CN105110238B - Double freedom automatically controls scissor-type material conveyer - Google Patents
Double freedom automatically controls scissor-type material conveyer Download PDFInfo
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- CN105110238B CN105110238B CN201510512214.1A CN201510512214A CN105110238B CN 105110238 B CN105110238 B CN 105110238B CN 201510512214 A CN201510512214 A CN 201510512214A CN 105110238 B CN105110238 B CN 105110238B
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Abstract
The present invention proposes a kind of double freedom and automatically controls scissor-type material conveyer, for solving the problems, such as that the existing scissor-type workbench direction of motion is single and the degree of automation is low, including base assembly, driving mechanism, scissors mechanism, haul mechanism and control assembly；Scissors mechanism includes being arranged on the lower platform of the top of base assembly, upper mounting plate and the telescoping mechanism for connecting two platforms；Driving mechanism is installed on base assembly, is used for realization the movement of scissors mechanism two frees degree in the horizontal and vertical directions；Control assembly includes scissors mechanism detection sensor and babinet detection sensor, is separately mounted on lower platform and upper mounting plate；Haul mechanism includes haul case, is placed on upper mounting plate.The present invention has the advantages that kinematic accuracy, the degree of automation, work efficiency are high and operate steadily, the occasions such as the material that can be widely applied between different height workbench transports and workshop is assembled.
Description
Technical field
The invention belongs to mobile scissor is automatically controlled with lifting working platform technical field, more particularly to a kind of double freedom
Formula material conveyer.
Background technology
Scissor-type work platform structure mainly includes job platform, lifting arm, driving mechanism and chassis, is a kind of purposes
Extensive implement, can be widely applied to the workplaces such as logistics system, workshop assembling, have that bearing capacity is strong, working face
Roomy, the features such as performance is stable and accommodation is wide.But complicated heavy, the degree of automation of existing scissor-type work platform structure
Bottom, kinematic accuracy is not high and robust motion is poor, can only carry out the elevating movement control of vertical direction mostly.At present, it is domestic more
Mechanism of family relates to the structure design of scissor-type workbench, it solves above-mentioned requirements to a certain extent.
Such as 203392795 U of Chinese patent application Authorization Notice No. CN, a kind of entitled " screw drive scissors type elevating
The utility model of platform/table ", discloses a kind of scissor-type lifting platform with hand screw drive mode, including lifting
Table top, upper moving guide rail, lower moving guide rail, upper roller, bottom roller, interior scissor arms, outer scissor arms, driving screw rod, rocking handle and bottom
Seat.Its preferably solve the problems, such as existing scissor-type lifting platform volume is big, quality is heavy, it is complicated, using cumbersome.But
Shortcoming existing for the patent application is：The type of drive of artificial hand screw rod is time-consuming and laborious, and hoistable platform bearing capacity has
Limit, kinematic accuracy are poor.
Such as 203754357 U of Chinese patent application Authorization Notice No. CN, a kind of entitled " high-precision voluntarily scissor-type liquid
The utility model of pressure hoistable platform walking mechanism ", discloses a kind of new high accuracy towards rail vehicle assembling voluntarily hydraulic pressure
Hoistable platform walking mechanism, including job platform, elevating mechanism, hydraulic system, electric control mechanism and chassis.It cuts existing
On the basis of V shape hydraulic elevating platform, upper table is improved to electro-hydraulic proportional valve element in order to control, with PLC technology
Device device and the closed loop Three Degree Of Freedom displacement control system that forms in order to control, then realize floating platform table top laterally, longitudinal direction ±
The movement of 50mm and ± 10 ° of rotation.The patent preferably solves to work on fork hydraulic lifting platform in the prior art
The problem of precision is insufficient, operating efficiency is low.But shortcoming existing for the patent application is：Platform is at horizontal and vertical two
Stroke range on free degree direction is smaller, and the self-locking of hydraulic system driving is by the pressurize work(in hydraulic control circuit
Can be come what is realized, self-locking property is poor.In addition, two hydraulic cylinders of the patent are difficult to accurately ensure synchronization in lifting process
Operation, poor synchronization.
Such as 20351 U of Chinese patent application Authorization Notice No. CN, the practicality of entitled " a kind of double scissor-type lifting platforms "
It is new, a kind of lifting quick and stable is disclosed, the optional position in stroke can be rested in lifting process and can be kept for a long time
Double scissor-type lifting platforms of operation are carried out in the height of setting.Its structure include chassis, mounting base, connecting seat, electric pushrod,
Motor, scissors bracket, slide, roller and platform body.The patent preferably resolves lacking for hydraulic system driving scissors mechanism
Point, drives electric pushrod to operate steadily, control is accurate as sole power source using motor.But existing for the patent application
Shortcoming is：Motor can only drive platform body to carry out the movement in lifting direction, and the direction of motion is single.
The content of the invention
The purpose of the present invention is overcome above-mentioned problems of the prior art, it is proposed that a kind of double freedom automatically controls
Scissor-type material conveyer, it feeds back by the location status of sensor detection box body and scissors mechanism and by signal, uses
Drive and control of electric machine scissors mechanism is horizontally and vertically moving on two free degree directions, so as to fulfill material in different height work
Make the safe transport between platform, for solving the problems, such as that the existing scissor-type workbench direction of motion is single and the degree of automation is low.
To achieve the above object, the technical solution that the present invention takes is as follows：
A kind of double freedom automatically controls scissor-type material conveyer, including base assembly, driving mechanism, scissor machine
Structure, haul mechanism and control assembly；The base assembly includes base 1, and the top of the base 1 is provided with two parallel cunnings
Dynamic guide rail 11, the left end of rail plate 11 are provided with right baffle-plate, and right end is provided with right shell body, are set in the outside front ends of right baffle-plate
There is low level montant 14, the outside front ends of right shell body are provided with high-order montant 15, the upper end of low level montant 14, high-order montant 15
Upper end is wedge-type shape, wherein being additionally provided with bent plate 13 on right baffle-plate；Driving mechanism includes leading screw 2, and the leading screw 2 passes through
Shaft coupling 21 is connected with the retarder 22 and motor 23 being fixed on bent plate 13, to provide driving force to scissors mechanism；Driving
Mechanism is installed on base assembly；The scissors mechanism include lower platform 3, upper mounting plate 5 and connection two platforms, i.e., lower platform 3,
The telescoping mechanism 4 of upper mounting plate 5, the left and right sides of each X-type structure in two X-type structures of telescoping mechanism, is respectively vertically arranged
There is an extension spring 46, which is arranged on the top of base assembly, and horizontally and vertically side is realized by driving mechanism
The movement of two upward frees degree；The control assembly includes scissors mechanism detection sensor 7 and babinet detection sensor 8,
Scissors mechanism detection sensor 7 is installed on lower platform 3, and babinet detection sensor 8 is installed on upper mounting plate 5, the scissor machine
Structure detection sensor 7 and babinet detection sensor 8 are connected by controller with motor 23, for feeding back scissors mechanism and material conveyer
The positional information of structure, and send command adapted thereto to driving mechanism；The haul mechanism includes haul case 6, is placed on upper mounting plate 5
On, the bottom of the haul case 6 is provided with two parallel roller shafts 61, and roller 62 is provided with the both ends of roller shaft 61.
Above-mentioned double freedom automatically controls scissor-type material conveyer, and the lower platform 3 includes lower platform plate 31, lower hinge
Bearing 32, lower scissors rod sliding slot 33, rail plate groove 34, starting stave 35, the second riser 36 and the 3rd riser 37；In lower platform
The left side front and back position on 31 top of plate is respectively fixed with a lower scissors rod sliding slot 33, and two lower scissors rod sliding slots are symmetrical arranged, right
Side front and back position is respectively fixed with a lower hinge support 32, and two lower hinge supports 32 are symmetrical arranged, the scissors rod sliding slot 33 under front side
Left end be fixed with starting stave 35, right end is fixed with the second riser 36, and in front side, the right end of lower hinge support 32 is fixed with the 3rd
Riser 37；Left side front and back position in 31 lower part of lower platform plate is respectively fixed with a rail plate groove 34, two slips in left side
Guide-track groove 34 is symmetrical arranged, and right side front and back position is respectively fixed with a rail plate groove 34, two rail plate grooves 34 on right side
It is symmetrical arranged, four rail plate grooves 34 are used to coordinate with rail plate 11.
Above-mentioned double freedom automatically controls scissor-type material conveyer, and the upper mounting plate 5 includes upper mounting plate plate 51, roller
Guide-track groove 52, table top baffle 53, torsional spring 54, torsion plate 55, flap shutter 56, connecting rod 57, upper hinge support 58 and upper scissors rod are slided
Groove 59；Rolling wheel guide rails groove 52 is respectively fixed with left and right sides of 51 top of upper mounting plate plate, rear side is fixed with table top baffle 53；
The front side centre position of 51 lower part of upper mounting plate plate, which is provided with, reverses plate 55, it is connected by reversing board shaft with the activity of upper mounting plate plate 51
Connect；The torsional spring 54, which is sleeved on, to be reversed in board shaft, and the upper end is connected with upper mounting plate plate 51, and lower end is connected with reversing plate 55, to right
Reverse plate 55 and moment of torsion is provided；Left end in the front side of upper mounting plate plate 51 sets a flap shutter 56, by a connecting rod 57 with turning round
The left side of flap 55 is flexibly connected, and right end sets a flap shutter 56, passes through another connecting rod 57 and the right side for reversing plate 55
It is flexibly connected, upper mounting plate 5 is in low level, the outer rim for the flap shutter 56 that left end is set and the wedge-type shape of 14 upper end of low level montant
Fitting, in a high position, the outer rim for the flap shutter 56 that right end is set and the wedge-type shape of high-order 15 upper end of montant paste upper mounting plate 5
Close；Left side front and back position in 51 lower part of upper mounting plate plate is respectively fixed with scissors rod sliding slot 59 on one, two upper scissors rod sliding slots
59 are symmetrical arranged, and the right side front and back position in 51 lower part of upper mounting plate plate is respectively fixed with a upper hinge support 58, two upper hinge supports
58 are symmetrical arranged.
Above-mentioned double freedom automatically controls scissor-type material conveyer, and the telescoping mechanism 4 includes interior scissors rod 41, outer
Scissors rod 42, rotation axis 43, drive shaft 44, connecting rod 45 and extension spring 46；The interior scissors rod 41 includes scissor in front side
Scissors rod in bar and rear side, outer scissors rod 42 include the outer scissors rod in front side and rear side scissors rod outside, scissors rod and front side in front side
Outer scissors rod intersects, and crosspoint is flexibly connected by rotation axis 43, and scissors rod is mutually handed over the outer scissors rod of rear side in rear side
Fork, crosspoint are flexibly connected by the rotation axis 43, and it is front and rear right that two interior scissors rods 41 are formed with two outer scissors rods 42
The two X-type structures claimed, between two interior scissors rods 41 of two X-type structures, are fixed with two connecting rods 45, two outer
Between scissors rod 42, two connecting rods 45 are fixed with, drive shaft 44 is connected between the lower-left end of two outer scissors rods 42, should
The centre position of drive shaft 44 is provided with internal thread hole 47.
Above-mentioned double freedom automatically controls scissor-type material conveyer, the bottom righthand side of scissors rod and lower hinge in the front side
Bearing 32 is flexibly connected, and left upper end is connected by the upper scissors rod sliding slot 59 of sliding axle and front side, and opposite can be slided, in rear side
The bottom righthand side of scissors rod is flexibly connected with lower hinge support 32, and left upper end is connected by the upper scissors rod sliding slot 59 of sliding axle and rear side
Connect, and opposite can slide；The upper right side of scissors rod and the upper hinge support of front side 58 connect outside the front side, its lower-left end passes through drive
The shaft end of moving axis 44 and the lower scissors rod sliding slot 33 of front side connect, and opposite can slide, the upper right side of the outer scissors rod of the rear side
It is connected with the upper hinge support 58 of rear side, its lower-left end is connected by the shaft end of drive shaft 44 and the lower scissors rod sliding slot 33 of rear side,
And opposite it can slide；The upper end of the extension spring 46 is connected with upper mounting plate plate 51, lower end and the lower platform plate of extension spring 46
31 connections, to provide two landing slabs, i.e. pulling force between upper mounting plate plate 51 and lower platform plate 31.
Above-mentioned double freedom automatically controls scissor-type material conveyer, and the scissors mechanism detection sensor 7 is used and connect
Touch or noncontacting proximity sensor, by lowered height detection sensor, raised height detection sensor, the horizontal detection sensing of low level
Device and high-order horizontal detection sensor composition, the wherein detection faces of lowered height detection sensor and raised height detection sensor
Relatively, lowered height detection sensor is installed on 35 right flank of starting stave, and it is perpendicular that raised height detection sensor is installed on second
The detection faces of 36 left surface of plate, the horizontal detection sensor of low level and high-order horizontal detection sensor are opposite, and the horizontal detection of low level passes
Sensor is installed on 35 left surface of starting stave, and high-order horizontal detection sensor is installed on the right flank of the 3rd riser 37；The case
Body detecting sensor 8 uses contactless optical electric switch, and quantity is two, is mounted side by side on the outer of right roller guide-track groove 52
Side.
Compared with prior art, the present invention have the following advantages that：
Firstth, two parallel rail plates are installed on base of the invention, for the rail plate on lower platform
Groove coordinates, and the interior scissors rod and outer scissors rod of telescoping mechanism form the X-type structure of scalable movement, at the lower-left end of X-type structure
It is connected with drive shaft；The leading screw of driving mechanism is engaged with the internal thread hole that drive shaft middle part is set, and passes through shaft coupling
It is connected with retarder and motor；The rotation of the operating driving leading screw of motor so that drive shaft is moved, and is existed so as to fulfill scissors mechanism
The horizontally and vertically movement of both direction.Compared with the existing scissors mechanism using manual actuation, automation journey is substantially increased
Degree and sport efficiency；It is cost-effective compared with the movement in most drive control one degree of freedom direction of existing motor, improve
Work efficiency.
Secondth, scissors mechanism detection sensor of the invention is separately mounted to starting stave, the second riser and the 3rd riser
Different lateral locations at, for feeding back the positional information of scissors mechanism horizontally and vertically, judge scissors mechanism whether in low
Position or high-end trim；Babinet detection sensor is mounted side by side on the outside of right roller guide-track groove, for feeding back the position of haul case
Confidence ceases, and judges whether haul case enters or leave upper mounting plate.Signal is fed back to controller by the sensor, and controller again will
Dependent instruction is sent to motor, motor is completed the action of startup, speed change and stopping.Do not passed mostly with existing scissors mechanism
Sensor carries out position detection and is compared with signal feedback, improves control accuracy and the degree of automation.
3rd, leading screw of the invention is engaged with the internal thread hole of drive shaft, and by shaft coupling and is fixed on bent plate
Retarder connected with motor, to scissors mechanism provide driving force.Compared with existing hydraulic system drives, noise is than small
And it will not be revealed because of fluid and cause pollution；Meanwhile lead screw transmission operates steadily, transmission efficiency.
4th, two flap shutters of upper mounting plate of the invention are installed on the left and right ends on front side of upper mounting plate plate, and can basis
The different of scissors mechanism present position carry out automatic open-close.With existing hoistable platform mostly without the safeguard procedures phase of automation
Than further increasing the degree of automation of device.
5th, extension spring of the invention is vertically arranged in interior scissors rod and two X-type structures of outer scissors rod formation
Left and right sides, ensure that the motion sequence of scissors mechanism, i.e., from low level to a high position move when, first carry out horizontal movement, motor is of short duration
Reduction of speed carries out ascending motion after pause；During from a high position to lower position, after first carrying out descending motion, raising speed after motor minibreak
Carry out horizontal movement.Compared with existing scissors mechanism only controls single movement direction, it is ensured that scissors mechanism realizes smooth sequential
Move on ground.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the base assembly structure diagram of the present invention；
Fig. 3 is the driving mechanism schematic diagram of the present invention；
Fig. 4 is the lower platform structure diagram of the present invention；
Fig. 5 is the telescoping mechanism structural representation of the present invention；
Fig. 6 is the upper mounting plate structure diagram of the present invention；
Fig. 7 is the haul mechanism structure diagram of the present invention；
Fig. 8 (a) is the scissors mechanism lower position state diagram of the present invention；
Fig. 8 (b) is the scissors mechanism high position motion state diagram of the present invention.
Embodiment
With reference to the accompanying drawings and examples, the present invention is described in further detail：
With reference to Fig. 1, the present invention includes base assembly, driving mechanism, scissors mechanism, haul mechanism and control assembly；Base
Component includes base 1, and base 1 is a block length cube plate, it is with the more demanding straight line parallel of larger rigidity and upper surface
Degree, for carrying driving mechanism, scissors mechanism, haul mechanism and the weight of material, and ensures the horizontal linear fortune of scissors mechanism
It is dynamic；Driving mechanism includes leading screw 2, on base assembly, for steadily accurately transmitting driving force；Under scissors mechanism includes
Platform 3, upper mounting plate 5 and the telescoping mechanism 4 for connecting two platform 3 and 5, are arranged on the top of base assembly, pass through driving mechanism
Realize that scissors mechanism with respect to the movement of base 1, drives upper mounting plate 5 relatively lower flat in vertical direction telescoping mechanism 4 in the horizontal direction
The vertical and straight movement of platform 3；Control assembly includes scissors mechanism detection sensor 7 and babinet detection sensor 8, is separately mounted to lower flat
On platform 3 and upper mounting plate 5, for detecting the location status of scissors mechanism and haul mechanism and by status information feedback to controller；
Haul mechanism includes haul case 6, is placed on upper mounting plate 5.
With reference to Fig. 2,1 top of base in base assembly is provided with two parallel rail plates 11, rail plate 11
Cross section is hexagonal shape, is engaged with the rail plate groove 34 of lower platform 3, can effectively avoid inclining for guide rail top mechanism
Cover；Left baffle 12 is respectively arranged with 1 both ends of base, it is spacing for carrying out left and right to scissors mechanism horizontal direction, prevent from cutting
The movement for pitching mechanism departs from base 1；The mounting hole for fixing leading screw 2, two gears are provided with the centre position of left baffle 12
Triggering face of the opposite side of plate also as scissors mechanism detection sensor 7；Distinguish in right baffle-plate and the outside front ends of right shell body
Be provided with low level montant 14 and high-order montant 15, the height of low level montant 14 and high position montant 15 respectively with scissors mechanism low level and
Height during high-end trim residing for upper mounting plate plate 51 is equal；The upper end of two montants 14 and 15 is wedge-type shape, its lozenges
It can be bonded with the outer rim of flap shutter 56；Bent plate 13 is additionally provided with right baffle-plate, for fixing motor 23 and retarder 22.
With reference to Fig. 3, the leading screw 2 in driving mechanism passes through shaft coupling 21 and the retarder 22 and motor that are fixed on bent plate 13
23 connections, the both ends of leading screw 2 are fixed in left baffle 12 by rolling bearing, the drive shaft of threads of lead screw and telescoping mechanism 4
The internal thread hole 47 of 44 middle positions is engaged；The right end connection lead screw shaft of shaft coupling 21, left end connection retarder 22 export
Axis；Retarder 22 is selected and the model that matches of 23 power of motor and is fixedly connected with motor 23；After motor 23 starts, it can lead to
To cross retarder 22 and shaft coupling 21 transmits drive force to leading screw 2, drive the rotation of leading screw 2 so that drive shaft 44 is moved, so that
Driving force is provided to scissors mechanism.
With reference to Fig. 4, lower platform 3 include lower platform plate 31, lower hinge support 32, lower scissors rod sliding slot 33, rail plate groove 34,
Starting stave 35, the second riser 36 and the 3rd riser 37；Lower platform 31 is a block length cube tablet, before and after right side at an upper portion thereof
Two lower hinge supports 32 are symmetrically fixed with position respectively, the hinging supporting shaft that rotation can be provided is equipped with lower hinge support 32；Lower flat
Be symmetrically fixed with two lower scissors rod sliding slots 33 at the left side front and back position on 31 top of platen respectively, lower scissors rod sliding slot 33 for
Drive shaft 44 is slided wherein；It is perpendicular that starting stave 35 and second is respectively fixed with lower 33 left and right ends of scissors rod sliding slot of front side
Plate 36,32 right end of lower hinge support in front side are fixed with the 3rd riser 37；Starting stave 35, the second riser 36 and the 3rd riser 37
Installation scissors mechanism detection sensor 7 is used to, its height disclosure satisfy that the detection faces triggering of scissors mechanism detection sensor 7 i.e.
Can；Scissors mechanism detection sensor 7 uses contact limit switch, for detecting the location status of scissors mechanism and believing state
Breath feeds back to controller, by lowered height detection sensor, raised height detection sensor, the horizontal detection sensor of low level and height
The horizontal detection sensor composition in position, the wherein detection faces of lowered height detection sensor and raised height detection sensor are opposite,
It is separately mounted to 36 right flank of 35 right flank of starting stave and the second riser, the horizontal detection sensor of low level and high-order horizontal detection
The detection faces of sensor are opposite, are separately mounted to the left surface of starting stave 35 and the right flank of the 3rd riser 37；In lower platform
The left and right sides front and back position of 31 lower part of plate is respectively symmetrically fixed with four rail plate grooves 34, its notch shape and rail plate
11 hexagonal cross-section is engaged, so that scissors mechanism can be slided with respect to base 1.
With reference to Fig. 5, telescoping mechanism 4 includes interior scissors rod 41, outer scissors rod 42, rotation axis 43, drive shaft 44, connecting rod 45
With extension spring 46；Interior scissors rod 41 and outer scissors rod 42 are respectively two, its length is by scissors mechanism low-end trim and high-order shape
The height of state determines, after the height of low height of table and high workload platform determines, the length of interior scissors rod 41 and outer scissors rod 42
Degree also just determines therewith；A piece interior scissors rod 41 and an outer scissors rod 42 intersect, and crosspoint passes through the activity of rotation axis 43
Connection, symmetrical two X-type structures before and after formation；43 both ends of rotation axis pass through the middle part of interior scissors rod 41 and outer scissors rod 42
Hole, and fixed by axle sleeve, for ensureing that X-type structure carries out stretching motion by center of rotation of its crosspoint；In two X-types
Between the interior scissors rod 41 and outer scissors rod 42 of structure, two connecting rods 45 are respectively fixed with, for avoiding X-type structure from being moved through
The malformation produced in journey；Drive shaft 44 is connected between the lower-left end of two outer scissors rods 42, in the drive shaft 44
Meta, which installs, is equipped with internal thread hole 47, and the both ends of drive shaft 44 pass through two outer 42 lower-left stomidiums of scissors rod, its shaft end can be under
Slided in scissors rod sliding slot 33；In the left and right sides of two X-type structures, two extension springs 46 are respectively vertically arranged with；In two X-types
The left and right sides of structure, is respectively vertically arranged with two extension springs 46, its upper and lower side respectively with upper mounting plate plate 51 and lower platform plate
31 connections, to provide the pulling force between two platforms 51,31；46 moment of extension spring is in tension state, in scissors mechanism
On the basis of detection sensor 7 detects, further ensure the motion sequence of scissors mechanism, i.e., from low level to a high position move when,
Ascending motion is carried out after first carrying out horizontal movement；During from a high position to lower position, horizontal movement is carried out after first carrying out descending motion；
The bottom righthand side of two interior scissors rods 41 is flexibly connected with two lower hinge supports 32 respectively, its left upper end passes through sliding axle and two respectively
A upper scissors rod sliding slot 59 connects, and opposite can slide；Two outer 42 upper right sides of scissors rod connect with two upper hinge supports 58 respectively
Connect, its lower-left end is connected by the shaft end of drive shaft 44 with two lower scissors rod sliding slots 33 respectively, and opposite can be slided.
With reference to Fig. 6, upper mounting plate 5 includes upper mounting plate plate 51, rolling wheel guide rails groove 52, table top baffle 53, torsional spring 54, torsion plate
55th, flap shutter 56, connecting rod 57, upper hinge support 58 and upper scissors rod sliding slot 59；Upper mounting plate plate 51 is a block length cube tablet,
U-shaped rolling wheel guide rails groove 52 is fixed with left and right sides of its upper part, the rolling of the roller 62 for haul case 6 wherein；Upper
Landing slab is fixed with table top baffle 53 on rear side of 51 top, for blocking the notch of 52 rear end of rolling wheel guide rails groove, prevents haul case 6
Rolled out from the rear side of upper mounting plate plate 51；The front side centre position of 51 lower part of upper mounting plate plate is provided with the torsion plate 55 of diamond shape,
It is flexibly connected by reversing board shaft with upper mounting plate plate 51；Torsional spring 54 be sleeved on reverse board shaft on, its upper and lower side respectively with upper mounting plate
Plate 51 and torsion plate 55 connect, to provide moment of torsion to reversing plate 55；The left and right ends of the front side of upper mounting plate plate 51 are provided with two
A flap shutter 56, can rotate around it damper shaft and carry out open and close movement, be flexibly connected by two connecting rods 57 with reversing plate 55, when
When scissors mechanism is in low level or high-end trim, its outer rim and the wedge-type shape of low level montant 14 and high-order 15 upper end of montant paste
Close, the angle of inclination of wedge-type shape is it is ensured that flap shutter 56 will not block the front end notch of rolling wheel guide rails groove 52 when opening；When
When scissors mechanism is not located in low level or high-end trim, since the moment of torsion of torsional spring 54 acts on, plate 55 and upper mounting plate plate 51 are reversed
52 front end notch of rolling wheel guide rails groove is blocked into 0 ° of deflection, the closure of flap shutter 56 in forward position；Reversing the lower part both ends and two of plate 55
The lower part of a flap shutter 56 is both provided with flexural pivot, and for being connected with connecting rod 57, two 57 equal one end of connecting rod are connected by flexural pivot
Plate 55 is reversed, the other end connects flap shutter 56 by flexural pivot；51 top of upper mounting plate plate right side front and back position respectively symmetrically
Two upper hinge supports 58 are fixed with, the hinging supporting shaft that rotation can be provided is equipped with upper hinge support 58；On the left side on 51 top of upper mounting plate plate
Side front and back position is respectively symmetrically fixed with two upper scissors rod sliding slots 59, and upper scissors rod sliding slot 59 is for corresponding sliding axle at it
Middle slip；Babinet detection sensor 8 is mounted side by side in the outside of right roller guide-track groove 52, quantity is two, is connect using non-
Touch optoelectronic switch.
With reference to Fig. 7, haul case 6 is rectangular box body, and for holding and loading and unloading material, its bottom is fixed with two by bearing
The parallel roller shaft 61 of root, roller 62 is provided with the both ends of roller shaft 61, and size and the rolling wheel guide rails groove 52 of roller 62 match
Close, to being transported into and transporting in upper mounting plate 5 of haul case 6.
It is at this time initial position with reference to Fig. 8 (a), scissors mechanism is in low-end trim, upper mounting plate 1 and low table surface
Level and height and position alignment, due to the effect of 14 upper end wedge-type shape of low level montant, flap shutter 56 is opened, haul case 6
Upper mounting plate 5 can smoothly be entered, when two babinet detection sensors 8 detect on-off model, haul case 6 completely into
Enter, motor 23 is actuated for rotating forward, and scissors mechanism level moves right；When 56 outer rim of flap shutter in left side completely disengages low level
During montant 14, two flap shutters 56 close；When scissors mechanism moves to the limit on the right-right-hand limit position of base 1, high-order horizontal inspection
Survey sensor to be triggered, scissors mechanism is moved right by level and is converted to ascending motion, in order to ensure that ascending motion speed is steady
Without too fast, reduction of speed after motor 23 makes a slight pause；When moving to raised height detection sensor and being triggered, motor 23
Shut down, scissors mechanism is in high-end trim.
With reference to Fig. 8 (b), scissors mechanism be in high-end trim at this time, the height and level of upper mounting plate 5 and high workload platform table top
Aligned in position, due to the effect of high-order 15 upper end wedge-type shape of montant, flap shutter 56 is opened, and haul case 6 can be transported smoothly
Paramount workbench；When two babinet detection sensors 8 receive on-off model, haul case 6 transports completely, 23 weight of motor
Newly it is actuated for inverting；Upper mounting plate 5 does descending motion, when 56 outer rim of flap shutter on right side completely disengages high-order montant 15,
Two flap shutters 56 close；When lowered height detection sensor is triggered, scissors mechanism is converted to level by descending motion
To left movement, in order to ensure horizontal direction left movement speed steadily without excessively slow, raising speed after motor 23 makes a slight pause.When cutting
When fork moves to the limit on the left position of base 1, the horizontal detection sensor of low level is triggered, and motor shuts down, scissors mechanism weight
Low-end trim newly is in, flap shutter 56 is opened at this time.
Above description and examples, are only the preferred embodiment of the present invention, do not form any limitation of the invention, it is clear that right
, all may be in the original based on the present invention after present invention and design principle has been understood for one of skill in the art
In the case of reason and structure, carry out in form and the various modifications and variations in details, but these are based on inventive concept
Modifications and variations are still within the scope of the claims of the present invention.
Claims (6)
1. a kind of double freedom automatically controls scissor-type material conveyer, it is characterised in that including base assembly, driving machine
Structure, scissors mechanism, haul mechanism and control assembly；The base assembly includes base (1), and the top of the base (1) is set
There are two parallel rail plates (11), the left end of rail plate (11) is provided with right baffle-plate, and right end is provided with right shell body, on a left side
The outside front ends of baffle are provided with low level montant (14), the outside front ends of right shell body are provided with high-order montant (15), low level erects
The upper end of bar (14), the upper end of high-order montant (15) are wedge-type shape, wherein being additionally provided with bent plate (13) on right baffle-plate；Drive
Motivation structure includes leading screw (2), and the leading screw (2) passes through shaft coupling (21) and the retarder (22) and electricity that are fixed on bent plate (13)
Machine (23) connects, to provide driving force to scissors mechanism；Driving mechanism is installed on base assembly；The scissors mechanism includes
Lower platform (3), upper mounting plate (5) and the telescoping mechanism (4) for connecting two platforms, i.e. lower platform (3), upper mounting plate (5), telescoping mechanism
Two X-type structures in each X-type structure the left and right sides, be respectively vertically arranged with an extension spring (46), the scissor machine
Structure is arranged on the top of base assembly, and the movement of horizontally and vertically two frees degree on direction is realized by driving mechanism；Institute
Stating control assembly includes scissors mechanism detection sensor (7) and babinet detection sensor (8), scissors mechanism detection sensor (7)
On lower platform (3), babinet detection sensor (8) is installed on upper mounting plate (5), the scissors mechanism detection sensor
(7) it is connected with babinet detection sensor (8) by controller with motor (23), for feeding back the position of scissors mechanism and haul mechanism
Confidence ceases, and sends command adapted thereto to driving mechanism；The haul mechanism includes haul case (6), is placed on upper mounting plate (5),
The bottom of the haul case (6) is provided with two parallel roller shafts (61), and roller is provided with the both ends of roller shaft (61)
(62)。
2. double freedom according to claim 1 automatically controls scissor-type material conveyer, it is characterised in that under described
Platform (3) includes lower platform plate (31), lower hinge support (32), lower scissors rod sliding slot (33), rail plate groove (34), starting stave
(35), the second riser (36) and the 3rd riser (37)；Left side front and back position on lower platform plate (31) top is respectively fixed with one
Lower scissors rod sliding slot (33), two lower scissors rod sliding slots are symmetrical arranged, and right side front and back position is respectively fixed with a lower hinge support
(32), two lower hinge supports (32) are symmetrical arranged, and the left end of scissors rod sliding slot (33) is fixed with starting stave (35) under front side,
Right end is fixed with the second riser (36), and in front side, the right end of lower hinge support (32) is fixed with the 3rd riser (37)；In lower platform plate
(31) the left side front and back position of lower part is respectively fixed with a rail plate groove (34), and two rail plate grooves (34) in left side are symmetrical
Setting, right side front and back position is respectively fixed with a rail plate groove (34), and two rail plate grooves (34) on right side are symmetrical arranged,
Four rail plate grooves (34) are used to coordinate with rail plate (11).
3. double freedom according to claim 2 automatically controls scissor-type material conveyer, it is characterised in that on described
Platform (5) includes upper mounting plate plate (51), rolling wheel guide rails groove (52), table top baffle (53), torsional spring (54), torsion plate (55), rotation
Baffle (56), connecting rod (57), upper hinge support (58) and upper scissors rod sliding slot (59)；In the left and right sides on upper mounting plate plate (51) top
Rolling wheel guide rails groove (52) is respectively fixed with, rear side is fixed with table top baffle (53)；Among the front side of upper mounting plate plate (51) lower part
Position, which is provided with, reverses plate (55), it is flexibly connected by reversing board shaft with upper mounting plate plate (51)；The torsional spring (54) is sleeved on torsion
On flap axis, the upper end is connected with upper mounting plate plate (51), and lower end is connected with reversing plate (55), to provide torsion to reversing plate (55)
Square；Left end on front side of upper mounting plate plate (51) sets a flap shutter (56), by a connecting rod (57) with reversing plate (55)
Left side be flexibly connected, right end set a flap shutter (56), pass through another connecting rod (57) with reverse plate (55) right side
It is flexibly connected, upper mounting plate (5) is in low level, the outer rim for the flap shutter (56) that left end is set and the wedge of low level montant (14) upper end
Shape adhered shape, upper mounting plate (5) is in a high position, the outer rim for the flap shutter (56) that right end is set and high-order montant (15) upper end
Wedge-type shape is bonded；Left side front and back position in upper mounting plate plate (51) lower part is respectively fixed with a upper scissors rod sliding slot (59), and two
A upper scissors rod sliding slot (59) is symmetrical arranged, and the right side front and back position in upper mounting plate plate (51) lower part is respectively fixed with hinged on one
Seat (58), two upper hinge supports (58) are symmetrical arranged.
4. double freedom according to claim 3 automatically controls scissor-type material conveyer, it is characterised in that described to stretch
Contracting mechanism (4) includes interior scissors rod (41), outer scissors rod (42), rotation axis (43), drive shaft (44), connecting rod (45) and tension
Spring (46)；The interior scissors rod (41) includes scissors rod in scissors rod in front side and rear side, and outer scissors rod (42) includes front side
The outer scissors rod of outer scissors rod and rear side, scissors rod intersects with scissors rod outside front side in front side, and crosspoint passes through rotation axis
(43) it is flexibly connected, scissors rod intersects with the outer scissors rod of rear side in rear side, and crosspoint is living by the rotation axis (43)
Dynamic connection, symmetrical two X-type structures before and after two interior scissors rods (41) are formed with two outer scissors rods (42), in two X
Between two interior scissors rods (41) of type structure, two connecting rods (45) are fixed with, between two outer scissors rods (42), be fixed with
Two connecting rods (45), drive shaft (44) is connected between the lower-left end of two outer scissors rods (42), the drive shaft (44)
Centre position is provided with internal thread hole (47).
5. double freedom according to claim 4 automatically controls scissor-type material conveyer, it is characterised in that before described
The bottom righthand side of scissors rod is flexibly connected with lower hinge support (32) in side, and left upper end passes through sliding axle and the upper scissors rod sliding slot of front side
(59) connect, and opposite can slide, the bottom righthand side of scissors rod is flexibly connected with lower hinge support (32) in rear side, and left upper end passes through cunning
The upper scissors rod sliding slot (59) of moving axis and rear side connects, and opposite can slide；The upper right side of scissors rod and front side outside the front side
Upper hinge support (58) connection, its lower-left end connected by the lower scissors rod sliding slot (33) of the shaft end of drive shaft (44) and front side,
And opposite can slide, the upper right side of the outer scissors rod of the rear side and the upper hinge support (58) of rear side connect, its lower-left end passes through drive
The shaft end of moving axis (44) and the lower scissors rod sliding slot (33) of rear side connect, and opposite can slide；The extension spring (46) it is upper
End is connected with upper mounting plate plate (51), and the lower end of extension spring (46) is connected with lower platform plate (31), to provide two landing slabs,
Pulling force i.e. between upper mounting plate plate (51) and lower platform plate (31).
6. double freedom according to claim 4 automatically controls scissor-type material conveyer, it is characterised in that described to cut
Fork mechanism detection sensor (7) uses contact or noncontacting proximity sensor, is examined by lowered height detection sensor, raised height
Survey sensor, the horizontal detection sensor of low level and high-order horizontal detection sensor composition, wherein lowered height detection sensor and
The detection faces of raised height detection sensor are opposite, and lowered height detection sensor is installed on starting stave (35) right flank, high
Position height detection sensor is installed on the second riser (36) left surface, the horizontal detection sensor of low level and high-order horizontal detection sensing
The detection faces of device are opposite, and the horizontal detection sensor of low level is installed on starting stave (35) left surface, high-order horizontal detection sensor
Installed in the right flank of the 3rd riser (37)；The babinet detection sensor (8) uses contactless optical electric switch, quantity two
It is a, it is mounted side by side on the outside of right roller guide-track groove (52).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510512214.1A CN105110238B (en) | 2015-08-19 | 2015-08-19 | Double freedom automatically controls scissor-type material conveyer |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510512214.1A CN105110238B (en) | 2015-08-19 | 2015-08-19 | Double freedom automatically controls scissor-type material conveyer |
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| CN105110238B true CN105110238B (en) | 2018-04-17 |
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