chain base is provided with chute of base, two one group interior outside that is relatively separately fixed at side chain base of four electronic slide units, electronic slide unit is fixed on underlying platform, each can open up side chain two lower ends and a upper end, wherein two lower ends are positioned at side chain base inner side, a lower end is connected with middle level platform, above-mentioned two lower ends that are positioned at the side chain opened up of side chain base inner side, one end is in the outer part connected with the side chain base being fixed on underlying platform, one end is in the inner part connected with one end of rolling rod, the other end of this rolling rod is connected through horizontal concrete chute and the electronic slide unit of base, laterally relative two upper ends that can open up side chain are connected by the lower plane of revolute pair and middle level platform, laterally upper end and the sliding wheel of two other relative side chain opened up are connected, this sliding wheel is positioned at the sliding tray that is located at middle level platform lower plane, the superiors are comprised of upper platform and electronic slide unit, in the middle of electronic slide unit is fixed on above the platform of middle level, upper platform is fixed on this electronic slide unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410216122.4A CN104016266B (en) | 2014-05-21 | 2014-05-21 | Six degree of freedom 3D hoistable platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410216122.4A CN104016266B (en) | 2014-05-21 | 2014-05-21 | Six degree of freedom 3D hoistable platform |
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| CN104016266A true CN104016266A (en) | 2014-09-03 |
| CN104016266B CN104016266B (en) | 2016-05-04 |
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| CN201410216122.4A Active CN104016266B (en) | 2014-05-21 | 2014-05-21 | Six degree of freedom 3D hoistable platform |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105539545A (en) * | 2016-01-06 | 2016-05-04 | 盐城工学院 | Trolley for copper brazing furnace |
| CN105819378A (en) * | 2016-05-16 | 2016-08-03 | 国网山东省电力公司龙口市供电公司 | Lifting platform for electric power overhauling |
| CN105819379A (en) * | 2016-05-16 | 2016-08-03 | 国网山东省电力公司龙口市供电公司 | Lifting platform for electric power overhauling |
| CN106938832A (en) * | 2017-04-17 | 2017-07-11 | 扬州航鹰科技装备有限公司 | A kind of six degree of freedom hoistable platform |
| CN107010564A (en) * | 2017-04-17 | 2017-08-04 | 扬州航鹰科技装备有限公司 | A kind of adjustable six degree of freedom hoistable platform in position |
| CN112194060A (en) * | 2020-09-19 | 2021-01-08 | 安徽美博智能科技有限公司 | Auxiliary air conditioner installation tool |
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| CN1666949A (en) * | 2004-03-10 | 2005-09-14 | 傅立铭 | Omnibearing angel-correcting lifting device and operation method thereof |
| CN201273850Y (en) * | 2008-09-29 | 2009-07-15 | 浙江工业大学 | Gravity center detection apparatus for small operation machine |
| US20120118671A1 (en) * | 2009-05-19 | 2012-05-17 | Francesco Fiorese | Vehicle Lift Device |
| CN102673678A (en) * | 2012-05-24 | 2012-09-19 | 山东重联电动车辆制造有限公司 | All-directional three-dimensional intelligent lift truck |
| WO2013062215A1 (en) * | 2011-10-25 | 2013-05-02 | 헤스본 주식회사 | Semi scissor-type lift for vehicles having an improved structure |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN1666949A (en) * | 2004-03-10 | 2005-09-14 | 傅立铭 | Omnibearing angel-correcting lifting device and operation method thereof |
| CN201273850Y (en) * | 2008-09-29 | 2009-07-15 | 浙江工业大学 | Gravity center detection apparatus for small operation machine |
| US20120118671A1 (en) * | 2009-05-19 | 2012-05-17 | Francesco Fiorese | Vehicle Lift Device |
| WO2013062215A1 (en) * | 2011-10-25 | 2013-05-02 | 헤스본 주식회사 | Semi scissor-type lift for vehicles having an improved structure |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105539545A (en) * | 2016-01-06 | 2016-05-04 | 盐城工学院 | Trolley for copper brazing furnace |
| CN105819378A (en) * | 2016-05-16 | 2016-08-03 | 国网山东省电力公司龙口市供电公司 | Lifting platform for electric power overhauling |
| CN105819379A (en) * | 2016-05-16 | 2016-08-03 | 国网山东省电力公司龙口市供电公司 | Lifting platform for electric power overhauling |
| CN105819378B (en) * | 2016-05-16 | 2018-08-17 | 国网山东省电力公司龙口市供电公司 | Electric power overhaul hoistable platform |
| CN106938832A (en) * | 2017-04-17 | 2017-07-11 | 扬州航鹰科技装备有限公司 | A kind of six degree of freedom hoistable platform |
| CN107010564A (en) * | 2017-04-17 | 2017-08-04 | 扬州航鹰科技装备有限公司 | A kind of adjustable six degree of freedom hoistable platform in position |
| CN106938832B (en) * | 2017-04-17 | 2022-09-23 | 扬州航鹰科技装备有限公司 | Six-degree-of-freedom lifting platform |
| CN112194060A (en) * | 2020-09-19 | 2021-01-08 | 安徽美博智能科技有限公司 | Auxiliary air conditioner installation tool |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104016266B (en) | 2016-05-04 |
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Effective date of registration: 20210420 Address after: 110000 room 210, 72-5 Wende street, Hunnan District, Shenyang City, Liaoning Province Patentee after: SHENYANG YUECHENXIN MACHINERY MANUFACTURING Co.,Ltd. Address before: Hebei Street West Harbor area, 066004 Hebei city of Qinhuangdao province No. 438 Patentee before: Yanshan University |
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