CN213802727U

CN213802727U - Lifting device

Info

Publication number: CN213802727U
Application number: CN202022451068.5U
Authority: CN
Inventors: 付小康; 韩笑; 张元�
Original assignee: Stander Robot Shenzhen Co ltd
Current assignee: Stander Robot Shenzhen Co ltd
Priority date: 2020-10-29
Filing date: 2020-10-29
Publication date: 2021-07-27
Anticipated expiration: 2030-10-29

Abstract

The utility model discloses a lifting device, which comprises a base, a top plate arranged above the base and a connecting rod assembly used for connecting the base and the top plate, wherein two connecting rod assemblies arranged at the front and the back are arranged at two sides of the base, and the top end of the connecting rod assembly is connected with the top plate; the connecting rod assembly comprises a short connecting rod and a long connecting rod, the lower end of the short connecting rod is rotatably arranged on the base, the long connecting rod is hinged with the upper end of the short connecting rod, a sliding block is arranged on the base in a sliding mode and positioned at the front end of the short connecting rod, the lower end of the long connecting rod is rotatably arranged on the sliding block, and the top plate is arranged at the upper end of the long connecting rod; the sliding block is arranged on the base and used for driving the sliding block to move. The utility model discloses utilize drive assembly to drive link assembly back-and-forth movement to realized that the roof of locating link assembly top reciprocates, utilized the link assembly of smaller size to realize longer lift stroke, whole lifting device need not the leveling, and has higher transmission efficiency.

Description

Lifting device

Technical Field

The utility model belongs to the technical field of the robot, in particular to lifting device.

Background

With the development of society and the progress of science and technology, the robot is widely applied in current production and life, is an intelligent device which can automatically control movement and automatically execute work, can accept the command of a user, can run a pre-programmed program and can act according to a principle outline made by an artificial intelligence technology; when a robot needs to complete the lifting action of partial goods, a device for realizing the lifting action needs to be matched, the existing lifting device is a lifting platform which is translated along the direction vertical to the ground, the platform lifts the goods or other devices, and the lifting platform is mainly subjected to overturning moment and torque along the lifting direction.

The devices for realizing the lifting action in the prior art mainly comprise the following devices: (1) the linear motion components, such as three parallel lead screws, three parallel slide rails and the like, are directly arranged along the lifting direction, and the mode has the defects of severe stress condition and short service life of the linear motion components; the size of the device along the lifting direction can be large, and the lifting stroke is limited; the error of the three parallel linear motion assemblies is 1:1, the errors are directly reflected on the lifting platform, the lifting platform is difficult to level, and the lifting platform is easy to damage in use after leveling; (2) the two four-bar linkage mechanisms which are connected in parallel ensure that the lifting platform is parallel to the base, and then the freedom degree in the vertical lifting direction is restrained by other mechanisms, the device has obvious advantages relative to the first device, the connecting rods bear the overturning moment of the lifting platform, the component force in the vertical lifting direction is extremely small, the stress condition of each component is good, but the device does not have strict linear motion and must be vertically linearly restrained in the lifting direction, the linear restraint directly bears the force in the vertical lifting direction of the lifting platform, and the robot in the direction can be impacted when conveying goods with high probability; (3) a single scissor frame mechanism and a common translation scheme have the advantages of the previous type, but are limited by the working angle of the scissor frames, a long connecting rod is needed, the size of the device in the lifting direction is large, the lifting stroke is limited, the rigidity of the connecting rod is limited, if two levels of scissor frames are used, the stroke can be large, and the rigidity and the stability of the device are greatly reduced.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome current technical defect, provide a lifting device, utilize the link assembly of smaller size to realize longer lift stroke, whole lifting device need not the leveling to higher transmission efficiency has.

In order to solve the technical problem, the utility model provides a lifting device, which comprises a base, a top plate arranged above the base and a connecting rod assembly used for connecting the base and the top plate, wherein two connecting rod assemblies arranged in the front and at the back are respectively arranged at two sides of the base; the connecting rod assembly comprises a short connecting rod and a long connecting rod, the lower end of the short connecting rod is rotatably arranged on the base, the long connecting rod is hinged with the upper end of the short connecting rod, a sliding block is arranged at the front end of the short connecting rod on the base in a sliding mode, the lower end of the long connecting rod is rotatably arranged on the sliding block, and the upper end of the long connecting rod is rotatably connected with the top plate; the sliding block is arranged on the base and used for driving the sliding block to move.

Furthermore, the left side of base is equipped with first rotating turret and second rotating turret, the right of base be equipped with first rotating turret and the symmetrical third rotating turret and the fourth rotating turret that sets up of second rotating turret, four the lower extreme of the short connecting rod on the link assembly respectively with first rotating turret, second rotating turret, third rotating turret and fourth rotating turret rotate and are connected.

Furthermore, the base is provided with a first guide rail, a second guide rail, a third guide rail and a fourth guide rail at the front ends of the first rotating frame, the second rotating frame, the third rotating frame and the fourth rotating frame respectively, the first guide rail, the second guide rail, the third guide rail and the fourth guide rail are respectively provided with a first sliding block, a second sliding block, a third sliding block and a fourth sliding block in a sliding manner, and the four lower ends of the long connecting rods on the connecting rod assemblies are respectively connected with the first sliding block, the second sliding block, the third sliding block and the fourth sliding block in a rotating manner.

Furthermore, the upper ends of the first sliding block, the second sliding block, the third sliding block and the fourth sliding block are respectively provided with a first rotating seat, a second rotating seat, a third rotating seat and a fourth rotating seat which are rotatably connected with the long connecting rod.

Furthermore, the upper end of the short connecting rod is hinged with the middle of the long connecting rod through a hinge shaft.

Furthermore, the upper end of the long connecting rod is provided with a supporting shaft, and four corners of the top plate are respectively connected with the four supporting shafts on the long connecting rod in a rotating mode.

Furthermore, four corners of the top plate are respectively provided with a first through hole, a second through hole, a third through hole and a fourth through hole, and the support shafts on the four long connecting rods are respectively rotatably arranged in the first through hole, the second through hole, the third through hole and the fourth through hole.

Furthermore, the connecting device also comprises a connecting frame which is arranged below the top plate and four corners of which are respectively connected with the four hinge shafts on the connecting rod assemblies.

Furthermore, the drive assembly comprises a motor arranged on the base, a lead screw connected with the motor in a transmission manner and a lead screw nut arranged on the lead screw, and the first rotating seat and the third rotating seat are both connected with the lead screw nut.

Furthermore, the driving assembly further comprises a mounting seat fixedly arranged on the screw nut, and two ends of the mounting seat are respectively connected with the first rotating seat and the third rotating seat.

The utility model discloses following beneficial effect has:

the utility model discloses utilize drive assembly to drive link assembly back-and-forth movement, thereby realized that the roof of locating the link assembly top reciprocates, can utilize the link assembly of smaller size to realize longer lift stroke, and whole link assembly's rigidity is great, the bending resistance moment, the ability of torque is stronger, and need not to set up the straight line restraint of vertical side, the link assembly that the unanimous short connecting rod of size and the unanimous long connecting rod of size are constituteed has decided that whole lifting device need not the leveling, and have higher transmission efficiency, great improvement the stability of whole device.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, do not constitute a limitation of the invention, and in which:

FIG. 1 is a schematic diagram of an embodiment of a lifting device after being lifted;

FIG. 2 is a schematic diagram of the lifting device of the embodiment after being lowered.

Detailed Description

In order to fully understand the technical contents of the present invention, the present invention will be further described and explained with reference to the accompanying drawings and specific embodiments; it should be noted that, if "first" or "second" is described in the text, it is used to distinguish different components, and the like, and does not represent the order of precedence, and does not limit "first" and "second" to be different types.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the 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 those skilled in the art without creative efforts belong to the protection scope of the present invention.

Examples

As shown in fig. 1-2, the lifting apparatus shown in this embodiment includes a base 1, a first link assembly and a second link assembly are disposed on the base 1 on the left side of the base 1, a third link assembly and a fourth link assembly are disposed on the base 1 on the right side of the base 1, and a top plate 10 is disposed on the top of the first link assembly, the second link assembly, the third link assembly and the fourth link assembly; the first link assembly comprises a first short link 21 with a lower end rotatably arranged on the left side of the base 1 and a first long link 41 hinged with the upper end of the first short link 21 through a first hinge shaft 51, the second link assembly comprises a second short link 22 with a lower end rotatably arranged on the left side of the base 1 and a second long link 42 hinged with the upper end of the second short link 22 through a second hinge shaft 52, the third link assembly comprises a third short link 23 with a lower end rotatably arranged on the right side of the base 1 and a third long link 43 hinged with the upper end of the third short link 23 through a third hinge shaft 53, the fourth link assembly comprises a fourth short link 24 with a lower end rotatably arranged on the right side of the base 1 and a fourth long link 44 hinged with the upper end of the fourth short link 24 through a fourth hinge shaft 54, and the first slider 31, the second slider 31, the first long link 22, the third short link 23 and the front end of the fourth short link 24 on the base 1 are respectively slidably arranged on the front ends of the first short link 21, the second short link 22, the third short link 23 and the fourth short link 24, The lower ends of the first long connecting rod 41, the second long connecting rod 42, the third long connecting rod 43 and the fourth long connecting rod 44 are respectively and rotatably arranged on the first sliding block 31, the second sliding block 32, the third sliding block 33 and the fourth sliding block, and four corners of the top plate 10 are respectively and rotatably arranged on the upper ends of the first long connecting rod 41, the second long connecting rod 42, the third long connecting rod 43 and the fourth long connecting rod 44; and the device also comprises a driving component which is arranged on the base 1 and is used for driving the first slide block 31 and the third slide block 33 to move.

Specifically, a first mounting table 61 and a second mounting table 62 which are arranged in the front and back are arranged on the left side of the base 1, a third mounting table (not shown) and a fourth mounting table (not shown) are provided on the right side of the base 1 symmetrically to the first mounting table 61 and the second mounting table 62, the first mounting table 61, the second mounting table 62, the third mounting table and the fourth mounting table are respectively provided with a first rotating frame 63, a second rotating frame 64, a third rotating frame (not shown in the figure) and a fourth rotating frame (not shown in the figure), and the first short connecting rod 21, the second short connecting rod 22, the third short connecting rod 23 and the fourth short connecting rod 24 are respectively rotatably arranged on the first rotating frame 63, the second rotating frame 64, the third rotating frame and the fourth rotating frame through a first rotating shaft 65, a second rotating shaft 66, a third rotating shaft (not shown in the figure) and a fourth rotating shaft (not shown in the figure).

Specifically, the front ends of the first mounting table 61, the second mounting table 62, the third mounting table and the fourth mounting table on the base 1 are respectively provided with a first guide rail 67, a second guide rail 68, a third guide rail (not shown in the figure) and a fourth guide rail (not shown in the figure) which are matched with the first slider 31, the second slider 32, the third slider 33 and the fourth slider, and the first slider 31, the second slider 32, the third slider 33 and the fourth slider can slide back and forth on the first guide rail 67, the second guide rail 68, the third guide rail and the fourth guide rail, so as to drive the first long connecting rod 41, the second long connecting rod 42, the third long connecting rod 43 and the fourth long connecting rod 44 which are respectively rotatably arranged on the first slider 31, the second slider 32, the third slider 33 and the fourth slider to slide back and forth.

Specifically, a first rotating seat 35, a second rotating seat 36, a third rotating seat 37 and a fourth rotating seat (not shown) are respectively fixedly arranged at the upper ends of the first sliding block 31, the second sliding block 32, the third sliding block 33 and the fourth sliding block, a first long connecting rod 41, a second long connecting rod 42, a third long connecting rod 43 and a fourth long connecting rod 44 are respectively rotatably arranged on the first rotating seat 35, the second rotating seat 36, the third rotating seat 37 and the fourth rotating seat through a fifth hinge shaft 55, a sixth hinge shaft 56, a seventh hinge shaft 57 and an eighth hinge shaft (not shown), because the middle of the first long connecting rod 41, the second long connecting rod 42, the third long connecting rod 43 and the fourth long connecting rod 44 is respectively hinged with the upper ends of the first short connecting rod 21, the second short connecting rod 22, the third short connecting rod 23 and the fourth short connecting rod 24 through a first hinge shaft 51, a second hinge shaft 52, a third hinge shaft 53 and a fourth hinge shaft, when the first slider 31, the second slider 32, the third slider 33 and the fourth slider drive the first long link 41, the second long link 42, the third long link 43 and the fourth long link 44 to slide back and forth, the lower ends of the first long link 41, the second long link 42, the third long link 43 and the fourth long link 44 can rotate around the fifth hinge shaft 55, the sixth hinge shaft 56, the seventh hinge shaft 57 and the eighth hinge shaft.

Specifically, the upper ends of the first long link 41, the second long link 42, the third long link 43 and the fourth long link 44 are respectively provided with a first support shaft 45, a second support shaft 46, a third support shaft 47 and a fourth support shaft 48, four corners of the top plate 10 are respectively provided with a first through hole 11, a second through hole 12, a third through hole 13 and a fourth through hole 14, the first support shaft 45, the second support shaft 46, the third support shaft 47 and the fourth support shaft 48 are respectively rotatably arranged at the first through hole 11, the second through hole 12, the third through hole 13 and the fourth through hole 14, so that the top plate 10 is rotatably arranged at the upper ends of the first long link 41, the second long link 42, the third long link 43 and the fourth long link 44, and when the first long link 41, the second long link 42, the third long link 43 and the fourth long link 44 rotate to drive the top plate 10 to move up and down, the first support shaft 45, the second support shaft 46, the third support shaft 43 and the fourth long link 44 rotate to drive the top plate 10 to move up and down, The rotation fit of the third support shaft 47 and the fourth support shaft 48 with the first through hole 11, the second through hole 12, the third through hole 13, and the fourth through hole 14, respectively, enables the top plate 10 to be kept horizontally upward.

Specifically, the link assembly further includes a connecting frame 19 disposed below the top plate 10 and located inside the first long link 41, the second long link 42, the third long link 43 and the fourth long link 44, four corners of the connecting frame 19 are respectively rotatably connected with the first hinge shaft 51, the second hinge shaft 52, the third hinge shaft 53 and the fourth hinge shaft, the connecting frame 19 can increase the rigidity of the first short link 21, the second short link 22, the third short link 23 and the fourth short link 24 hinged with the first long link 41, the second long link 42, the third long link 43 and the fourth long link 44, and can synchronize the movement states between the first short link 21 and the first long link 41, between the second short link 22 and the second long link 42, between the third short link 23 and the third long link 43, and between the fourth short link 24 and the fourth long link 44.

Specifically, the driving assembly comprises a screw rod 15 rotatably arranged on the base 1, a nut 16 matched with the screw rod 15, and a mounting seat 17 fixedly arranged on the nut 16, wherein two ends of the mounting seat 17 are respectively connected with a fifth hinge shaft 55 on the first rotating seat 35 and a seventh hinge shaft 57 on the third rotating seat 37, and the driving assembly further comprises a motor 18 fixedly arranged on the base 1 and in transmission connection with the screw rod 15.

In the above embodiment, the motor 18 can drive the screw rod 15 to rotate, the screw rod 15 can drive the nut 16 matched with the screw rod 15 to move back and forth, and further drive the mounting seat 17 fixedly connected with the nut 16 to move back and forth, the mounting seat 17 can drive the first rotating seat 35 and the third rotating seat 37 arranged at two sides thereof to drive the first slider 31 and the third slider 33 to move back and forth along the first guide rail 67 and the third guide rail, so as to realize the back and forth movement of the lower ends of the first long connecting rod 41 and the third long connecting rod 43, and then realize the back and forth movement of the lower ends of the second long connecting rod 42 and the fourth long connecting rod 44 by utilizing the connecting action of the connecting frame 19 on the synchronous movement of the connecting rod assemblies, and because the middle parts of the first long connecting rod 41, the second long connecting rod 42, the third long connecting rod 43 and the fourth long connecting rod 44 are respectively connected with the first short connecting rod 21 through the first hinge shaft 51, the second hinge shaft 52, the third hinge shaft 53 and the fourth hinge shaft, The upper ends of the second short link 22, the third short link 23 and the fourth short link 24 are hinged, thereby realizing the lifting of the top plate 10.

The technical solutions provided by the embodiments of the present invention are described in detail above, and the principles and embodiments of the present invention are explained herein by using specific examples, and the descriptions of the above embodiments are only applicable to help understand the principles of the embodiments of the present invention; meanwhile, for a person skilled in the art, according to the embodiments of the present invention, there may be variations in the specific implementation manners and application ranges, and in summary, the content of the description should not be construed as a limitation to the present invention.

Claims

1. A lifting device is characterized by comprising a base, a top plate arranged above the base and connecting rod assemblies used for connecting the base and the top plate, wherein two connecting rod assemblies arranged in the front and at the back are arranged on two sides of the base; the connecting rod assembly comprises a short connecting rod and a long connecting rod, the lower end of the short connecting rod is rotatably arranged on the base, the long connecting rod is hinged with the upper end of the short connecting rod, a sliding block is arranged at the front end of the short connecting rod on the base in a sliding mode, the lower end of the long connecting rod is rotatably arranged on the sliding block, and the upper end of the long connecting rod is rotatably connected with the top plate; the sliding block is arranged on the base and used for driving the sliding block to move.

2. The lifting device as claimed in claim 1, wherein the left side of the base is provided with a first rotating frame and a second rotating frame, the right side of the base is provided with a third rotating frame and a fourth rotating frame which are symmetrically arranged with the first rotating frame and the second rotating frame, and the lower ends of the short connecting rods on the four connecting rod assemblies are respectively and rotatably connected with the first rotating frame, the second rotating frame, the third rotating frame and the fourth rotating frame.

3. The lifting device as claimed in claim 2, wherein the base is provided with a first guide rail, a second guide rail, a third guide rail and a fourth guide rail at the front ends of the first rotating frame, the second rotating frame, the third rotating frame and the fourth rotating frame, the first guide rail, the second guide rail, the third guide rail and the fourth guide rail are respectively provided with a first sliding block, a second sliding block, a third sliding block and a fourth sliding block in a sliding manner, and the lower ends of the four long connecting rods on the connecting rod assemblies are respectively connected with the first sliding block, the second sliding block, the third sliding block and the fourth sliding block in a rotating manner.

4. The lifting device as claimed in claim 3, wherein the first, second, third and fourth sliders are respectively provided at upper ends thereof with a first rotating seat, a second rotating seat, a third rotating seat and a fourth rotating seat rotatably connected to the long link.

5. The lifting apparatus as claimed in claim 4, wherein the upper end of the short link is hinged to the middle of the long link through a hinge shaft.

6. The lifting device as claimed in claim 5, wherein the upper ends of the long connecting rods are provided with supporting shafts, and four corners of the top plate are respectively rotatably connected with the supporting shafts on the four long connecting rods.

7. The lifting device as claimed in claim 6, wherein four corners of the top plate are respectively provided with a first through hole, a second through hole, a third through hole and a fourth through hole, and the support shafts of the four long links are respectively rotatably provided in the first through hole, the second through hole, the third through hole and the fourth through hole.

8. The lifting apparatus as claimed in claim 7, further comprising a connecting frame disposed below the top plate and having four corners connected to the hinge shafts of the four link assemblies, respectively.

9. The lifting device as claimed in claim 8, wherein the driving assembly includes a motor disposed on the base, a lead screw in transmission connection with the motor, and a lead screw nut disposed on the lead screw, and the first rotating base and the third rotating base are both connected to the lead screw nut.

10. The lifting device as claimed in claim 9, wherein the driving assembly further includes a mounting seat fixed on the screw nut, and two ends of the mounting seat are respectively connected to the first rotating seat and the third rotating seat.