CN114623355A - Lifting system with rotation pitching function - Google Patents
Lifting system with rotation pitching function Download PDFInfo
- Publication number
- CN114623355A CN114623355A CN202011452228.6A CN202011452228A CN114623355A CN 114623355 A CN114623355 A CN 114623355A CN 202011452228 A CN202011452228 A CN 202011452228A CN 114623355 A CN114623355 A CN 114623355A
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- Prior art keywords
- joint
- lifting
- arm section
- pitching
- torque motor
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- 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
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- 239000003638 chemical reducing agent Substances 0.000 claims description 13
- 230000009467 reduction Effects 0.000 claims description 3
- 230000001360 synchronised effect Effects 0.000 abstract description 3
- 230000000875 corresponding effect Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 150000001875 compounds Chemical class 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 208000033748 Device issues Diseases 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
Images
Classifications
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- 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
- F16M11/20—Undercarriages with or without wheels
- F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
- F16M11/38—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other by folding, e.g. pivoting or scissors tong mechanisms
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- 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
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
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- 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
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of lifting devices, in particular to a lifting system with a rotary pitching function, wherein a first lifting joint is fixed on a base, a first arm section is driven to swing through the first lifting joint, a second lifting joint is fixed at the tail end of the first arm section, a second arm section is driven to swing through the second lifting joint, a pitching joint is fixed at the tail end of the second arm section, a third arm section is driven to swing through the pitching joint, a horizontal end plate is arranged at the tail end of the third arm section, the rotary joint is axially and vertically arranged on the end plate, the first arm section and the second arm section are in a parallel state at the lowest point, and the first lifting joint, the second lifting joint and the pitching joint are all positioned on the same plane at the lowest point. The invention can effectively reduce the height of the photoelectric device from lifting to the lowest point, reduce the damage to the cable, simultaneously has the function of multi-section synchronous lifting and meets the requirement of the photoelectric device on the lifting speed.
Description
Technical Field
The invention relates to the field of lifting devices, in particular to a lifting system with a rotary pitching function.
Background
When the photoelectric device on the mobile platform works, the photoelectric device needs to be lifted, rotated, pitched and the like. The traditional mode is mainly realized by adding a tripod head on a lifting column, and the scheme has the following defects:
the mode that adopts lift post and cloud platform combination, whole height is too high after the shrink, can't satisfy the photoelectric equipment to the requirement of height, and the photoelectric equipment height is too high after the shrink in addition can cause the moving platform focus too high, leads to moving platform operation in-process stability relatively poor.
And secondly, the combination mode of the lifting column and the holder is generally an external wiring mode, so that the appearance is not attractive, and the cable is easy to damage in a complex environment, so that the reliability of the equipment is poor.
Disclosure of Invention
The invention aims to provide a lifting system with a rotation and pitching function, which can effectively reduce the height of a photoelectric device from lifting to the lowest point, reduce the damage to a cable, simultaneously has a multi-section synchronous lifting function and meets the requirement of a photoelectric device on the lifting speed.
The purpose of the invention is realized by the following technical scheme:
the utility model provides a lift system with gyration every single move function, includes base, first lift joint, first arm festival, second lift joint, second arm festival, every single move joint, third arm festival and gyration joint, and first lift joint is fixed on the base, and first arm festival passes through first lift joint drive swing, and second lift joint is fixed at first arm festival end, and second arm festival passes through second lift joint drive swing, and every single move joint is fixed at second arm festival end, and the third arm festival passes through every single move joint drive swing, is equipped with a horizontal end plate at third arm festival end, and gyration joint axial vertical locates on the end plate, first arm festival and second arm festival are in the parallel state when the minimum, and first lift joint, second lift joint and every single move joint all are in the coplanar when the minimum.
The first lifting joint, the second lifting joint, the pitching joint and the rotary joint are the same in structure and respectively comprise a torque motor, a speed reducer, a brake, an encoder, a driving controller and a joint output end, the torque motor, the speed reducer and the joint output end are sequentially connected, and the brake, the encoder and the driving controller are arranged at the rear end of the torque motor.
And through holes for the cables to pass through are formed in the torque motor, the speed reducer, the brake, the encoder and the driving controller.
The base is used for being connected with a first lifting joint, limiting bosses are arranged in through holes of the end portions of the arm sections and the corresponding joints, and limiting grooves matched with the limiting bosses are arranged in joint output ends corresponding to the through holes.
And an oil seal ring is arranged on the outer side of the joint output end.
The invention has the advantages and positive effects that:
1. when the lifting mechanism is contracted to the lowest point, the first arm section and the second arm section are in a parallel state, and the first lifting joint, the second lifting joint and the pitching joint are all positioned on the same plane, so that the height of the photoelectric equipment which is lifted to the lowest point can be effectively reduced.
2. The invention is provided with through holes for cables to pass through in each joint torque motor, the reducer, the brake, the encoder and the driving controller, thus reducing the damage to the cables.
3. The invention realizes lifting through the compound motion of the first lifting joint and the second lifting joint, meets the requirement of the photoelectric device on the lifting speed, and respectively realizes pitching and rotating through the independent motion of the pitching joint and the rotating shutdown.
Drawings
Figure 1 is a schematic view of the present invention as it is collapsed,
figure 2 is a schematic view of the invention after stretching,
figure 3 is a view from direction a of figure 1,
figure 4 is a cross-sectional view B-B of figure 3,
figure 5 is a schematic view of a limiting boss in the joint output end,
figure 6 is a schematic view of a limiting groove on the output end of the joint,
figure 7 is a front view of the output end of the joint of figure 5,
figure 8 is a first control process diagram of the present invention,
fig. 9 is a schematic diagram of a control process according to the present invention.
Wherein, 1 is the base, 2 is first lift joint, 3 is first arm festival, 4 is second lift joint, 5 is the second arm festival, 6 is the pitch joint, 7 is the third arm festival, 701 is the end plate, 8 is the gyration joint, 9 is the stopper, 10 is the encoder, 11 is drive controller, 12 is torque motor, 13 is the reduction gear, 14 is the joint output, 141 is the spacing groove, 15 is the arm festival link, 16 is spacing boss, 17 is the oil blanket ring.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 6, the invention comprises a base 1, a first lifting joint 2, a first arm section 3, a second lifting joint 4, a second arm section 5, a pitching joint 6, a third arm section 7 and a revolving joint 8, wherein the first lifting joint 2 is fixed on the base 1, the first arm section 3 is driven to swing through the first lifting joint 2, the second lifting joint 4 is fixed at the tail end of the first arm section 3, the second arm section 5 is driven to swing through the second lifting joint 4, the pitching joint 6 is fixed at the tail end of the second arm section 5, the third arm section 7 is driven to swing through the pitching joint 6, a horizontal end plate 701 is arranged at the tail end of the third arm section 7, a rotary joint 8 is axially and vertically arranged on the end plate 701, as shown in fig. 1, the first arm section 3 and the second arm section 5 are in a parallel state at the lowest point, and the first lifting joint 2, the second lifting joint 4 and the pitching joint 6 are all positioned on the same plane when at the lowest point.
As shown in fig. 4, the first lifting joint 2, the second lifting joint 4, the pitching joint 6 and the revolving joint 8 have the same structure, and each of the first lifting joint 2, the second lifting joint 4, the pitching joint 6 and the revolving joint 8 includes a torque motor 12, a speed reducer 13, a brake 9, an encoder 10, a driving controller 11 and a joint output end 14, the torque motor 12, the speed reducer 13 and the joint output end 14 are sequentially connected, the brake 9, the encoder 10 and the driving controller 11 are arranged at the rear end of the torque motor 12, the joint output end 14 is driven to rotate by the torque motor 12, the torque motor 12 transmits torque by the speed reducer 13, and the joint output end 14 is fixedly connected with the corresponding arm joint connecting end 15.
The encoder 10 is fixedly connected with the rear end of an output part of the speed reducer 13 to realize the feedback of joint angles, the brake 9 is fixed on the rear side of the torque motor to ensure that the system can realize self-locking when the system is suddenly powered off and keep a state when the system is powered off, and the driving controller 11 is fixed on the rear end of the torque motor and used for receiving an instruction sent by the control unit and driving and controlling the torque motor 12 to execute corresponding actions. The torque motor 12, the reducer 13, the brake 9, the encoder 10, and the drive controller 11 are well known in the art and are commercially available.
As shown in fig. 4, through holes through which cables pass are formed in the torque motor 12, the reducer 13, the brake 9, the encoder 10, and the driving controller 11. The torque motor 12, the speed reducer 13, the brake 9, the encoder 10 and the drive controller 11 are all designed in a hollow mode, so that internal wiring of cables inside and outside the system is achieved, damage of external environments to the cables is reduced, and attractiveness of the system is improved.
As shown in fig. 5 to 7, a limiting boss 16 is arranged in a through hole for connecting the first lifting joint 2 and a through hole for connecting the end of each arm section with the corresponding joint on the base 1, a limiting groove 141 matched with the limiting boss 16 is arranged in the joint output end 14 corresponding to the through hole, the limiting boss 16 and the limiting groove 141 are used for limiting the rotation angle of each joint, as shown in fig. 7, an oil seal ring 17 is arranged on the outer side of the joint output end 14, and the oil seal ring 17 is used for performing waterproof protection on each joint so as to realize outdoor operation.
The working principle of the invention is as follows:
as shown in fig. 1, the height of the photoelectric device which can be lifted to the lowest point can be effectively reduced when the photoelectric device is retracted, in addition, through holes through which cables pass are formed in each joint torque motor 12, the reducer 13, the brake 9, the encoder 10 and the drive controller 11, so that the damage to the cables can be reduced, and meanwhile, the photoelectric device has a multi-section synchronous lifting function and meets the requirement of the photoelectric device on lifting speed, wherein the lifting is realized through the compound motion of the first lifting joint 2 and the second lifting joint 4, and the pitching joint 6 and the turning-off machine 8 independently move to respectively realize pitching and turning.
As shown in fig. 8, the drive controller 11 of the first elevation joint 2 and the drive controller 11 of the second elevation joint 4 are responsible for vertical elevation system load lifting and lowering, the drive controller 11 of the pitch joint 6 is responsible for achieving pitching motion, and the drive controller 11 of the swing joint 8 is responsible for achieving horizontal swing motion. The motion control board of the vertical lifting system is connected and communicated with each driving controller 11 through a CAN bus, and controls to ensure that the vertical lifting system runs to a set target position, the encoders 10 are all installed on the appointed torque motors 12, and the rotation data of the torque motors 12 are fed back to the corresponding driving controllers 11 in real time, the driving controllers 11 adopt a position closed loop control mode, the position closed loop is based on a speed closed loop, the relation between actual accumulated displacement and set displacement is output through a PI algorithm, the position of the torque motors 12 is accurately controlled, and therefore the vertical lifting system CAN accurately run to a target point.
As shown in fig. 9, after the control device issues the target point, the vertical lift system analyzes and issues a control command to each driving controller 11 through the motion control board, and each driving controller 11 controls each joint to move, wherein the problem of singularity and joint overrun may occur when two lift joints and the pitch joint 6 operate, so the pitch joint 6 is controlled to operate along with the lift joints when controlling the lift motion. In the running process of the vertical lifting system, the driving controller 11 continuously reads the position of the encoder 10, stops moving when the first lifting joint 2, the second lifting joint 4 and the rotary joint 8 run to target points, continues to control the operation of the pitching joint 6 after the lifting joints reach the target positions, monitors the position of the encoder 10 of the pitching joint 6 in real time, stops moving the pitching joint 6 after the target points are reached, sets the system to be in an idle state when the motion control board detects that all the joints reach the positions, ends the process and waits for the next target position sent by the control device.
Claims (5)
1. A lifting system with a rotary pitching function is characterized in that: comprises a base (1), a first lifting joint (2), a first arm section (3), a second lifting joint (4), a second arm section (5), a pitching joint (6), a third arm section (7) and a rotary joint (8), wherein the first lifting joint (2) is fixed on the base (1), the first arm section (3) is driven to swing through the first lifting joint (2), the second lifting joint (4) is fixed at the tail end of the first arm section (3), the second arm section (5) is driven to swing through the second lifting joint (4), the pitching joint (6) is fixed at the tail end of the second arm section (5), the third arm section (7) is driven to swing through the pitching joint (6), a horizontal end plate (701) is arranged at the tail end of the third arm section (7), the rotary joint (8) is axially and vertically arranged on the end plate (701), and the first arm section (3) and the second arm section (5) are in a parallel state when the lowest point is formed, and the first lifting joint (2), the second lifting joint (4) and the pitching joint (6) are positioned on the same plane when at the lowest point.
2. A hoist system with gyroscopic pitch capability as claimed in claim 1, wherein: first lift joint (2), second lift joint (4), every single move joint (6) and gyration joint (8) structure are the same, all include torque motor (12), reduction gear (13), stopper (9), encoder (10), drive controller (11) and joint output (14), and torque motor (12), reduction gear (13) and joint output (14) connect gradually torque motor (12) rear end is equipped with stopper (9), encoder (10) and drive controller (11).
3. A hoist system with gyroscopic pitch capability as claimed in claim 2, wherein: and through holes for cables to pass through are formed in the torque motor (12), the speed reducer (13), the brake (9), the encoder (10) and the driving controller (11).
4. A hoist system with gyroscopic pitch capability as claimed in claim 2, wherein: the base (1) is used for being connected with a through hole of the first lifting joint (2) and a through hole of each arm section end part connected with the corresponding joint, a limiting boss (16) is arranged in the through hole, and a limiting groove (141) matched with the limiting boss (16) is arranged in the joint output end (14) corresponding to the through hole.
5. A hoist system with gyroscopic pitch capability as claimed in claim 4, wherein: an oil seal ring (17) is arranged on the outer side of the joint output end (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011452228.6A CN114623355A (en) | 2020-12-10 | 2020-12-10 | Lifting system with rotation pitching function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011452228.6A CN114623355A (en) | 2020-12-10 | 2020-12-10 | Lifting system with rotation pitching function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114623355A true CN114623355A (en) | 2022-06-14 |
Family
ID=81895094
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011452228.6A Pending CN114623355A (en) | 2020-12-10 | 2020-12-10 | Lifting system with rotation pitching function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114623355A (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030208303A1 (en) * | 2002-05-02 | 2003-11-06 | National Aerospace Laboratory Of Japan | Robot having offset rotary joints |
| CN102922519A (en) * | 2011-08-08 | 2013-02-13 | 株式会社安川电机 | Robot |
| US20130041509A1 (en) * | 2011-01-31 | 2013-02-14 | Toyota Jidosha Kabushiki Kaisha | Articulated arm robot, control method and control program |
| CN103170987A (en) * | 2011-12-21 | 2013-06-26 | 中国科学院沈阳自动化研究所 | Planet surface mechanical arm sampling device |
| CN105226565A (en) * | 2015-11-02 | 2016-01-06 | 国网山东省电力公司电力科学研究院 | A kind of ultra-high-tension power transmission line online assignment operating means |
| CN207953918U (en) * | 2018-02-24 | 2018-10-12 | 河北工业大学 | A kind of dual coding type it is hollow walk the intelligent modularized joint of wire type |
| CN110039529A (en) * | 2019-05-16 | 2019-07-23 | 湖北工业大学 | A kind of more servo driving mechanical arms |
| US20200016765A1 (en) * | 2013-08-09 | 2020-01-16 | Nidec Sankyo Corporation | Horizontal articulated robot with bevel gears |
| US20200055189A1 (en) * | 2017-04-26 | 2020-02-20 | Nidec Corporation | Articulated robot and articulated robot system |
| CN111376231A (en) * | 2018-12-27 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Collaboration robot |
| CN211821483U (en) * | 2020-03-17 | 2020-10-30 | 甘肃阳森电子科技有限公司 | Push-pull folding camera lifting device |
-
2020
- 2020-12-10 CN CN202011452228.6A patent/CN114623355A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030208303A1 (en) * | 2002-05-02 | 2003-11-06 | National Aerospace Laboratory Of Japan | Robot having offset rotary joints |
| US20130041509A1 (en) * | 2011-01-31 | 2013-02-14 | Toyota Jidosha Kabushiki Kaisha | Articulated arm robot, control method and control program |
| CN102922519A (en) * | 2011-08-08 | 2013-02-13 | 株式会社安川电机 | Robot |
| CN103170987A (en) * | 2011-12-21 | 2013-06-26 | 中国科学院沈阳自动化研究所 | Planet surface mechanical arm sampling device |
| US20200016765A1 (en) * | 2013-08-09 | 2020-01-16 | Nidec Sankyo Corporation | Horizontal articulated robot with bevel gears |
| CN105226565A (en) * | 2015-11-02 | 2016-01-06 | 国网山东省电力公司电力科学研究院 | A kind of ultra-high-tension power transmission line online assignment operating means |
| US20200055189A1 (en) * | 2017-04-26 | 2020-02-20 | Nidec Corporation | Articulated robot and articulated robot system |
| CN207953918U (en) * | 2018-02-24 | 2018-10-12 | 河北工业大学 | A kind of dual coding type it is hollow walk the intelligent modularized joint of wire type |
| CN111376231A (en) * | 2018-12-27 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Collaboration robot |
| CN110039529A (en) * | 2019-05-16 | 2019-07-23 | 湖北工业大学 | A kind of more servo driving mechanical arms |
| CN211821483U (en) * | 2020-03-17 | 2020-10-30 | 甘肃阳森电子科技有限公司 | Push-pull folding camera lifting device |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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Application publication date: 20220614 |