CN207630031U - A kind of lifting platform mechanism - Google Patents
A kind of lifting platform mechanism Download PDFInfo
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- CN207630031U CN207630031U CN201721354806.6U CN201721354806U CN207630031U CN 207630031 U CN207630031 U CN 207630031U CN 201721354806 U CN201721354806 U CN 201721354806U CN 207630031 U CN207630031 U CN 207630031U
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- platform
- revolute pair
- stage mechanism
- follower lever
- lever
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Abstract
The utility model creates a kind of lifting platform mechanism, it is basic configuration with 3 RRR parallel institutions, hybrid mechanism thought is introduced on this basis, increase movement coupled relation by corresponding to branch between adjacent level parallel institution, so that adjacent level parallel institution will be moved by the coupled relation of branch interchain and power is transmitted step by step, it is final to realize the multi-stage superimposed of movement, it is insufficient to solve parallel institution working space, it is bulky caused by the load for being driven into the driving of previous stage mechanism of rear stage mechanism in hybrid mechanism, multistage hybrid mechanism is limited to actually control the problems such as more difficult caused by the positive and negative solution of kinematics is difficult.Not only working space significantly increases for the innovation and creation, but also has larger magnification, and since tache motorice need not additionally drive, reduces driving unit quantity, reduces tache motorice weight, easily controllable and have better dynamic property.
Description
Technical field
The invention is related to lifting gear design field, more particularly to a kind of mechanical ascending and descending based on parallel institution
Device.
Background technology
Lifting technology at home and abroad comparative maturity, the development in industrial circle is also diversified, mainly for the production of assembly line
Goods handling adjusts height when workpiece assembles, component lifts when large scale equipment assembles, heavy duty machine tools feeding, blanking etc.；Mechanically
Lifting gear includes mainly built-in chain lifting gear, oil cylinder lifting gear, cam mechanism lifting gear, worm and gear lifting dress
It sets.However it is actually rare based on parallel institution or with the lifting platform that parallel institution is basic configuration, parallel institution has
The advantages that rigidity is big, precision is high, dynamic property is good, but due to by kinematic pair, branch interference, the unusual influence in space so that simultaneously
This smaller general character disadvantage of online structure working space constrains the application level of parallel institution.It is multiple simultaneously that many scholars attempt use
Simple concatenated method, the i.e. method of series-parallel connection are carried out by common platform between online structure, it is intended that solution both retains parallel institution
Advantage can overcome the disadvantages that the problem of working space deficiency again simultaneously.This mode in theory really has the working space of parallel institution
The effect being obviously improved, but since this connection type needs to install power unit in every level-one parallel connection platform so that per level-one
Mechanism needs to undertake other than following dead weight at different levels, also needs the weight for undertaking these mechanism power units, has highlighted similar to string
The drawbacks of online each joint of structure increases step by step, integrally increases the volume of mechanism, and practicability needs further to be confirmed.Therefore in this way
Mechanism it is uncommon in engineer application.
Invention content
The invention mainly solves the technical problem of providing a kind of, and the multistage with big magnification couples parallel institution formula liter
Falling unit, rigidity is high, is easy to use and transports, improves working efficiency.
Technical scheme is as follows：
The present invention includes the 3-RRR parallel institutions that multiple adjacent two-stages have coupled relation, and the parallel institution includes three
The identical branch being evenly distributed of structure, fixed platform and moving platform, every branch include driving lever and follower lever, described
Driving lever one end is connect by revolute pair with fixed platform, and the other end is connect by revolute pair with described follower lever one end, it is described from
The lever other end is connect by revolute pair with moving platform, and it is parallel that auxiliary space is rotated described in three above；The parallel institution three
Branch is identical, and phase arrangement is circumferentially uniformly distributed along platform；The driving lever both ends revolute pair pivot center distance is equal to described
Follower lever both ends revolute pair pivot center distance；In adjacent two-stage parallel connection mechanism, moving platform and the rear stage machine of previous stage mechanism
The fixed platform of structure is identical platform, claims coupling platform, by between previous stage mechanism follower lever and rear stage mechanism driving lever
Increase coupling so that the output angle of follower lever determines the input angle of rear stage mechanism driving lever in previous stage mechanism, and by the coupling
It closes transfer mode to apply in all adjacent two-stage parallel connection mechanisms, realizes the multiple stacking amplification of space.Specific coupling side
Formula can be divided into following two：
The first coupled modes：The follower lever of previous stage mechanism and the driving lever of rear stage mechanism are collinearly reversely connected, and
The driving lever for the revolute pair and rear stage mechanism that the follower lever of previous stage mechanism is connect with coupling platform is connect with coupling platform
Revolute pair is same revolute pair
Second of coupled modes：The connected straight spur gear of the follower lever of previous stage mechanism, the straight tooth column tooth
The revolute pair axis coincidence that the pivot center of wheel and the follower lever of previous stage mechanism connects with coupling platform, rear stage mechanism from
Lever is connected another straight spur gear, the pivot center of the straight spur gear and the driving lever and coupling of rear stage mechanism
The revolute pair axis for closing platform connection overlaps, and the two gears engagement system is external toothing；
The present invention has the following advantages that compared with prior art：Increase coupling by adjacent two-stage parallel connection mechanism same-phase branch
Resultant motion relationship so that previous stage mechanism output angle quantitatively passes to rear stage mechanism as input angle, according to the method more
Increasing identical coupled motions relationship between grade parallel institution so that movement is driven step by step, and working space amplifies step by step, meanwhile, by
There are coupled relations between mechanism, greatly reduce the quantity of driving unit, and eliminate the trouble in terms of many wirings；
Description of the drawings
Fig. 1 is 1 dimensional structure diagram of the embodiment of the present invention
Fig. 2 is 1 contraction state dimensional structure diagram of the embodiment of the present invention
Fig. 3 is 2 dimensional structure diagram of the embodiment of the present invention
Fig. 4 is 2 contraction state dimensional structure diagram of the embodiment of the present invention
Specific implementation mode
The invention will be further described with reference to the accompanying drawings and examples, in all embodiments, the RijIndicate one
A revolute pair, GijIndicate a pair of of gear external toothing, wherein i, j are natural number；Designed by the present invention is that one kind can be according to institute
There is coupling process described in embodiment to carry out the connected in series of plural parallel stage mechanism, theoretically there is no limit for parallel institution number,
In all embodiments, it is illustrated using limited grade parallel institution as example, is not restricted, based on of the present invention
Thought, those skilled in the art under the inspiration of the present invention, are not departing from present inventive concept and claimed model
In the case of enclosing, many forms can also be made, within these are all belonged to the scope of protection of the present invention.
Embodiment 1
It is one embodiment disclosed by the invention as shown in Figure 1 and Figure 2, includes mainly fixed platform 1, couple platform 2, coupling
Platform 3 is closed, moving platform 4 connects dynamic, fixed platform three movement branched chains.Three movement branched chain structures are identical, moved with first
It for branch, is connected by revolute pair R11 between driving lever A1 and fixed platform 1, is passed through between driving lever A1 and coupled links A2
Revolute pair R12 connections, coupled links A2 are connected between platform 2 by revolute pair R13 with coupling, coupled links A2 and coupled links
A3 is connected by revolute pair R14, and coupled links A3 is connected between platform 3 by revolute pair R15 with coupling, coupled links A3 with
Upper connecting rod A4 is connected by revolute pair R16, and upper connecting rod A4 is connect with moving platform 4 by revolute pair R7；It is rotated on each connecting rod
Secondary pivot center must be parallel；Revolute pair pivot center must be coplanar on each platform.
Embodiment 2
It is second embodiment disclosed by the invention as shown in Figure 3, Figure 4, by turning between driving lever A1 and fixed platform 1
Dynamic secondary R11 connections, the driving lever A1 other ends are connect with upper connecting rod A2 by revolute pair R12, and the upper connecting rod A2 other ends are put down with coupling
Platform 2 is connected by revolute pair R13, and gear A 3 and upper connecting rod A2 are connected and its axis of rotation and revolute pair R13 pivot center weights
Close, driving lever A5 is connect with coupling platform 2 by revolute pair R14, gear A 4 and driving lever A5 be connected and its axis of rotation with turn
Dynamic secondary R15 pivot centers overlap, and for gear A 3 with gear A 4 with external toothing G14 is combined into, the driving lever A5 other ends are logical with upper connecting rod A6
Revolute pair R16 connections are crossed, the upper connecting rod A6 other ends are connect with moving platform 3 by revolute pair R17；What each platform was connect with connecting rod
Revolute pair is respectively at same plane.
Claims (3)
1. a kind of lifting platform mechanism, including multiple 3-RRR parallel institutions coupled two-by-two, the parallel institution includes three structures
The identical branch being evenly distributed, fixed platform and moving platform, every branch include driving lever and follower lever, the driving lever
One end is connect by revolute pair with fixed platform, and the other end is connect by revolute pair with described follower lever one end, and the follower lever is another
One end is connect by revolute pair with moving platform, and it is parallel that auxiliary space is rotated described in three above；Three branch phases of the parallel institution
Together, phase arrangement is circumferentially uniformly distributed along platform；The driving lever both ends revolute pair pivot center distance is equal to the follower lever
Both ends revolute pair pivot center distance；In adjacent two-stage parallel connection mechanism, the moving platform of previous stage mechanism and determining for rear stage mechanism
Platform is identical platform, claims coupling platform, by increasing coupling between previous stage mechanism follower lever and rear stage mechanism driving lever
It closes so that the output angle of follower lever determines the input angle of rear stage mechanism driving lever in previous stage mechanism, and can pass the coupling
The mode of passing is applied in all adjacent two-stage parallel connection mechanisms, realizes the multiple stacking amplification of space.
2. a kind of lifting platform mechanism according to claim 1, it is characterised in that：The follower lever and rear stage of previous stage mechanism
The driving lever of mechanism is collinearly reversely connected, and the follower lever of previous stage mechanism and the revolute pair that connect of coupling platform and rear stage machine
The revolute pair that the driving lever of structure is connect with coupling platform is same revolute pair.
3. a kind of lifting platform mechanism according to claim 1, it is characterised in that：The follower lever of previous stage mechanism is connected one
Straight spur gear, the pivot center of the straight spur gear and the follower lever of previous stage mechanism turn with what coupling platform was connect
Dynamic secondary axis overlaps, and the follower lever of rear stage mechanism is connected another straight spur gear, the rotation of the straight spur gear
The revolute pair axis that axis and the driving lever of rear stage mechanism are connect with coupling platform overlaps, and the two gears engagement system is outer
Engagement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721354806.6U CN207630031U (en) | 2017-10-19 | 2017-10-19 | A kind of lifting platform mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721354806.6U CN207630031U (en) | 2017-10-19 | 2017-10-19 | A kind of lifting platform mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207630031U true CN207630031U (en) | 2018-07-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201721354806.6U Expired - Fee Related CN207630031U (en) | 2017-10-19 | 2017-10-19 | A kind of lifting platform mechanism |
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| Country | Link |
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| CN (1) | CN207630031U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110509311A (en) * | 2019-08-15 | 2019-11-29 | 燕山大学 | The more redundant drive six-freedom parallel posture adjustment platforms of underloading based on three legs |
| CN113858162A (en) * | 2021-11-02 | 2021-12-31 | 北京中电飞华通信有限公司 | Data center inspection robot based on BP neural network |
-
2017
- 2017-10-19 CN CN201721354806.6U patent/CN207630031U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110509311A (en) * | 2019-08-15 | 2019-11-29 | 燕山大学 | The more redundant drive six-freedom parallel posture adjustment platforms of underloading based on three legs |
| CN113858162A (en) * | 2021-11-02 | 2021-12-31 | 北京中电飞华通信有限公司 | Data center inspection robot based on BP neural network |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180720 Termination date: 20191019 |