CN212151534U

CN212151534U - Lifting device and educational robot

Info

Publication number: CN212151534U
Application number: CN201922227887.9U
Authority: CN
Inventors: 朱文友; 杨俊�
Original assignee: Chongqing Xiruidi Technology Co ltd
Current assignee: Chongqing Xiruidi Technology Co ltd
Priority date: 2019-12-11
Filing date: 2019-12-11
Publication date: 2020-12-15
Anticipated expiration: 2029-12-11

Abstract

The utility model relates to an educational machine people technical field discloses a elevating gear and educational machine people, and this elevating gear includes: the device comprises a bottom plate, a middle plate, a top rack, a support frame, a steering engine, a driving arm, a first driven arm, a second driven arm, a third driven arm, a first connecting rod, a second connecting rod and a bearing plate; the educational robot includes: the frame, still include the elevating gear of any above-mentioned on the frame, the bottom plate is installed on the frame. The utility model discloses a lifting device adopts two parallelogram connecting rod structures to adopt steering wheel drive driving arm, thereby drive whole two parallelogram connecting rod structures, stable in structure, it is steady to go up and down, and the lift precision is higher, need not limit structure moreover, simple structure, and is with low costs, the restriction that the lift height is not restricted bit architecture.

Description

Lifting device and educational robot

Technical Field

The utility model relates to an education robot technical field, in particular to elevating gear and education robot.

Background

In the educational robot industry, it is common to design a robot with a function of being able to lift and lower an object. For a conventional lifting object structure, lifting is usually realized by adopting plastic gear and rack transmission, the assembly is complex, the number of parts is large, the production cost is high, the plastic gear and rack is easy to wear and generate gaps after repeated use, and the lifting precision is reduced due to long-term use (compared with the height of remote control output, the error of the actual lifting height is large due to rack friction); or the gear and rack lubrication is insufficient, the phenomenon of blocking is easy to generate, the whole mechanism generates vibration, the lifting object falls, and the stability is poor; or the gear rack needs a limiting block to limit the lifting height of the gear rack, so that the gear rack is ensured not to be separated from the gear and is always in a meshed state, namely the actual lifting height is smaller than the length of the gear rack, and the lifting height is limited by the limiting block.

In a word, the problem that the lifting object structure of the existing education robot is high in cost, low in lifting precision, poor in stability and limited in lifting height exists.

SUMMERY OF THE UTILITY MODEL

The utility model provides a lifting device and educational machine people solves prior art's lift object structure and has with high costs, the lower, the relatively poor and limited problem of hoisting height of lifting precision.

The utility model discloses a lifting device, include: the device comprises a bottom plate, a middle plate, a top rack, a support frame, a steering engine, a driving arm, a first driven arm, a second driven arm, a third driven arm, a first connecting rod, a second connecting rod and a bearing plate; the top frame is positioned above the bottom plate, the middle plate is positioned between the top frame and the bottom plate, the bottom plate and the middle plate as well as the middle plate and the top frame are respectively supported by the upright posts, the support frame is positioned below the top frame, the steering engine is arranged on the top frame, the first end of the driving arm is connected with the steering engine shaft, the first end of the first driven arm is rotatably arranged on the top frame, the rotating axis is collinear with the steering engine shaft, the first end of the second driven arm is rotatably arranged on one side of the support frame, the first end of the third driven arm is rotatably arranged on the other side of the support frame, the respective second ends of the driving arm and the second driven arm are respectively rotatably connected with the first end and the second end of the first connecting rod, and the respective second ends of the first driven arm and the third driven arm are respectively rotatably connected with the first end and the second, and the driving arm and the three driven arms are parallel, the two connecting rods are parallel to each other, the respective rotation axes of the first end of the second driven arm and the first end of the third driven arm are collinear, the plane determined by the axis of the steering engine is parallel to the plane determined by the two connecting rods, and the bearing plate is arranged between the first connecting rod and the second connecting rod.

The first end of the driving arm is connected with the rudder machine shaft through a rudder disk, the diameter of the rudder disk is larger than that of the rudder machine shaft and the rudder machine shaft is sleeved with the rudder machine shaft, and a connecting disk connected with the rudder disk is arranged at the first end of the driving arm.

And the first end of the first driven arm is arranged on the top rack through a flange bearing.

And the first connecting rod and the second connecting rod are respectively provided with a plurality of mounting holes which are arranged along the length direction of the rods.

The support frame is a T-shaped support and is arranged on the bottom plate.

The utility model also provides an educational robot, include: the frame, still include the elevating gear of any above-mentioned on the frame, the bottom plate is installed on the frame.

The utility model discloses a lifting device adopts two parallelogram connecting rod structures to adopt steering wheel drive driving arm, thereby drive whole two parallelogram connecting rod structures, stable in structure, it is steady to go up and down, and the lift precision is higher, need not limit structure moreover, simple structure, and is with low costs, the restriction that the lift height is not restricted bit architecture.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

Fig. 1 is a schematic structural view of a lifting device of the present invention;

FIG. 2 is a schematic view of the mounting structure of the bottom plate and the middle plate in FIG. 1;

FIG. 3 is a schematic view of an installation structure of the steering engine and the top frame in FIG. 1;

FIG. 4 is a schematic view of an installation structure of the steering engine and the driving arm in FIG. 1;

FIG. 5 is a schematic view of the mounting arrangement of the first follower arm and the top frame of FIG. 1;

FIG. 6 is a schematic view of the mounting arrangement of the second follower arm and the first connecting rod of FIG. 1;

FIG. 7 is a schematic view of the mounting structure of the base plate and the support bracket in FIG. 1;

fig. 8 is a schematic view of the mounting structure of the second driven arm and the support bracket in fig. 1.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

As shown in fig. 1, the lifting device of the present embodiment includes: the device comprises a bottom plate 1, a middle plate 4, a top rack 7, a support frame 3, a steering engine 6, a driving arm 51, a first driven arm 52, a second driven arm 53, a third driven arm 54, a first connecting rod 81, a second connecting rod 82 and a bearing plate 9. The top frame 7 is located above the bottom plate 1, the middle plate 4 is located between the top frame 7 and the bottom plate 1, the bottom plate 1 and the middle plate 4 and the top frame 7 are supported by the upright post 2 respectively, as shown in fig. 2, threaded holes are arranged at two ends of the upright post 2, the threaded holes at two ends of the upright post 2 correspond to the through holes in the bottom plate 1 and the middle plate 4 respectively, the bottom plate 1 and the middle plate 4 are fixed at two ends of the upright post 2 through bolts, and the structure that the middle plate 4 and the top frame 7 are installed through the upright post 2 is similar to that in fig. 2.

The support frame 3 is located below the top frame 7, as shown in fig. 3, the steering engine 6 is installed on the top frame 7, the steering engine shaft is connected to the first end of the driving arm 51, the steering engine 6 drives the driving arm 51 to rotate, the first end of the first driven arm 52 is rotatably installed on the top frame 7, the rotation axis is collinear with the steering engine shaft, the first end of the second driven arm 53 is rotatably installed on one side of the support frame 3, and the first end of the third driven arm 54 is rotatably installed on the other side of the support frame 3. The second ends of the driving arm 51 and the second driven arm 53 are respectively and rotatably connected with the first end and the second end of the first connecting rod 81, the second ends of the first driven arm 52 and the third driven arm 54 are respectively and rotatably connected with the first end and the second end of the second connecting rod 82, the driving arm 51 and the three driven arms are parallel, the two connecting rods are parallel to each other, the respective rotating axes of the first end of the second driven arm 53 and the first end of the third driven arm 54 are collinear, and are parallel to the plane determined by the two connecting rods with the plane determined by the steering engine axis, namely, the connecting lines of the first ends of the driving arm 51, the second driven arm 53, the first connecting rod 81 and the driving arm 51 and the first end of the second driven arm 53 form a parallelogram, the connecting lines of the first ends of the first driven arm 52, the third driven arm 54, the second connecting rod 82 and the first end of the first driven arm 52 and the first end of the third driven arm 54 form another parallelogram, the stability of the structure is guaranteed by the double-parallelogram structure. The loading plate 9 is installed between the first connecting rod 81 and the second connecting rod 82 for loading an object to be lifted, for example: the bearing plate 9 is provided with a through hole, a flat plate can be inserted into the through hole through a bolt, and an object to be lifted is placed on the flat plate.

The lifting device of the embodiment adopts a double-parallelogram connecting rod structure, and adopts the steering engine 6 to drive the driving arm 51, so that the whole double-parallelogram connecting rod structure is driven, the structure is stable, the lifting precision is higher, a limit structure is not needed, the structure is simple, the cost is low, and the lifting height is not limited by the limit structure.

As shown in fig. 4, the first end of the driving arm 51 is connected with the rudder machine shaft through the rudder disk 11, the diameter of the rudder disk 11 is larger than that of the rudder machine shaft, the rudder machine shaft is sleeved with the rudder machine shaft, the first end of the driving arm 51 is provided with a connecting disk connected with the rudder disk 11, the connecting disk is connected through the larger rudder disk 11, the rotating torque is increased, the rotation is more labor-saving, and the energy consumption of the steering machine 6 is reduced.

The first end of the first driven arm 52 is mounted on the top frame 7 by means of a flange bearing 10. As shown in FIG. 5, a first end of the first driven arm 52 is provided with a central hole, the flange bearing 10 is sleeved in the central hole, a bolt penetrates through an inner ring of the flange bearing 10 and fixes the flange bearing 10 on the top frame 7 through a nut, and the first end of the first driven arm 52 rotates around an outer ring of the flange bearing 10. Because the first driven arm 52 and the driving arm 51 are at the same height, the flange bearing 10 can ensure that the rotating shafts of the respective first ends of the first driven arm 52 and the driving arm 51 are always collinear, and the mounting allowance is smaller relative to a single rotating shaft, even no allowance exists, so that the rotation is more stable.

As shown in fig. 6, a schematic connection diagram of the second driven arm 53 and the first connecting rod 81 is shown, and the second end of the second driven arm 53 and the second end of the first connecting rod 81 are rotatably connected by a bolt passing through the second end of the second driven arm 53 and the second end of the first connecting rod 81 and then connected with a nut (which may be a self-locking nut to prevent the bolt from being loosened during the lifting movement). The rotary connection of the master arm and the other slave arms to the respective connecting rods is similar to the structure of figure 6.

The first connecting rod 81 and the second connecting rod 82 are respectively provided with a plurality of mounting holes 12 arranged along the rod length direction, so that the bearing plate 9 can be mounted between the first connecting rod 81 and the second connecting rod 82 through the mounting holes 12 with different heights as required, and the adjustment of the lifting height is realized within a certain range.

As shown in fig. 7 and 8, the support frame 3 is a T-shaped bracket, and is mounted on the bottom plate 1 to keep the lower center of gravity of the whole lifting device, so that the structure is more stable. Specifically, the T type support bottom is installed on bottom plate 1 through the cooperation of bolt and nut, and the nut below is equipped with soft nylon packing ring, prevents that the vibration of lift in-process from leading to T type support and bottom plate 1 to take place to become flexible. Two mounting lugs 31 are arranged on two sides of the top of the T-shaped support and are used for rotatably mounting a first end of a second driven arm 53 and a first end of a third driven arm 54 respectively, and the rotatable mounting structure is shown in figure 8. Of course, the support frame 3 may also be two lugs or other possible mounting structures extending on both sides of the intermediate plate 4.

Above-mentioned elevating gear is particularly useful for educational robot accomplishes the object and goes up and down or lift the task, consequently, the utility model also provides an educational robot, include: the lifting device comprises a frame and the lifting device arranged on the frame, wherein the bottom plate 1 is arranged on the frame.

The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.

Claims

1. A lifting device, comprising: the device comprises a bottom plate, a middle plate, a top rack, a support frame, a steering engine, a driving arm, a first driven arm, a second driven arm, a third driven arm, a first connecting rod, a second connecting rod and a bearing plate; the top frame is positioned above the bottom plate, the middle plate is positioned between the top frame and the bottom plate, the bottom plate and the middle plate as well as the middle plate and the top frame are respectively supported by the upright posts, the support frame is positioned below the top frame, the steering engine is arranged on the top frame, the first end of the driving arm is connected with the steering engine shaft, the first end of the first driven arm is rotatably arranged on the top frame, the rotating axis is collinear with the steering engine shaft, the first end of the second driven arm is rotatably arranged on one side of the support frame, the first end of the third driven arm is rotatably arranged on the other side of the support frame, the respective second ends of the driving arm and the second driven arm are respectively rotatably connected with the first end and the second end of the first connecting rod, and the respective second ends of the first driven arm and the third driven arm are respectively rotatably connected with the first end and the second end of, and the driving arm and the three driven arms are parallel, the two connecting rods are parallel to each other, the respective rotation axes of the first end of the second driven arm and the first end of the third driven arm are collinear, the plane determined by the axis of the steering engine is parallel to the plane determined by the two connecting rods, and the bearing plate is arranged between the first connecting rod and the second connecting rod.

2. The lift device of claim 1, wherein the first end of the active arm is connected to the rudder shaft through a rudder disk having a larger diameter than the rudder shaft and fitted over the rudder shaft, the first end of the active arm having a connecting plate connected to the rudder disk.

3. The lift mechanism of claim 1, wherein the first end of the first follower arm is mounted to the top frame by a flanged bearing.

4. The lifting device as claimed in claim 1, wherein the first and second connecting rods are each provided with a plurality of mounting holes arranged in a rod length direction.

5. The lifting device as claimed in any one of claims 1 to 4, wherein the support frame is a T-shaped bracket mounted on the base plate.

6. An educational robot, comprising: the vehicle frame is characterized by further comprising the lifting device arranged on the vehicle frame and used as claimed in any one of claims 1 to 5, wherein the bottom plate is mounted on the vehicle frame.