CN115108490A - Light heavy-load parallel lifting mechanism - Google Patents

Abstract

The invention relates to a lifting mechanism, in particular to a light-weight and large-load parallel lifting mechanism. It includes a restraining branch, a platform, a base and multiple sets of lifting branches, wherein the platform is arranged above the base and is hinged with the base through multiple sets of lifting branches; the restraining branch is set between the platform and the base, and has a moving pair ; Multiple groups of lifting branches are distributed on both sides of the moving pair of the restraining branch, and are hinged with the restraining branch, and the restraining branch is parallel to the base and the platform. The invention has the advantages of large load capacity, light weight and large heavy moment bearing capacity.

Description

A light-weight and large-load parallel lifting mechanism

technical field

The invention relates to a lifting mechanism, in particular to a light-weight and large-load parallel lifting mechanism.

Background technique

The existing lifting mechanism can be divided into three types: single-degree-of-freedom lifting mechanism, single-degree-of-freedom jack mechanism and under-constrained scissor jack. Among them, single-degree-of-freedom lifting mechanism, such as scissor lifting mechanism, guide rail lifting mechanism, aluminum alloy column Hydraulic cylinders are used to drive the hydraulic cylinders, which are stable, reliable, and easy to operate. They are widely used in workshops, docks, airports and other places, but the load is relatively small compared to the jack mechanism. The single-degree-of-freedom jack mechanism uses a rigid jacking member as a working device, and lifts heavy objects through a small stroke of the top bracket or bottom claw. It is driven by hydraulic pressure or screw drive, factories, mines, and transportation. Other departments are used for vehicle repair and other lifting and support work, but the stroke is small, the jacking parts can only bear the pressure, and the bearing capacity of the counter-gravity moment is small, so it is not convenient to integrate other mechanisms. The scissor jack has strong load capacity, light weight and strong portability. It is widely used in mechanical maintenance and repair places. It has the characteristics of under-restraint.

SUMMARY OF THE INVENTION

In view of the above problems, the purpose of the present invention is to provide a light-weight and large-load parallel lifting mechanism, the light-weight and large-load parallel lifting mechanism has a large load capacity, a light weight and a large heavy moment bearing capacity.

In order to achieve the above object, the present invention adopts the following technical solutions:

A light-weight and large-load parallel lifting mechanism includes a restraining branch chain, a platform, a base and multiple sets of lifting branch chains, wherein the platform is arranged above the base, and is hinged with the base through multiple sets of lifting branch chains; Between the platform and the base, there is a moving pair; a plurality of lifting branches are distributed on both sides of the moving pair of the restraining branch, and are hinged with the restraining branch.

The restraining branches are parallel to the base and the platform.

The restraint branch link comprises a restraint branch link I and a restraint branch link II connected by the moving pair, and the restraint branch link I and the restraint branch link II are relatively movable in the horizontal.

The multiple groups of lifting branches include a first lifting branch, a second lifting branch and a third lifting branch, wherein the first lifting branch and the second lifting branch are arranged in parallel, and are both parallel to the The restraining branch link I is hinged; the third lifting branch is hinged with the restraining branch link II.

The first lift branch chain includes a first lift branch link I and a first lift branch link II; the second lift branch includes a second lift branch link I and a second lift branch link. Lifting branch link II;

The first lifting branch link I and the second lifting branch link I are arranged in parallel between the restraining branch link I and the base, and the lower ends are hinged with the base, and the upper ends are both hinged. It is hinged with the restraining branch link I;

The first lifting branch link II and the second lifting branch link II are arranged in parallel between the restraining branch link I and the platform, and the lower ends are both connected to the restraining branch link. I is hinged, and the upper ends are hinged to the platform.

The lengths of the first lifting branch link I and the second lifting branch link I are the same; the lengths of the first lifting branch link II and the second lifting branch link II are the same.

The third lifting branch link includes a third lifting branch link I and a third lifting branch link II, wherein the lower end of the third lifting branch link I is hinged with the base, and the upper end is connected with the base. The restraining branch link II is hinged; the lower end of the third lifting branch link II is hinged with the restraining branch link II, and the upper end is hinged with the platform.

The length of the third lifting branch link I is equal to the lengths of the first lifting branch link I and the second lifting branch link I, and are arranged in opposite directions;

The length of the third lifting branch link II is equal to the lengths of the first lifting branch link II and the second lifting branch link II, and are arranged in opposite directions.

There are two groups of the third lifting branch chains, which are arranged in parallel.

The first lifting branch and the second lifting branch are located between the two sets of the third lifting branch.

The advantages and positive effects of the present invention are:

1. The present invention has a strong bearing capacity for gravity and gravity moment caused by gravity, and can extend the size of the platform to expand the working surface under the condition that the branch chain configuration remains unchanged.

2. The movement of the present invention can be driven by a lead screw, has a large bearing capacity, a fast response speed, and is easy to use a motor to drive and control.

3. The present invention has good integratability and is easy to integrate other motion mechanisms. By installing rotating joints or moving joints on the platform, the integration of the mechanism can be realized and a multi-degree-of-freedom mechanism with high load capacity can be obtained.

4. The present invention has high reliability and precision. Since the drive of the robot can be driven by a lead screw, the reliability and precision are high.

Description of drawings

1 is a schematic structural diagram of a light-weight and large-load parallel lifting mechanism in Embodiment 1 of the present invention;

FIG. 2 is a schematic structural principle diagram of a light-weight and large-load parallel lifting mechanism in Embodiment 1 of the present invention;

3 is a schematic structural principle diagram of a light-weight and large-load parallel lifting mechanism in Embodiment 2 of the present invention;

4 is a schematic structural principle diagram of a light-weight and large-load parallel lifting mechanism in Embodiment 3 of the present invention;

5 is a schematic structural principle diagram of a light-weight and large-load parallel lifting mechanism in Embodiment 4 of the present invention;

6 is a schematic structural principle diagram of a light-weight and large-load parallel lifting mechanism in Embodiment 5 of the present invention;

7 is a schematic structural diagram of a light-weight and large-load parallel lifting mechanism in Embodiment 6 of the present invention;

FIG. 8 is a schematic structural principle diagram of a light-weight and large-load parallel lifting mechanism according to the sixth embodiment of the present invention.

In the figure: 1 is the first lifting branch, 101 is the first lifting branch rotating pair I, 102 is the first lifting branch rotating pair II, 103 is the first lifting branch rotating pair III, 104 is the first lifting branch rotating pair The first lifting branch link I, 105 is the first lifting branch link II; 2 is the second lifting branch, 201 is the second lifting branch rotation pair I, and 202 is the second lifting branch Chain rotation pair II, 203 is the second lifting branch rotation pair III, 204 is the second lifting branch link I, 205 is the second lifting branch link II; 3 is the third lifting branch, 31 is the third lifting branch I, 32 is the third lifting branch II, 301 is the third lifting branch rotating pair I, 302 is the third lifting branch rotating pair II, and 303 is the third lifting branch Branch rotation pair III, 304 is the third lifting branch link I, 305 is the third lifting branch link II; 4 is the restraining branch, 401 is the restraining branch link I, 402 is the moving pair, 403 is the constraining branch link II; 5 is the platform; 6 is the base.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

Example 1

As shown in FIG. 1 , a light-weight and large-load parallel lifting mechanism provided in the first embodiment of the present invention includes a restraining branch 4, a platform 5, a base 6 and multiple sets of lifting branches, wherein the platform 5 is arranged on the base 6 above, and is hinged with the base 6 through several groups of lifting branches; the restraining branch 4 is arranged between the platform 5 and the base 6, and has a moving pair 402; The pair 402 is on both sides and is hinged with the constraining branch 4 .

Further, the constraining branch chain 4 is parallel to the base 6 and the platform 5, and can drive the moving pair 402 to move the platform 5 upward, or drive any rotating pair of any lifting branch chain, and can drive the platform 5 to move upward.

As shown in FIG. 2 , in the embodiment of the present invention, the restraint branch 4 includes restraint branch link I 401 and restraint branch link II 403 connected by the moving pair 402 , restraint branch link I 401 and restraint branch link II403 can move relatively in the horizontal.

In the embodiment of the present invention, the multiple groups of lifting branches include a first lifting branch 1 , a second lifting branch 2 and a third lifting branch 3 , wherein the first lifting branch 1 and the second lifting branch 3 The lift chain 2 is arranged in parallel, and is hinged with the restraint branch link I 401 ; the third lift chain 3 is hinged with the restraint branch link II 403 .

In the embodiment of the present invention, the first lift branch 1 includes a first lift branch link I 104 and a first lift branch link II 105; the second lift branch 2 includes a second lift branch link The rod I204 and the second lifting branch link II205; the first lifting branch link I104 and the second lifting branch link I204 are arranged in parallel between the constraining branch link I401 and the base 6, and the lower ends are both It is hinged with the base 6, and the upper end is hinged with the constraining branch link I401; And the lower ends are hinged with the constraining branch link I401, and the upper ends are hinged with the platform 5.

Further, the lengths of the first lifting branch link I104 and the second lifting branch link I204 are the same; the lengths of the first lifting branch link II 105 and the second lifting branch link II 205 are the same.

In the embodiment of the present invention, the third lifting branch link 3 includes a third lifting branch link I304 and a third lifting branch link II 305, wherein the lower end of the third lifting branch link I304 is connected to the base 6 The upper end is hinged with the constraining branch link II 403; the lower end of the third lifting branch link II 305 is hinged with the constraining branch link II 403, and the upper end is hinged with the platform 5.

Further, the length of the third lifting branch link I304 is equal to the length of the first lifting branch link I104 and the second lifting branch link I204, and is arranged in the opposite direction; The length of the rod II 305 is equal to the lengths of the first lifting branch link II 105 and the second lifting branch link II 205, and they are arranged in opposite directions.

Specifically, the lower end of the first lifting branch link I104 is connected to the base 6 through the first lifting branch rotation pair I101, and the upper end of the first lifting branch link I104 and the first lifting branch link II105 The lower end of the first lifting branch link II102 is connected to the restraining branch link I401 through the first lifting branch rotation pair II102, and the upper end of the first lifting branch link II105 is connected to the platform 5 through the first lifting branch rotation pair III103. The lower end of the second lifting branch link I204 is connected to the base 6 through the second lifting branch rotation pair I201, and the upper end of the second lifting branch link I204 and the lower end of the second lifting branch link II205 pass through The second lifting branch rotation pair II202 is connected to the restraining branch link I401, and the upper end of the second lifting branch link II205 is connected to the platform 5 through the second lifting branch rotation pair III203. The lower end of the third lifting branch link I304 is connected to the base 6 through the third lifting branch rotation pair I301, the upper end of the third lifting branch link I304 and the lower end of the third lifting branch link II305 pass through The third lifting branch rotation pair II302 is connected to the restraining branch link II403, and the upper end of the third lifting branch link II305 is connected to the platform 5 through the third lifting branch rotation pair III303. The axes of the first lifting branch rotating pair I101, the second lifting branch rotating pair I201 and the third lifting branch rotating pair I301 are parallel and located in the same plane; the first lifting branch rotating pair II102 , The axes of the second lifting branch rotating pair II202 and the third lifting branch rotating pair II302 are parallel and are located in the same plane; the first lifting branch rotating pair III103 and the second lifting branch rotating pair III203 The axes of the rotation pair III 303 of the third lifting branch chain are parallel and are located in the same plane.

In this embodiment, the first lifting branch rotating pair I101, the second lifting branch rotating pair I201 and the third lifting branch rotating pair I301 are sequentially arranged from left to right, that is, the third lifting branch rotating pair I301 is located on the outside of the second lifting branch rotation pair I201; the first lifting branch rotation pair III103, the second lifting branch rotation pair III203 and the third lifting branch rotation pair III303 are arranged in order from left to right, That is, the third lifting branch chain rotation pair III303 is located outside the second lifting branch chain rotation pair III203. The following three distances are equal: the distance between the first lifting branch rotating pair I101 and the second lifting branch rotating pair I201, the distance between the first lifting branch rotating pair II102 and the second lifting branch rotating pair II202 The distance between the first lifting branch chain rotation pair III103 and the second lifting branch chain rotation pair III203. Specifically, the moving pair 402 can be driven by the screw-and-nut mechanism to make the platform 5 move upward, or drive any one of the first lifting branch 1 , the second lifting branch 2 and the third lifting branch 3 to rotate vice, which can drive the platform 5 to move upward.

Embodiment 2

As shown in FIG. 3 , this embodiment is basically the same as the first embodiment, the difference is that the third lifting branch rotating pair I301 is located between the first lifting branch rotating pair I101 and the second lifting branch rotating pair I201 , the third lifting branch rotation pair III303 is located between the first lifting branch rotation pair III103 and the second lifting branch rotation pair III203. Other structures of this embodiment are the same as those of the first embodiment, and are not repeated here.

Embodiment 3

As shown in FIG. 4 , this embodiment is basically the same as the first embodiment, the difference is that the third lifting branch rotating pair I301 and the second lifting branch rotating pair I201 are overlapped, and the axes are collinear; The chain rotation pair III303 coincides with the second lifting branch chain rotation pair III203, and the axes are collinear. Other structures of this embodiment are the same as those of the first embodiment, and are not repeated here.

Embodiment 4

As shown in FIG. 5, this embodiment is basically the same as the first embodiment, the difference is that the third lifting branch rotating pair I301 and the first lifting branch rotating pair I101 overlap, and the axes are collinear; The chain rotation pair III303 coincides with the first lifting branch chain rotation pair III103, and the axes are collinear. Other structures of this embodiment are the same as those of the first embodiment, and are not repeated here.

Embodiment 5

As shown in FIG. 6 , this embodiment is basically the same as the first embodiment, the difference is that the third lifting branch rotation pair I301 is located outside the first lifting branch rotation pair I101, that is, the first lifting branch rotates The pair I101 is located between the third lifting branch rotating pair I301 and the second lifting branch rotating pair I201; the third lifting branch rotating pair III303 is located outside the first lifting branch rotating pair III103, that is, the first The lifting branch rotation pair III103 is located between the third lifting branch rotation pair III303 and the second lifting branch rotation pair III203. Other structures of this embodiment are the same as those of the first embodiment, and are not repeated here.

Embodiment 6

As shown in Figures 7-8, this embodiment is basically the same as the second embodiment, the difference is that the third lifting branch 3 is divided into two groups, that is, the third lifting branch I31 and the third lifting branch II32 are included , the third lifting branch I31 and the third lifting branch II32 are arranged in parallel, and the first lifting branch 1 and the second lifting branch 2 are located in the third lifting branch I31 and the third lifting branch Between Ⅱ32.

In this embodiment, a space lifting configuration is formed by the third lifting branch I31 and the third lifting branch II32 having the same configuration and size, and the third lifting branch I31 and the third lifting branch II32 share the same Play the role of lifting, while increasing the anti-gravity moment capacity.

In the embodiment of the present invention, the first lifting branch 1 and the second lifting branch 2, the platform 5, the base 6 and the restraining branch 4 are enclosed to form a two-stage parallel four-bar mechanism branch, which has two translational freedoms. Spend. The three lifting branches 3 and the restraining branch 4 constrain one translational degree of freedom of the two-stage parallel four-bar mechanism together. Under the non-singular configuration, the platform only has the translational degree of freedom in the lifting direction, which can be driven by the first lifting branch. The rotating pair of the chain 1 , the second lifting branch 2 and the third lifting branch 3 , or the moving pair 402 of the driving and restraining branch 4 realizes the lifting and lowering of the driving platform 5 . The third lifting branch rotation pair I301 of the three lifting branches 3 can be arranged on the left, middle, The right side, or coincides with the axes of the first lifting branch rotation pair I101 and the second lifting branch rotation pair I201. The three lift branch chains 3 can be obtained by adopting a parallel structure to obtain a single-drive space lift mechanism. The movement of the present invention can be driven by a lead screw, has a large bearing capacity, a fast response speed, and is convenient to be driven and controlled by a motor.

The invention has strong bearing capacity to gravity and gravity moment caused by gravity, and can extend the size of the platform to enlarge the working surface under the condition that the branched chain configuration remains unchanged. The invention has good integratability, is easy to integrate other motion mechanisms, and installs rotating joints or moving joints on the platform, which can realize the synthesis of mechanisms and obtain a multi-degree-of-freedom mechanism with high load capacity.

The above descriptions are merely embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims (10)

1. A light heavy-load parallel lifting mechanism is characterized by comprising a constraint branched chain (4), a platform (5), a base (6) and a plurality of groups of lifting branched chains, wherein the platform (5) is arranged above the base (6) and is hinged with the base (6) through the plurality of groups of lifting branched chains; the constraint branched chain (4) is arranged between the platform (5) and the base (6) and is provided with a sliding pair (402); the multiple groups of lifting branched chains are distributed on two sides of the moving pair (402) of the constraint branched chain (4) and hinged with the constraint branched chain (4).

2. A light weight heavy load parallel lift mechanism according to claim 1, wherein the restraint branches (4) are parallel to the base (6) and the platform (5).

3. The light-weight heavy-load parallel lifting mechanism is characterized in that the restraint branched chain (4) comprises a restraint branched chain connecting rod I (401) and a restraint branched chain connecting rod II (403) which are connected through the moving pair (402), and the restraint branched chain connecting rod I (401) and the restraint branched chain connecting rod II (403) can move relatively in the horizontal direction.

4. A light weight and heavy load parallel lifting mechanism according to claim 3, wherein the plurality of groups of lifting branches comprise a first lifting branch (1), a second lifting branch (2) and a third lifting branch (3), wherein the first lifting branch (1) and the second lifting branch (2) are arranged in parallel and hinged to the constraint branch link i (401); and the third lifting branched chain (3) is hinged with the restraint branched chain connecting rod II (403).

5. A light weight heavy load parallel lifting mechanism according to claim 4, wherein said first lifting branch (1) comprises a first lifting branch link I (104) and a first lifting branch link II (105); the second lifting branched chain (2) comprises a second lifting branched chain connecting rod I (204) and a second lifting branched chain connecting rod II (205);

the first lifting branched chain connecting rod I (104) and the second lifting branched chain connecting rod I (204) are arranged between the constraint branched chain connecting rod I (401) and the base (6) in parallel, the lower ends of the first lifting branched chain connecting rod I and the second lifting branched chain connecting rod I are hinged with the base (6), and the upper ends of the first lifting branched chain connecting rod I and the second lifting branched chain connecting rod I are hinged with the constraint branched chain connecting rod I (401);

and the first lifting branched chain connecting rod II (105) and the second lifting branched chain connecting rod II (205) are arranged between the constraint branched chain connecting rod I (401) and the platform (5) in parallel, the lower ends of the first lifting branched chain connecting rod II and the second lifting branched chain connecting rod II are hinged with the constraint branched chain connecting rod I (401), and the upper ends of the first lifting branched chain connecting rod II and the second lifting branched chain connecting rod II are hinged with the platform (5).

6. The lightweight heavy load parallel lift mechanism of claim 5, wherein said first lifting branched chain link I (104) and said second lifting branched chain link I (204) are of equal length; the lengths of the first lifting branched chain connecting rod II (105) and the second lifting branched chain connecting rod II (205) are equal.

7. A light weight heavy load parallel lifting mechanism according to claim 5, wherein the third lifting branch (3) comprises a third lifting branch link I (304) and a third lifting branch link II (305), wherein the lower end of the third lifting branch link I (304) is hinged with the base (6), and the upper end is hinged with the restraint branch link II (403); the lower end of the third lifting branched chain connecting rod II (305) is hinged with the restraint branched chain connecting rod II (403), and the upper end of the third lifting branched chain connecting rod II is hinged with the platform (5).

8. The light weight heavy load parallel lifting mechanism according to claim 7, wherein the length of the third lifting branched link I (304) is equal to the length of the first lifting branched link I (104) and the second lifting branched link I (204), and the third lifting branched link I (304) is arranged in the opposite direction;

the length of the third lifting branched chain connecting rod II (305) is equal to that of the first lifting branched chain connecting rod II (105) and the second lifting branched chain connecting rod II (205), and the third lifting branched chain connecting rod II and the second lifting branched chain connecting rod II are arranged in opposite directions.

9. A light weight heavy load parallel lift mechanism according to claim 7, wherein the third lifting branches (3) are in two groups and arranged in parallel.

10. A light weight heavy load parallel lifting mechanism according to claim 9, wherein the first lifting branch (1) and the second lifting branch (2) are located between two sets of the third lifting branches (3).

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