CN105110238A - Two-degree-of-freedom automatic control shears-fork type material transporting device - Google Patents

Two-degree-of-freedom automatic control shears-fork type material transporting device Download PDF

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Publication number
CN105110238A
CN105110238A CN201510512214.1A CN201510512214A CN105110238A CN 105110238 A CN105110238 A CN 105110238A CN 201510512214 A CN201510512214 A CN 201510512214A CN 105110238 A CN105110238 A CN 105110238A
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plate
scissors
type
platform
detecting sensor
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CN105110238B (en
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仇原鹰
陈顺昌
孔宪光
叶俊杰
赵泽
盛英
米建伟
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Xidian Univ
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Xidian Univ
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Abstract

The invention discloses a two-degree-of-freedom automatic control shears-fork type material transporting device which is used for solving the problems of single movement direction and low automation degree of an existing shears-fork type working platform and comprises a base assembly, a driving mechanism, a shears-fork mechanism, a material transporting mechanism and a control assembly, wherein the shears-fork mechanism comprises a lower platform arranged above the base assembly, an upper platform and a telescoping mechanism for connecting two platforms; the driving mechanism is mounted on the base assembly and is used for implementing two-degree-of-freedom movement of the shears-fork mechanism in the horizontal and vertical directions; the control assembly comprises a shears-fork mechanism detection sensor and a box body detection sensor which are respectively mounted on the lower platform and the upper platform; the material transporting mechanism comprises a material transporting box which is placed on the upper platform. The two-degree-of-freedom automatic control shears-fork type material transporting device has the advantages of high movement accuracy, automation degree and working efficiency and stability for operation and can be widely applied to places such as material transportation, workshop assembly and the like between working tables with different heights.

Description

Double freedom controls scissor-type material conveyer automatically
Technical field
The invention belongs to mobile and lifting working platform technical field, particularly relate to a kind of double freedom and automatically control scissor-type material conveyer.
Background technology
Scissor-type work platform structure mainly comprises job platform, lifting arm, driver train and chassis, it is a kind of broad-spectrum implement, the workplace such as logistics system, workshop assembling can be widely used in, have that load-carrying capacity is strong, driving surface is roomy, stable performance and the feature such as applicable area is wide.But at the bottom of the complicated heaviness of existing scissor-type work platform structure, degree of automation, kinematic accuracy is not high and robust motion is poor, and the dipping and heaving mostly can only carrying out vertical direction controls.At present, all there is the structure design relating to scissor-type workplatform in domestic Duo Jia mechanism, and it to some extent solves above-mentioned requirements.
As Chinese patent application Authorization Notice No. CN203392795U, name is called the utility model of " a kind of screw drive scissor-type lifting platform/table ", disclose a kind of scissor-type lifting platform of available hand screw drive mode, comprise Lifting platform, upper moving guide rail, lower moving guide rail, upper roller, bottom roller, interior scissor arm, outer scissor arm, drive screw, rocking handle and base.The problem that it solves that existing scissor-type lifting platform volume is large preferably, quality weight, complex structure, use are loaded down with trivial details.But the weak point that this patent application exists is: the type of drive of artificial hand screw rod wastes time and energy, and lifting table load-carrying capacity is limited, and kinematic accuracy is poor.
As Chinese patent application Authorization Notice No. CN203754357U, name is called the utility model of " a kind of high precision is fork hydraulic lifting platform traveling gear voluntarily ", disclose a kind of novel high precision hydraulic elevating platform traveling gear voluntarily towards guideway vehicle assembling, comprise job platform, lifting mechanism, hydraulic efficiency pressure system, electric control mechanism and chassis.It is on the basis of existing fork hydraulic lifting platform, be improved to by upper table with electro-hydraulic proportional valve is control element, take Programmable Logic Controller as the closed loop three degree of freedom displacement control system that controller is formed, then realize floating platform table top transverse direction, the movement of longitudinal direction ± 50mm and the rotation of ± 10 °.This patent solves the problem that in prior art, on fork hydraulic lifting platform, operating accuracy is not enough, operating efficiency is low preferably.But the weak point that this patent application exists is: the stroke range of platform on horizontal and vertical two degree of freedom directions is less, and the self-locking that hydraulic efficiency pressure system drives is realized by the pressure holding function in hydraulic control circuit, and self-locking property is poor.In addition, two hydraulic actuating cylinders of this patent are difficult to accurately ensure synchronized operation, poor synchronization in lifting process.
As Chinese patent application Authorization Notice No. CN203715174U, the utility model that name is called " a kind of two scissor-type lifting platform ", disclose a kind of lifting quick and stable, the optional position in stroke can be rested on and the height that can remain on setting for a long time carries out two scissor-type lifting platform of operation in lifting process.Its structure comprises underframe, mount pad, Connection Block, electric pushrod, motor, scissor support, slide rail, roller and platform body.This patent preferably resolves the shortcoming that hydraulic efficiency pressure system drives scissors mechanism, uses motor to drive electric pushrod as sole power source, operates steadily, control accurately.But the weak point that this patent application exists is: motor can only drive platform body to carry out being elevated the motion in direction, and sense of motion is single.
Summary of the invention
The object of the invention is to overcome above-mentioned problems of the prior art, propose a kind of double freedom and automatically control scissor-type material conveyer, its location status by sensor detection box body and scissors mechanism by signal feedback, adopt drive and control of electric machine scissors mechanism at level and vertical two degree of freedom side's upward movements, thus realize the safe transport of material between differing heights bench board, for solving the single and problem that degree of automation is low of existing scissor-type workplatform sense of motion.
For achieving the above object, the technical scheme taked of the present invention is as follows:
A kind of double freedom controls scissor-type material conveyer automatically, comprises base assembly, driver train, scissors mechanism, haul mechanism and control assembly; Described base assembly comprises base 1, and driver train comprises leading screw 2, and driver train is arranged on base assembly; Described scissors mechanism comprises lower platform 3, upper mounting plate 5 and is connected the telescoping mechanism 4 of this two platform 3,5; This scissors mechanism is arranged on the top of base assembly, is realized the motion of two degree of freedom on level and vertical direction by driver train; Described control assembly comprises scissors mechanism detecting sensor 7 and casing detecting sensor 8, is arranged on lower platform 3 and upper mounting plate 5 respectively; Described haul mechanism comprises haul case 6, is placed on upper mounting plate 5.
Above-mentioned double freedom controls scissor-type material conveyer automatically, the top of its base 1 is provided with two parallel slide rails 11, two ends are respectively arranged with left baffle 12, low level montant 14 and high-order montant 15 is respectively arranged with at the outside front ends of right baffle-plate and right baffle plate, the upper end of these two montants 14,15 is wedge-type shape; Wherein on right baffle-plate, be also provided with bent plate 13.
Above-mentioned double freedom controls scissor-type material conveyer automatically, and its leading screw 2 is connected with the retarder 22 be fixed on bent plate 13 and motor 23, in order to provide propulsive effort to scissors mechanism by coupler 21.
Above-mentioned double freedom controls scissor-type material conveyer automatically, and its lower platform 3 comprises lower platform plate 31, lower hinge support 32, lower scissors rod chute 33, slide rail groove 34, starting stave 35, second riser 36 and the 3rd riser 37; Two lower scissors rod chutes 33 and two lower hinge supports 32 are symmetrically fixed with respectively at the left and right sides front and back position on lower platform plate 31 top, under front side, the two ends, left and right of scissors rod chute 33 are fixed with starting stave 35 and the second riser 36 respectively, are fixed with the 3rd riser 37 at the right-hand member of front side lower hinge support 32; Four slide rail grooves 34 are symmetrically fixed with respectively, for coordinating with slide rail 11 at the left and right sides front and back position of lower platform plate 31 bottom.
Above-mentioned double freedom controls scissor-type material conveyer automatically, and its upper mounting plate 5 comprises upper mounting plate plate 51, rolling wheel guide rails groove 52, table top baffle plate 53, torsion spring 54, reverses plate 55, flap shutter 56, connecting rod 57, upper hinge support 58 and upper scissors rod chute 59; Rolling wheel guide rails groove 52 and table top baffle plate 53 is fixed with respectively in the left and right sides on upper mounting plate plate 51 top and rear side; Be provided with at the front side midway location of upper mounting plate plate 51 bottom and reverse plate 55, it is flexibly connected with upper mounting plate plate 51 by reversing plate axle; Described torsion spring 54 is enclosed within and reverses on plate axle, and its upper and lower side is respectively with upper mounting plate plate 51 with reverses plate 55 and be connected, in order to provide moment of torsion to reversing plate 55; Two ends, left and right on front side of upper mounting plate plate 51 are provided with two flap shutters 56, and be flexibly connected with torsion plate 55 by two connecting rods 57, the wedge-type shape of its outer rim and low level montant 14 and high-order montant 15 upper end is fitted, for controlling the folding of flap shutter 56; Scissors rod chute 59 and two upper hinge supports 58 on two are symmetrically fixed with respectively at the front and back position of the left and right sides, upper mounting plate plate 51 bottom.
Above-mentioned double freedom controls scissor-type material conveyer automatically, and its telescoping mechanism 4 comprises interior scissors rod 41, outer scissors rod 42, turning cylinder 43, axle drive shaft 44, pipe link 45 and extension spring 46; Described interior scissors rod 41 and outer scissors rod 42 are respectively two, an interior scissors rod 41 and an outer scissors rod 42 intersect mutually, point of crossing is flexibly connected by turning cylinder 43, two X-type structures symmetrical before and after being formed, in these two X-type structures between scissors rod 41 and outer scissors rod 42, respectively be fixed with two pipe links 45, between the lower-left end of two outer scissors rods 42, be connected with axle drive shaft 44, the midway location of this axle drive shaft 44 is provided with internal thread hole 47; At the left and right sides of two X-type structures, be respectively vertically provided with two extension springs 46.
Above-mentioned double freedom controls scissor-type material conveyer automatically, and the bottom righthand side of its two interior scissors rods 41 is flexibly connected with two lower hinge supports 32 respectively, and its left upper end is connected with two upper scissors rod chutes 59 respectively by slide shaft, and can relative sliding; Described two outer scissors rod 42 upper right sides are connected with two upper hinge supports 58 respectively, and its lower-left end is connected with two lower scissors rod chutes 33 respectively by the axle head of axle drive shaft 44, and can relative sliding; The upper and lower side of described extension spring 46 is connected with upper mounting plate plate 51 and lower platform plate 31 respectively, in order to provide two platforms 51, the pulling force between 31.
Above-mentioned double freedom controls scissor-type material conveyer automatically, and the bottom of its haul case 6 is provided with two parallel roller shafts 61, is provided with roller 62 at the two ends of roller shaft 61.
Above-mentioned double freedom controls scissor-type material conveyer automatically, its scissors mechanism detecting sensor 7 adopts contact or noncontacting proximity sensor, by lowered height detecting sensor 71, raised height detecting sensor 72, the horizontal detecting sensor of low level 73 and high-order horizontal detection sensor 74 form, wherein lowered height detecting sensor 71 is relative with the detection faces of raised height detecting sensor 72, be arranged on starting stave 35 right flank and the second riser 36 right flank respectively, the detection faces of the horizontal detecting sensor of low level 73 and high-order horizontal detection sensor 74 is opposing, be arranged on the left surface of starting stave 35 and the right flank of the 3rd riser 37 respectively, described casing detecting sensor 8 adopts contactless optical electric switch, and quantity is two, is arranged on the outside of right roller guide-track groove 52 side by side.
Above-mentioned double freedom controls scissor-type material conveyer automatically, its scissors mechanism detecting sensor 7 is connected with motor 23 by controller with casing detecting sensor 8, for feeding back the location information of scissors mechanism and haul mechanism, and send command adapted thereto to driver train.
Compared with prior art, tool has the following advantages in the present invention:
The first, base of the present invention is provided with two parallel slide rails, for the slide rail slot fit on lower platform, the interior scissors rod of telescoping mechanism and outer scissors rod form the X-type structure of scalable motion, are connected with axle drive shaft at the lower-left end of X-type structure; The internal thread hole that leading screw and the axle drive shaft middle part of driver train are arranged matches, and is connected with retarder and motor by coupler; The running of motor drives the rotation of leading screw, and axle drive shaft is moved, thus realizes the motion of scissors mechanism in level and vertical both direction.Compared with the scissors mechanism of existing employing manual drives, substantially increase degree of automation and sport efficiency; Compared with the motion in existing motor most drived control one degree of freedom direction, cost-saving, improve work efficiency.
The second, scissors mechanism detecting sensor of the present invention is arranged on the different lateral location places of starting stave, the second riser and the 3rd riser respectively, for feeding back scissors mechanism level and vertical location information, judge whether scissors mechanism is in low level or high-end trim; Casing detecting sensor is arranged on the outside of right roller guide-track groove side by side, for feeding back the location information of haul case, judges whether haul case enters or leave upper mounting plate.The sensor is by signal feedback to controller, and dependent instruction is sent to motor by controller again, makes motor complete the action of startup, speed change and stopping.Mostly do not have sensor to carry out position probing with existing scissors mechanism to compare with signal feedback, improve control accuracy and degree of automation.
Three, leading screw of the present invention matches with the internal thread hole of axle drive shaft, and is connected with the retarder be fixed on bent plate and motor by coupler, in order to provide propulsive effort to scissors mechanism.Compared with driving with existing hydraulic efficiency pressure system, noise ratio little and can not because of fluid reveal cause pollution; Meanwhile, lead screw transmission operates steadily, and driving efficiency is high.
Four, upper mounting plate of the present invention two flap shutters are arranged on the two ends, left and right on front side of upper mounting plate plate, and can carry out automatic open-close according to the difference of scissors mechanism present position.Compared with the safeguard procedures mostly not having automation with existing lifting table, further increase the degree of automation of device.
Five, extension spring of the present invention is vertically arranged on the left and right sides of two X-type structures of interior scissors rod and the formation of outer scissors rod, ensure that the motion sequence of scissors mechanism, when namely being moved to a high position by low level, first carry out horizontal motion, after motor minibreak, reduction of speed carries out upward movement; During by a high position to lower position, after first carrying out descending motion, after motor minibreak, raising speed carries out horizontal motion.Compared with only controlling single movement direction with existing scissors mechanism, ensure that scissors mechanism moves with realizing smooth sequential.
Accompanying drawing explanation
Fig. 1 is integral structure schematic diagram of the present invention;
Fig. 2 is base assembly structural representation of the present invention;
Fig. 3 is driver train schematic diagram of the present invention;
Fig. 4 is lower platform structural representation of the present invention;
Fig. 5 is telescoping mechanism structural representation of the present invention;
Fig. 6 is upper mounting plate structural representation of the present invention;
Fig. 7 is haul mechanism of the present invention structural representation;
Fig. 8 (a) is scissors mechanism lower position constitution diagram of the present invention;
Fig. 8 (b) is the high-order motion state diagram of scissors mechanism of the present invention.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in further detail:
With reference to Fig. 1, the present invention includes base assembly, driver train, scissors mechanism, haul mechanism and control assembly; Base assembly comprises base 1, base 1 is one block of cuboid plate, it has larger rigidity and upper surface requires higher straight line parallel degree, for carrying the weight of driver train, scissors mechanism, haul mechanism and material, and ensures the horizontal rectilinear motion of scissors mechanism; Driver train comprises leading screw 2, is arranged on base assembly, for steady accurately transmission of drive force; Scissors mechanism comprises lower platform 3, upper mounting plate 5 and is connected the telescoping mechanism 4 of this two platform 3 and 5, be arranged on the top of base assembly, realized the motion of scissors mechanism respect thereto 1 in the horizontal direction by driver train, drive the vertical motion of the relative lower platform 3 of upper mounting plate 5 at vertical direction telescoping mechanism 4; Control assembly comprises scissors mechanism detecting sensor 7 and casing detecting sensor 8, is arranged on lower platform 3 and upper mounting plate 5 respectively, for detect scissors mechanism and haul mechanism location status and by status information feedback to controller; Haul mechanism comprises haul case 6, is placed on upper mounting plate 5.
With reference to Fig. 2, base 1 top in base assembly is provided with two parallel slide rails 11, and the cross-sectional plane of slide rail 11 is hexagonal shape, matches with the slide rail groove 34 of lower platform 3, effectively can avoid toppling of mechanism above guide rail; Left baffle 12 is respectively arranged with at base 1 two ends, spacing for carrying out left and right to scissors mechanism horizontal direction, prevent the motion of scissors mechanism from departing from base 1; The midway location of left baffle 12 is provided with the mounting hole for fixing leading screw 2, and the relative side of two baffle plates is also as the triggering face of scissors mechanism detecting sensor 7; Be respectively arranged with low level montant 14 and high-order montant 15 at the outside front ends of right baffle-plate and right baffle plate, the height of low level montant 14 and high-order montant 15 is equal with height when scissors mechanism low level and high-end trim residing for upper mounting plate plate 51 respectively; The upper end of these two montants 14 and 15 is wedge-type shape, and its lozenges can be fitted with the outer rim of flap shutter 56; Right baffle-plate is also provided with bent plate 13, for fixed electrical machinery 23 and retarder 22.
With reference to Fig. 3, leading screw 2 in driver train is connected with the retarder 22 be fixed on bent plate 13 and motor 23 by coupler 21, the two ends of leading screw 2 are fixed in left baffle 12 by antifriction-bearing box, and threads of lead screw matches with the internal thread hole 47 of axle drive shaft 44 middle position of telescoping mechanism 4; The right-hand member of coupler 21 connects lead screw shaft, left end connection reducer 22 output shaft; Retarder 22 is selected the model that matches with motor 23 power and is fixedly connected with motor 23; After motor 23 starts, by retarder 22 and coupler 21, propulsive effort can be passed to leading screw 2, drive the rotation of leading screw 2, axle drive shaft 44 is moved, thus provides propulsive effort to scissors mechanism.
With reference to Fig. 4, lower platform 3 comprises lower platform plate 31, lower hinge support 32, lower scissors rod chute 33, slide rail groove 34, starting stave 35, second riser 36 and the 3rd riser 37, lower platform 31 is one piece of cuboid flat board, and front and back position place, right side is at an upper portion thereof symmetrically fixed with two lower hinge supports 32 respectively, is equipped with the hinging supporting shaft that can provide rotation in lower hinge support 32, be symmetrically fixed with two lower scissors rod chutes 33 respectively at the front and back position place, left side on lower platform plate 31 top, lower scissors rod chute 33 can slide wherein for axle drive shaft 44, be fixed with starting stave 35 and the second riser 36 respectively at lower scissors rod chute about 33 two ends of front side, be fixed with the 3rd riser 37 at lower hinge support 32 right-hand member of front side, starting stave 35, second riser 36 and the 3rd riser 37 are all for installing scissors mechanism detecting sensor 7, and the detection faces that its height can meet scissors mechanism detecting sensor 7 triggers, scissors mechanism detecting sensor 7 adopts contact limit switch, for detect scissors mechanism location status and by status information feedback to controller, by lowered height detecting sensor 71, raised height detecting sensor 72, the horizontal detecting sensor of low level 73 and high-order horizontal detection sensor 74 form, wherein lowered height detecting sensor 71 is relative with the detection faces of raised height detecting sensor 72, be arranged on starting stave 35 right flank and the second riser 36 right flank respectively, the detection faces of the horizontal detecting sensor of low level 73 and high-order horizontal detection sensor 74 is opposing, be arranged on the left surface of starting stave 35 and the right flank of the 3rd riser 37 respectively, be symmetrically fixed with four slide rail grooves 34 respectively at the left and right sides front and back position of lower platform plate 31 bottom, its notch shape matches with the hexagonal cross-section of slide rail 11, thus scissors mechanism can be slided by respect thereto 1.
With reference to Fig. 5, telescoping mechanism 4 comprises interior scissors rod 41, outer scissors rod 42, turning cylinder 43, axle drive shaft 44, pipe link 45 and extension spring 46; Interior scissors rod 41 and outer scissors rod 42 are respectively two, and its length is determined by the height of scissors mechanism low-end trim and high-end trim, and after the height of low height of table and senior engineer's station is determined, the length of interior scissors rod 41 and outer scissors rod 42 is also just determined thereupon; An interior scissors rod 41 and an outer scissors rod 42 intersect mutually, and point of crossing is flexibly connected by turning cylinder 43, two X-type structures symmetrical before and after being formed; The hole at the middle part of interior scissors rod 41 and outer scissors rod 42 is passed at turning cylinder 43 two ends, and is fixed by axle sleeve, for ensureing X-type structure with its point of crossing for center of turn carries out fore and aft motion; Between scissors rod 41 and outer scissors rod 42, two pipe links 45 are respectively fixed with, for the structural distortion avoiding X-type structure to produce in motion process in these two X-type structures; Between the lower-left end of two outer scissors rods 42, be connected with axle drive shaft 44, the midway location of this axle drive shaft 44 is provided with internal thread hole 47, and the two ends of axle drive shaft 44 are through two outer scissors rod 42 lower-left stomidiums, and its axle head can slide in lower scissors rod chute 33; At the left and right sides of two X-type structures, be respectively vertically provided with two extension springs 46; In the left and right sides of two X-type structures, be respectively vertically provided with two extension springs 46, its upper and lower side is connected with upper mounting plate plate 51 and lower platform plate 31 respectively, in order to provide two platforms 51, the pulling force between 31; Extension spring 46 moment is in tension state, on the basis that scissors mechanism detecting sensor 7 detects, further ensures the motion sequence of scissors mechanism, when namely being moved to a high position by low level, carries out upward movement after first carrying out horizontal motion; During by a high position to lower position, after first carrying out descending motion, carry out horizontal motion; The bottom righthand side of two interior scissors rods 41 is flexibly connected with two lower hinge supports 32 respectively, and its left upper end is connected with two upper scissors rod chutes 59 respectively by slide shaft, and can relative sliding; Two outer scissors rod 42 upper right sides are connected with two upper hinge supports 58 respectively, and its lower-left end is connected with two lower scissors rod chutes 33 respectively by the axle head of axle drive shaft 44, and can relative sliding.
With reference to Fig. 6, upper mounting plate 5 comprises upper mounting plate plate 51, rolling wheel guide rails groove 52, table top baffle plate 53, torsion spring 54, reverses plate 55, flap shutter 56, connecting rod 57, upper hinge support 58 and upper scissors rod chute 59; Upper mounting plate plate 51 is one piece of cuboid flat board, and the left and right sides is at an upper portion thereof fixed with U-shaped rolling wheel guide rails groove 52, for roller 62 rolling wherein of haul case 6; Being fixed with table top baffle plate 53 at the rear side on upper mounting plate plate 51 top, for blocking the notch of rolling wheel guide rails groove 52 rear end, preventing haul case 6 from rolling out on rear side of upper mounting plate plate 51; Be provided with the torsion plate 55 of diamond shape at the front side midway location of upper mounting plate plate 51 bottom, it is flexibly connected with upper mounting plate plate 51 by reversing plate axle; Torsion spring 54 is enclosed within and reverses on plate axle, and its upper and lower side is respectively with upper mounting plate plate 51 with reverses plate 55 and be connected, in order to provide moment of torsion to reversing plate 55; Two ends, left and right on front side of upper mounting plate plate 51 are provided with two flap shutters 56, damper shaft can be rotated around it and carry out open and close movement, be flexibly connected with torsion plate 55 by two connecting rods 57, when scissors mechanism is in low level or high-end trim, the wedge-type shape of its outer rim and low level montant 14 and high-order montant 15 upper end is fitted, and can not block the front end notch of rolling wheel guide rails groove 52 when the angle of inclination of wedge-type shape should guarantee that flap shutter 56 is opened; When scissors mechanism is not in low level or high-end trim, due to the torsional interaction of torsion spring 54, reverse plate 55 and become 0 ° to deflect with the forward position of upper mounting plate plate 51, flap shutter 56 is closed blocks rolling wheel guide rails groove 52 front end notch; Be provided with ball pivot at the torsion two ends, bottom of plate 55 and the bottom of two flap shutters 56, for being connected with connecting rod 57, two connecting rods 57 all connect torsion plate 55 by ball pivot in one end, and the other end is by ball pivot connection of rotating baffle plate 56; Be symmetrically fixed with two upper hinge supports 58 respectively at the right side front and back position on upper mounting plate plate 51 top, in upper hinge support 58, be equipped with the hinging supporting shaft that rotation can be provided; Be symmetrically fixed with scissors rod chute 59 on two respectively at the left side front and back position on upper mounting plate plate 51 top, upper scissors rod chute 59 can slide wherein for corresponding slide shaft; The install bin body detecting sensor 8 side by side in the outside of right roller guide-track groove 52, quantity is two, all adopts contactless optical electric switch.
With reference to Fig. 7, haul case 6 is rectangular box body, for holding and loading and unloading material, two parallel roller shafts 61 are fixed with by bearing bottom it, at the two ends of roller shaft 61, roller 62 is installed, the size of roller 62 matches with rolling wheel guide rails groove 52, in order to haul case 6 being transported into and transporting at upper mounting plate 5.
With reference to Fig. 8 (a), it is now initial position, scissors mechanism is in low-end trim, and level and the height and position of upper mounting plate 1 and low table surface align, due to the effect of low level montant 14 upper end wedge-type shape, flap shutter 56 is opened, haul case 6 can enter upper mounting plate 5 smoothly, and when two casing detecting sensors 8 all detect on-off model, haul case 6 enters completely, motor 23 startup rotates forward, and scissors mechanism level moves right; When flap shutter 56 outer rim in left side departs from low level montant 14 completely, two flap shutters 56 are all closed; When scissors mechanism moves to the limit on the right-right-hand limit position of base 1, high-order horizontal detection sensor 74 is triggered, scissors mechanism is moved right by level and is converted to upward movement, in order to ensure that upward movement speed is steady and don't meeting is too fast, reduction of speed after motor 23 makes a slight pause; When moving to raised height detecting sensor 72 and being triggered, motor 23 shuts down, and scissors mechanism is in high-end trim.
With reference to Fig. 8 (b), now scissors mechanism is in high-end trim, and height and the level attitude of upper mounting plate 5 and senior engineer's station table top align, due to the effect of high-order montant 15 upper end wedge-type shape, flap shutter 56 is opened, and haul case 6 can transport paramount bench board smoothly; When two casing detecting sensors 8 all receive on-off model, haul case 6 transports completely, and motor 23 restarts and reverses; Upper mounting plate 5 does descending motion, and when flap shutter 56 outer rim on right side departs from high-order montant 15 completely, two flap shutters 56 are all closed; When lowered height detecting sensor 71 is triggered, scissors mechanism is converted to level to left movement by descending motion, in order to ensure level left kinematic velocity steadily and don't can be excessively slow, raising speed after motor 23 makes a slight pause.When scissor moves to the left-limit position of base 1, the horizontal detecting sensor 73 of low level is triggered, and motor shuts down, and scissors mechanism is in low-end trim again, and now flap shutter 56 is opened.
More than describe and embodiment; be only preferred embodiment of the present invention; do not form any limitation of the invention; obviously for those skilled in the art; after having understood content of the present invention and principle of design; all when based on principle of the present invention and structure, the various correction in form and in details and change may be carried out, but these corrections based on inventive concept and change are still within the protection domain of claim of the present invention.

Claims (10)

1. double freedom controls a scissor-type material conveyer automatically, it is characterized in that, comprises base assembly, driver train, scissors mechanism, haul mechanism and control assembly; Described base assembly comprises base (1), and driver train comprises leading screw (2), and driver train is arranged on base assembly; Described scissors mechanism comprises lower platform (3), upper mounting plate (5) and is connected the telescoping mechanism (4) of this two platform (3,5); This scissors mechanism is arranged on the top of base assembly, is realized the motion of two degree of freedom on level and vertical direction by driver train; Described control assembly comprises scissors mechanism detecting sensor (7) and casing detecting sensor (8), is arranged on lower platform (3) and upper mounting plate (5) respectively; Described haul mechanism comprises haul case (6), is placed on upper mounting plate (5).
2. double freedom according to claim 1 controls scissor-type material conveyer automatically, it is characterized in that, the top of described base (1) is provided with two parallel slide rails (11), two ends are respectively arranged with left baffle (12), low level montant (14) and high-order montant (15) is respectively arranged with at the outside front ends of right baffle-plate and right baffle plate, the upper end of these two montants (14,15) is wedge-type shape; Wherein on right baffle-plate, be also provided with bent plate (13).
3. double freedom according to claim 1 controls scissor-type material conveyer automatically, it is characterized in that, described leading screw (2) is connected, in order to provide propulsive effort to scissors mechanism with the retarder (22) be fixed on bent plate (13) and motor (23) by coupler (21).
4. double freedom according to claim 1 controls scissor-type material conveyer automatically, it is characterized in that, described lower platform (3) comprises lower platform plate (31), lower hinge support (32), lower scissors rod chute (33), slide rail groove (34), starting stave (35), the second riser (36) and the 3rd riser (37); Two lower scissors rod chutes (33) and two lower hinge supports (32) are symmetrically fixed with respectively at the left and right sides front and back position on lower platform plate (31) top, under front side, the two ends, left and right of scissors rod chute (33) are fixed with starting stave (35) and the second riser (36) respectively, are fixed with the 3rd riser (37) at the right-hand member of front side lower hinge support (32); Four slide rail grooves (34) are symmetrically fixed with respectively, for coordinating with slide rail (11) at the left and right sides front and back position of lower platform plate (31) bottom.
5. double freedom according to claim 1 controls scissor-type material conveyer automatically, it is characterized in that, described upper mounting plate (5) comprises upper mounting plate plate (51), rolling wheel guide rails groove (52), table top baffle plate (53), torsion spring (54), reverses plate (55), flap shutter (56), connecting rod (57), upper hinge support (58) and upper scissors rod chute (59); Rolling wheel guide rails groove (52) and table top baffle plate (53) is fixed with respectively in the left and right sides on upper mounting plate plate (51) top and rear side; Be provided with at the front side midway location of upper mounting plate plate (51) bottom and reverse plate (55), it is flexibly connected with upper mounting plate plate (51) by reversing plate axle; Described torsion spring (54) is enclosed within and reverses on plate axle, and its upper and lower side is respectively with upper mounting plate plate (51) with reverse plate (55) and be connected, in order to provide moment of torsion to reversing plate (55); The two ends, left and right of upper mounting plate plate (51) front side are provided with two flap shutters (56), be flexibly connected with torsion plate (55) by two connecting rods (57), the wedge-type shape of its outer rim and low level montant (14) and high-order montant (15) upper end is fitted, for controlling the folding of flap shutter (56); Two upper scissors rod chutes (59) and two upper hinge supports (58) are symmetrically fixed with respectively at the front and back position of upper mounting plate plate (51) left and right sides, bottom.
6. double freedom according to claim 1 controls scissor-type material conveyer automatically, it is characterized in that, described telescoping mechanism (4) comprises interior scissors rod (41), outer scissors rod (42), turning cylinder (43), axle drive shaft (44), pipe link (45) and extension spring (46), described interior scissors rod (41) and outer scissors rod (42) are respectively two, an interior scissors rod (41) and an outer scissors rod (42) are intersected mutually, point of crossing is flexibly connected by turning cylinder (43), two X-type structures symmetrical before and after being formed, in these two X-type structures between scissors rod (41) and outer scissors rod (42), respectively be fixed with two pipe links (45), axle drive shaft (44) is connected with between the lower-left end of two outer scissors rods (42), the midway location of this axle drive shaft (44) is provided with internal thread hole (47), at the left and right sides of two X-type structures, be respectively vertically provided with two extension springs (46).
7. double freedom according to claim 6 controls scissor-type material conveyer automatically, it is characterized in that, the bottom righthand side of described two interior scissors rods (41) is flexibly connected with two lower hinge supports (32) respectively, its left upper end is connected with two upper scissors rod chutes (59) respectively by slide shaft, and can relative sliding; Described two outer scissors rod (42) upper right sides are connected with two upper hinge supports (58) respectively, its lower-left end is connected with two lower scissors rod chutes (33) respectively by the axle head of axle drive shaft (44), and can relative sliding; The upper and lower side of described extension spring (46) is connected with upper mounting plate plate (51) and lower platform plate (31) respectively, in order to provide the pulling force between two platforms (51,31).
8. double freedom according to claim 1 controls scissor-type material conveyer automatically, it is characterized in that, the bottom of described haul case (6) is provided with two parallel roller shafts (61), is provided with roller (62) at the two ends of roller shaft (61).
9. double freedom according to claim 1 controls scissor-type material conveyer automatically, it is characterized in that, described scissors mechanism detecting sensor (7) adopts contact or noncontacting proximity sensor, by lowered height detecting sensor (71), raised height detecting sensor (72), the horizontal detecting sensor of low level (73) and high-order horizontal detection sensor (74) composition, wherein lowered height detecting sensor (71) is relative with the detection faces of raised height detecting sensor (72), be arranged on starting stave (35) right flank and the second riser (36) right flank respectively, the detection faces of the horizontal detecting sensor of low level (73) and high-order horizontal detection sensor (74) is opposing, be arranged on the left surface of starting stave (35) and the right flank of the 3rd riser (37) respectively, described casing detecting sensor (8) adopts contactless optical electric switch, and quantity is two, is arranged on the outside of right roller guide-track groove (52) side by side.
10. double freedom according to claim 1 controls scissor-type material conveyer automatically, it is characterized in that, described scissors mechanism detecting sensor (7) is connected with motor (23) by controller with casing detecting sensor (8), for feeding back the location information of scissors mechanism and haul mechanism, and send command adapted thereto to driver train.
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CN108545576A (en) * 2018-05-15 2018-09-18 重庆交通大学 A kind of viaduct dilly elevator
CN109681006A (en) * 2019-02-28 2019-04-26 郭军伟 A kind of both sides of the road parking device that tilting of automobile can be hung
CN111532941A (en) * 2020-05-19 2020-08-14 缙云多图智能科技有限公司 Self-delivery logistics elevator equipment
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CN105819140A (en) * 2016-01-18 2016-08-03 浙江工业大学 Facility agricultural cultivation frame automatic storing device
CN105819140B (en) * 2016-01-18 2017-12-29 浙江工业大学 A kind of installment agriculture growth frame automatic access device
CN105540251A (en) * 2016-01-25 2016-05-04 浙江工业大学 Combined grabbing and conveying matched device of fungus mushroom cultivation box
CN105618341A (en) * 2016-03-01 2016-06-01 苏州光宝科技股份有限公司 Automatic feeding and discharging mechanism of dispensing machine
CN106744473A (en) * 2016-09-27 2017-05-31 王俊峰 A kind of Liftable type Kudzu root slicing machine mobile device
CN106617798A (en) * 2016-10-26 2017-05-10 大道网络(上海)股份有限公司 Console lifting and moving system
CN106430026A (en) * 2016-12-08 2017-02-22 国网山东省电力公司东明县供电公司 Electric power overhaul working platform and system thereof
CN106430026B (en) * 2016-12-08 2018-11-16 国网山东省电力公司东明县供电公司 Electric power overhaul workbench and its system
CN106829793A (en) * 2016-12-27 2017-06-13 浙江伊卡新能源汽车有限公司 It is easy to battery to move Semi automatic lifting device and its control method into battery carrier
CN106829793B (en) * 2016-12-27 2019-02-22 浙江伊卡新能源汽车有限公司 The Semi automatic lifting device and its control method into battery carrier are moved convenient for battery
CN107521618B (en) * 2017-07-31 2019-09-20 武汉船用机械有限责任公司 A kind of functional module mounting device
CN107521618A (en) * 2017-07-31 2017-12-29 武汉船用机械有限责任公司 A kind of functional module erecting device
CN108545576A (en) * 2018-05-15 2018-09-18 重庆交通大学 A kind of viaduct dilly elevator
CN108545576B (en) * 2018-05-15 2019-11-19 重庆交通大学 A kind of viaduct small vehicle elevator
CN109681006A (en) * 2019-02-28 2019-04-26 郭军伟 A kind of both sides of the road parking device that tilting of automobile can be hung
CN111532941A (en) * 2020-05-19 2020-08-14 缙云多图智能科技有限公司 Self-delivery logistics elevator equipment
CN111532941B (en) * 2020-05-19 2020-11-03 缙云多图智能科技有限公司 Self-delivery logistics elevator equipment
CN112356576A (en) * 2020-09-30 2021-02-12 无锡市亿加能包装有限公司 A supporting platform for producing anti-fake two-dimensional code ink jet numbering machine of packing carton

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