CN102180427A - Pivot fixed multi-face constrained scissor-type lifting mechanism - Google Patents

Abstract

The invention belongs to the field of lifting equipment, and in particular relates to a pivot fixed multi-face constrained scissor-type lifting mechanism. Three groups of scissor-type trusses are vertical to a base; the bottom ends of the three groups of scissor-type trusses are connected with three epsilon-type connecting pieces which are fixed on the base in a regular triangle manner respectively so as to form rotation pairs, and the top ends of the three groups of scissor-type trusses are connected with three epsilon-type connecting pieces which are fixed on the lower plane of a supporting platform in the regular triangle manner respectively so as to form rotation pairs; the three groups of scissor-type trusses are in regularly triangular prism arrangement between the supporting platform and the base; an angle between the plane on which each group of scissor-type truss is placed and the plane on which the adjacent scissor-type truss is placed is 60 degrees; among the three groups of scissor-type trusses, central hinging points of crossed connecting rods of scissor layers are connected with the corresponding peaks of the regularly triangular connecting pieces so as to form rotation pairs; and a driving device supports the regularly triangular connecting piece of the first scissor layer on the base so as to drive the whole lifting mechanism to lift. The pivot fixed multi-face constrained scissor-type lifting mechanism has a stable structure and high rigidity, and is applicable to environments having requirements such as large loading capacity, working height and the like which cannot be met by general lifting equipment.

Description

Fulcrum fixed type multiaspect over-constrained scissor-type lifting mechanism

Technical field

The invention belongs to the jacking equipment field, particularly a kind of fulcrum fixed type multiaspect over-constrained scissor-type lifting mechanism.

Background technology

Bay-lift is the elevator machinery of a kind of vertical shipper or thing.Except that carrying as the goods of differing heights, bay-lift is widely used in the operations such as installation, maintenance in high-altitude, the characteristics of its free lifting have extensively applied to the municipal administration maintenance at present, harbour, logistics centre goods transport, building decoration etc., have in light weight, walking certainly, electricity start, from supporting leg, simple to operate, advantage such as the scope of operation is big.

According to the difference of lifting mechanism lifting principle, bay-lift can be divided into several classes such as fork type elevator, telescopic elevator, sleeve-type elevator, telescopic boom elevator, folding-jib elevator; Difference by move mode is divided into fixed hoist, pull-alongs elevator, self-propelled elevator, in-vehicle elevator etc.Wherein, owing to use that but the bay-lift of scissor-type lifting mechanism has Zhan Bida, compact conformation, deadweight is little, bearing capacity is big, crossing ability is strong and handling good, therefore in occasions such as the manufacturing of modern logistics, aviation loading and unloading, main equipment and maintenance, used widely.

The general-duty scissor-type lifting mechanism generally all is two groups of fork arm parallel types now, it has following shortcoming: because the parallel modes of two groups of fork arms are not to be symmetrical, are easy to cause the bay-lift insufficient rigidity when eminence is subjected to the power of side surface direction and rock when bay-lift rises to; The vibration that continues has increased the fugitiveness of structure even has toppled over, so its rigidity of structure is relatively poor.In addition, the fork arm of support platform adopts an end to fix in lifting mechanism, during mode that one end slides, under carrying weight center of gravity unmodified situation, cause the stressed variation of mechanism bigger during the bay-lift lifting easily, thereby the increase labile factor causes the inconvenience and the psychological pressure of work for the top staff, leads to Peril Incident easily.Therefore need that a kind of intensity height, rigidity are big, the lifting mechanism of good stability.

Summary of the invention

The objective of the invention is in order to solve the problem described in the background technology, a kind of fulcrum fixed type multiaspect over-constrained scissor-type lifting mechanism is provided, it is characterized in that, lifting mechanism is by support platform 1, mountain font attaching parts 2, equilateral triangle attaching parts 3, scissor-type truss 4, base 5 and actuating device are formed, on 3 the last planes of mountain font attaching parts 2 by the fixing base 5 of the distribution on 3 summits of equilateral equilateral triangle, 3 groups of scissor-type truss 4 vertical bases 5, and revolute pair 46 is connected bottom constituting by scissor-type truss bottom and mountain font attaching parts 2 respectively, on the lower plane of 3 mountain font attaching partss 2 by the fixing support platform 1 of the distribution on 3 summits of equilateral equilateral triangle, constituting top revolute pair 45 by scissor-type truss top with mountain font attaching parts 2 respectively is connected, angle between the plane, place of the plane, place of every group of scissor-type truss 4 and adjacent scissor-type truss 4 is 60 °, 3 groups of scissor-type truss 4 are regular triangular prism and arrange between support platform 1 and base 5, between 3 groups of scissor-type truss 4, equal 1 equilateral triangle attaching parts 3 of horizontal positioned between every layer of level connecting rod 41,3 summits of equilateral triangle attaching parts 3 respectively with 3 groups of scissor-type truss 4 of place layer in the connecting rod 41 center hinge contacts that intersect constitute connecting rod center revolute pair 43, equilateral triangle attaching parts 3 and form one with 3 groups of connecting rods that intersect of its formation connecting rod center revolute pair 43 bonded assemblys 41 and cut the fork layer, the quantitative range that lifting mechanism is cut the fork layer is 2～20 layers, actuating device 6 is cut the equilateral triangle attaching parts 3 of fork layer in base 5 upper supports first, drive first and cut the lifting of pitching layer, first cuts transmission driving support platform 1 lifting of the lifting of fork layer by scissor-type truss 4.

The telescopic mechanism of described scissor-type truss 4 for constituting by connecting rod 41 and short connecting rod 42, by the connecting rod 41 of 2 intersections in the hinged scissor-type unit of forming of center-point, 2～20 scissor-type unit are connected in series up and down, in the adjacent scissor-type unit, the interlinking lever end revolute pair 44 of cooresponding 2 interlinking lever ends constitutes up and down hinged between the scissor-type unit connecting rod 41, bottom at scissor-type truss 4, article 2, short connecting rod 42 1 ends are hinged with 2 connecting rods 41 of the first scissor-type unit respectively, article 2, the mutually hinged composition scissor-type of the other end of short connecting rod 42 truss bottom, top at scissor-type truss 4, article 2, short connecting rod 42 1 ends are hinged with 2 connecting rods 41 going up most the scissor-type unit respectively, article 2, the mutually hinged composition scissor-type of the other end of short connecting rod 42 truss top, the effective length between the short connecting rod 42 two ends hinge-points be between the connecting rod 41 two ends hinge-points effective length 1/2.

Described actuating device 6 is spiral lifting mechanism or hydraulic drive mechanism.

The present invention forms lifting mechanism by three groups of scissor-type truss, three groups of scissor-type truss are connected with revolute pair with the equilateral triangle attaching parts by the connecting rod center of each layer, utilize the stable and three-face over-constrained of equilateral triangle attaching parts self structure, the plane of three groups of scissor-type truss surrounds a regular triangular prism structure all the time, regular triangular prism its specific structure stability has improved the resistance to overturning of mechanism, has also improved the rigidity and the stability of support platform all directions;

Support platform all is connected with the revolute pair of three groups of scissor-type truss by the mountain font attaching parts that the equilateral equilateral triangle of self is arranged with base, and stability is high.Stretch or shrink and make bay-lift when vertical direction moves up and down when bay-lift drives the scissor-type truss by actuating device, three groups of scissor-type truss synchronous extension or contraction, steadily lifting of support platform has reduced the probability of causing danger;

Beneficial effect of the present invention is, compare with the run-in index scissors mechanism of prior art, three groups of scissor-type truss of the present invention connect by well-set equilateral triangle attaching parts, in lifting process, the position of three groups of scissor-type truss fulcrum on the support platform of motion and motionless base is constant all the time, therefore structure is more stable, has avoided moving the unbalance loading problem that produces because of fulcrum.Under intensity unmodified situation, can reduce deadweight, increase rigidity, can bear bigger load, thereby improve the maximum operation height of lifting table, but have Zhan Bida, compact conformation, deadweight is little, bearing capacity is big, stability is high, crossing ability is strong and handling good characteristics.The present invention can be applied to operations such as high-altitude installation, maintenance, transportation, is particularly useful for the environment that general jacking equipments such as load capacity is big, operation height is big are difficult to meet the demands.

Description of drawings

Fig. 1 is a fulcrum fixed type multiaspect over-constrained scissor-type lifting mechanism embodiment scheme drawing;

Fig. 2 is for cutting fork layer structural representation;

Fig. 3 is the structural representation of scissor-type truss;

Fig. 4 is the connection diagram of single group scissor-type truss and base;

Fig. 5 first cuts a fork layer structural representation;

Fig. 6 first cuts the birds-eye view of fork layer structure.

Fig. 7 is the actuating device position view;

Among the figure, 1--support platform, 2--mountain font attaching parts, 3--equilateral triangle attaching parts, 4--scissor-type truss, the 41--connecting rod, 42--short connecting rod, 43--connecting rod center revolute pair, 44--interlinking lever end revolute pair, 45--top revolute pair, 46--bottom revolute pair, 5--base, 6--actuating device.

The specific embodiment

The invention provides a kind of three-face over-constrained scissor-type lifting mechanism, structure of the present invention, principle and the specific embodiment are further described below in conjunction with accompanying drawing.

Fig. 1 is a fulcrum fixed type multiaspect over-constrained scissor-type lifting mechanism embodiment scheme drawing, and lifting mechanism is made up of support platform 1, mountain font attaching parts 2, equilateral triangle attaching parts 3, scissor-type truss 4, base 5 and actuating device.On 3 the last planes of mountain font attaching parts 2 by the fixing base 5 of the distribution on 3 summits of equilateral equilateral triangle, 3 groups of scissor-type truss 4 vertical bases 5, and revolute pair 46 is connected bottom constituting by scissor-type truss bottom and mountain font attaching parts 2 respectively.On the lower plane of 3 mountain font attaching partss 2 by the fixing support platform 1 of the distribution on 3 summits of equilateral equilateral triangle, constitute top revolute pair 45 by scissor-type truss top with mountain font attaching parts 2 respectively and be connected.Angle between the plane, place of the plane, place of every group of scissor-type truss 4 and adjacent scissor-type truss 4 is 60 °, and 3 groups of scissor-type truss 4 are regular triangular prism and arrange between support platform 1 and base 5.Between 3 groups of scissor-type truss 4, between every layer of level connecting rod 41 all 3 summits of 1 equilateral triangle attaching parts 3 equilateral triangle attaching parts 3 of horizontal positioned respectively with 3 groups of scissor-type truss 4 of place layer in the connecting rod 41 center hinge contacts formation connecting rod center revolute pair 43 of intersecting, equilateral triangle attaching parts 3 and form one with 3 groups of connecting rods that intersect of its formation connecting rod center revolute pair 43 bonded assemblys 41 and cut the fork layer, lifting mechanism has 7 to cut the fork layer, as shown in Figure 2.Actuating device is cut the equilateral triangle attaching parts 3 of pitching layer in base 5 upper supports first, and the lifting of pitching layer is cut in driving first, and first cuts transmission driving support platform 1 lifting that scissor-type truss 4 is passed through in the lifting of pitching layer, and actuating device 6 is a hydraulic drive mechanism.

The structure of scissor-type truss 4 as shown in Figure 3, the telescopic mechanism of scissor-type truss 4 for constituting by connecting rod 41 and short connecting rod 42, form a scissor-type unit by the connecting rod 41 of 2 intersections in that center-point is hinged, the scissor-type unit is connected in series up and down, in the adjacent scissor-type unit, the interlinking lever end revolute pair 44 of cooresponding 2 interlinking lever ends constitutes up and down hinged between the scissor-type unit connecting rod 41, bottom at scissor-type truss 4, article 2, short connecting rod 42 1 ends are hinged with 2 connecting rods 41 of the first scissor-type unit respectively, article 2, the mutually hinged composition scissor-type of the other end of short connecting rod 42 truss bottom, top at scissor-type truss 4, article 2, short connecting rod 42 1 ends are hinged with 2 connecting rods 41 going up most the scissor-type unit respectively, article 2, the mutually hinged composition scissor-type of the other end of short connecting rod 42 truss top, the effective length between the short connecting rod 42 two ends hinge-points be between the connecting rod 41 two ends hinge-points effective length 1/2.

Shown in the connection diagram that the list of Fig. 4 is organized scissor-type truss and base, single group scissor-type truss 4 is connected by the bottom revolute pair 46 with mountain font attaching parts 2 and places on the base 5, scissor-type truss 4 has two degree of freedom: the one, and around the rotation of mountain font attaching parts 2 in fixed pan, the 2nd, the scissor-type truss axis that is formed by connecting along the connecting rod center of each intersection is done fore and aft motion.Three groups of scissor-type truss 4 all have this two degree of freedom.When utilize equilateral triangle attaching parts 3 by connecting rod center revolute pair 43 respectively with after three groups of scissor-type truss 4 are connected, scissor-type truss 4 has been limited the only remaining degree of freedom that stretches in the rotation on plane, place separately.Promptly can only do the dipping and heaving of vertical base 5, this has just realized the job requirement of lifting mechanism.And when lifting mechanism moved up and down, three groups of scissor-type truss heave amplitudes were consistent.When in order ground of base 5 level that is placed in, support platform also can on even keel under lifting, can not rock or topple over.

Below theoretic analysis is done in the motion of lifting mechanism.

Fig. 5 first cuts a fork layer structural representation, is the simplification pattern of lifting structure, and the motion of the equilateral triangle attaching parts 3 of ground floor is identical with the motion of support platform 1, and it is carried out theoretical analysis promptly is bulk analysis to elevator.Set up system of axes oxyz as shown in Figure 5, z axle vertical ground makes progress, and the x axle is equilateral triangle A ₀B ₀C ₀Axis of symmetry, the vertical x axle of y axle is parallel to the B of equilateral triangle ₀C ₀The limit, system of axes satisfies right-hand rule, as shown in Figure 5 and Figure 6.

Equilateral triangle attaching parts 3 is subjected to A ₁, B ₁, C ₁The constraint of three connecting rod center revolute pairs 43 of 3, and A ₁, B ₁, C ₁Respectively by the scissor-type truss be constrained on the affixed attaching parts of base on the (A among the figure ₀, B ₀, C ₀Point), i.e. A ₁, B ₁, C ₁Kinematic link by two parallel connections is connected with the base of fixing 5 respectively.Therefore study the suffered constraint of equilateral triangle attaching parts and convert analysis A to ₁, B ₁, C ₁The constraint of three connecting rod center revolute pairs 43, that is to say and analyze A ₁, B ₁, C ₁The restricted problem of the kinematic link of two parallel connections that are subjected to respectively.

As the letter that Fig. 5 indicated, the coordinate position of kinematic pair i (x _iy _iz _i) expression, the length of side of establishing equilateral triangle is l.At first analyze A ₁Restraint condition: A ₁Kinematic link A by two parallel connections ₀A _LA ₁And A ₀A _RA ₁One group of parallel kinematic chain forming is connected with base.According to [Zhao Jingshan, Feng Zhijing, Chu Fulei. robot mechanism degree of freedom analysis theories [M]. Beijing: Science Press, 2009.] analysis theories of the mechanism freedom that proposes, research A ₁Motion can be converted into the end conswtraint problem of analyzing two coupled series connection kinematic links, utilize screw theory to find the solution.

${\$}_{A_0{A}_L{A}_1}=\left[\begin{array}{ccc}{\$}_{A_0}& {\$}_{A_L}& {\$}_{A_1}\end{array}\right]---\left(1\right)$

Wherein, the direction vector of each kinematic pair is determined according to the coordinate position and the axis direction of each kinematic pair in the rectangular coordinate system shown in Figure 5.

${\$}_{A_0}={\left(\begin{array}{cccccc}1& 0& 0& 0& 0& 0\end{array}\right)}^T$

${\$}_{A_L}={\left(\begin{array}{cccccc}1& 0& 0& 0& z_{A_L}& -y_{A_L}\end{array}\right)}^T$

${\$}_{A_1}={\left(\begin{array}{cccccc}1& 0& 0& 0& z_{A_1}& -y_{A_{!}}\end{array}\right)}^T$

Wherein, T is the transposition symbol, represents that above-mentioned all is column vector.

Kinematic link A ₀A _LA ₁End conswtraint

Can obtain by the reciprocity screw theory, promptly

${\$}^{T}E{\$}^r=0---\left(2\right)$

Wherein

Be kinematic screw system,

For Antispin system, that is constraint spiral.

Can obtain by (1) formula

For:

${\$}_{A_0{A}_L{A}_1}^r={\left[\begin{array}{cccccc}1& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 1& 0\\ 0& 0& 0& 0& 0& 1\end{array}\right]}^T---\left(3\right)$

Equally, can write out attaching parts A ₁Another kinematic link A ₀A _RA ₁Kinematic screw be:

${\$}_{A_0{A}_R{A}_1}=\left[\begin{array}{ccc}{\$}_{A_0}& {\$}_{A_R}& {\$}_{A_1}\end{array}\right]---\left(4\right)$

${\$}_{A_0}={\left(\begin{array}{cccccc}1& 0& 0& 0& 0& 0\end{array}\right)}^T$

${\$}_{A_R}={\left(\begin{array}{cccccc}1& 0& 0& 0& z_{A_R}& -y_{A_R}\end{array}\right)}^T$

${\$}_{A_1}={\left(\begin{array}{cccccc}1& 0& 0& 0& z_{A_1}& -y_{A_1}\end{array}\right)}^T$

Kinematic link A ₀A _RA ₁End conswtraint

Can obtain by the reciprocity screw theory, can get by (2) formula:

${\$}_{A_0{A}_R{A}_1}^r={\left[\begin{array}{cccccc}1& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 1& 0\\ 0& 0& 0& 0& 0& 1\end{array}\right]}^T---\left(5\right)$

Therefore, A ₁Suffered constraint spiral system fully by

With

Decision, i.e. A ₁The constraint that is subjected to can be expressed as:

${\$}_{A_1}=\left[\begin{array}{cc}{\$}_{A_0{A}_L{A}_1}^r& {\$}_{A_0{A}_R{A}_1}^r\end{array}\right]={\left[\begin{array}{cccccc}1& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 1& 0\\ 0& 0& 0& 0& 0& 1\end{array}\right]}^T---\left(6\right)$

With suffered constraint substitution (2) formula, can be in the hope of A ₁The free motion spiral be:

${\$}_{A_1}^r={\left[\begin{array}{cccccc}1& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 1& 0\\ 0& 0& 0& 0& 0& 1\end{array}\right]}^T---\left(7\right)$

In like manner, B ₁And C ₁The free motion spiral can obtain by similar process.

${\$}_{B_0{B}_L{B}_1}=\left[\begin{array}{ccc}{\$}_{B_0}& {\$}_{B_L}& {\$}_{B_1}\end{array}\right]---\left(8\right)$

Wherein, the direction vector of each kinematic pair is determined according to the coordinate position and the axis direction of each kinematic pair in the rectangular coordinate system.

${\$}_{B_0}={\left(\begin{array}{cccccc}-\frac{1}{2}& \frac{\sqrt{3}}{2}& 0& 0& 0& \frac{\sqrt{3}{x}_{B_0}}{2}+\frac{y_{B_0}}{2}\end{array}\right)}^T$

B wherein ₀The coordinate of point is

Promptly ${\$}_{B_0}={\left(\begin{array}{cccccc}-\frac{1}{2}& \frac{\sqrt{3}}{2}& 0& 0& 0& 0\end{array}\right)}^T,$

${\$}_{B_L}={\left(\begin{array}{cccccc}-\frac{1}{2}& \frac{\sqrt{3}}{2}& 0& -\frac{\sqrt{3}{z}_{B_L}}{2}& -\frac{{\mathrm{<figure-callout\; id="2"\; label="z\; B\; L"\; filenames="HDA0000060576480000011.png,HDA0000060576480000031.png"\; state="\{\{state\}\}">z</figure-callout>}}_{B_L}}{2}& \frac{\sqrt{3}{x}_{{\mathrm{<figure-callout\; id="2"\; label="B\; L"\; filenames="HDA0000060576480000011.png,HDA0000060576480000031.png"\; state="\{\{state\}\}">B</figure-callout>}}_L}}{2}+\frac{y_{B_L}}{2}\end{array}\right)}^T,$

${\$}_{B_1}={\left(\begin{array}{cccccc}-\frac{1}{2}& \frac{\sqrt{3}}{2}& 0& -\frac{\sqrt{3}{\mathrm{<figure-callout\; id="1"\; label="z\; B"\; filenames="HDA0000060576480000011.png"\; state="\{\{state\}\}">z</figure-callout>}}_{B_{}}}{2}& -\frac{{\mathrm{<figure-callout\; id="1"\; label="z\; B"\; filenames="HDA0000060576480000011.png"\; state="\{\{state\}\}">z</figure-callout>}}_{B_{}}}{2}& \frac{\sqrt{3}{\mathrm{<figure-callout\; id="1"\; label="x\; B"\; filenames="HDA0000060576480000011.png"\; state="\{\{state\}\}">x</figure-callout>}}_{B_{}}}{2}+\frac{{\mathrm{<figure-callout\; id="1"\; label="y\; B"\; filenames="HDA0000060576480000011.png"\; state="\{\{state\}\}">y</figure-callout>}}_{B_{}}}{2}\end{array}\right)}^T.$

Kinematic link B ₀B _LB ₁End conswtraint Can obtain by the reciprocity screw theory, can obtain by (2) formula:

${\$}_{B_0{B}_L{B}_1}^r={\left[\begin{array}{cccccc}\frac{1}{2}& -\frac{\sqrt{3}}{2}& 0& 0& 0& 0\\ 0& 0& 0& \frac{\sqrt{3}}{2}& \frac{1}{2}& 0\\ 0& 0& 0& 0& 0& 1\end{array}\right]}^T---\left(9\right)$

In like manner can try to achieve kinematic link B ₀B _LB ₁End conswtraint

${\$}_{B_0{B}_R{B}_1}^r={\left[\begin{array}{cccccc}\frac{1}{2}& -\frac{\sqrt{3}}{2}& 0& 0& 0& 0\\ 0& 0& 0& \frac{\sqrt{3}}{2}& \frac{1}{2}& 0\\ 0& 0& 0& 0& 0& 1\end{array}\right]}^T---\left(10\right)$

Obtain at last

${\$}_{B_1}^r={\left[\begin{array}{cccccc}\frac{1}{2}& -\frac{\sqrt{3}}{2}& 0& 0& 0& 0\\ 0& 0& 0& \frac{\sqrt{3}}{2}& \frac{1}{2}& 0\\ 0& 0& 0& 0& 0& 1\end{array}\right]}^T---\left(11\right)$

${\$}_{C_1}^r={\left[\begin{array}{cccccc}\frac{1}{2}& \frac{\sqrt{3}}{2}& 0& 0& 0& 0\\ 0& 0& 0& -\frac{\sqrt{3}}{2}& \frac{1}{2}& 0\\ 0& 0& 0& 0& 0& 1\end{array}\right]}^T---\left(12\right)$

The equilateral triangle attaching parts passes through A respectively ₁, B ₁, C ₁On revolute pair be connected with three groups of kinematic links, then the equilateral triangle attaching parts moves with respect to base by three groups of parallel kinematic chains.Wherein, the kinematic screw of each point kinematic link is:

${\$}_{A_1}^r={\left[\begin{array}{cccccc}1& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 1& 0\\ 0& 0& 0& 0& 0& 1\end{array}\right]}^T---\left(13\right)$

${\$}_{B_1}^r={\left[\begin{array}{cccccc}\frac{1}{2}& -\frac{\sqrt{3}}{2}& 0& 0& 0& 0\\ 0& 0& 0& \frac{\sqrt{3}}{2}& \frac{1}{2}& 0\\ 0& 0& 0& 0& 0& 1\end{array}\right]}^T---\left(14\right)$

${\$}_{C_1}^r={\left[\begin{array}{cccccc}\frac{1}{2}& \frac{\sqrt{3}}{2}& 0& 0& 0& 0\\ 0& 0& 0& -\frac{\sqrt{3}}{2}& \frac{1}{2}& 0\\ 0& 0& 0& 0& 0& 1\end{array}\right]}^T---\left(15\right)$

Therefore, the constraint spiral system that is subjected to of equilateral triangle attaching parts

By

With

Determine.

$\$=\left[\begin{array}{ccc}{\$}_{A_1}^r& {\$}_{B_1}^r& {\$}_{C_1}^r\end{array}\right]={\left[\begin{array}{cccccc}1& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 1& 0\\ 0& 0& 0& 0& 0& 1\\ 1& -\frac{\sqrt{3}}{2}& 0& 0& 0& 0\\ \frac{1}{2}& \frac{\sqrt{3}}{2}& 0& 0& 0& 0\\ 0& 0& 0& -\frac{\sqrt{3}}{2}& \frac{1}{2}& 0\\ 0& 0& 0& \frac{\sqrt{3}}{2}& \frac{1}{2}& 0\end{array}\right]}^T---\left(16\right)$

Following formula (16) abbreviation put in order

$\$={\left[\begin{array}{cccccc}1& 0& 0& 0& 0& 0\\ 0& 0& 0& 0& 1& 0\\ 0& 0& 0& 0& 0& 1\\ 1& 0& 0& 0& 0& 0\\ 0& 1& 0& 0& 0& 0\end{array}\right]}^T---\left(17\right)$

Thus, with formula (17) substitution formula (2) can be in the hope of the free motion of support platform:

${\$}^r={\left[\begin{array}{cccccc}0& 0& 0& 0& 0& 1\end{array}\right]}^T---\left(18\right)$

Be that the equilateral triangle attaching parts only has the axial one-movement-freedom-degree along z, promptly can only do dipping and heaving vertically.When several layers such cut a fork layer units in series when getting up, its top bonded assembly steelframe or platform also only have the axial one-movement-freedom-degree along z.As seen, as long as cut the equilateral triangle attaching parts of fork layer and drive the lifting that its lifting just can realize whole lifting mechanism, drive the steelframe or the lifting platform on top, as shown in Figure 7 in the actuating device support first of base.

Fig. 7 has provided another kind of actuating device of the present invention, and actuating device 6 is a spiral lifting mechanism, and the handle by spiral lifting mechanism applies application force, and rotary handle drives the screw thread lifting mechanism and does vertical lift.The screw thread lifting mechanism acts on first and cuts the equilateral triangle attaching parts 3 of pitching layer, realizes the vertical lift of the equilateral triangle attaching parts of ground floor, does whole vertical lifting thereby drive whole lifting mechanism, realizes the job requirement of lifting top-supported flat-bed.Whole lifting mechanism all is significantly improved the entire mechanism strength and stiffness by a plurality of equilateral triangle attaching partss, can bear bigger load and higher operation height.

Three-face over-constrained scissor-type lifting mechanism provided by the invention, its maximum lifting height can change by changing the quantity of cutting the fork unit in the scissor-type truss 4 or cutting the quantity of pitching layer, designs according to user's request.Because this mechanism has the behavior of structure that the rigidity of structure is big, stability of motion is high, compares with general lifting mechanism, bigger load can be born by this mechanism, and can satisfy bigger operation height requirement.

The present invention is applicable to operations such as high-altitude installation, maintenance, transportation, is particularly useful for the environment that general jacking equipments such as load capacity is big, operation height is big are difficult to meet the demands.Be widely used in the manufacturing and the area of maintenance of modern logistics, aviation loading and unloading, main equipment.

The above; only for the preferable specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, and anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.

Claims (3)

1. fulcrum fixed type multiaspect over-constrained scissor-type lifting mechanism, it is characterized in that, lifting mechanism is by support platform (1), mountain font attaching parts (2), equilateral triangle attaching parts (3), scissor-type truss (4), base (5) and actuating device are formed, on the last plane of 3 mountain font attaching partss (2) by the fixing base (5) of the distribution on 3 summits of equilateral equilateral triangle, the vertical base (5) of 3 groups of scissor-type truss (4), and revolute pair (46) is connected bottom constituting by scissor-type truss bottom and mountain font attaching parts (2) respectively, on the lower plane of 3 mountain font attaching partss (2) by the fixing support platform (1) of the distribution on 3 summits of equilateral equilateral triangle, constituting top revolute pair (45) by scissor-type truss top and mountain font attaching parts (2) respectively is connected, angle between every group of scissor-type truss (4) plane, place and adjacent scissor-type truss (4) plane, place is 60 °, 3 groups of scissor-type truss (4) are regular triangular prism and arrange between support platform (1) and base (5), between 3 groups of scissor-type truss (4), equal 1 equilateral triangle attaching parts of horizontal positioned (3) between every layer of level connecting rod (41), 3 summits of equilateral triangle attaching parts (3) constitute connecting rod center revolute pair (43) with middle connecting rod (41) the center hinge contact that intersects of 3 groups of scissor-type truss (4) of place layer respectively, an equilateral triangle attaching parts (3) and form one with its formation connecting rod center revolute pair (43) 3 groups of connecting rods that intersect of bonded assembly (41) and cut the fork layer, the quantitative range that lifting mechanism is cut the fork layer is 2～20 layers, actuating device (6) is cut the equilateral triangle attaching parts (3) of fork layer in base (5) upper support first, drive first and cut the lifting of pitching layer, first cuts transmission driving support platform (1) lifting of the lifting of fork layer by scissor-type truss (4).

2. fulcrum fixed type multiaspect over-constrained scissor-type lifting mechanism according to claim 1, it is characterized in that, described scissor-type truss (4) is the telescopic mechanism that is made of connecting rod (41) and short connecting rod (42), by the connecting rod (41) of 2 intersections in the hinged scissor-type unit of forming of center-point, 2～20 scissor-type unit are connected in series up and down, in the adjacent scissor-type unit, the interlinking lever end revolute pair (44) of cooresponding 2 interlinking lever ends constitutes up and down hinged between the scissor-type unit connecting rod (41), bottom in scissor-type truss (4), article 2, short connecting rod (42) one ends are hinged with 2 connecting rods (41) of the first scissor-type unit respectively, article 2, the mutually hinged composition scissor-type of the other end truss bottom of short connecting rod (42), top in scissor-type truss (4), article 2, short connecting rod (42) one ends are hinged with 2 connecting rods (41) of going up most the scissor-type unit respectively, article 2, the mutually hinged composition scissor-type of the other end truss top of short connecting rod (42), the effective length between the hinge-point of short connecting rod (42) two ends be between the hinge-point of connecting rod (41) two ends effective length 1/2.

3. fulcrum fixed type multiaspect over-constrained scissor-type lifting mechanism according to claim 1 is characterized in that described actuating device (6) is spiral lifting mechanism or hydraulic drive mechanism.

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