A side-lying scissor-type telescopic device

Abstract

The present invention discloses a side-lying scissor-type telescopic device, which specifically relates to the technical field of automatic telescopic mechanisms. The device includes a base, a drive module and a telescopic module, and the telescopic module is equipped with a detection element. Compared with the prior art, the telescopic module of the present invention combines a scissor-type telescopic frame with a guide rail. The side-lying scissor-type telescopic frame provides an ultra-large lifting ratio, saving internal space. The guide rail is installed in the vertical direction to ensure the stability of the telescopic structure and the effective vertical stroke. The present invention designs a suspended cable storage to make full use of the internal space and realize the channel for internal wiring. The present invention has a large load capacity and strong structural stability, can meet the needs of industrial automation, and is suitable for various special inspection environments with high inspection points.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic telescopic mechanisms, in particular to a side-lying scissor-type telescopic device. Background Art

[0002] With the widespread adoption of intelligent inspection robots in the power, petrochemical, and rail transit sectors, they are reducing manual inspection costs while improving efficiency and reliability. Robotic inspections often encounter narrow spaces and inspection points with high elevation differences. These environments require the components of the robot's gimbal to have sufficient independent vertical travel, typically requiring a telescopic mechanism. However, existing telescopic mechanisms often suffer from low extension ratios, excessive lateral deflection after extension, excessive volume after retraction, and poor load capacity, making them unable to meet the requirements of these specialized inspection environments. While traditional upright scissor-type telescopic mechanisms offer a high extension ratio, they are structurally unstable after extension, exhibiting excessive lateral deflection. Furthermore, the mechanism easily encounters a dead point when starting to lift from the reset position, requiring significant force to initiate. This impact can damage the scissor-type mechanism's weak joints. Summary of the Invention

[0003] The present invention provides a side-lying scissor-type telescopic device, aiming to solve the problems mentioned in the background technology.

[0004] The technical solutions of the present invention are as follows:

[0005] The present invention provides a side-lying scissor-type telescopic device, which comprises:

[0006] base;

[0007] A drive module, which is a ball screw pair driven by a motor, wherein the ball screw in the ball screw pair is vertically mounted on the base;

[0008] The telescopic module is a side-lying scissor-type telescopic module, which is installed on the base and is driven by the driving module to achieve telescopic movement;

[0009] The telescopic module includes a lifting platform and a scissor-type telescopic frame; the scissor-type telescopic frame includes two rows of parallel scissor-type telescopic units, each row of scissor-type telescopic units includes a plurality of X-shaped hinge units connected in sequence, and the ends of the X-shaped hinge units at the front and rear ends of the scissor-type telescopic units are designed to have a diamond structure; the two rows of scissor-type telescopic units are connected by a plurality of cross bars to achieve synchronous telescopic movement;

[0010] The lower end points of the diamond-shaped structures at the tail ends of the two scissor-type telescopic units are hinged on the base, and the upper end points of the diamond-shaped structures (i.e., the central intersection of the tail end X-shaped hinged units) are hinged and fixed to the nut seat; the upper end points of the diamond-shaped structures at the head ends of the two scissor-type telescopic units are hinged on the lifting platform;

[0011] In each scissor-type telescopic unit, a vertically arranged structural frame is fixedly installed on the central hinge point of each X-shaped hinge unit; the adjacent structural frames on the same side are connected by guide rails to achieve vertical relative sliding, the lifting platform and the uppermost structural frame are connected by guide rails to achieve vertical relative sliding; the base and the lowermost structural frame are connected by guide rails to achieve vertical relative sliding.

[0012] According to a preferred embodiment of the present invention, the base includes a horizontally arranged first bracket and a second bracket vertically arranged on the first bracket, and the lowest structural frame is connected to the second bracket through a guide rail to realize vertical relative sliding of the structural frame relative to the base; the length of the first bracket is greater than the projected length of the telescopic module on the first bracket.

[0013] According to a preferred embodiment of the present invention, the ball screw pair is composed of a coupling, a deep groove ball bearing, a ball screw and a nut seat; both ends of the ball screw are fixed to the base through deep groove ball bearings, and the rotational motion of the ball screw will be converted into linear motion of the nut seat. The nut seat drives the upper end point of the diamond structure at the tail end of the scissor-type telescopic unit of the scissor-type telescopic frame to perform vertical lifting motion, so that the telescopic module completes the lifting motion.

[0014] According to a preferred embodiment of the present invention, the lifting platform includes a horizontally arranged first third bracket and a fourth bracket vertically arranged on the third bracket, and the uppermost structural frame is connected to the fourth bracket through a guide rail to achieve vertical relative sliding.

[0015] According to a preferred embodiment of the present invention, the guide rail is composed of a first slide rail, a second slide rail and an intermediate slider; vertical slides are provided on the first slide rail and the second slide rail, and the intermediate slider is respectively embedded in the slides of the first slide rail and the second slide rail, that is, the first slide rail is vertically slidably connected to the intermediate slider, and the second slide rail is vertically slidably connected to the intermediate slider; the first slide rail, the second slide rail and the intermediate slider all have a certain length in the vertical direction; the first slide rail and the second slide rail serve as two mounting parts of the guide rail for connecting the base, structural frame or lifting platform.

[0016] According to a preferred solution of the present invention, limit members are provided on the slideways of the first slide rail and the second slide rail to prevent the middle slider from vertically separating from the slideways of the first slide rail and the second slide rail.

[0017] According to a preferred embodiment of the present invention, the telescopic module further comprises a hanging ear, which is installed on the inner side of the scissor-type telescopic frame and is used for routing wires inside the telescopic module.

[0018] The present invention also provides a working method of the side-lying scissor-type telescopic device, characterized in that: a DC reduction motor drives a ball screw to rotate, the ball screw converts the rotational motion into vertical linear motion of a nut seat, and transmits the linear motion to the upper end point of the diamond structure at the end of the scissor-type telescopic unit of the scissor-type telescopic frame through the nut seat, so that the upper end point moves synchronously;

[0019] Since the structural frame fixed on the central hinge point of the X-shaped hinge unit and the base are connected by a guide rail, the guide rail can only slide vertically. Therefore, the central hinge point of each X-shaped hinge unit performs the same vertical linear motion as the nut seat; during the entire telescopic process, the scissors-type telescopic frame has no horizontal displacement due to the constraints of the structural frame and guide rails. Finally, the lifting platform connected to the top of the scissors-type telescopic frame realizes vertical lifting movement with a high telescopic ratio.

[0020] The beneficial effects achieved by the present invention include:

[0021] The present invention adopts a scissor-type telescopic structure as a telescopic frame. The telescopic frame has a smaller volume when retracted, achieves an ultra-large lifting ratio when extended, and has a larger effective stroke. The present invention arranges the scissor-type telescopic structure on its side, reduces the overall structural size, saves internal space, and provides a channel for cable routing. The base has sufficient stability to prevent the scissor-type structure from tipping over when extended. The guide rail is combined with the scissor-type telescopic frame to improve the stability of the scissor-type telescopic frame, increase the structural rigidity, and reduce the deflection of the telescopic mechanism when extended. A hanging lug is installed on the inner side of the scissor-type telescopic frame to make full use of the internal space, realize internal routing, and complete the internal storage arrangement of the cables. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of a side-lying scissor-type telescopic device according to the present invention;

[0023] Figure 2 This is a schematic diagram of a side-lying scissor-type telescopic device in a reset state according to the present invention;

[0024] Figure 3 This is a schematic diagram of a side-lying scissor-type telescopic device in an extended state according to the present invention;

[0025] Figure 4 Schematic diagram of the structure of the mounting ear of the present invention;

[0026] Figure 5 This is a schematic diagram of the structure of the cable hanging storage according to the present invention;

[0027] Figure 6This is a force analysis comparison diagram of a single X-shaped hinge unit according to the present invention;

[0028] Figure 7 It is a structural schematic diagram of the guide rail of the present invention.

[0029] Explanation of the reference numerals: 1-lifting platform; 2-guide rail; 3-structural frame; 4-DC reduction motor; 5-coupling; 6-deep groove ball bearing; 7-ball screw; 8-nut seat; 9-base; 10-scissor-type telescopic frame; 11-hanging ear; 21-moving first layer; 22-moving second layer; 23-middle constraint layer. DETAILED DESCRIPTION

[0030] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention are clearly and completely described below in conjunction with specific embodiments of the present invention and corresponding drawings. The described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0031] See also Figure 1 The present invention provides a side-lying scissor-type telescopic device, including a base 9, a driving module and a telescopic module.

[0032] The drive module is a motor-driven ball screw pair, with the ball screw in the pair vertically mounted on a base 9. The drive module includes a DC reduction motor 4, a ball screw 7, a nut holder 8, deep-groove ball bearings 6, and a coupling 5. Both ends of the ball screw 7 are mounted on the base 9 via deep-groove ball bearings 6. The DC reduction motor 4 is connected to the ball screw 7 via the coupling 5, and a helical transmission is provided between the nut holder 8 and the ball screw 7. The DC reduction motor 4 drives the ball screw 7 to rotate, which then converts the rotational motion into linear motion of the nut holder 8.

[0033] The telescopic module is a side-lying scissor-type telescopic module, which is installed on a base and driven by a driving module to achieve telescopic movement. The telescopic module includes a lifting platform 1 and a scissor-type telescopic frame 10.

[0034] The scissor-type telescopic frame 10 includes two parallel rows of scissor-type telescopic units. Each row of scissor-type telescopic units includes a plurality of X-shaped hinge units connected in sequence. The ends of the X-shaped hinge units at the leading and trailing ends of the scissor-type telescopic units are designed to be diamond-shaped. The two rows of scissor-type telescopic units are connected by a plurality of cross bars to achieve synchronous telescopic movement.

[0035] The lower end points of the diamond-shaped structures at the tail ends of the two scissor-type telescopic units are hinged on the base 9, and the upper end points of the diamond-shaped structures (i.e., the central intersection of the tail end X-shaped hinged units) are hinged and fixed to the nut seat 8; the upper end points of the diamond-shaped structures at the head ends of the two scissor-type telescopic units are hinged on the lifting platform 1;

[0036] In each scissor-type telescopic unit, a vertically arranged structural frame 3 is fixedly installed on the central hinge point of each X-shaped hinge unit; the adjacent structural frames 3 on the same side are connected by guide rails to achieve vertical relative sliding, and the lifting platform 1 is connected to the uppermost structural frame 3 by guide rails to achieve vertical relative sliding; the base 9 is connected to the lowermost structural frame 3 by guide rails to achieve vertical relative sliding.

[0037] In a specific embodiment of the present invention, the base 9 is composed of a horizontally arranged first bracket and a vertically arranged second bracket, and the first bracket and the second bracket are perpendicular to each other; the lowest structural frame 3 is connected to the second bracket through a guide rail to enable the structural frame 3 to slide vertically relative to the base; the length of the first bracket is greater than the projected length of the telescopic module on the first bracket to prevent the telescopic structure from overturning.

[0038] In a specific embodiment of the present invention, the lifting platform 1 is composed of a horizontally arranged third bracket and a vertically arranged fourth bracket, and the third bracket and the fourth bracket are perpendicular to each other; the uppermost structural frame 3 is connected to the fourth bracket through a guide rail to achieve vertical relative sliding.

[0039] like Figure 7 As shown, the guide rail 2 is composed of a first slide rail 21, a second slide rail 22 and an intermediate slider 23; the first slide rail 21 and the second slide rail 22 are provided with vertical slideways, and the intermediate slider 23 is respectively embedded in the slideways of the first slide rail 21 and the second slide rail 22, that is, the first slide rail is vertically slidably connected to the intermediate slider, and the second slide rail is vertically slidably connected to the intermediate slider; the first slide rail 21, the second slide rail 22 and the intermediate slider 23 all have a certain length in the vertical direction; the first slide rail and the second slide rail are used as two mounting parts of the guide rail to connect the base, structural frame or lifting platform. The guide rail 2 of the present invention can achieve up to three levels of lifting function to meet the telescopic requirements of the telescopic module in height. The guide rail 2 ensures that there is only vertical movement between the structural members. The cooperation between the guide rail 2 and the structural members can greatly improve the stability of the overall structure and reduce the lateral deflection that occurs when the scissors-type telescopic frame is extended.

[0040] In a specific embodiment of the present invention, the slideways of the first and second slide rails are both provided with limit members (the limit members block the slideways, i.e. the slideways terminate at the limit members) to prevent the middle slider from vertically separating from the slideways of the first and second slide rails. Figure 2 、 Figure 3The scissor-type telescopic frame 10 is in a side-lying arrangement when the telescopic structure is reset. The scissor-type telescopic frame 10 is combined with the vertically mounted guide rail 2 to ensure that the telescopic structure has only a vertical effective stroke and no movement in other directions.

[0041] See also Figure 4 、 Figure 5 The side-lying scissor-type telescopic device uses a suspended cable storage arrangement. The telescopic module also includes a hanging lug 11, a three-dimensional element with a through hole. The hanging lug 11 is mounted on the inner side of the scissor-type telescopic frame 10. The cables of the detection components on the lifting platform can be sequentially passed through the quasi-circular hole of the hanging lug 11 and mounted on the scissor-type telescopic structure 10. This storage method fully utilizes the internal space of the telescopic module, realizes the internal routing of the scissor-type telescopic structure, and prevents the problem of cable compression and entanglement caused by the narrow space.

[0042] When the telescopic structure of this embodiment is working, it is necessary to carry a load on the lifting platform 1. A force analysis is performed on a single X-shaped hinge unit. The results of the force analysis are shown in Figure 6 The vertical axis represents the force exerted on the central hinge point of the X-shaped hinge unit, and the horizontal axis represents the process from compression to extension of the scissor-type telescopic structure. It can be found from the figure that the force exerted on the central hinge point of the X-shaped hinge unit of the side-lying scissor-type telescopic structure when it first starts to rise is smaller than that of the traditional upright scissor-type mechanism, and the subsequent force exerted is more stable than that of the traditional upright scissor-type structure. This greatly optimizes the starting conditions of the scissor-type telescopic structure, avoids the dead point problem, and the stable force also improves the force at the weak points of the joint.

[0043] The working method of the side-lying scissor-type telescopic device is as follows:

[0044] The DC reduction motor 4 drives the ball screw 7 to rotate, and the ball screw 7 converts the rotational motion into the vertical linear motion of the nut seat 8, and transmits the linear motion to the upper end point of the diamond structure at the end of the scissor-type telescopic unit of the scissor-type telescopic frame 10 through the nut seat 8, so that the upper end point moves synchronously;

[0045] Since the structural frame 3 fixed on the central hinge point of the X-shaped hinge unit and the base 9 are connected by the guide rail 2, the guide rail can only slide vertically. Therefore, the central hinge point of each X-shaped hinge unit makes the same vertical linear motion as the nut seat 8; the scissor-type telescopic frame 10 has no horizontal displacement during the entire telescopic process due to the constraints of the structural frame 3 and the guide rail 2. Finally, the lifting platform 1 connected to the top of the scissor-type telescopic frame 10 realizes vertical lifting movement with a high telescopic ratio.

[0046] The foregoing is merely an embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of the claims of the present invention.

Claims

1. A side-lying scissor-type telescopic device, characterized in that: include: Base (9); A drive module, which is a ball screw pair driven by a DC reduction motor (4), wherein the ball screw in the ball screw pair is vertically mounted on a base (9); The telescopic module is a side-lying scissor-type telescopic module, which is installed on the base and is driven by the driving module to achieve telescopic movement; The telescopic module comprises a lifting platform (1) and a scissor-type telescopic frame (10); the scissor-type telescopic frame (10) comprises two rows of parallel scissor-type telescopic units, each row of scissor-type telescopic units comprises a plurality of X-shaped hinge units connected in sequence, and the ends of the X-shaped hinge units at the front and rear ends of the scissor-type telescopic units are designed to be diamond-shaped structures; the two rows of scissor-type telescopic units are connected by a plurality of cross bars to achieve synchronous telescopic movement; The lower end points of the diamond-shaped structures at the tail ends of the two scissor-type telescopic units are hinged on the base (9), and the upper end points of the diamond-shaped structures are hinged and fixed to the nut seat (8); the upper end points of the diamond-shaped structures at the head ends of the two scissor-type telescopic units are hinged on the lifting platform (1); In each scissor-type telescopic unit, a vertically arranged structural frame (3) is fixedly installed on the central hinge point of each X-shaped hinge unit; the structural frames (3) adjacent to each other on the same side are connected by guide rails to achieve vertical relative sliding, and the lifting platform (1) is connected to the uppermost structural frame (3) by guide rails to achieve vertical relative sliding; the base (9) is connected to the lowermost structural frame (3) by guide rails to achieve vertical relative sliding.

2. A side-lying scissor-type telescopic device according to claim 1, characterized in that: The base (9) comprises a first bracket arranged horizontally and a second bracket arranged vertically on the first bracket, the lowest structural frame (3) is connected to the second bracket via a guide rail to enable the structural frame (3) to slide vertically relative to the base; the length of the first bracket is greater than the projected length of the telescopic module on the first bracket.

3. A side-lying scissor-type telescopic device according to claim 1, characterized in that: The ball screw pair is composed of a coupling (5), a deep groove ball bearing (6), a ball screw (7) and a nut seat (8); both ends of the ball screw (7) are fixed to the base (9) through the deep groove ball bearing (6), and the rotational motion of the ball screw (7) is converted into the linear motion of the nut seat (8). The nut seat (8) drives the upper end point of the diamond structure at the tail end of the scissor-type telescopic unit of the scissor-type telescopic frame (10) to perform vertical lifting motion, so that the telescopic module completes the lifting motion.

4. The side-lying scissor-type telescopic device according to claim 1, characterized in that: The lifting platform (1) comprises a third bracket arranged horizontally and a fourth bracket arranged vertically on the third bracket, and the uppermost structural frame (3) is connected to the fourth bracket via a guide rail to achieve vertical relative sliding.

5. The side-lying scissor-type telescopic device according to claim 1, characterized in that: The guide rail is composed of a first slide rail, a second slide rail and an intermediate slider; the first slide rail and the second slide rail are provided with vertical slides, and the intermediate slider is respectively embedded in the slides of the first slide rail and the second slide rail, that is, the first slide rail is vertically slidably connected to the intermediate slider, and the second slide rail is vertically slidably connected to the intermediate slider; the first slide rail and the second slide rail serve as two mounting parts of the guide rail for connecting the base, structural frame or lifting platform.

6. A side-lying scissor-type telescopic device according to claim 5, characterized in that: Limiting members are provided on the slideways of the first slide rail and the second slide rail to prevent the middle sliding block from separating from the slideways of the first slide rail and the second slide rail in the vertical direction.

7. The side-lying scissor-type telescopic device according to claim 1, characterized in that: The telescopic module further comprises a hanging ear (11), which is mounted on the inner side of the scissor-type telescopic frame (10) and is used for routing wires inside the telescopic module.

8. A method for operating the device according to claim 1, characterized in that: The DC reduction motor (4) drives the ball screw (7) to rotate, and the ball screw (7) converts the rotational motion into the vertical linear motion of the nut seat (8), and transmits the linear motion to the upper end point of the diamond structure at the end of the scissor-type telescopic unit of the scissor-type telescopic frame (10) through the nut seat (8), so that the upper end point moves synchronously; Since the structural frame (3) and the base (9) fixed on the central hinge point of the X-shaped hinge unit are connected by the guide rail (2), the guide rail can only slide vertically, so the central hinge point of each X-shaped hinge unit performs the same vertical linear motion as the nut seat (8); the scissor-type telescopic frame (10) has no horizontal displacement during the entire telescopic process due to the constraints of the structural frame (3) and the guide rail (2), and finally, the lifting platform (1) connected to the top of the scissor-type telescopic frame (10) realizes vertical lifting motion with a high telescopic ratio.

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