CN217003769U - Lifting device for robot - Google Patents
Lifting device for robot Download PDFInfo
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- CN217003769U CN217003769U CN202220232377.XU CN202220232377U CN217003769U CN 217003769 U CN217003769 U CN 217003769U CN 202220232377 U CN202220232377 U CN 202220232377U CN 217003769 U CN217003769 U CN 217003769U
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- lifting
- upright post
- lift stand
- vertical guide
- lifting upright
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Abstract
The utility model discloses a lifting device for a robot, which comprises a bottom plate, wherein an electric push rod is fixed on the bottom plate, a cylindrical lifting upright post driven to lift by the electric push rod is sleeved outside a guide sleeve of the electric push rod, a stabilizing frame for preventing the lifting upright post from being unstable is also arranged on the bottom plate, the stabilizing frame comprises a plurality of vertical guide posts fixed on the bottom plate, the upper ends of the vertical guide posts are provided with top plates for mutually connecting and fixing the upper ends of the vertical guide posts, the top plates are provided with static stabilizing devices which are matched with the outer surface of the lifting upright post and do not lift along with the lifting upright post, and the lower end of the lifting upright post is provided with a dynamic stabilizing device which is matched with the vertical guide posts and can lift synchronously with the lifting upright post. The lifting upright post cannot deviate from the axis to incline or lose stability in the lifting process of the lifting device for the robot, the lifting action is stable, and the bearing requirements of heavy equipment, mechanical arms or precision instruments with special requirements on stability can be met.
Description
Technical Field
The utility model relates to an electrically-driven lifting device, in particular to an electrically-driven lifting device which is arranged on a robot and provides a lifting platform for external equipment carried by the robot.
Background
With the progress of science and technology, the work that the robot can replace the human being is more and more, and in some special cases, a lifting device needs to be installed on the robot so that the robot can lift external equipment such as a monitoring camera, a fire sprinkler, a manipulator arm and the like which are carried to the working height. CN 210029901U discloses an explosion-proof lifting platform device for fire-fighting robot, this explosion-proof lifting platform device for fire-fighting robot includes the base, the shell lid, cable mechanism, flange linear bearing, actuating mechanism and lift platform, be equipped with the explosion-proof chamber in the shell, shell and base pass through screwed connection and form first plane explosion-proof faying face, cable mechanism is introduced to one side of shell, be equipped with electric putter motor and electric putter in the explosion-proof chamber, electric putter's top and lift platform fixed connection, electric putter leads through flange linear bearing, the top of shell and shell lid pass through bolted connection and form the explosion-proof faying face of second plane, electric putter and shell lid pass through the copper sheathing and are connected and form the explosion-proof faying face of third plane. CN 211283597U discloses a lifting platform device for a fire-fighting robot, which comprises a housing, wherein the top and bottom surfaces of the housing are provided with openings; the lifting device is arranged on the shell; the lifting device comprises a base, an electric push rod and a platform; the electric push rod is rotationally connected above the base; the platform is positioned outside the shell and is rotationally connected above the electric push rod; the guiding and positioning device is arranged on the shell; the guiding and positioning device comprises a support frame, a guide block and a guide post; the guide block is arranged on the support frame, the guide post is arranged in the guide block in a penetrating mode, and the top end of the guide post penetrates through the opening in the top face of the shell and is fixedly connected to the platform. In CN 210029901U, a flange linear bearing is used for guiding and stabilizing the electric push rod; the guide block is used for guiding and stabilizing the platform in CN 211283597U, only one fixed guide stabilizing device is adopted in the two lifting devices for the robot, when the lifting device works, the positions of a flange linear bearing and the guide block which play a role in guiding and stabilizing do not move along with the lifting platform in real time, the guide stabilizing device only stabilizes the lifting platform at a fixed height relative to a robot chassis, the anti-inclination torque is small in the lifting process of the platform, when the platform bears movement or the lifting of equipment with larger weight, the platform is easy to deviate from an axis, incline and instability occur, the lifting is blocked, and even the platform topples over, and in addition, the lifting device can not meet the bearing requirements of some precision equipment with special requirements on stability.
SUMMERY OF THE UTILITY MODEL
The technical problem to be solved by the utility model is: the lifting upright post does not deviate from the axis to incline or lose stability in the lifting process of the lifting device for the robot, the lifting action is stable, and the bearing requirements of heavy equipment, mechanical arms or precision instruments with special requirements on stability can be met.
The technical scheme for solving the technical problem is as follows: a lifting device for a robot comprises a bottom plate, wherein an electric push rod is fixed on the bottom plate, the electric push rod comprises a driving motor, a guide sleeve and a push rod, a cylindrical lifting upright post driven to lift by the electric push rod is sleeved outside the guide sleeve, the upper end of the push rod is connected with the upper end part of the lifting upright post from the inside of the lifting upright post, an upper end plate is arranged at the top of the lifting upright post, a stabilizing frame for preventing the lifting upright post from being unstable is further arranged on the bottom plate, the stabilizing frame comprises a plurality of vertical guide posts fixed on the bottom plate, the plurality of vertical guide posts are arranged around the lifting upright post by taking the axis of the lifting upright post as the circle center, a top plate for mutually connecting and fixing the upper ends of the vertical guide posts is arranged at the upper end of the vertical guide posts, a lifting upright post through hole is formed in the center of the top plate, and a static stabilizing device which is matched with the outer surface of the lifting upright post and does not lift up and down along with the lifting upright post is arranged at the lifting upright post through hole, the lower end of the lifting upright post is provided with a dynamic stabilizing device which is matched with the vertical guide post and can be synchronously lifted with the lifting upright post.
As a further improvement of the utility model: the static stabilizing device is composed of a supporting wheel set which is arranged along the edge of the lifting upright post through hole and limits the lifting upright post at a specified position in the lifting upright post through hole from a plurality of directions.
As a further improvement of the utility model: the dynamic stabilizing device comprises a floating base which is connected and fixed at the lower end of the lifting upright post and can be lifted synchronously with the lifting upright post, and a guide sliding sleeve which has the same number with the vertical guide posts, corresponds to the position of the vertical guide posts and can slide up and down along the vertical guide posts is arranged on the floating base.
As a further improvement of the utility model: the inner wall of the lifting upright post is laid with a follow-up cable which can be lifted synchronously with the lifting upright post along the vertical direction, a wire protecting plate which is used for fixing the follow-up cable on the inner wall of the lifting upright post is arranged between the follow-up cable and the electric push rod guide sleeve, and the wire protecting plate is fixed on the inner wall of the lifting upright post through a screw.
As a further improvement of the utility model: and a drag chain is further fixed on the bottom plate, the other end of the drag chain is fixed on the floating base, and a follow-up cable penetrates through the drag chain to be electrically connected with external equipment.
As a further improvement of the utility model: a connecting seat is arranged inside the lifting upright post, and the upper end of the push rod is connected with the upper end of the lifting upright post from the inside of the lifting upright post through the connecting seat.
As a further improvement of the utility model: the cross section of the cylindrical lifting stand column is a rectangular lifting stand column, 4 vertical guide columns are fixed on the bottom plate, the 4 vertical guide columns are arranged in a rectangular mode at the edge line positions, corresponding to the rectangular lifting stand column, of the outer side of the rectangular lifting stand column, 4 supporting wheel sets are arranged in the lifting stand column through holes, the rectangular lifting stand column is limited at a specified position in the lifting stand column through hole through 4 directions perpendicular to the cylindrical surface of the rectangular lifting stand column, and 4 guiding sliding sleeves are arranged on the stand column base.
Has the advantages that: the lifting device for the robot adopts the technical scheme that a set of static stabilizing device which is matched with the outer surface of the lifting upright post and does not lift along with the lifting upright post is arranged at the through hole of the lifting upright post, the lower end of the lifting upright post is provided with a set of dynamic stabilizing device which is matched with the vertical guide post and synchronously lifted with the lifting upright post, the static stabilizing device and the dynamic stabilizing device are arranged in the height direction of the lifting upright column to guide and stabilize the lifting upright column, the lifting upright column is limited from the upper part and the lower part of the lifting upright column, so that in the lifting process of the lifting upright column, the lower end of the lifting upright post is always guided and limited by the passive stabilizing device, so that the anti-inclination capability of the lifting upright post is increased, the lifting upright post cannot deviate from an axis to incline or lose stability in the lifting process, the lifting action is stable and is not blocked, and the bearing requirement of heavy equipment, a mechanical arm or a precision instrument with special requirement on stability can be met. Because adopted static stabilising arrangement is by the technical characterstic that the support wheelset that will go up and down the stand and inject the stand in the stand through hole assigned position constitutes from a plurality of directions along the setting of stand through hole edge that goes up and down, and lifting resistance is littleer when guaranteeing stable effect. Because adopted the dynamic stabilization device is including connecting the floating base who fixes at the lift stand lower extreme, goes up and down with the lift stand is synchronous, is equipped with the technical characterstic that equals with vertical guide post number, the position corresponds, can follow the gliding guide sliding sleeve of vertical guide post from top to bottom on floating base, utilizes a plurality of guide sliding sleeves to lead and spacing to the lift stand lower extreme when along with the removal of lift stand, makes the lift stand operation precision higher, and anti-tilt ability is stronger. The cable-laying device has the advantages that the follow-up cable which is lifted synchronously with the lifting stand column is laid on the inner wall of the lifting stand column along the vertical direction, the cable-protecting plate which is used for fixing the follow-up cable on the inner wall of the lifting stand column is arranged between the follow-up cable and the electric push rod guide sleeve, and the cable-protecting plate is fixed on the inner wall of the lifting stand column through screws. Due to the technical characteristics that the drag chain is fixed on the bottom plate, the other end of the drag chain is fixed on the floating base, and the follow-up cable penetrates through the drag chain to be electrically connected with external equipment, the cable outside the lifting upright post can be effectively protected and can be stably connected with the follow-up cable in the lifting upright post. The technical characteristics that the connecting seat is arranged in the lifting upright post and the upper end of the push rod is connected with the upper end of the lifting upright post from the inside of the lifting upright post through the connecting seat are adopted, so that the electric push rod and the lifting upright post are more convenient to connect and install. The cylindrical lifting upright column is a rectangular lifting upright column with a rectangular cross section, 4 vertical guide columns are fixed on the bottom plate, the 4 vertical guide columns are arranged in a rectangular shape at the outer side of the rectangular lifting upright column corresponding to the ridge line position of the rectangular lifting upright column, 4 groups of supporting wheel sets which limit the rectangular lifting upright column at a specified position in a lifting upright column through hole from 4 directions vertical to the cylindrical surface of the rectangular lifting upright column are arranged in the lifting upright column through hole, and the upright column base is provided with 4 guide sliding sleeves.
Drawings
The robot lifting device according to the present invention will be described below with reference to the accompanying drawings.
FIG. 1 is an overall configuration diagram of a lifting device for a robot according to the present invention;
fig. 2 is a sectional view of the robot lifting device according to the present invention along the axis of the lifting column.
Detailed Description
As shown in fig. 1 and 2, the lifting device for a robot of the present invention includes a bottom plate 12, an electric push rod is fixed on the bottom plate, the electric push rod includes a driving motor 21, a guide sleeve 16 and a push rod 17, the lower end of the electric push rod is fixed on the bottom plate through an electric push rod fixing seat 18 and a pin 22 on the bottom plate, a hollow cylindrical lifting column 8 driven by the electric push rod to lift is sleeved outside the guide sleeve, the upper end of the push rod is connected with the upper end of the lifting column from the inside of the lifting column, a connecting seat 15 is arranged inside the lifting column, the upper end of the push rod is connected with the upper end of the lifting column from the inside of the lifting column through the connecting seat, an upper end plate 14 is arranged on the top of the lifting column, and a stabilizing frame 2 for preventing the lifting column from being unstable is further arranged on the bottom plate.
The utility model discloses a stable frame, including fixing a plurality of vertical guide posts 9 on the bottom plate, a plurality of vertical guide posts use the vertical axis of lift stand to encircle the lift stand as the centre of a circle, with lift stand parallel arrangement, be equipped with the roof 7 of interconnecting the fixed on a plurality of vertical guide posts upper end in the upper end of vertical guide post, center department at the roof opens there is lift stand clearing hole 6, the area in lift stand hole is greater than the sectional area of lift stand, in lift stand clearing hole department, be equipped with along lift stand clearing hole edge with lift stand surface coordination, the static stabilising arrangement 1 that does not go up and down along with the lift stand, be equipped with at the lower extreme of lift stand with vertical guide post cooperation, with the dynamic stabilising arrangement 3 that the lift stand goes up and down in step. In the lifting process of the lifting stand column, the static stabilizing device is unchanged relative to the position of the bottom plate, the lifting stand column is guided and limited from a fixed height position, the dynamic stabilizing device is lifted along with the lifting stand column, the lower end of the lifting stand column is guided and limited in the lifting process, so that the lifting stand column can be vertically lifted.
The static stabilizing device is composed of a supporting wheel set 4 which is arranged along the edge of the lifting upright post through hole and limits the lifting upright post at a specified position in the lifting upright post through hole from a plurality of directions.
The dynamic stabilizing device comprises a floating base 10 which is connected and fixed at the lower end of the lifting upright post and can be lifted synchronously with the lifting upright post, and a guide sliding sleeve 11 which has the same number with the vertical guide posts, corresponds to the position of the vertical guide posts and can slide up and down along the vertical guide posts is arranged on the floating base.
The supporting wheel set is adopted as a static stabilizing device, the guide sliding sleeve is adopted as a dynamic stabilizing device, the resistance of the supporting wheel set to the lifting action of the lifting upright post is small during working, however, the guide precision is slightly poor, the guide sliding sleeve is adopted as the dynamic stabilizing device, the defect that the guide precision of the supporting wheel set is poor can be exactly overcome, and the static stabilizing device and the dynamic stabilizing device are in complementary fit, so that the resistance is small and the vertical precision is high during working of the lifting upright post.
A follow-up cable 5 which can be lifted synchronously with the lifting upright column is laid on the inner wall of the lifting upright column along the vertical direction, a wire protecting plate 20 which is used for fixing the follow-up cable on the inner wall of the lifting upright column is arranged between the follow-up cable and the electric push rod guide sleeve, and the wire protecting plate is fixed on the inner wall of the lifting upright column through a screw 19. And a drag chain 13 is further fixed on the bottom plate, the other end of the drag chain is fixed on the floating base, and a follow-up cable penetrates through the drag chain to be electrically connected with external equipment. By adopting the design, the cable can be hidden in the lifting upright post, and the cable can be effectively prevented from being damaged by external machinery during operation in a complex environment, so that the safety of equipment operation is improved, and the lifting device for the robot can meet the use requirements of complex dangerous environments such as fire fighting, emergency rescue and the like.
Preferably, cylindric lift stand is the rectangle lift stand that the cross-section is the rectangle, is fixed with 4 vertical guide posts on the bottom plate, and 4 vertical guide posts are the rectangle and arrange in the crest line position that rectangle lift stand corresponds in the rectangle lift stand outside, are equipped with from 4 directions with rectangle lift stand cylinder vertically and prescribe a limit to the rectangle lift stand 4 groups of support wheelsets at lift stand through-hole specified position in through-hole in the lift stand through-hole, are equipped with 4 direction sliding sleeves on the stand base.
The lifting upright post in the lifting device for the robot can also adopt other cross section shapes such as a cylinder, a triangular prism or a hexagonal prism, and the like, and the vertical guide post can also be provided with three or six layouts and the like corresponding to the cross section shapes of the lifting upright post.
Claims (6)
1. The utility model provides a lifting device for robot, includes the bottom plate, is fixed with electric putter on the bottom plate, electric putter includes driving motor, guide pin bushing and push rod, is equipped with the cylindric lift stand that goes up and down by electric putter drive at the guide pin bushing overcoat, is equipped with a connecting seat inside the lift stand, and the push rod upper end is connected with the lift stand upper end through the connecting seat from the lift stand is inside, is equipped with upper end plate, characterized by at the top of lift stand: still be equipped with the stable frame who prevents lift stand unstability on the bottom plate, stable frame is including fixing a plurality of vertical guide posts on the bottom plate, a plurality of vertical guide posts use the axis of lift stand to encircle the lift stand and arrange as the centre of a circle, be equipped with the roof of interconnect fixed on a plurality of vertical guide posts in the upper end of vertical guide post, center department at the roof opens there is the lift stand clearing hole, be equipped with in the lift stand clearing hole department with the cooperation of lift stand surface, the static stabilising arrangement that does not go up and down along with the lift stand, be equipped with at the lower extreme of lift stand with the cooperation of vertical guide post, with the dynamic stabilizing device that the lift stand goes up and down in step.
2. The lifting device for a robot as set forth in claim 1, wherein: the static stabilizing device is composed of a supporting wheel set which is arranged along the edge of the lifting upright post through hole and limits the lifting upright post at a specified position in the lifting upright post through hole from a plurality of directions.
3. The lifting device for a robot as set forth in claim 2, wherein: the dynamic stabilizing device comprises a floating base which is connected and fixed at the lower end of the lifting upright post and can be lifted synchronously with the lifting upright post, and a guide sliding sleeve which has the same number with the vertical guide posts, corresponds to the position of the vertical guide posts and can slide up and down along the vertical guide posts is arranged on the floating base.
4. The lifting device for a robot according to any one of claims 1 to 3, wherein: the inner wall of the lifting upright post is laid with a follow-up cable which can be lifted synchronously with the lifting upright post along the vertical direction, a wire protecting plate which is used for fixing the follow-up cable on the inner wall of the lifting upright post is arranged between the follow-up cable and the electric push rod guide sleeve, and the wire protecting plate is fixed on the inner wall of the lifting upright post through a screw.
5. The lifting device for a robot as set forth in claim 4, wherein: still be fixed with the tow chain on the bottom plate, the other end of tow chain is fixed on floating base, and follow-up cable passes the tow chain and external equipment electrical connection.
6. The lifting device for a robot as set forth in claim 3, wherein: the cylindric lift stand is the rectangle lift stand of rectangle for the cross-section, is fixed with 4 vertical guide posts on the bottom plate, and 4 vertical guide posts are the rectangle at the crest line position that rectangle lift stand corresponds in the rectangle lift stand outside and arrange, are equipped with from 4 orientations with rectangle lift stand cylinder vertically in the lift stand clearing hole and prescribe a limit to the rectangle lift stand 4 groups of support wheelsets at lift stand through-hole assigned position, are equipped with 4 direction sliding sleeves on the stand base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220232377.XU CN217003769U (en) | 2022-01-28 | 2022-01-28 | Lifting device for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220232377.XU CN217003769U (en) | 2022-01-28 | 2022-01-28 | Lifting device for robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217003769U true CN217003769U (en) | 2022-07-19 |
Family
ID=82391166
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220232377.XU Active CN217003769U (en) | 2022-01-28 | 2022-01-28 | Lifting device for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217003769U (en) |
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2022
- 2022-01-28 CN CN202220232377.XU patent/CN217003769U/en active Active
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