CN209240081U - A kind of multiple degrees of freedom parallel-moving type lifting body - Google Patents
A kind of multiple degrees of freedom parallel-moving type lifting body Download PDFInfo
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- CN209240081U CN209240081U CN201822170023.3U CN201822170023U CN209240081U CN 209240081 U CN209240081 U CN 209240081U CN 201822170023 U CN201822170023 U CN 201822170023U CN 209240081 U CN209240081 U CN 209240081U
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- bearing plate
- guide sleeve
- lifting body
- positioning pin
- multiple degrees
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Abstract
The utility model relates to a kind of multiple degrees of freedom parallel-moving type lifting body, including mounting rack, the bearing plate above mounting rack, and the jacking force piece with bearing plate driving coupling；The mounting rack is equipped with guide sleeve；The bearing plate is fixed with the positioning pin with guide sleeve cooperative movement, and positioning pin runs through guide sleeve both ends；The positioning pin periphery is equipped with circumferential recessed portion, and the cross-sectional area of recessed portion is less than the inner hole of guide sleeve；The bearing plate, which is jacked by jacking force piece to recessed portion and guide sleeve, to be cooperated, and bearing plate has relative to mounting rack to be moved in parallel.The utility model positioning pin has in two freedom degrees of horizontal plane and in the freedom degree of vertical direction, so that when jacking docking, even if there are certain deviations can accurately be docked with cargo by adjusting freedom degree for positioning pin and cargo.The mobile robot of the utility model jacks docking mechanism, simple and compact for structure, guarantees that mobile robot can precisely carry out docking mission.
Description
Technical field
The utility model relates to mobile robot fields, more specifically refer to a kind of multiple degrees of freedom parallel-moving type jack
Structure.
Background technique
Field is docked in mobile robot, high-precision pin hole docking can be inevitably encountered, at this time need in docking operation
The middle freedom degree for guaranteeing pin, to avoid the very stiff and demanding docking of pin hole, the accident for causing damage to be equipped.But existing moving machine
The docking mechanism of device people is complex, and since freedom degree is inadequate, and docking is not accurate, often breaks equipment.
Utility model content
The purpose of the utility model is to overcome the defects of the prior art, provide a kind of multiple degrees of freedom parallel-moving type jack
Structure.
To achieve the above object, the utility model uses following technical scheme:
A kind of multiple degrees of freedom parallel-moving type lifting body, including mounting rack, the bearing plate above mounting rack, and and load-bearing
The jacking force piece of plate driving coupling；The mounting rack is equipped with guide sleeve；The bearing plate is fixed with and guide sleeve cooperative movement
Positioning pin, and positioning pin run through guide sleeve both ends；The positioning pin periphery is equipped with circumferential recessed portion, and recessed portion is transversal
Area is less than the inner hole of guide sleeve；The bearing plate, which is jacked by jacking force piece to recessed portion and guide sleeve, to be cooperated, bearing plate
Have relative to mounting rack and moves in parallel.
Its further technical solution are as follows: the positioning pin includes and extends to the extension on the upside of bearing plate, with extension
The fitting portion of connection and the recessed portion；The fitting portion and guide sleeve clearance fit；Between the fitting portion and recessed portion
Equipped with the first conical surface portion.
Its further technical solution are as follows: the positioning pin further includes the second conical surface portion coupled with recessed portion, with the second cone
The blocking portion of face connection；The cross-sectional area of the blocking portion is greater than the endoporus area of guide sleeve.
Its further technical solution are as follows: supporting plate is equipped with below the bearing plate；The power output end of the jacking force piece
Couple with supporting plate, so that jacking force piece driving supporting plate, bearing plate rise.
Its further technical solution are as follows: several universal bearings are equipped between the supporting plate and bearing plate.
Its further technical solution are as follows: bearing plate position corresponding with universal bearing is equipped with wearing plate.
Its further technical solution are as follows: being fixedly connected on the downside of the supporting plate has several guiding axis, and extends to installation
Frame；The mounting rack is equipped with the linear bearing being slidably connected with guiding axis.
Its further technical solution are as follows: the supporting plate is equipped with downside and is equipped with upper ear seat；The jacking force piece is by being equipped with
Pin shaft and upper ear seat it is hinged.
Its further technical solution are as follows: the jacking force piece lower end is equipped with lower ear base, so that jacking force piece and fixation
Object is hinged.
Its further technical solution are as follows: the mounting rack is equipped with the sleeve for holding locating pin；The guide sleeve is set to
Sleeve upper end.
The beneficial effect of the utility model compared with prior art is: the utility model positioning pin has the two of horizontal plane
A freedom degree and freedom degree in vertical direction so that when jacking docking, even if positioning pin and cargo there are certain deviation,
By adjusting freedom degree, can accurately be docked with cargo.The mobile robot of the utility model jacks docking mechanism, and structure is simple
It is compact, guarantee that mobile robot can precisely carry out docking mission.
The utility model is further described in the following with reference to the drawings and specific embodiments.
Detailed description of the invention
Fig. 1 is a kind of perspective view of multiple degrees of freedom parallel-moving type lifting body of the utility model；
Fig. 2 is a kind of top view of multiple degrees of freedom parallel-moving type lifting body of the utility model；
Fig. 3 is a kind of side view of multiple degrees of freedom parallel-moving type lifting body of the utility model；
Fig. 4 is a kind of front view of multiple degrees of freedom parallel-moving type lifting body of the utility model；
Fig. 5 is a kind of partial sectional view of multiple degrees of freedom parallel-moving type lifting body of the utility model；
Fig. 6 is a kind of structure chart of the positioning pin of multiple degrees of freedom parallel-moving type lifting body of the utility model.
Specific embodiment
In order to more fully understand the technology contents of the utility model, combined with specific embodiments below to the skill of the utility model
Art scheme is further described and illustrates, but not limited to this.
Such as Fig. 1 to the drawing of Fig. 6 the utility model embodiment.
A kind of multiple degrees of freedom parallel-moving type lifting body, including mounting rack 10, the bearing plate 11 above mounting rack 10, and
With the jacking force piece 13 of 11 driving coupling of bearing plate.Mounting rack 10 is equipped with guide sleeve 14, and guide sleeve 14 is towards bearing plate 11
Side.Guide sleeve 14 is both ends open.Bearing plate 11 is equipped with the positioning pin 15 with 14 cooperative movement of guide sleeve, and positioning pin 15 passes through
Wear 14 both ends of guide sleeve.15 periphery of positioning pin is equipped with circumferential recessed portion 151.Bearing plate 11 is jacked extremely by jacking force piece 13
Recessed portion 151 and guide sleeve 14 cooperate, and bearing plate 11 has relative to mounting rack 10 to be moved in parallel.
Positioning pin 15 includes and extends to the extension 152 of the upside of bearing plate 11, the fitting portion coupled with extension 152
153 and the recessed portion 151.Fitting portion 153 and 14 clearance fit of guide sleeve, when loading plate 11 declines, so that positioning pin
15 freedom degrees only to move up and down.The first conical surface portion 154 is equipped between fitting portion 153 and recessed portion 151.Extension 152 passes through
Bearing plate 11 is worn, and is higher by bearing plate 11, is plugged on porose cargo.When bearing plate 11 does not jack, fitting portion
Inner hole of 153 cooperations in guide sleeve 14.First conical surface portion 154 is when bearing plate 11 declines, the first conical surface portion 154 and guide sleeve 14
Inner hole, have the function of guiding.When bearing plate 11 arrives certain height by jacking, the recessed portion 151 of positioning pin 15
Will with the inner hole of guide sleeve 14, due to recessed portion 151 cross-sectional area be less than guide sleeve 14 inner hole, so bearing plate
11 can translate, the freedom degree with both direction, so that positioning pin 15 increases also with the freedom degree of both direction
The accuracy of 15 grafting of positioning pin.
More specifically, positioning pin 15 further includes the second conical surface portion 155 coupled with recessed portion 151, with the second conical surface portion
The blocking portion 156 of 155 connections.The cross-sectional area of blocking portion 156 is greater than the endoporus area of guide sleeve 14.Bearing plate 11 rises to
When two conical surface portions 155, the inner hole of the second conical surface portion 155 and guide sleeve 14 has the function of guiding；When continuing jacking, resistance
The inner hole that stopper 156 is directed to set 14 stops, and prevents from falling off.
Supporting plate 16 is equipped with below bearing plate 11, and between mounting rack 10 and bearing plate 11.Jack the dynamic of force piece 13
Power output end couples with supporting plate 16, so that jacking force piece 13 drives supporting plate 16, bearing plate 11 to rise.
Preferably, it is equipped with several universal bearings 17 between supporting plate 16 and bearing plate 11, increases by 11 sliding property of bearing plate.
Specifically, jacking force piece 13 pushes supporting plate 16 to rise, bearing plate 11 and positioning pin 15 work as positioning also with rising
The recessed portion 151 of pin 15 moves to guide sleeve 14, at this point, bearing plate 11 and positioning pin 15 can be on supporting plates 16 by universal
17 sliding translation of bearing, so that 15 degree of gaining freedom of positioning pin.
More specifically, the position corresponding with universal bearing 17 of bearing plate 11 is equipped with wearing plate 18,
In order to keep jacking or descending motion more steady, being fixedly connected on the downside of supporting plate 16 has several guiding axis 19, and
Extend to mounting rack 10.Mounting rack 10 is equipped with the linear bearing 21 being slidably connected with guiding axis 19.Supporting plate 16 is equipped with for fixing
The axle bed 22 of guiding axis 19, and mounting rack 10 is equipped with the protective shell 23 of protection guiding axis 19.
Supporting plate 16 is equipped with downside and is equipped with upper ear seat 24.Jacking force piece 13 passes through the pin shaft being equipped with and upper ear seat 24 is hinged.
It jacks 13 lower end of force piece and is equipped with lower ear base 26, so that jacking force piece 13 and fixture are hinged.Jack force piece
13 both ends are hinged, play a protective role to jacking force piece 13.
Preferably, mounting rack 10 is equipped with the sleeve 27 for holding locating pin 15.Guide sleeve 14 is set to 27 upper end of sleeve.
Preferably, jacking force piece 13 is electric pushrod or cylinder or screw rod part.
In conclusion the utility model positioning pin has in two freedom degrees of horizontal plane and in the freedom of vertical direction
Degree so that when jacking docking, even if there are certain deviations for positioning pin and cargo, by adjusting freedom degree, can accurately with
Cargo docking.The mobile robot of the utility model jacks docking mechanism, simple and compact for structure, guarantees that mobile robot can be precisely
Carry out docking mission.
The above-mentioned technology contents that the utility model is only further illustrated with embodiment, in order to which reader is easier to understand,
But the embodiments of the present invention is not represented is only limitted to this, any technology done according to the utility model extends or recreation,
By the protection of the utility model.The protection scope of the utility model is subject to claims.
Claims (10)
1. a kind of multiple degrees of freedom parallel-moving type lifting body, which is characterized in that the load-bearing including mounting rack, above mounting rack
Plate, and the jacking force piece with bearing plate driving coupling；The mounting rack is equipped with guide sleeve；The bearing plate is fixed with and is oriented to
The positioning pin of cooperative movement is covered, and positioning pin runs through guide sleeve both ends；The positioning pin periphery is equipped with circumferential recessed portion, and recessed
The cross-sectional area of concave portion is less than the inner hole of guide sleeve；The bearing plate, which is jacked by jacking force piece to recessed portion and guide sleeve, matches
It closes, bearing plate has relative to mounting rack to be moved in parallel.
2. a kind of multiple degrees of freedom parallel-moving type lifting body according to claim 1, which is characterized in that the positioning pin includes
With extend to the extension on the upside of bearing plate, the fitting portion coupled with extension and the recessed portion；The fitting portion with lead
To set clearance fit；The first conical surface portion is equipped between the fitting portion and recessed portion.
3. a kind of multiple degrees of freedom parallel-moving type lifting body according to claim 1, which is characterized in that the positioning pin also wraps
Include the second conical surface portion coupled with recessed portion, the blocking portion coupled with the second conical surface portion；The cross-sectional area of the blocking portion is greater than
The endoporus area of guide sleeve.
4. a kind of multiple degrees of freedom parallel-moving type lifting body according to claim 1, which is characterized in that below the bearing plate
Equipped with supporting plate；The power output end of the jacking force piece couples with supporting plate, so that on jacking force piece driving supporting plate, bearing plate
It rises.
5. a kind of multiple degrees of freedom parallel-moving type lifting body according to claim 4, which is characterized in that the supporting plate and load-bearing
Several universal bearings are equipped between plate.
6. a kind of multiple degrees of freedom parallel-moving type lifting body according to claim 5, which is characterized in that the bearing plate and ten thousand
Wearing plate is equipped with to the corresponding position of bearing.
7. a kind of multiple degrees of freedom parallel-moving type lifting body according to claim 4, which is characterized in that solid on the downside of the supporting plate
Fixed connection has several guiding axis, and extends to mounting rack；The mounting rack is equipped with the linear axis being slidably connected with guiding axis
It holds.
8. a kind of multiple degrees of freedom parallel-moving type lifting body according to claim 4, which is characterized in that the supporting plate is equipped with down
Side is equipped with upper ear seat；The jacking force piece passes through the pin shaft being equipped with and upper ear seat is hinged.
9. a kind of multiple degrees of freedom parallel-moving type lifting body according to claim 4, which is characterized in that the jacking force piece
Lower end is equipped with lower ear base, so that jacking force piece and fixture are hinged.
10. a kind of multiple degrees of freedom parallel-moving type lifting body according to claim 1, which is characterized in that the installation is set up
There is the sleeve for holding locating pin；The guide sleeve is set to sleeve upper end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822170023.3U CN209240081U (en) | 2018-12-21 | 2018-12-21 | A kind of multiple degrees of freedom parallel-moving type lifting body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822170023.3U CN209240081U (en) | 2018-12-21 | 2018-12-21 | A kind of multiple degrees of freedom parallel-moving type lifting body |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209240081U true CN209240081U (en) | 2019-08-13 |
Family
ID=67534309
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822170023.3U Active CN209240081U (en) | 2018-12-21 | 2018-12-21 | A kind of multiple degrees of freedom parallel-moving type lifting body |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209240081U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109434877A (en) * | 2018-12-21 | 2019-03-08 | 斯坦德机器人（深圳）有限公司 | A kind of multiple degrees of freedom parallel-moving type lifting body |
-
2018
- 2018-12-21 CN CN201822170023.3U patent/CN209240081U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109434877A (en) * | 2018-12-21 | 2019-03-08 | 斯坦德机器人（深圳）有限公司 | A kind of multiple degrees of freedom parallel-moving type lifting body |
| WO2020124656A1 (en) * | 2018-12-21 | 2020-06-25 | 斯坦德机器人（深圳）有限公司 | Multi-degree-of-freedom translational jacking mechanism |
| CN109434877B (en) * | 2018-12-21 | 2024-03-26 | 斯坦德机器人（深圳）有限公司 | Multi-freedom-degree translation type jacking mechanism |
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