CN109291043A - A kind of lifting device and robot - Google Patents

A kind of lifting device and robot Download PDF

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Publication number
CN109291043A
CN109291043A CN201811544789.1A CN201811544789A CN109291043A CN 109291043 A CN109291043 A CN 109291043A CN 201811544789 A CN201811544789 A CN 201811544789A CN 109291043 A CN109291043 A CN 109291043A
Authority
CN
China
Prior art keywords
connecting rod
top plate
lifting device
cross
bottom plate
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201811544789.1A
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Chinese (zh)
Inventor
王鹏程
陈阳
史绪英
陈宏伟
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Siasun Co Ltd
Original Assignee
Siasun Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siasun Co Ltd filed Critical Siasun Co Ltd
Priority to CN201811544789.1A priority Critical patent/CN109291043A/en
Publication of CN109291043A publication Critical patent/CN109291043A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/123Linear actuators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a kind of lifting device and robots, belong to Industrial Robot Technology field.A kind of lifting device is provided with lifting actuator and support portion, the pedestal for going up and down actuator is fixed on bottom plate, the telescopic rod for going up and down actuator is connect with top plate including the bottom plate and top plate being parallel to each other between bottom plate and top plate;Support portion includes cross-shear mechanism, cross-shear mechanism includes the intersect first connecting rod and second connecting rod of setting, the intermediate position of first connecting rod and second connecting rod is hinged, one end of first connecting rod and one end of second connecting rod are slidably connected with top plate, and the other end of first connecting rod and the other end of second connecting rod are slidably connected with bottom plate.The robot includes above-mentioned lifting device.The present invention directly passes through lifting actuator and goes up and down, accurate and intuitive, avoids and carries out the phenomenon that driving causes lifting precision lower by other mechanical elevating mechanisms;Meanwhile lifting device is provided with support portion, improves the stability of top plate lifting.

Description

A kind of lifting device and robot
Technical field
The present invention relates to Industrial Robot Technology field more particularly to a kind of lifting devices and robot.
Background technique
With the development of Industrial Robot Technology, more and more traditional industry workshops, workshop will use Intelligent logistics, intelligence It can storage.Main executive of the composite machine people as logistics, storage, use are also more and more extensive.
Composite machine people mainly includes the AGV as movement mechanism and the mechanical arm as executing agency.Existing compounding machine Most of mechanical arm of device people does not have elevating function, limits the working range of mechanical arm to a certain extent.Although a small number of Mechanical arm has elevating function, but elevating mechanism mainly uses truss structure, chain drive etc., and additional structure is excessively complicated, essence Spend lower, later period maintenance is poor.Meanwhile being traditionally used for the lifting device on mechanical arm and being only able to achieve elevating function, and Stability of the lifting device in lifting process is not considered.
For this purpose, it is urgent to provide a kind of lifting devices and robot to solve the above problems.
Summary of the invention
It is an object of the present invention to provide a kind of lifting devices, and structure is simple, and lifting is steady.
It is another object of the present invention to provide a kind of robot, the scope of activities of mechanical arm is larger, and precision compared with Height, activity are steady.
To achieve this purpose, the present invention adopts the following technical scheme:
A kind of lifting device is provided between the bottom plate and top plate including the bottom plate and top plate being parallel to each other
Actuator is gone up and down, pedestal is fixed on bottom plate, and the telescopic rod of the lifting actuator is connect with the top plate;
Support portion comprising cross-shear mechanism, the cross-shear mechanism include the first connecting rod of setting of intersecting And second connecting rod, the intermediate position of the first connecting rod and the second connecting rod is hinged, one end of the first connecting rod and described One end of second connecting rod is slidably connected with the top plate, the other end of the other end of the first connecting rod and the second connecting rod with The bottom plate is slidably connected.
Lifting device directly passes through lifting actuator and is gone up and down, and the telescopic level of lifting actuator telescopic rod is directly equal to The lifting degree of top plate, accurate and intuitive, avoiding drive by other mechanical elevating mechanisms causes lifting precision lower The phenomenon that;Meanwhile lifting device is provided with support portion, wherein support portion is by setting cross-shear mechanism, so that electric pushrod During driving top plate is gone up and down, the stability of top plate lifting is improved, and has preferably effect.
Preferably, the lifting actuator includes multiple electric pushrods, and multiple electric pushrods can synchronize promotion The top plate.
Preferably, the electric pushrod further includes feedback module, the feedback module of multiple electric pushrods is logical News connection.
Preferably, the support portion includes the cross-shear mechanism that at least two groups are oppositely arranged, and it is oppositely arranged Two groups described in be provided with rigid connecting rod between cross-shear mechanism;
One end of the connecting rod is connect with the wherein first connecting rod of cross-shear mechanism described in one group, the other end with it is another The first connecting rod connection of the group cross-shear mechanism or one end of the connecting rod and wherein cross-shear mechanism described in one group Second connecting rod connection, the other end connect with the second connecting rod of cross-shear mechanism described in another group;
Wherein the connecting rod is parallel to the bottom plate, and perpendicular to the first connecting rod and the second connecting rod.
Preferably, the support portion further includes elastic component, one end of the elastic component is connect with the first connecting rod, separately One end is connect with the second connecting rod.
Preferably, the bottom plate and the top plate are provided with sliding rail, the cross-shear mechanism and the bottom plate connect One end that the one end and the cross-shear mechanism connect is connect with the top plate is hinged with sliding block, and the sliding block is provided with and institute State the sliding slot of sliding rail adaptation.
Preferably, the both ends of the sliding rail are provided with limited block.
Preferably, the first connecting rod and the second connecting rod are provided with link slot, it is provided in the link slot The two is pivotally connected by the connecting hole of connecting hole, connecting hole and the second connecting rod that pin shaft passes through the first connecting rod.
Preferably, being provided with threading hole on the top plate and the bottom plate.
A kind of robot, including robot body and mechanical arm, further include above-mentioned lifting device, and the lifting device is set It is placed between robot body and the mechanical arm.
In this way, the scope of activities of robot arm is larger, and precision is higher, and activity is steady.
Beneficial effects of the present invention:
1) lifting device directly passes through lifting actuator and is gone up and down, and the telescopic level of lifting actuator telescopic rod is direct etc. It is accurate and intuitive in the lifting degree of top plate, avoid by other mechanical elevating mechanisms carry out driving cause to go up and down precision compared with Low phenomenon;
2) lifting device is provided with support portion, and wherein support portion is by setting cross-shear mechanism, so that electric pushrod drives During dynamic top plate is gone up and down, the stability of top plate lifting is improved, and has preferably effect.
3) on the one hand the cross-shear mechanism of support portion can risen by setting spring for the top plate of lifting device Lifting force is provided in journey, on the other hand can provide cushion effect during decline for the top plate of lifting device.
Detailed description of the invention
Fig. 1 is the structural schematic diagram at the first visual angle of the lifting device in the embodiment of the present invention;
Fig. 2 is the structural schematic diagram at the second visual angle of the lifting device in the embodiment of the present invention;
Fig. 3 is the structural schematic diagram at the third visual angle of the lifting device in the embodiment of the present invention;
Fig. 4 is enlarged diagram at A in Fig. 3.
In figure:
1, bottom plate;2, top plate;3, electric pushrod;4, cross-shear mechanism;41, first connecting rod;42, second connecting rod;43, even Access slot;5, spring;6, sliding rail;7, sliding block;8, limited block;9, connecting rod;10, threading hole.
Specific embodiment
To keep the technical problems solved, the adopted technical scheme and the technical effect achieved by the invention clearer, below It will the technical scheme of the embodiment of the invention will be described in further detail in conjunction with attached drawing, it is clear that described embodiment is only It is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those skilled in the art exist Every other embodiment obtained under the premise of creative work is not made, shall fall within the protection scope of the present invention.It ties below It closes attached drawing and passes through specific embodiment to further illustrate the technical scheme of the present invention.
The present embodiment discloses a kind of lifting device, which can be applied to any required field for being gone up and down or being stretched It closes, the present embodiment is illustrated with the lifting device applied to robot.
As shown in Figure 1-3, the lifting device includes the bottom plate 1 and top plate 2 being parallel to each other, it is arranged between bottom plate 1 and top plate 2 There are lifting actuator and support portion.
The pedestal for wherein going up and down actuator is fixed on bottom plate 1, and the telescopic rod for going up and down actuator is connect with top plate 2, and is driven Dynamic top plate 2 is separate or close to bottom plate 1, to reach lifting purpose.Lifting actuator can select cylinder, linear motor, hydraulic Cylinder etc..Lifting device directly passes through lifting actuator and is gone up and down, and the telescopic level of lifting actuator telescopic rod is directly equal to push up The lifting degree of plate 2, accurate and intuitive, avoiding drive by other mechanical elevating mechanisms causes lifting precision lower Phenomenon.In this present embodiment, lifting actuator selects electric pushrod 3, electric pushrod 3 also known as linear actuator, be it is a kind of will be electric The rotary motion of motivation is changed into the power-driven gear of the straight reciprocating motion of push rod.And electric pushrod 3 is mainly by electricity A kind of novel linear executing agency of the mechanisms such as machine push rod and control device composition, can be used for various simple or complicated technique stream As mechanical use is executed in journey, to realize far distance control, centralized control or automatic control.By selecting electric pushrod 3 to make It is easy to implement for lifting actuator and accurate control is carried out to the adjustable height of lifting device, met robot and lifting precision is wanted It asks.And in order to guarantee top plate 2 can opposed bottom 1 smoothly gone up and down, preferably between top plate 2 and bottom plate 1 setting it is more A electric pushrod 3.In this present embodiment, the square similar with the appearance profile of bottom plate 1 of top plate 2, therefore select four electric pushrods 3, and four electric pushrods 3 are set to four edges of top plate 2 and bottom plate 1.In other embodiments, top plate 2 and bottom plate 1 Appearance profile when being round, three or more electric pushrods 3 can be selected to be uniformly distributed circumferentially relative to the center of circle in top Between plate 2 and bottom plate 1.When the appearance profile of top plate 2 and bottom plate 1 is other shapes, those skilled in the art can be according to reality The quantity of border situation adjustment electric pushrod 3.
Further, it when using multiple electric pushrods 3, needs to guarantee multiple 3 synchronization liftings of electric pushrod, and goes up and down high Spend it is identical, in this present embodiment, preferably with feedback function electric pushrod 3, that is, electric pushrod 3 include feedback module, it is multiple The feedback module of electric pushrod is connected by controller communication, and feedback module can monitor in real time to be pushed away in electric pushrod 3 The lifting height of bar stops the operation of electric pushrod 3 in time, meanwhile, by the data of feedback, controller can adjust it in time The lifting height of his electric pushrod 3 ensure that the synchronization lifting of multiple electric pushrods 3, asynchronous so as to avoid electric pushrod 3 The phenomenon that causing top plate 2 to tilt.In addition, it is necessary to which explanation, electric pushrod 3 belong to product in the prior art, principle It does not repeat herein.Wherein, the type selecting of electric pushrod 3 will be determined according to the demand of mechanical arm lifting height.And in implementation process In it is noted that electric pushrod 3 itself does not have the load capacity of the electric pushrod 3 of certain height and different model not Together, it needs to carry out type selecting according to the workload of mechanical arm, end equipment and mechanical arm.
Support portion includes cross-shear mechanism 4, and cross-shear mechanism 4 includes the first connecting rod 41 and the of setting of intersecting The intermediate position of two connecting rods 42, first connecting rod 41 and second connecting rod 42 is hinged, one end of first connecting rod 41 and second connecting rod 42 One end is slidably connected with top plate 2, and the other end of first connecting rod 41 and the other end of second connecting rod 42 are slidably connected with bottom plate 1.It is logical Normal cross-shear mechanism 4 is used to carry out driving as lifting driver part the raising of object, and the present embodiment is by by cross-shear The a part of mechanism 4 as support portion, so that improving top plate 2 during electric pushrod 3 drives top plate 2 to be gone up and down and going up and down Stability, and there is preferably effect.In this present embodiment, support portion includes two groups of cross-shear mechanisms 4 being oppositely arranged, It is symmetrically disposed between top plate 2 and bottom plate 1, to guarantee the stationarity of the lifting of top plate 2.
Further, as shown in figure 4, first connecting rod 41 and second connecting rod 42 are provided with link slot 43, in link slot 43 It is provided with connecting hole, pin shaft is hinged by the two across the connecting hole of first connecting rod 41 and the connecting hole of second connecting rod 42.Wherein The length of link slot 43 is greater than the aperture of connecting hole, and when first connecting rod 41 and the connection of second connecting rod 42, the slot of link slot 43 Bottom contacts with each other, and wherein the side wall of link slot 43 can also be used as limiting section and hand over first connecting rod 41 and the maximum of second connecting rod 42 Fork angle and minimum intersecting angle are limited, convenient for setting the minimum range and maximum distance of top plate 2 and bottom plate 1.Wherein connect Maximum distance and minimum range between the limitation top plate 2 of access slot 43 and bottom plate 1 can limit top plate 2 and bottom with electric pushrod 3 Maximum distance and minimum range are consistent between plate 1, and when electric pushrod 3 is damaged, link slot 43 can be used as spare guarantor Protection structure avoids distance between top plate 2 and bottom plate 1 excessive or too small other components inside lifting device is caused to be damaged Phenomenon.Maximum distance and minimum range between the limitation top plate 2 of link slot 43 and bottom plate 1 can also be greater than electric pushrod 3 and limit Maximum distance and minimum range between top plate 2 and bottom plate 1 processed, are not influencing the case where electric pushrod 3 goes up and down top plate 2 Under, to provide a safe distance to top plate 2 and bottom plate 1.Link slot 43 limit the maximum distance between top plate 2 and bottom plate 1 with And minimum range might be less that electric pushrod 3 limits maximum distance and minimum range between top plate 2 and bottom plate 1, due to electricity Dynamic push rod 3 belongs to existing product, and has certain formation specification, when the range or minimum stroke of electric pushrod 3 exceed When lifting demand, can by setting link slot 43 with limit first connecting rod 41 and second connecting rod 42 maximum intersecting angle and Minimum intersecting angle, and then make the minimum range and maximum distance meet demand of top plate 2 and bottom plate 1.
Further, bottom plate 1 and top plate 2 are provided with sliding rail 6, one end and friendship that cross-shear mechanism 4 is connect with bottom plate 1 One end that fork cutting mechanism 4 is connect with top plate 2 is hinged with sliding block 7, and sliding block 7 is provided with the sliding slot being adapted to sliding rail 6.It sets in this way It sets, on the one hand can guarantee that cross-shear mechanism 4 is moved under the action of electric pushrod 3 according to desired trajectory, another party Face, frictional force when can also reduce cross-shear mechanism 4 and top plate 2 and be relatively moved between bottom plate 1, to improve electricity The efficiency of the lifting force of dynamic push rod 3.
Further, it is provided with rigid connecting rod 9 between the Liang Zu cross-shear mechanism 4 being oppositely arranged, wherein connecting rod 9 One end connect with the first connecting rod 41 of wherein one group of cross-shear mechanism 4, the of the other end and another group of cross-shear mechanism 4 The connection of one connecting rod 41 or one end of connecting rod 9 are connect with the second connecting rod 42 of wherein one group of cross-shear mechanism 4, the other end and The second connecting rod 42 of another group of cross-shear mechanism 4 connects;Wherein connecting rod 9 is parallel to bottom plate 1, and perpendicular to first connecting rod 41 With second connecting rod 42.In this way, making lifting device mechanically ensures the synchronization lifting of Liang Zu cross-shear mechanism 4. In this present embodiment, there are two rigid connecting rods 9 for setting between the Liang Zu cross-shear mechanism 4 being oppositely arranged, one of to connect One end of extension bar 9 is connect with the first connecting rod 41 of wherein one group of cross-shear mechanism 4, the other end and another group of cross-shear mechanism 4 first connecting rod 41 connects, and one end of another connecting rod 9 is connect with the second connecting rod 42 of wherein one group of cross-shear mechanism 4, The other end is connect with the second connecting rod 42 of another group of cross-shear mechanism 4.
Also, support portion further includes elastic component, and one end of elastic component is connect with first connecting rod 41, the other end and second connecting rod 42 connections.In this present embodiment, it is provided with elastic component in Liang Zu cross-shear mechanism 4, wherein elastic component is preferably spring 5, And spring 5 is parallel to bottom plate 1 or top plate 2 is arranged.When initial, spring 5 has certain tensile elongation, the top plate in lifting device In 2 uphill process, spring 5 provides one to sliding block 7 by cross-shear mechanism 4 and moves power along 6 direction of sliding rail, makes first Connecting rod 41 and second connecting rod 42 provide a lifting force easily with respect to sliding, while also for lifting device top plate 2.In decline process In, the intersecting angle of first connecting rod 41 and second connecting rod 42 constantly expands, and corresponding spring 5 also can be elongated constantly, at this point, first Spring 5 between connecting rod 41 and second connecting rod 42 can play buffer function to the decline of top plate 2.In this present embodiment, elastic Part is set between the hinged place of cross-shear mechanism 4 and top plate 2, connecting rod 9 be set to the hinged place of cross-shear mechanism 4 with Between bottom plate 1.Elastic component and connecting rod 9 are respectively arranged to the two sides of 4 hinged place of cross-shear mechanism, it can be respectively hinged The connection structure of cross-shear mechanism 4 and elastic component and connecting rod 9 is set between hinged place and bottom plate 1 between place and top plate 2, So as to avoid by connection structure, setting is arranged between hinged place and bottom plate 1 between hinged place and top plate 2 or simultaneously simultaneously First connecting rod 41 and second connecting rod 42 is caused to be damaged larger phenomenon.
In addition, the both ends of sliding rail 6 are provided with limited block 8.It can guarantee that cross-shear mechanism 4 has certain peace in this way Quan Xing, so that the sliding block 7 connecting with first connecting rod 41 and second connecting rod 42 be avoided to skid off sliding rail 6 in sliding process.
Further, lifting device is attached cooperation as module and other devices, is risen with helping other devices to meet Drop requires.For this purpose, being provided with the mounting hole with the installation of other devices on bottom plate 1 and top plate 2.Also, on top plate 2 and bottom plate 1 Middle section is provided with biggish threading hole 10.The setting of threading hole 10 wears convenient for cable when electrical connection, to guarantee to fill The aesthetics set, while the setting of threading hole 10 can also achieve the effect that mitigate lifting device weight, to reduce lifting driving The driving power of part.
In this present embodiment, a kind of robot, including robot body and mechanical arm are also disclosed.When the mechanical arm of robot When satisfaction lifting requires, robot body and mechanical arm are directly connected to.When the mechanical arm of robot, which is unsatisfactory for lifting, to be required, machine Device people further includes lifting device, and wherein lifting device is set between robot body and mechanical arm, to meet machine in robot Tool arm needs lifting requirement to be achieved.
Simultaneously in order to when lifting device being avoided connect with mechanical arm and robot body as far as possible needs it is special add or Change connection structure, the company of robot body and mechanical arm that the top plate 2 and bottom plate 1 of lifting device are connected according to its needs respectively Binding structure is configured.That is the company that is connect with robot body of the bottom plate 1 that is connect with robot body of lifting device and mechanical arm Binding structure is identical;The connection structure phase that the top plate 2 and robot body that lifting device is connect with mechanical arm are connect with mechanical arm Together.The variation that original machine structure not only can be reduced reduces cost, and is easy for installation and removal.
Obviously, the above embodiment of the present invention is just for the sake of clearly illustrating examples made by the present invention, and being not is pair The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this Made any modifications, equivalent replacements, and improvements etc., should be included in the claims in the present invention within the spirit and principle of invention Protection scope within.

Claims (10)

1. a kind of lifting device, which is characterized in that including the bottom plate (1) and top plate (2) being parallel to each other, the bottom plate (1) and top Plate is provided between (2)
Actuator is gone up and down, pedestal is fixed on bottom plate (1), and the telescopic rod of the lifting actuator is connect with the top plate (2);
Support portion comprising cross-shear mechanism (4), the cross-shear mechanism (4) include intersect setting first connect The intermediate position of bar (41) and second connecting rod (42), the first connecting rod (41) and the second connecting rod (42) is hinged, and described One end of one connecting rod (41) and one end of the second connecting rod (42) are slidably connected with the top plate (2), the first connecting rod (41) other end of the other end and the second connecting rod (42) is slidably connected with the bottom plate (1).
2. lifting device according to claim 1, which is characterized in that the lifting actuator includes multiple electric pushrods (3), and multiple electric pushrods (3) can synchronize and push the top plate (2).
3. lifting device according to claim 2, which is characterized in that the electric pushrod (3) further includes feedback module, more The feedback module communication connection of a electric pushrod (3).
4. lifting device according to claim 1, which is characterized in that the support portion includes what at least two groups were oppositely arranged The cross-shear mechanism (4), and rigid connecting rod is provided between cross-shear mechanism (4) described in two groups be oppositely arranged (9);
One end of the connecting rod (9) is connect with the first connecting rod (41) of wherein cross-shear mechanism (4) described in one group, the other end Connect with the first connecting rod (41) of cross-shear mechanism (4) described in another group or one end of the connecting rod (9) with wherein one group The second connecting rod (42) of the cross-shear mechanism (4) connects, the other end and second of cross-shear mechanism (4) described in another group Connecting rod (42) connection;
Wherein the connecting rod (9) is parallel to the bottom plate (1), and perpendicular to the first connecting rod (41) and the second connecting rod (42)。
5. lifting device according to claim 1, which is characterized in that the support portion further includes elastic component, the elasticity One end of part is connect with the first connecting rod (41), and the other end is connect with the second connecting rod (42).
6. lifting device according to claim 1, which is characterized in that the bottom plate (1) and the top plate (2) are provided with Sliding rail (6), one end that the cross-shear mechanism (4) connect with the bottom plate (1) and the cross-shear mechanism (4) with it is described One end of top plate (2) connection is hinged with sliding block (7), and the sliding block (7) is provided with the sliding slot being adapted to the sliding rail (6).
7. lifting device according to claim 6, which is characterized in that the both ends of the sliding rail (6) are provided with limited block (8)。
8. lifting device according to claim 1, which is characterized in that the first connecting rod (41) and the second connecting rod (42) it is provided with link slot (43), connecting hole is provided in the link slot (43), pin shaft passes through the first connecting rod (41) Connecting hole and the second connecting rod (42) connecting hole the two is hinged.
9. lifting device according to claim 1, which is characterized in that be respectively provided on the top plate (2) and the bottom plate (1) There are threading hole (10).
10. a kind of robot, including robot body and mechanical arm, which is characterized in that further include such as any one of claim 1-9 The lifting device, the lifting device are set between robot body and the mechanical arm.
CN201811544789.1A 2018-12-17 2018-12-17 A kind of lifting device and robot Pending CN109291043A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811544789.1A CN109291043A (en) 2018-12-17 2018-12-17 A kind of lifting device and robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811544789.1A CN109291043A (en) 2018-12-17 2018-12-17 A kind of lifting device and robot

Publications (1)

Publication Number Publication Date
CN109291043A true CN109291043A (en) 2019-02-01

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Application Number Title Priority Date Filing Date
CN201811544789.1A Pending CN109291043A (en) 2018-12-17 2018-12-17 A kind of lifting device and robot

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Cited By (2)

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Publication number Priority date Publication date Assignee Title
CN110817734A (en) * 2019-09-08 2020-02-21 坎德拉(深圳)科技创新有限公司 Jacking device and intelligent delivery robot
WO2022109841A1 (en) * 2020-11-25 2022-06-02 徐州云创餐饮有限公司 Industrial mechanical arm placement base and use method therefor

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JP2000136626A (en) * 1998-10-30 2000-05-16 Chuo Spring Co Ltd Motor-driven lifting type underfloor storage case
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CN108689332A (en) * 2018-06-04 2018-10-23 合肥航机械科技股份有限公司 A kind of lifting machine and its top plate leveling method
CN209207512U (en) * 2018-12-17 2019-08-06 中科新松有限公司 A kind of lifting device and robot

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Publication number Priority date Publication date Assignee Title
GB1355321A (en) * 1971-04-21 1974-06-05 Denier H H Self-propelled lifting vehicle
JP2000136626A (en) * 1998-10-30 2000-05-16 Chuo Spring Co Ltd Motor-driven lifting type underfloor storage case
CN204938841U (en) * 2015-08-10 2016-01-06 浙江科技学院 Be applicable to the vertical lifting platform carrying sheet material
CN108602440A (en) * 2015-08-28 2018-09-28 庞巴迪无接触运行有限责任公司 The method of induction type power transmission pad and operation induction type power transmission pad
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CN206296906U (en) * 2016-12-23 2017-07-04 深圳光启合众科技有限公司 Robot reach up device and the robot with it
CN107455948A (en) * 2017-09-08 2017-12-12 淄博职业学院 A kind of adjustable file cabinet of industrial and commercial administration
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110817734A (en) * 2019-09-08 2020-02-21 坎德拉(深圳)科技创新有限公司 Jacking device and intelligent delivery robot
WO2022109841A1 (en) * 2020-11-25 2022-06-02 徐州云创餐饮有限公司 Industrial mechanical arm placement base and use method therefor

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