CN109434877B - Multi-freedom-degree translation type jacking mechanism - Google Patents
Multi-freedom-degree translation type jacking mechanism Download PDFInfo
- Publication number
- CN109434877B CN109434877B CN201811574544.3A CN201811574544A CN109434877B CN 109434877 B CN109434877 B CN 109434877B CN 201811574544 A CN201811574544 A CN 201811574544A CN 109434877 B CN109434877 B CN 109434877B
- Authority
- CN
- China
- Prior art keywords
- bearing plate
- guide sleeve
- jacking
- mounting frame
- positioning pin
- 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.)
- Active
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- 230000000903 blocking effect Effects 0.000 claims description 7
- 238000003032 molecular docking Methods 0.000 abstract description 11
- 210000001503 joint Anatomy 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The invention relates to a multi-degree-of-freedom translational jacking mechanism, which comprises a mounting frame, a bearing plate arranged above the mounting frame and a jacking power piece in transmission connection with the bearing plate; the mounting frame is provided with a guide sleeve; the bearing plate is fixed with a positioning pin which moves in a matched manner with the guide sleeve, and the positioning pin penetrates through two ends of the guide sleeve; the periphery of the positioning pin is provided with a circumferential concave part, and the cross section area of the concave part is smaller than the inner hole of the guide sleeve; the bearing plate is lifted to the concave part by the lifting power piece and matched with the guide sleeve, and the bearing plate moves in parallel relative to the mounting frame. The positioning pin has two degrees of freedom in the horizontal plane and the degree of freedom in the vertical direction, so that the positioning pin and the goods can be accurately docked with the goods by adjusting the degrees of freedom even if certain deviation exists between the positioning pin and the goods during jacking and docking. The jacking and docking mechanism of the mobile robot has a simple and compact structure, and ensures that the mobile robot can accurately perform docking tasks.
Description
Technical Field
The invention relates to the field of mobile robots, in particular to a multi-degree-of-freedom translational lifting mechanism.
Background
In the field of mobile robot butt joint, the pin hole butt joint with high precision is inevitably encountered, and the degree of freedom of the pin is guaranteed in the butt joint process at this time so as to avoid the occurrence of accidents that the pin hole is hard to collide with the hard butt joint, and equipment is damaged. However, the existing docking mechanism of the mobile robot is complex, and because of insufficient freedom, the docking is not accurate, and equipment is often damaged.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a multi-degree-of-freedom translational lifting mechanism.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a multi-freedom-degree translation type jacking mechanism comprises a mounting frame, a bearing plate arranged above the mounting frame and a jacking power piece in transmission connection with the bearing plate; the mounting frame is provided with a guide sleeve; the bearing plate is fixed with a positioning pin which moves in a matched manner with the guide sleeve, and the positioning pin penetrates through two ends of the guide sleeve; the periphery of the positioning pin is provided with a circumferential concave part, and the cross section area of the concave part is smaller than the inner hole of the guide sleeve; the bearing plate is lifted to the concave part by the lifting power piece and matched with the guide sleeve, and the bearing plate moves in parallel relative to the mounting frame.
The further technical scheme is as follows: the locating pin comprises an extension part which extends to the upper side of the bearing plate, a sleeve part which is connected with the extension part, and the concave part; the sleeve part is in clearance fit with the guide sleeve; a first conical surface part is arranged between the sleeving part and the concave part.
The further technical scheme is as follows: the positioning pin further comprises a second conical surface part connected with the concave part and a blocking part connected with the second conical surface part; the cross section area of the blocking part is larger than the inner hole area of the guide sleeve.
The further technical scheme is as follows: a support plate is arranged below the bearing plate; the power output end of the jacking power piece is connected with the support plate, so that the jacking power piece drives the support plate and the bearing plate to ascend.
The further technical scheme is as follows: and a plurality of universal bearings are arranged between the support plate and the bearing plate.
The further technical scheme is as follows: and the bearing plate and the universal bearing are provided with wear-resisting plates at positions corresponding to each other.
The further technical scheme is as follows: the lower side of the support plate is fixedly connected with a plurality of guide shafts and extends to the mounting frame; the mounting frame is provided with a linear bearing which is in sliding connection with the guide shaft.
The further technical scheme is as follows: the lower side of the support plate is provided with an upper ear seat; the jacking power piece is hinged with the upper lug seat through a pin shaft.
The further technical scheme is as follows: the lower end of the jacking power piece is provided with a lower ear seat so that the jacking power piece is hinged with a fixed object.
The further technical scheme is as follows: the mounting frame is provided with a sleeve for accommodating the positioning pin; the guide sleeve is arranged at the upper end of the sleeve.
Compared with the prior art, the invention has the beneficial effects that: the positioning pin has two degrees of freedom in the horizontal plane and the degree of freedom in the vertical direction, so that the positioning pin and the goods can be accurately docked with the goods by adjusting the degrees of freedom even if certain deviation exists between the positioning pin and the goods during jacking and docking. The jacking and docking mechanism of the mobile robot has a simple and compact structure, and ensures that the mobile robot can accurately perform docking tasks.
The invention is further described below with reference to the drawings and specific embodiments.
Drawings
FIG. 1 is a perspective view of a multiple degree of freedom translational jack mechanism of the present invention;
FIG. 2 is a top view of a multiple degree of freedom translational jack mechanism of the present invention;
FIG. 3 is a side view of a multiple degree of freedom translational jack mechanism of the present invention;
FIG. 4 is a front view of a multiple degree of freedom translational jack mechanism of the present invention;
FIG. 5 is a partial cross-sectional view of a multiple degree of freedom translational jack mechanism of the present invention;
fig. 6 is a block diagram of a positioning pin of a translational jack mechanism with multiple degrees of freedom.
Detailed Description
In order to more fully understand the technical content of the present invention, the following technical solutions of the present invention will be further described and illustrated with reference to specific embodiments, but are not limited thereto.
Figures 1 to 6 illustrate drawings of embodiments of the present invention.
A multi-degree-of-freedom translational jacking mechanism comprises a mounting frame 10, a bearing plate 11 arranged above the mounting frame 10, and a jacking power piece 13 in transmission connection with the bearing plate 11. The mounting frame 10 is provided with a guide sleeve 14, and the guide sleeve 14 faces to one side of the bearing plate 11. The guide sleeve 14 is open at both ends. The bearing plate 11 is provided with positioning pins 15 which move in cooperation with the guide sleeve 14, and the positioning pins 15 penetrate through two ends of the guide sleeve 14. The positioning pin 15 is provided with a circumferential recess 151 at its outer periphery. The bearing plate 11 is lifted by the lifting power member 13 until the concave portion 151 is matched with the guide sleeve 14, and the bearing plate 11 moves in parallel relative to the mounting frame 10.
The positioning pin 15 includes an extension portion 152 extending to the upper side of the bearing plate 11, a socket portion 153 coupled to the extension portion 152, and the recess portion 151. The engaging portion 153 is in clearance fit with the guide bush 14, so that the positioning pin 15 has only a degree of freedom of up-down movement when the carrier plate 11 is lowered. A first conical surface portion 154 is provided between the engaging portion 153 and the recessed portion 151. The extension 152 penetrates the bearing plate 11 and is higher than the bearing plate 11, and is inserted into the goods with holes. When the bearing plate 11 is not lifted, the sleeve portion 153 is fitted in the inner hole of the guide sleeve 14. When the bearing plate 11 descends, the first conical surface portion 154 is matched with the inner hole of the guide sleeve 14, and has a guiding function. When the bearing plate 11 is lifted to a certain height, the concave portion 151 of the positioning pin 15 is matched with the inner hole of the guide sleeve 14, and the bearing plate 11 translates due to the fact that the cross section area of the concave portion 151 is smaller than that of the inner hole of the guide sleeve 14, and the two-direction freedom degree is achieved, so that the positioning pin 15 also has the two-direction freedom degree, and the inserting accuracy of the positioning pin 15 is improved.
More specifically, the positioning pin 15 further includes a second tapered portion 155 coupled to the recess 151, and a blocking portion 156 coupled to the second tapered portion 155. The blocking portion 156 has a cross-sectional area greater than the area of the inner bore of the guide sleeve 14. When the bearing plate 11 rises to the second conical surface 155, the second conical surface 155 is matched with the inner hole of the guide sleeve 14, so that the guide function is realized; when the lifting is continued, the blocking portion 156 is blocked by the inner hole of the guide bush 14, and is prevented from falling off.
A support plate 16 is arranged below the bearing plate 11 and is positioned between the mounting frame 10 and the bearing plate 11. The power output end of the jacking power piece 13 is connected with the support plate 16, so that the jacking power piece 13 drives the support plate 16 and the bearing plate 11 to ascend.
Preferably, a plurality of universal bearings 17 are arranged between the support plate 16 and the bearing plate 11, so that the slidability of the bearing plate 11 is improved.
Specifically, the lifting power member 13 pushes the support plate 16 to lift, and the bearing plate 11 and the positioning pin 15 also lift along with the lifting, when the recess 151 of the positioning pin 15 moves to the guide sleeve 14, at this time, the bearing plate 11 and the positioning pin 15 can slide and translate on the support plate 16 through the universal bearing 17, so that the positioning pin 15 obtains a degree of freedom.
More specifically, the bearing plate 11 is provided with a wear-resistant plate 18 at a position corresponding to the universal bearing 17,
in order to make the lifting or lowering movement smoother, a plurality of guide shafts 19 are fixedly coupled to the lower side of the support plate 16 and extend to the mounting frame 10. The mounting frame 10 is provided with a linear bearing 21 slidingly coupled with the guide shaft 19. The support plate 16 is provided with a shaft seat 22 for fixing the guide shaft 19, and the mounting frame 10 is provided with a protective shell 23 for protecting the guide shaft 19.
The support plate 16 is provided with an upper ear seat 24 on the underside. The jacking power piece 13 is hinged with the upper ear seat 24 through a pin shaft.
The lower end of the jacking power piece 13 is provided with a lower ear seat 26 so that the jacking power piece 13 is hinged with a fixed object. The two ends of the jacking power piece 13 are hinged, so that the jacking power piece 13 is protected.
Preferably, the mounting frame 10 is provided with a sleeve 27 for receiving the locating pin 15. The guide sleeve 14 is provided at the upper end of the sleeve 27.
Preferably, the jacking power part 13 is an electric push rod or an air cylinder or a wire rod piece.
In summary, the positioning pin has two degrees of freedom in the horizontal plane and two degrees of freedom in the vertical direction, so that the positioning pin and the goods can be accurately docked with the goods by adjusting the degrees of freedom even if certain deviation exists between the positioning pin and the goods during jacking docking. The jacking and docking mechanism of the mobile robot has a simple and compact structure, and ensures that the mobile robot can accurately perform docking tasks.
The foregoing examples are provided to further illustrate the technical contents of the present invention for the convenience of the reader, but are not intended to limit the embodiments of the present invention thereto, and any technical extension or re-creation according to the present invention is protected by the present invention. The protection scope of the invention is subject to the claims.
Claims (8)
1. The multi-degree-of-freedom translational jacking mechanism is characterized by comprising a mounting frame, a bearing plate arranged above the mounting frame and a jacking power piece in transmission connection with the bearing plate; the mounting frame is provided with a guide sleeve; the bearing plate is fixed with a positioning pin which moves in a matched manner with the guide sleeve, and the positioning pin penetrates through two ends of the guide sleeve; the periphery of the positioning pin is provided with a circumferential concave part, and the cross section area of the concave part is smaller than the inner hole of the guide sleeve; the bearing plate is lifted to the concave part by the lifting power piece to be matched with the guide sleeve, and the bearing plate moves in parallel relative to the mounting frame; the locating pin comprises an extension part which extends to the upper side of the bearing plate, a sleeve part which is connected with the extension part, and the concave part; the sleeve part is in clearance fit with the guide sleeve; a first conical surface part is arranged between the sleeving part and the concave part; the positioning pin further comprises a second conical surface part connected with the concave part and a blocking part connected with the second conical surface part; the cross section area of the blocking part is larger than the inner hole area of the guide sleeve.
2. The multi-degree-of-freedom translational jacking mechanism of claim 1, wherein a support plate is arranged below the bearing plate; the power output end of the jacking power piece is connected with the support plate, so that the jacking power piece drives the support plate and the bearing plate to ascend.
3. The multi-degree-of-freedom translational jacking mechanism of claim 2, wherein a plurality of universal bearings are arranged between the support plate and the bearing plate.
4. A multi-degree-of-freedom translational jacking mechanism according to claim 3, wherein the bearing plate is provided with a wear plate at a position corresponding to the universal bearing.
5. The multi-degree-of-freedom translational jacking mechanism of claim 2, wherein a plurality of guide shafts are fixedly connected to the lower side of the support plate and extend to the mounting frame; the mounting frame is provided with a linear bearing which is in sliding connection with the guide shaft.
6. The multi-degree-of-freedom translational jacking mechanism of claim 2, wherein said support plate has an upper ear mount on its underside; the jacking power piece is hinged with the upper lug seat through a pin shaft.
7. The multi-degree-of-freedom translational jacking mechanism of claim 2, wherein a lower ear mount is provided at a lower end of the jacking power member to allow the jacking power member to be hinged to the fixture.
8. The multi-degree of freedom translational jack mechanism of claim 1, wherein the mounting frame is provided with a sleeve for receiving a locating pin; the guide sleeve is arranged at the upper end of the sleeve.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811574544.3A CN109434877B (en) | 2018-12-21 | 2018-12-21 | Multi-freedom-degree translation type jacking mechanism |
| PCT/CN2018/124182 WO2020124656A1 (en) | 2018-12-21 | 2018-12-27 | Multi-degree-of-freedom translational jacking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811574544.3A CN109434877B (en) | 2018-12-21 | 2018-12-21 | Multi-freedom-degree translation type jacking mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109434877A CN109434877A (en) | 2019-03-08 |
| CN109434877B true CN109434877B (en) | 2024-03-26 |
Family
ID=65537661
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811574544.3A Active CN109434877B (en) | 2018-12-21 | 2018-12-21 | Multi-freedom-degree translation type jacking mechanism |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109434877B (en) |
| WO (1) | WO2020124656A1 (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202389899U (en) * | 2011-11-27 | 2012-08-22 | 长城汽车股份有限公司 | Rotary jacking device |
| CN205521495U (en) * | 2016-01-12 | 2016-08-31 | 宁波长晟电子科技有限公司 | Industrial robot is with rotatory climbing mechanism of single cylinder guide way |
| CN106112434A (en) * | 2016-07-27 | 2016-11-16 | 广东美芝制冷设备有限公司 | Jacking apparatus |
| CN106347323A (en) * | 2015-07-15 | 2017-01-25 | 王俊 | Lifting carrying device |
| WO2017092105A1 (en) * | 2015-12-04 | 2017-06-08 | 中国科学院深圳先进技术研究院 | Radiation therapy bed with multiple degrees of freedom |
| CN209240081U (en) * | 2018-12-21 | 2019-08-13 | 斯坦德机器人（深圳）有限公司 | A kind of multiple degrees of freedom parallel-moving type lifting body |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1658074A (en) * | 2005-03-02 | 2005-08-24 | 上海微电子装备有限公司 | Multifreedom motion and positioning device |
| CN203843849U (en) * | 2014-05-09 | 2014-09-24 | 广州市番禺科腾工业有限公司 | Mechanical arm clamp and robot with mechanical arm clamp |
| CN205099692U (en) * | 2015-10-16 | 2016-03-23 | 嘉善亿鑫植绒有限公司 | Spinning equipment with load -carrying members |
| CN106932878A (en) * | 2015-12-31 | 2017-07-07 | 上海微电子装备有限公司 | A kind of six-degree-of-freedom adjusting |
| CN108240802B (en) * | 2016-12-23 | 2021-06-15 | 中国科学院长春光学精密机械与物理研究所 | Four-degree-of-freedom fine adjustment mechanism |
| CN206358799U (en) * | 2016-12-29 | 2017-07-28 | 云南卓沛科技有限公司 | A kind of AGV jacking apparatus and AGV dollies |
| CN107010564B (en) * | 2017-04-17 | 2022-12-30 | 扬州航鹰科技装备有限公司 | Six-degree-of-freedom lifting platform with adjustable position |
| CN207890993U (en) * | 2017-12-20 | 2018-09-21 | 深圳市裕展精密科技有限公司 | Jacking apparatus |
| CN108551045B (en) * | 2018-06-07 | 2019-05-03 | 斯坦德机器人（深圳）有限公司 | A kind of multivariant charging pile mechanism |
-
2018
- 2018-12-21 CN CN201811574544.3A patent/CN109434877B/en active Active
- 2018-12-27 WO PCT/CN2018/124182 patent/WO2020124656A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202389899U (en) * | 2011-11-27 | 2012-08-22 | 长城汽车股份有限公司 | Rotary jacking device |
| CN106347323A (en) * | 2015-07-15 | 2017-01-25 | 王俊 | Lifting carrying device |
| WO2017092105A1 (en) * | 2015-12-04 | 2017-06-08 | 中国科学院深圳先进技术研究院 | Radiation therapy bed with multiple degrees of freedom |
| CN205521495U (en) * | 2016-01-12 | 2016-08-31 | 宁波长晟电子科技有限公司 | Industrial robot is with rotatory climbing mechanism of single cylinder guide way |
| CN106112434A (en) * | 2016-07-27 | 2016-11-16 | 广东美芝制冷设备有限公司 | Jacking apparatus |
| CN209240081U (en) * | 2018-12-21 | 2019-08-13 | 斯坦德机器人（深圳）有限公司 | A kind of multiple degrees of freedom parallel-moving type lifting body |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020124656A1 (en) | 2020-06-25 |
| CN109434877A (en) | 2019-03-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8430229B2 (en) | Lifting device for a conveyor system a conveyor system and a method | |
| US10196243B1 (en) | Heavy compressor valve lifting tool and associated methods | |
| KR102060867B1 (en) | O-ring mounting device and method | |
| CN102601245A (en) | Automatic die-changing processing equipment | |
| CN104096969A (en) | Compactly-structured automatic coupling and welding equipment for coaxial optoelectronic device | |
| CN104117770A (en) | Integral rotating type automatic coupling welding device for coaxial photoelectronic device | |
| CN109434877B (en) | Multi-freedom-degree translation type jacking mechanism | |
| CN112299288B (en) | Lifting limiting device | |
| CN209240081U (en) | A kind of multiple degrees of freedom parallel-moving type lifting body | |
| CN105234863A (en) | Uplifting positioning mechanism | |
| CN109655684B (en) | Electrical test assembly | |
| CN110625382B (en) | Magnetic suspension frame beam assembling device | |
| KR102544276B1 (en) | Test Socket for camera module | |
| KR101484317B1 (en) | Guide device of rotary coupler for appliance upper part | |
| CN207502559U (en) | A kind of docking facilities | |
| CN213170211U (en) | Jacking locking mechanism | |
| CN219730426U (en) | Lifting mechanism and operation machine | |
| CN216126777U (en) | Primary support leg positioning device and movable support leg assembling equipment | |
| CN117381499B (en) | Transposition cylinder clamp | |
| KR20160127464A (en) | Backing device for repair fork lift | |
| CN216912647U (en) | Positioning device and equipment | |
| CN216336378U (en) | Improved power battery dismounting lifter | |
| CN220077769U (en) | Blocking jacking mechanism | |
| CN211218354U (en) | Sensor copper sheathing fore shaft frock | |
| CN217955931U (en) | Positioning mechanism of rivet pulling equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |