CN209207512U - A kind of lifting device and robot - Google Patents
A kind of lifting device and robot Download PDFInfo
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- CN209207512U CN209207512U CN201822117645.XU CN201822117645U CN209207512U CN 209207512 U CN209207512 U CN 209207512U CN 201822117645 U CN201822117645 U CN 201822117645U CN 209207512 U CN209207512 U CN 209207512U
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- connecting rod
- top plate
- lifting device
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Abstract
The utility model 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 utility model directly passes through lifting actuator and is gone 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
Technical field
The utility model 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.
Utility model content
One of the utility model is designed to provide a kind of lifting device, and structure is simple, and lifting is steady.
Another of the utility model is designed to provide a kind of robot, and the scope of activities of mechanical arm is larger, and essence
Degree is higher, and activity is steady.
For this purpose, the utility model uses 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.
The utility model has the beneficial effects that
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 utility model embodiment；
Fig. 2 is the structural schematic diagram at the second visual angle of the lifting device in the utility model embodiment；
Fig. 3 is the structural schematic diagram at the third visual angle of the lifting device in the utility model embodiment；
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
The technical issues of to solve the utility model, the technical solution of use and the technical effect that reaches are clearer,
It is described in further detail below in conjunction with technical solution of the attached drawing to the utility model embodiment, it is clear that described reality
Applying example is only the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention,
It is practical new to belong to this for those skilled in the art's every other embodiment obtained without creative efforts
The range of type protection.Further illustrate the technical solution of the utility model below with reference to the accompanying drawings and specific embodiments.
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 embodiments of the present invention is used for the purpose of clearly illustrating examples for clearly illustrating the present invention, and
It is not limitations of the embodiments of the present invention.For those of ordinary skill in the art, in above description
On the basis of can also make other variations or changes in different ways.There is no need and unable to give all embodiments
Exhaustion.Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention etc., should be included in
Within the protection scope of the utility model claims.
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822117645.XU CN209207512U (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 |
|---|---|---|---|
| CN201822117645.XU CN209207512U (en) | 2018-12-17 | 2018-12-17 | A kind of lifting device and robot |
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| Publication Number | Publication Date |
|---|---|
| CN209207512U true CN209207512U (en) | 2019-08-06 |
Family
ID=67464959
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822117645.XU Active CN209207512U (en) | 2018-12-17 | 2018-12-17 | A kind of lifting device and robot |
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| CN (1) | CN209207512U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109291043A (en) * | 2018-12-17 | 2019-02-01 | 中科新松有限公司 | A kind of lifting device and robot |
| WO2021238192A1 (en) * | 2020-05-26 | 2021-12-02 | 昆山双桦自动化科技有限公司 | Liftable base for robot |
-
2018
- 2018-12-17 CN CN201822117645.XU patent/CN209207512U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109291043A (en) * | 2018-12-17 | 2019-02-01 | 中科新松有限公司 | A kind of lifting device and robot |
| WO2021238192A1 (en) * | 2020-05-26 | 2021-12-02 | 昆山双桦自动化科技有限公司 | Liftable base for robot |
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