CN114427642A - Automatic parallel intelligent support of transferring appearance - Google Patents

Automatic parallel intelligent support of transferring appearance Download PDF

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Publication number
CN114427642A
CN114427642A CN202111652055.7A CN202111652055A CN114427642A CN 114427642 A CN114427642 A CN 114427642A CN 202111652055 A CN202111652055 A CN 202111652055A CN 114427642 A CN114427642 A CN 114427642A
Authority
CN
China
Prior art keywords
connecting rod
rotary
joint
support
rotary joint
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
CN202111652055.7A
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Chinese (zh)
Inventor
张怀稳
吴继春
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangsu Bige Intelligent Technology Co ltd
Original Assignee
Jiangsu Bige Intelligent Technology 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 Jiangsu Bige Intelligent Technology Co ltd filed Critical Jiangsu Bige Intelligent Technology Co ltd
Priority to CN202111652055.7A priority Critical patent/CN114427642A/en
Publication of CN114427642A publication Critical patent/CN114427642A/en
Pending legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • F16M11/045—Allowing translations adapted to left-right translation movement
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • F16M11/046—Allowing translations adapted to upward-downward translation movement
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/043—Allowing translations
    • F16M11/048—Allowing translations adapted to forward-backward translation movement
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/14—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction with ball-joint
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09F—DISPLAYING; ADVERTISING; SIGNS; LABELS OR NAME-PLATES; SEALS
    • G09F9/00—Indicating arrangements for variable information in which the information is built-up on a support by selection or combination of individual elements
    • G09F9/30—Indicating arrangements for variable information in which the information is built-up on a support by selection or combination of individual elements in which the desired character or characters are formed by combining individual elements
    • G09F9/35—Indicating arrangements for variable information in which the information is built-up on a support by selection or combination of individual elements in which the desired character or characters are formed by combining individual elements being liquid crystals

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Crystallography & Structural Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses an intelligent support capable of automatically adjusting parallel postures, which comprises a base, a first rotary joint, a first connecting rod, a second rotary joint, a second connecting rod, a third rotary joint and an end effector, wherein the lower end of the first rotary joint is fixed on the base, one end of the first connecting rod is rotatably connected to the upper end of the first rotary joint, the other end of the first connecting rod is rotatably connected to one end of the second rotary joint, one end of the second connecting rod is rotatably connected to the other end of the second rotary joint, the other end of the second connecting rod is rotatably connected to the lower end of the third rotary joint, the end effector is arranged at the upper end of the third rotary joint, and rotary driving mechanisms are arranged in the first connecting rod and the second connecting rod. The invention can realize the automatic control of the linear motion of the intelligent support in the front-back, up-down and left-right directions, and the end effector is always kept parallel to the initial position in the posture adjusting process, thereby ensuring the user experience in the adjusting process.

Description

Automatic parallel intelligent support of appearance of transferring
Technical Field
The invention relates to an intelligent support, in particular to an intelligent support capable of automatically adjusting the parallel posture, and belongs to the technical field of intelligent supports.
Background
The support is one of important devices in industrial accessories, and along with the increase of the requirement of the balance weight and the increasing deepening of industrial application scenes, the support has more market demands on the intellectualization, high load capacity and moderate motion coordination capacity of the support. The fixed bolster and the support of the department installation steering wheel of hinge joint, the former does not have the characteristics of intelligent motion, can not satisfy the nimble changeable application scene requirement of modern industry. The steering engine used in the latter is often low in load capacity, the mechanism for mounting the steering engine at the hinged point is simple in design and large in bearing torque, the number of motors required for a multi-joint support is large, and the industrial requirements of intelligent controllability and high load cannot be fully met.
The prior art often adjusts through manual regulation when the support is adjusted, and complex operation is difficult to guarantee that the display on the end effector keeps parallel with the operator all the time, greatly influences user's actual experience.
Disclosure of Invention
The invention aims to solve the technical problem of providing an intelligent support capable of automatically adjusting the parallel posture, so that the intelligent support can be automatically adjusted, and the posture of an end effector is always kept parallel to an operator in the adjusting process.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
the utility model provides an automatic intelligent support of appearance is transferred in parallel which characterized in that: contain the base, first revolute joint, first connecting rod, second revolute joint, the second connecting rod, third revolute joint and end effector, first revolute joint lower extreme is fixed on the base, first connecting rod one end is rotated and is connected in first revolute joint upper end, the other end of first connecting rod is rotated and is connected in second revolute joint one end, the one end of second connecting rod is rotated and is connected at the second revolute joint other end, the other end of second connecting rod is rotated and is connected at the third revolute joint lower extreme, end effector sets up in third revolute joint upper end, all be provided with rotary drive mechanism in first connecting rod and the second connecting rod.
Furthermore, the first rotary joint, the second rotary joint and the third rotary joint respectively comprise a lower rotary support, an upper rotary support and a rotary driving motor, the lower end of the upper rotary support is rotatably connected with the upper end of the lower rotary support, the rotary driving motor is fixed in the lower rotary support, and the upper rotary support is connected with the rotary driving motor and driven by the rotary motor.
Further, the lower side rotating support and the upper side rotating support are both of a cylindrical structure, and are coaxially connected in the vertical direction.
Further, the first rotary joint, the second rotary joint and the third rotary joint are all arranged along the vertical direction.
Further, the rotary driving mechanism comprises a screw rod, a nut, a spring and a hinge block, the first connecting rod and the second connecting rod respectively comprise a connecting rod body and a connecting rod, the connecting rod body is a hollow rod body, two ends of the connecting rod body are respectively hinged to a rotary joint, two ends of the connecting rod are respectively hinged to the rotary joint, the connecting rod is parallel to a hinge axis connecting line at two ends of the connecting rod body, one end of the screw rod is hinged to one end of the connecting rod body, the nut is sleeved on the screw rod and is in threaded connection with the screw rod, the spring is sleeved on the outer side of the screw rod, the nut is connected with the linear motor and is driven by the linear motor, one end of the spring is connected with the linear motor, the other end of the spring is fixed to the hinge block, and one side of the hinge block is hinged to the inner wall of the connecting rod body.
Furthermore, the length of the connecting rod is equal to the distance between the hinge shafts at the two ends of the rod body of the connecting rod.
Furthermore, a liquid crystal display screen is arranged on the base.
Furthermore, one side of the liquid crystal display screen is provided with an upper direction control key, a lower direction control key, a left direction control key, a right direction control key, a left track circulation button, a right track circulation button and a circular track circulation button.
Compared with the prior art, the invention has the following advantages and effects: the intelligent support capable of automatically adjusting the parallel posture can realize the automatic control of the linear motion of the intelligent support in the front-back, up-down and left-right directions, and the end effector is always kept parallel to the initial position in the posture adjusting processes, so that the user experience in the adjusting process is ensured.
Drawings
Fig. 1 is a schematic diagram of an automatic parallel posture-adjusting intelligent support of the present invention.
Fig. 2 is an internal schematic view of an automatic parallel posture adjusting intelligent support of the invention.
Fig. 3 is a schematic view of a rotary joint of the present invention.
Fig. 4 is a schematic view of the rotary drive mechanism of the present invention.
Detailed Description
To elaborate on technical solutions adopted by the present invention to achieve predetermined technical objects, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, it is obvious that the described embodiments are only partial embodiments of the present invention, not all embodiments, and technical means or technical features in the embodiments of the present invention may be replaced without creative efforts, and the present invention will be described in detail below with reference to the drawings and in conjunction with the embodiments.
As shown in fig. 1 and 2, the intelligent support capable of automatically adjusting the parallel posture comprises a base 1, a first rotary joint 2, a first connecting rod 3, a second rotary joint 4, a second connecting rod 5, a third rotary joint 6 and an end effector 7, wherein the lower end of the first rotary joint 2 is fixed on the base 1, one end of the first connecting rod 3 is rotatably connected to the upper end of the first rotary joint 2, the other end of the first connecting rod 3 is rotatably connected to one end of the second rotary joint 4, one end of the second connecting rod 5 is rotatably connected to the other end of the second rotary joint 4, the other end of the second connecting rod 5 is rotatably connected to the lower end of the third rotary joint 6, the end effector 7 is arranged at the upper end of the third rotary joint 6, and rotary driving mechanisms 8 are arranged in the first connecting rod 3 and the second connecting rod 5.
As shown in fig. 3, the first rotary joint 2, the second rotary joint 4, and the third rotary joint 6 respectively include a lower rotary bracket 9, an upper rotary bracket 10, and a rotary drive motor 11, the lower end of the upper rotary bracket 10 is rotatably connected to the upper end of the lower rotary bracket 9, the rotary drive motor 11 is fixed in the lower rotary bracket 9, and the upper rotary bracket 10 is connected to the rotary drive motor 11 and driven by the rotary motor 11. The upper rotating bracket 10 can rotate 360 degrees on the upper side of the lower rotating bracket 9 by the driving of the rotating motor 11. The lower rotary bracket 9 and the upper rotary bracket 10 are both of a cylindrical structure, and the lower rotary bracket 9 and the upper rotary bracket 10 are coaxially connected in the vertical direction.
The first rotary joint 2, the second rotary joint 4 and the third rotary joint 6 are all arranged in the vertical direction. In the whole action adjusting process of the support, the first rotary joint 2, the second rotary joint 4 and the third rotary joint 6 are kept unchanged in the vertical direction, so that the mutual influence among the adjustment of all angles is small, and the rotation relation of the two connecting rods can be processed through simpler operation logic.
As shown in fig. 4, the rotation driving mechanism 8 includes a screw 12, a nut 13, a spring 14 and a hinge block 15, the first link 3 and the second link 5 respectively include a link body 16 and a link 17, the link body 16 is a hollow body and both ends of the link body 16 are respectively hinged to the rotary joints, both ends of the link 17 are also respectively hinged to the rotary joints and the link 17 is parallel to a connecting line of hinge shafts at both ends of the link body 16, one end of the screw 12 is hinged to one end of the link body 16, the nut 13 is sleeved on the screw 12 and is in threaded connection with the screw 12, the spring 14 is sleeved outside the screw 12, the nut 13 is connected to the linear motor and is driven by the linear motor, one end of the spring 14 is connected to the linear motor, the other end of the spring 14 is fixed to the hinge block 15, and one side of the hinge block 15 is hinged to an inner wall of the link body 16. The length of the connecting rod 17 is equal to the distance between the hinge shafts at the two ends of the connecting rod body 16. Thereby a stable parallelogram is formed, and the direction of the upper and lower rotary joints can not be changed and the vertical position is always kept because the position of the hinge point is fixed.
The base 1 is provided with a liquid crystal display screen. One side of the liquid crystal display screen is provided with an upper direction control key, a lower direction control key, a left direction control key, a right direction control key, a left track circulation button, a right track circulation button and a circular track circulation button.
The intelligent support capable of automatically adjusting the parallel posture can realize the automatic control of the linear motion of the intelligent support in the front-back, up-down and left-right directions, and the end effector is always kept parallel to the initial position in the posture adjusting processes, so that the user experience in the adjusting process is ensured.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (8)

1. The utility model provides an automatic intelligent support of appearance is transferred in parallel which characterized in that: contain the base, first revolute joint, first connecting rod, second revolute joint, the second connecting rod, third revolute joint and end effector, first revolute joint lower extreme is fixed on the base, first connecting rod one end is rotated and is connected in first revolute joint upper end, the other end of first connecting rod is rotated and is connected in second revolute joint one end, the one end of second connecting rod is rotated and is connected at the second revolute joint other end, the other end of second connecting rod is rotated and is connected at the third revolute joint lower extreme, end effector sets up in third revolute joint upper end, all be provided with rotary drive mechanism in first connecting rod and the second connecting rod.
2. The intelligent support capable of automatically adjusting the parallel posture according to claim 1, wherein: the first rotary joint, the second rotary joint and the third rotary joint respectively comprise a lower rotary support, an upper rotary support and a rotary driving motor, the lower end of the upper rotary support is rotatably connected with the upper end of the lower rotary support, the rotary driving motor is fixed in the lower rotary support, and the upper rotary support is connected with the rotary driving motor and driven by the rotary motor.
3. The intelligent support capable of automatically adjusting the parallel posture according to claim 2, wherein: the lower side rotating support and the upper side rotating support are both of cylindrical structures and are coaxially connected in the vertical direction.
4. The intelligent support capable of automatically adjusting the parallel posture according to claim 1, wherein: the first rotary joint, the second rotary joint and the third rotary joint are all arranged along the vertical direction.
5. The intelligent support capable of automatically adjusting the parallel posture according to claim 1, wherein: the rotary driving mechanism comprises a screw rod, a nut, a spring and a hinged block, the first connecting rod and the second connecting rod respectively comprise a connecting rod body and a connecting rod, the connecting rod body is a hollow rod body, the two ends of the connecting rod body are hinged to rotary joints respectively, the two ends of the connecting rod are hinged to the rotary joints respectively, the connecting rod is parallel to the connecting rod body, hinge shaft connecting lines are arranged at the two ends of the connecting rod body, one end of the screw rod is hinged to one end of the connecting rod body, the nut is sleeved on the screw rod and is in threaded connection with the screw rod, the spring sleeve is arranged on the outer side of the screw rod, the nut is connected with a linear motor and is driven by the linear motor, one end of the spring is connected with the linear motor, the other end of the spring is fixed to the hinged block, and one side of the hinged block is hinged to the inner wall of the connecting rod body.
6. The intelligent support capable of automatically adjusting the parallel posture according to claim 1, wherein: the length of the connecting rod is equal to the distance between the hinge shafts at the two ends of the connecting rod body.
7. The intelligent support capable of automatically adjusting the parallel posture according to claim 1, wherein: and the base is provided with a liquid crystal display screen.
8. The intelligent support capable of automatically adjusting the parallel posture according to claim 7, wherein: and an upper direction control key, a lower direction control key, a left direction control key, a right direction control key, a left track circulation button, a right track circulation button and a circular track circulation button are arranged on one side of the liquid crystal display screen.
CN202111652055.7A 2021-12-31 2021-12-31 Automatic parallel intelligent support of transferring appearance Pending CN114427642A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111652055.7A CN114427642A (en) 2021-12-31 2021-12-31 Automatic parallel intelligent support of transferring appearance

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111652055.7A CN114427642A (en) 2021-12-31 2021-12-31 Automatic parallel intelligent support of transferring appearance

Publications (1)

Publication Number Publication Date
CN114427642A true CN114427642A (en) 2022-05-03

Family

ID=81311934

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111652055.7A Pending CN114427642A (en) 2021-12-31 2021-12-31 Automatic parallel intelligent support of transferring appearance

Country Status (1)

Country Link
CN (1) CN114427642A (en)

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