CN107010564B - Six-degree-of-freedom lifting platform with adjustable position - Google Patents
Six-degree-of-freedom lifting platform with adjustable position Download PDFInfo
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- CN107010564B CN107010564B CN201710249857.0A CN201710249857A CN107010564B CN 107010564 B CN107010564 B CN 107010564B CN 201710249857 A CN201710249857 A CN 201710249857A CN 107010564 B CN107010564 B CN 107010564B
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- lock
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/08—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement hydraulically or pneumatically operated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/10—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks
- B66F7/12—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by mechanical jacks
- B66F7/14—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by mechanical jacks screw operated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/22—Lifting frames, e.g. for lifting vehicles; Platform lifts with tiltable platforms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention provides a position-adjustable six-freedom-degree lifting platform in the technical field of mechanical transportation, which comprises a base, a first lifting mechanism, a second lifting mechanism, a front-and-back moving mechanism, a left-and-right moving mechanism and a turnover mechanism, wherein the first lifting mechanism is arranged on the base and is respectively connected with the front-and-back moving mechanism, the left-and-right moving mechanism and the turnover mechanism; the lifting mechanism I, the front-back moving mechanism, the left-right moving mechanism, the turnover mechanism and the lifting mechanism II are sequentially arranged from bottom to top; the invention has compact structure, high butt joint precision, fine adjustment of the stroke in the height direction, long lifting stroke, fine adjustment of the position of the supporting plate, time saving and labor saving.
Description
Technical Field
The invention relates to the technical field of engineering machinery transportation, in particular to a lifting platform with 6 degrees of freedom for lifting a workpiece.
Background
When the lifting platform is used for lifting a workpiece to be butted, the lifting platform not only bears the whole weight of the workpiece, but also has the functions of horizontal translation, rotation and the like, in conclusion, the lifting platform has 6 degrees of freedom, the lifting platform plays an important role in the moving, transporting, loading and unloading processes of products, the existing lifting platform device is mainly driven by hydraulic pressure and is flexible in movement, but the adjustment in the horizontal direction only depends on a bottom universal wheel and cannot realize micro-adjustment; in the ascending and descending movement, the lifting distance of the lifting platform is short, the requirement for high-distance lifting cannot be met, the conventional lifting platform cannot be slightly turned over, and the installation precision of butt joint cannot be guaranteed for workpieces with strict butt joint working requirements; before the workpiece is placed on the supporting plate of the lifting platform, the supporting plate is fixedly connected to the lower side supporting seat, the position of the workpiece cannot be adapted by adjusting the position of the supporting plate, time and labor are wasted, and the butt joint precision is not high; in addition, the lifting platform in the prior art is not compact in structure and unreliable in work.
Disclosure of Invention
Aiming at overcoming the defects in the prior art, the invention provides the six-degree-of-freedom lifting platform with the adjustable position, solves the problems of non-compact structure and short lifting stroke, has compact structure and high butt joint precision, can finely adjust the stroke in the height direction, has long lifting stroke, can finely adjust the position of the supporting plate, and is time-saving and labor-saving.
The invention aims to realize that a position-adjustable six-freedom-degree lifting platform comprises a base, a first lifting mechanism, a second lifting mechanism, a front-back moving mechanism, a left-right moving mechanism and a turnover mechanism, wherein the first lifting mechanism is arranged on the base and is respectively connected with the front-back moving mechanism, the left-right moving mechanism and the turnover mechanism; the lifting mechanism I, the front-back moving mechanism, the left-right moving mechanism, the turnover mechanism and the lifting mechanism II are sequentially arranged from bottom to top.
When the lifting device works, the first lifting mechanism drives the front-and-back moving mechanism, the left-and-right moving mechanism, the turnover mechanism and the second lifting mechanism to move up and down, the front-and-back moving mechanism drives the platform to move front and back, the left-and-right moving mechanism drives the platform to move left and right, the turnover mechanism drives the platform to turn over, and the second lifting mechanism can further drive the platform to move up and down to realize fine adjustment of a lifting distance; according to the invention, the first lifting mechanism is respectively connected with the front-back moving mechanism, the left-right moving mechanism and the turnover mechanism, so that the structure of the platform is more compact, fine adjustment of lifting height is realized through the arrangement of the second lifting mechanism, the platform can be turned over at a certain angle through the arrangement of the turnover mechanism, and meanwhile, the platform can also move in four directions, namely front, back, left and right, so that the butt joint precision is improved; the invention can be applied to the work of lifting the workpieces to be butted.
In order to further improve the reliability of the structure of the front-back moving mechanism, the front-back moving mechanism comprises a first power driving device, a first telescopic rod of the first power driving device is connected with a lower sliding seat, the lower sliding seat is arranged on a base, the first power driving device drives the first telescopic rod to do reciprocating linear motion, lower sliding blocks are arranged on the lower sides of two ends of the lower sliding seat, a first linear guide rail is arranged on the base, and the lower sliding blocks can do linear motion in the width direction along the first linear guide rail; an accommodating groove is formed in the center of the lower sliding seat, and the first lifting mechanism is arranged in the accommodating groove; in the design, the first lifting mechanism is arranged in the lower sliding seat of the front-back moving mechanism, so that the structure is more compact.
In order to make the structure simpler, the lifting mechanism comprises a rotating device, the rotating device comprises a motor, a worm is connected to the motor in a transmission manner, a worm wheel is connected to the worm in a transmission manner, a screw rod is connected to the inner side of the worm wheel in a transmission manner, and the screw rod is respectively connected with the left-right moving mechanism and the turnover mechanism; in this design, the rotary motion of worm wheel drives the linear motion of lead screw, and the lead screw drives the elevating movement who removes mechanism and tilting mechanism about, simple structure and compactness.
In order to realize the movement of the platform in the length direction, the left-right moving mechanism comprises a supporting seat and an upper sliding seat, the supporting seat is arranged on the upper side of a lower sliding seat, a power driving device II is arranged on the upper side of the supporting seat, a connecting lug I is connected to the upper sliding seat, a telescopic rod II of the power driving device II is connected with the connecting lug I, at least 2 upper sliding blocks are arranged on the lower side of the upper sliding seat at intervals in the width direction, a linear guide rail II is arranged on the supporting seat, and the upper sliding blocks can do linear motion in the length direction along the linear guide rail II; in the design, the platform is moved left and right, the second power driving device is arranged in the space between the lower sliding seat and the upper sliding seat, the second power driving device is prevented from being exposed outside, the service life of the second power driving device is prolonged, and meanwhile, the structure is more compact.
In order to further improve the butt joint precision of a workpiece to be butted, the turnover mechanism comprises at least 2 power driving devices III, the power driving devices III are connected with the lower side of the inner wall of the upper sliding seat, a connecting lug II is connected to a telescopic rod III of the power driving device III, a hollow pitching plate is arranged above the upper sliding seat and connected with the connecting lug II, a hollow connecting support is connected to the inner wall of the pitching plate, a transition swivel base is arranged in the connecting support and connected with the upper side of the upper sliding seat, and the transition swivel base and the pitching plate are connected together through a connecting shaft; the screw rod is respectively connected with the supporting seat, the upper sliding seat and the transition rotating seat; in the design, through the connection of the third power driving device and the pitching plate, the third power driving device is controlled according to actual needs, so that the platform is turned over by a certain angle, and the butt joint precision is improved; meanwhile, the third power driving device is connected with the lower side of the upper sliding seat of the left-right moving mechanism, so that the connection structure between the turnover mechanism and the left-right moving mechanism is more compact.
In order to realize fine adjustment of the lifting distance, the second lifting mechanism comprises a lower lifting support seat, an upper lifting support seat, a lifting device and a power driving device IV, the outer sides of the lower lifting support seat and the upper lifting support seat are flush in the width direction and the length direction, the lifting device is symmetrically arranged about the center of the lower lifting support seat in the front-rear direction, two ends of 2 lifting devices are fixedly connected with the lower lifting support seat and the upper lifting support seat respectively through fixed shafts, a limiting seat is arranged on the upper side of the upper lifting support seat, and the support plate is connected with the limiting seat; the lifting device comprises a plurality of scissor holders, two ends of the top of the uppermost scissor holder are connected with the upper lifting support seat through fixed shafts, and two ends of the bottom of the lowermost scissor holder are connected with the lower lifting support seat through fixed shafts; the power driving device IV is arranged in an accommodating cavity formed by the lower lifting supporting seat, the upper lifting supporting seat and the lifting device, one end of the power driving device IV and a telescopic rod IV of the power driving device IV are respectively connected with fixing shafts which are mutually separated in the length direction and have different heights, and the lower side and the upper side of the adjacent scissor frames in the height direction are attached together in the initial state of the lifting mechanism I; in this design, set up power drive device four and hold the intracavity by lower lift supporting seat, lift supporting seat and elevating gear formation, the structure is compacter, avoids power drive device four to expose in the outside air simultaneously, improves power drive device four's life, and power drive device four is connected with the fixed axle, and elevating system two's elevating movement is more reliable, realizes that the short distance rises or descends.
In order to improve the mobility of the supporting plate, the uppermost part of the ascending and descending supporting seat is an upper bracket, a plurality of limiting sleeves are distributed on the upper bracket, rotatable balls are arranged in the limiting sleeves, a lock capable of locking the supporting plate on the upper bracket is connected to the edge of the supporting plate, the lock comprises a lock body, a lock cylinder, a lock tongue and a handle, the lock body is fixedly connected with the supporting plate, the upper side of the lock body is flush with the upper side of the supporting plate, the lock tongue is sleeved in a groove at the bottom of the lock body, the lock tongue can move up and down along the groove, the uppermost part of the lock cylinder is shaped as a polyhedron, the lock cylinder penetrates through the center of the lock body and is connected with the handle, the periphery of the center of the lower part of the lock cylinder is an inclined plane, and the inclined plane of the lock tongue can be attached to the bottom of the lock cylinder; the lower side of the groove of the lock body is connected with one end of a spring, and the other end of the spring is connected with a lock tongue; when the lower part of the center of the bolt is attached to the bottom of the lock cylinder, the bolt is pressed on the upper bracket; when the bottom of the center of the bolt is not attached to the bottom of the lock cylinder, the bolt leaves the plane of the upper bracket; in the design, in an initial state, an inclined plane of the lock tongue can be attached to the bottom of the lock cylinder, the lock tongue is pressed on the upper bracket, as long as the handle is not rotated, the support plate is pressed on the upper bracket, the lower side of the support plate is tangent to the ball, and the ball rotates in the limit sleeve infinitely, so that labor is saved when the support plate is moved; when the supporting plate needs to be moved, the handle is rotated, the handle drives the lock cylinder to rotate, the spring is compressed, when the lock cylinder rotates, under the extrusion effect of the inclined surface, the lock tongue moves upwards along the groove of the lock body, the lock tongue leaves the upper bracket, and when the handle rotates 180 degrees, the lock is in a completely loosened state; when moving the backup pad to the position of needs, need compress tightly the backup pad on last bracket, twist grip, the lock core rotates, and the spring bolt downstream, simultaneously, the spring returns gradually, and the spring also can promote the spring bolt downstream, labour saving and time saving more, when the handle is rotatory 180 once more the spring bolt and lock core laminating together, the lock is in complete locking state, and the spring bolt compresses tightly on last bracket.
As a further improvement of the present invention, the first power driving device, the second power driving device, the third power driving device and the fourth power driving device are rod hydraulic cylinders or rod air cylinders.
As a further improvement of the invention, at least two V-shaped article placing frames are arranged on the supporting plate at intervals; in this design, the longer cylindric work piece of length can be put up on the supporter, improves the work piece kind that the elevating platform can lift.
Drawings
Fig. 1 is a top view of the present invention.
Fig. 2 isbase:Sub>A sectional view taken along linebase:Sub>A-base:Sub>A in fig. 1.
Fig. 3 is a side view of the present invention.
Fig. 4 is a view from B-B of fig. 3.
Fig. 5 is a partially enlarged view E of fig. 4.
Fig. 6 is a front view of the present invention.
Fig. 7 is a view in the direction of C-C of fig. 6.
Fig. 8 is a schematic perspective view of a turning device according to the present invention.
Fig. 9 is a schematic perspective view of the present invention.
Fig. 10 is a perspective view of the connection between the ascending and descending support base and the limiting base according to the present invention.
Fig. 11 is a perspective view of the lock of the present invention.
Figure 12 is a top view of the lock of the present invention.
Fig. 13 is a view from direction D-D in fig. 12.
Fig. 14 is a perspective view of the lock of the present invention with the lock body concealed and the lock in a locked state.
Figure 15 is a perspective view of the lock of the present invention with the lock body concealed and the lock in a fully released condition.
The device comprises a supporting plate 1, a limiting seat 2, a storage rack 3, a turnover mechanism 4, a 401 connecting lug II, a 402 telescopic rod III, a 403 power driving device III, a 405 pitching plate, a 5 front-back moving mechanism, a 501 power driving device I, a 502 linear guide rail I, a 503 lower sliding block, a 504 lower sliding seat, a 505 accommodating groove, a 506 telescopic rod I, a 6 connecting support, a 7 base, an 8 lifting mechanism I, a 801 worm wheel, an 802 screw rod, a 803 worm, an 804 motor, a 9 left-right moving mechanism, a 901 supporting seat, a 902 power driving device II, a 903 connecting lug I, a 904 linear guide rail II, a 905 telescopic rod II, 906 upper sliding block, 907 upper sliding seat, 10 lifting mechanism II, 1001 lower lifting supporting seat, 1002 fixing shaft, 1003 lifting supporting seat, 1004 power driving device IV, a scissor frame, 1006 IV, 1007 upper bracket, 11 connecting shaft, 12 transition rotating seat, 13 lock, handle 1301, 1302 lock body, 1303 lock tongue, 1304 groove, 1305 lock core, 1306 spring, 1307 inclined plane, 14 ball and 15 limiting sleeve.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1 to 15, a six-degree-of-freedom lifting platform with adjustable position comprises a base 7, a first lifting mechanism 8, a second lifting mechanism 10, a front-and-back moving mechanism 5, a left-and-right moving mechanism 9 and a turnover mechanism 4, wherein the first lifting mechanism 8 is arranged on the base 7, the first lifting mechanism 8 is respectively connected with the front-and-back moving mechanism 5, the left-and-right moving mechanism 9 and the turnover mechanism 4, the first lifting mechanism 8 drives the front-and-back moving mechanism 5, the left-and-right moving mechanism 9 and the lifting mechanism 10 to do lifting motion, the front-and-back moving mechanism 5 drives the platform to move front and back, the left-and-right moving mechanism 9 drives the platform to move left and right, the turnover mechanism 4 drives the platform to do pitching motion, a hollow limiting seat 2 is connected to the upper side of the second lifting mechanism 10, a supporting plate 1 used for placing transported objects is arranged in a hollow area of the limiting seat 2, 2 is arranged in the supporting plate 1, 2 is provided with 2V-shaped shelves 3, and the shelves 3 are symmetrically arranged about the center of the supporting plate 1 in the length direction; the first lifting mechanism 8, the front-back moving mechanism 5, the left-right moving mechanism 9, the turnover mechanism 4 and the second lifting mechanism 10 are sequentially arranged from bottom to top;
the front-back moving mechanism 5 has the specific structure that the front-back moving mechanism 5 comprises a first power driving device 501, a first telescopic rod 506 of the first power driving device 501 is connected with a lower sliding seat 504, the lower sliding seat 504 is arranged on a base 7, the first power driving device 501 drives the first telescopic rod to do reciprocating linear motion, lower sliding blocks 503 are arranged on the lower sides of two ends of the lower sliding seat 504, a first linear guide rail 502 is arranged on the base 7, and the lower sliding blocks 503 can do linear motion in the width direction along the first linear guide rail 502; an accommodating groove 505 is formed in the center of the lower sliding seat 504, and a first lifting mechanism 8 is arranged in the accommodating groove 505;
the lifting mechanism I8 has the specific structure that the lifting mechanism I8 comprises a rotating device, the rotating device comprises a motor 804, a worm 803 is in transmission connection with the motor 804, a worm wheel 801 is in transmission connection with the worm 803, a screw rod 802 is in transmission connection with the inner side of the worm wheel 801, and the screw rod 802 is respectively connected with the left-right moving mechanism 9 and the turnover mechanism 4;
the left-right moving mechanism 9 has the specific structure that the left-right moving mechanism 9 comprises a supporting seat 901 and an upper sliding seat 907, the supporting seat 901 is arranged on the upper side of the lower sliding seat 504, a power driving device II 902 is arranged on the upper side of the supporting seat 901, a connecting lug I903 is connected to the upper sliding seat 907, a telescopic rod II 905 of the power driving device II 902 is connected with the connecting lug I903, 2 upper sliding blocks 906 are arranged on the lower side of the upper sliding seat 907 at intervals in the width direction, a linear guide rail II 904 is arranged on the supporting seat 901, and the upper sliding blocks 906 can do linear motion in the length direction along the linear guide rail II 904;
the specific structure of the turnover mechanism 4 is that the turnover mechanism 4 comprises 2 power driving devices three 403, the power driving devices three 403 are connected with the lower side of the inner wall of an upper sliding seat 907, a connecting lug two 401 is connected to a telescopic rod three 402 of the power driving device three 403, a hollow pitching plate 405 is arranged above the upper sliding seat 907, the pitching plate 405 is connected with the connecting lug two 401, a hollow connecting support 6 is connected to the inner wall of the pitching plate 405, a transition rotating seat 12 is arranged in the connecting support 6, the transition rotating seat 12 is connected with the upper side of the upper sliding seat 907, and the transition rotating seat 12 and the pitching plate 405 are connected together through a connecting shaft 11; the screw rod 802 is respectively connected with the supporting seat 901, the upper sliding seat 907 and the transition rotating seat 12;
the second lifting mechanism 10 has the specific structure that the second lifting mechanism 10 comprises a lower lifting support seat 1001, a upper lifting support seat 1003, a lifting device and a power driving device 1004, the outer sides of the lower lifting support seat 1001 and the upper lifting support seat 1003 are flush in the width direction and the length direction, the lifting device is symmetrically arranged around the center of the lower lifting support seat 1001 in the front-back direction, two ends of 2 lifting devices are fixedly connected with the lower lifting support seat 1001 and the upper lifting support seat 1003 respectively through a fixed shaft 1002, a limiting seat 2 is arranged on the upper side of the upper lifting support seat 1003, and a support plate 1 is connected with the limiting seat 2; the lifting device comprises a plurality of scissor holders 1005, the two ends of the top of the uppermost scissor holder 1005 are connected with the lifting support seat 1003 through a fixing shaft 1002, and the two ends 1005 of the bottom of the lowermost scissor holder are connected with the lower lifting support seat 1001 through the fixing shaft 1002; a fourth power driving device 1004 is arranged in a containing cavity formed by the lower lifting support seat 1001, the upper lifting support seat 1003 and the lifting device, one end of the fourth power driving device 1004 and a fourth telescopic rod 1006 of the fourth power driving device 1004 are respectively connected with fixed shafts 1002 which are separated from each other in the length direction and have different heights, and the lower side and the upper side of adjacent scissor frames 1005 in the height direction are attached together in the initial state of the first lifting mechanism 8;
the supporting plate is pressed on the upper bracket, the uppermost part of the lifting supporting seat is the upper bracket, a plurality of limiting sleeves 15 are distributed on the upper bracket, rotatable balls 14 are arranged in the limiting sleeves 15, a lock 13 capable of locking the supporting plate on the upper bracket is connected to the edge of the supporting plate, the lock 13 comprises a lock body 1302, a lock cylinder 1305, a lock tongue 1303 and a handle 1301, the lock body 1302 is fixedly connected with the supporting plate, the upper side of the lock body 1302 is flush with the upper side of the supporting plate, the lock tongue 1303 is sleeved in a groove 1304 in the bottom of the lock body 1302, the lock tongue 1303 can move up and down along the groove 1304, the uppermost part of the lock cylinder 1305 is in a tetrahedron shape, the lock cylinder 1305 penetrates through the center of the lock body 1302 and is connected with the handle 1301, inclined planes 1307 are arranged around the center of the lower part of the lock cylinder 1305, and the inclined planes 1307 of the lock tongue 1303 can be attached to the bottom of the lock cylinder 1305; one end of a spring 1306 is connected to the lower side of the groove 1304 of the lock body 1302, and the other end of the spring 1306 is connected with the bolt 1303; when the lower part of the center of the bolt 1303 is attached to the bottom of the lock cylinder 1305, the bolt 1303 is pressed on the upper bracket; when the bottom of the center of the bolt 1303 is not attached to the bottom of the lock cylinder 1305, the bolt 1303 leaves the plane of the upper bracket;
wherein, the first power driving device 501, the second power driving device 902, the third power driving device 403 and the fourth power driving device 1004 are rod hydraulic cylinders or rod air cylinders; the initial state of the second lifting mechanism 10 is that the scissors frames 1005 which are hinged are in a fully contracted state, and at this time, the upper sides and the lower sides of the adjacent scissors frames 1005 are jointed together, so that the reliability of the structure of the second lifting mechanism 10 can be improved.
Before the invention works, the position of the supporting plate is manually adjusted according to the position of a butted workpiece, the lock 13 is in a fully locked state in an initial state, the bolt 1303 is pressed on the upper bracket, when the supporting plate needs to be moved, the handle 1301 is rotated, the handle 1301 drives the lock cylinder 1305 to rotate, the spring 1306 is compressed, when the lock cylinder 1305 rotates, under the extrusion action of the inclined planes 1307 of the bolt 1303 and the lock cylinder 1305, the bolt 1303 moves upwards along the groove 1304 of the lock body 1302, the bolt 1303 leaves the upper bracket, and when the handle 1301 rotates 180 degrees, the lock 13 is in a fully released state; when the support plate is moved to a required position, the support plate needs to be pressed on an upper bracket, the handle 1301 is rotated, the lock cylinder 1305 rotates, the bolt 1303 moves downwards, meanwhile, the spring 1306 gradually returns to the original position, the spring 1306 can push the bolt 1303 to move downwards, time and labor are saved, when the handle 1301 rotates 180 degrees again, the bolt 1303 and the lock cylinder 1305 are attached together, the lock 13 is in a fully locked state, and the bolt 1303 is pressed on the upper bracket; when the telescopic rod device works, the telescopic rods I506, the telescopic rods II 905, the telescopic rods III 402 and the telescopic rods IV 1006 are controlled to stretch according to actual needs; the motor 804 is turned on, the motor 804 drives the worm 803 to rotate, the worm 803 drives the worm wheel 801 to rotate, the worm wheel 801 rotates to drive the screw rod 802 to do linear motion, the running direction of the motor 804 is changed, the linear motion direction of the screw rod 802 can be changed, the supporting seat 901, the upper sliding seat 907 and the transition rotating seat 12 move along with the motion of the screw rod 802, the pitching plate 405 moves along with the motion of the transition rotating seat 12, the pitching plate 405 drives the lower lifting supporting seat 1001 to move, the lower lifting supporting seat 1001 drives the upper lifting supporting seat 1003 to move, the upper lifting supporting seat 1003 drives the supporting plate 1 to move, namely, the lifting or the descending of the screw rod 802 drives the supporting plate 1 to ascend or descend; when the first telescopic rod 506 continuously extends outwards, the first telescopic rod 506 drives the lower sliding seat 504 to move backwards, the lower sliding seat 504 drives the supporting seat 901 to move backwards, the supporting seat 901 drives the upper sliding seat 907 to move backwards, the upper sliding seat 907 drives the lower lifting supporting seat 1001 to move backwards, the lower lifting supporting seat 1001 drives the upper lifting supporting seat 1003 to move backwards, and the lower lifting supporting seat 1001 drives the limiting seat 2 and the supporting plate 1 to move backwards; similarly, when the first telescopic rod 506 is contracted, the support plate 1 moves forwards; when the second telescopic rod 905 continuously extends outwards, the second telescopic rod 905 drives the upper sliding seat 907 to move leftwards, the upper sliding seat 907 drives the pitching plate 405 to move leftwards, the pitching plate 405 drives the lower lifting support seat 1001 to move leftwards, the lower lifting support seat 1001 moves leftwards, and the lower lifting support seat 1001 drives the limiting seat 2 and the support plate 1 to move leftwards; similarly, when the second telescopic rod 905 is contracted, the support plate 1 moves rightwards; because 2 power driving devices are arranged in the third 403, when the third 402 telescopic rod is telescopic, the third 402 telescopic rod drives the pitching plate 405 to do corresponding turning motion, the pitching plate 405 drives the lower lifting support seat 1001 to turn, the lower lifting support seat 1001 drives the upper lifting support seat 1003 to turn, the upper lifting support seat 1003 drives the limit seat 2 to turn, and the limit seat 2 drives the support plate 1 to turn, so that a workpiece placed on the support plate 1 or the storage rack 3 is correspondingly turned; when the four telescopic rods 1006 are stretched, the four telescopic rods 1006 push or pull the fixed shaft 1002 to enable the fixed shaft 1002 to move upwards or downwards, the crossed scissor frames 1005 are unfolded or contracted, the crossed scissor frames 1005 are unfolded, the ascending and descending support seat 1003 ascends, the crossed scissor frames 1005 are contracted, the ascending and descending support seat 1003 descends, the supporting plate 1 ascends and descends along with the ascending and descending of the ascending and descending support seat 1003, the unfolding angle of the scissor frames 1005 is fixed, meanwhile, the ascending and descending distance of the second lifting mechanism 10 is greatly limited by the inclined arrangement of the fourth power driving device 1004, and therefore fine adjustment of the ascending and descending height of the supporting plate 1 is achieved through the second lifting mechanism 10; by adjusting the extension and retraction of the first extension rod 506, the second extension rod 905, the third extension rod 402 and the fourth extension rod 1006, the workpieces to be butted on the support plate 1 or the storage rack 3 are butted with each other at high precision; according to the invention, the supporting plate for placing a workpiece to be lifted can move, the arrangement of the balls 14 enables the supporting plate to be moved more labor-saving, the supporting plate can be pressed on the upper bracket through the arrangement of the lock 13, the structural design of the lock 13 is ingenious, the limiting seat 2 limits the movement of the supporting plate in the hollow area of the limiting seat 2, and the position of the supporting plate can be adjusted according to actual needs, so that the workpiece to be lifted and a butted workpiece can be well butted to perform basic work; according to the invention, through the connection of the third power driving device 403 and the pitching plate 405, different third power driving devices 403 are controlled according to actual needs, so that the supporting plate 1 is turned, meanwhile, the pitching plate 405 is connected with the transition rotating seat 12, so that the purpose that the lead screw 802 drives the pitching plate 405 to do lifting motion is achieved, through the arrangement of the revolving device of the first lifting mechanism 8 in the accommodating groove 505 of the lower sliding seat 504 and the connection of the lead screw 802 with the supporting seat 901 and the transition rotating seat 12, the connection structures between the first lifting mechanism 8 and the left-right moving mechanism 9, the front-back moving mechanism 5 and the turnover mechanism 4 are more compact, and the third power driving device 403 is connected with the lower side of the upper sliding seat 907 of the left-right moving mechanism 9, so that the connection structure between the turnover mechanism 4 and the left-right moving mechanism 9 is more compact; in conclusion, the invention has compact structure, can realize the lifting, the front-back and left-right movement and the overturning action of the platform, and simultaneously, the lifting height can be finely adjusted, thereby improving the butt joint precision; in addition, the supporting plate 1 is provided with 3,2 article holders 3 on which cylindrical workpieces can be placed, so that the types of workpieces which can be lifted by the lifting platform are improved, and the application range is wide; the lifting stroke of the lifting platform is improved through the combined action of the first lifting mechanism and the second lifting mechanism; the invention can be applied to the work of lifting the workpieces to be butted.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the above-described specific embodiment, for example, the shape of the uppermost portion of the lock cylinder 1305 may be a trihedron, a pentahedron, etc., and is not limited to the tetrahedron in the above embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims without affecting the essence of the present invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (4)
1. A six-degree-of-freedom lifting platform with adjustable positions is characterized by comprising a base, a first lifting mechanism, a second lifting mechanism, a front-and-back moving mechanism, a left-and-right moving mechanism and a turnover mechanism, wherein the first lifting mechanism is arranged on the base and is respectively connected with the front-and-back moving mechanism, the left-and-right moving mechanism and the turnover mechanism; the lifting mechanism I, the front-back moving mechanism, the left-right moving mechanism, the turnover mechanism and the lifting mechanism II are sequentially arranged from bottom to top; the front-back moving mechanism comprises a first power driving device, a first telescopic rod of the first power driving device is connected with a lower sliding seat, the lower sliding seat is arranged on a base, the first power driving device drives the first telescopic rod to do reciprocating linear motion, lower sliding blocks are arranged on the lower sides of two ends of the lower sliding seat, a first linear guide rail is arranged on the base, and the lower sliding blocks can do linear motion along the first linear guide rail in the width direction; an accommodating groove is formed in the center of the lower sliding seat, and the first lifting mechanism is arranged in the accommodating groove; the first lifting mechanism comprises a rotating device, the rotating device comprises a motor, a worm is connected to the motor in a transmission manner, a worm wheel is connected to the worm in a transmission manner, a screw rod is connected to the inner side of the worm wheel in a transmission manner, and the screw rod is respectively connected with the left-right moving mechanism and the turnover mechanism; the left-right moving mechanism comprises a supporting seat and an upper sliding seat, the supporting seat is arranged on the upper side of a lower sliding seat, a power driving device II is arranged on the upper side of the supporting seat, a first connecting lug is connected onto the upper sliding seat, a second telescopic rod of the power driving device II is connected with the first connecting lug, at least 2 upper sliding blocks are arranged on the lower side of the upper sliding seat at intervals in the width direction, a linear guide rail II is arranged on the supporting seat, and the upper sliding blocks can linearly move along the linear guide rail II in the length direction; the turnover mechanism comprises at least 2 power driving devices III, the power driving devices III are connected with the lower side of the inner wall of the upper sliding seat, a connecting lug II is connected to a telescopic rod III of each power driving device III, a hollow pitching plate is arranged above the upper sliding seat and connected with the connecting lug II, a hollow connecting support is connected to the inner wall of the pitching plate, a transition rotating seat is arranged in the connecting support and connected with the upper side of the upper sliding seat, and the transition rotating seat and the pitching plate are connected together through a connecting shaft; the screw rod is respectively connected with the supporting seat, the upper sliding seat and the transition rotating seat; the second lifting mechanism comprises a lower lifting support seat, an upper lifting support seat, a lifting device and a power driving device, the outer sides of the lower lifting support seat and the upper lifting support seat are flush in the width direction and the length direction, the lifting device is symmetrically arranged about the center of the lower lifting support seat in the front-rear direction, two ends of 2 lifting devices are fixedly connected with the lower lifting support seat and the upper lifting support seat respectively through fixed shafts, a limiting seat is arranged on the upper side of the upper lifting support seat, and the support plate is connected with the limiting seat; the lifting device comprises a plurality of scissor holders, two ends of the top of the uppermost scissor holder are connected with the upper lifting support seat through fixed shafts, and two ends of the bottom of the lowermost scissor holder are connected with the lower lifting support seat through fixed shafts; the fourth power driving device is arranged in a containing cavity formed by the lower lifting supporting seat, the upper lifting supporting seat and the lifting device, one end of the fourth power driving device and a telescopic rod of the fourth power driving device are respectively connected with fixing shafts which are separated from each other in the length direction and have different heights, and the lower side and the upper side of the adjacent scissor holder in the height direction are attached together in the initial state of the first lifting mechanism.
2. The six-degree-of-freedom lifting platform with the adjustable position as claimed in claim 1, wherein the uppermost part of the lifting support base is an upper bracket, a plurality of position limiting sleeves are arranged on the upper bracket, rotatable balls are arranged in the position limiting sleeves, a lock capable of locking the support plate on the upper bracket is connected to the edge of the support plate, the lock comprises a lock body, a lock cylinder, a lock tongue and a handle, the lock body is fixedly connected with the support plate, the upper side of the lock body is flush with the upper side of the support plate, the lock tongue is sleeved in a groove at the bottom of the lock body, the lock tongue can move up and down along the groove, the uppermost part of the lock cylinder is shaped as a polyhedron, the lock cylinder penetrates through the center of the lock body and is connected with the handle, the periphery of the center of the lower part of the lock cylinder is an inclined plane, and the inclined plane of the lock tongue can be attached to the bottom of the lock cylinder; the lower side of the groove of the lock body is connected with one end of a spring, and the other end of the spring is connected with a lock tongue; when the lower part of the center of the bolt is jointed with the bottom of the lock core, the bolt is pressed on the upper bracket; when the bottom of the center of the bolt is not attached to the bottom of the lock cylinder, the bolt leaves the plane of the upper bracket.
3. The six-degree-of-freedom lifting platform with the adjustable position according to claim 1 or 2, wherein the first power driving device, the second power driving device, the third power driving device and the fourth power driving device are rod hydraulic cylinders or rod air cylinders.
4. The six-degree-of-freedom lifting platform with the adjustable position according to claim 1 or 2, wherein at least two V-shaped article shelves are arranged on the supporting plate at intervals.
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| CN201710249857.0A CN107010564B (en) | 2017-04-17 | 2017-04-17 | Six-degree-of-freedom lifting platform with adjustable position |
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| CN201710249857.0A CN107010564B (en) | 2017-04-17 | 2017-04-17 | Six-degree-of-freedom lifting platform with adjustable position |
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| CN107010564B true CN107010564B (en) | 2022-12-30 |
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| CN109434877B (en) * | 2018-12-21 | 2024-03-26 | 斯坦德机器人（深圳）有限公司 | Multi-freedom-degree translation type jacking mechanism |
| CN110626774B (en) * | 2019-06-28 | 2024-07-12 | 纳恩博（北京）科技有限公司 | Delivery system |
| CN110683272A (en) * | 2019-09-25 | 2020-01-14 | 沛县宝业建筑工业化有限公司 | Building materials sheet material promotes conveyor |
| CN110579140A (en) * | 2019-10-14 | 2019-12-17 | 通彩智能科技集团有限公司 | Multi-degree-of-freedom automatic adjusting mechanism for missile hanging vehicle |
| CN111421497A (en) * | 2020-04-26 | 2020-07-17 | 上海联谊光纤激光器械有限公司 | Ultrahigh-precision five-dimensional movement adjusting device with high bearing capacity |
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| CN104016266B (en) * | 2014-05-21 | 2016-05-04 | 燕山大学 | Six degree of freedom 3D hoistable platform |
| CN204508617U (en) * | 2014-12-31 | 2015-07-29 | 四川航泰航空装备有限公司 | A kind of aircraft bomb truck |
| CN206767540U (en) * | 2017-04-17 | 2017-12-19 | 扬州航鹰科技装备有限公司 | A kind of adjustable six degree of freedom hoistable platform in position |
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