Electric lifting device with posture adjusting function

Abstract

The invention relates to an electric lifting device with a posture adjusting function, belongs to the technical field of lifting machinery, and solves the problem that a lifting device in the prior art does not have the posture adjusting function. The lifting mechanism comprises a lifting tail end platform, a first series-connection lifting branch chain and a second series-connection lifting branch chain, and the first series-connection lifting branch chain and the second series-connection lifting branch chain are symmetrically arranged on the two sides of the lifting tail end platform and can adjust the height and the posture of the lifting tail end platform. The first series-connection lifting branch chain and the second series-connection lifting branch chain not only can adjust the height of the lifting tail end platform, but also can adjust the posture of the lifting tail end platform.

Description

Technical Field

[0001] The present invention relates to the technical field of lifting machinery, and in particular to an electric lifting device with a posture adjustment function. Background Art

[0002] Lifting devices are common tools in people's daily work and life, and are widely used in the fields of construction, automobile manufacturing and maintenance, power installation and maintenance, etc. Lifting devices can lift objects placed on the platform to a certain height to facilitate users to perform various operations on the objects. However, most existing lifting devices are scissor-type structures, which only have the lifting function but not the posture adjustment function. Summary of the invention

[0003] In view of the above analysis, an embodiment of the present invention aims to provide an electric lifting device with a posture adjustment function, so as to solve the problem that the existing lifting device does not have the posture adjustment function.

[0004] The present invention provides an electric lifting device with a posture adjustment function, comprising a lifting terminal platform, a first series lifting branch chain and a second series lifting branch chain, wherein the first series lifting branch chain and the second series lifting branch chain are symmetrically arranged on both sides of the lifting terminal platform and can adjust the height and posture of the lifting terminal platform.

[0005] Furthermore, the lifting end platform includes a bearing platform and two connecting brackets, and the two connecting brackets are symmetrically arranged on both sides of the bearing platform.

[0006] Furthermore, one end of one connecting bracket is connected to the upper end of the first series lifting branch chain, and the other end is connected to the carrying platform; one end of another connecting bracket is connected to the upper end of the second series lifting branch chain, and the other end is connected to the carrying platform.

[0007] Furthermore, the lifting end platform also includes a first reinforcing rod and a second reinforcing rod, and the first reinforcing rod and the second reinforcing rod are symmetrically arranged on both sides of the connecting bracket.

[0008] Furthermore, the lifting terminal platform also includes an inertial measurement unit, an industrial computer and a collection board, and the inertial measurement unit, the industrial computer and the collection board are all arranged on the carrying platform.

[0009] Furthermore, two first six-dimensional force sensors are included.

[0010] Furthermore, one of the first six-axis force sensors is used to connect the first serial lifting branch chain and the connecting bracket, and another of the first six-axis force sensors is used to connect the second serial lifting branch chain and the connecting bracket.

[0011] Furthermore, two second six-dimensional force sensors are included.

[0012] Furthermore, one of the second six-axis force sensors is disposed at the bottom of the first serial lifting branch chain, and another of the second six-axis force sensors is disposed at the bottom of the second serial lifting branch chain.

[0013] Furthermore, it also includes two bottom supports, which are respectively arranged at the bottom of the two second six-axis force sensors.

[0014] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0015] (1) In the electric lifting device of the present invention, a first series lifting branch chain and a second series lifting branch chain are provided on two symmetrical sides of the lifting terminal platform, and the lifting terminal platform is respectively connected to the upper end of the first series lifting branch chain and the upper end of the second series lifting branch chain. The first series lifting branch chain and the second series lifting branch chain can not only adjust the height of the lifting terminal platform, but also adjust the posture of the lifting terminal platform.

[0016] (2) The electric lifting device of the present invention has three connecting rods and two intermediate flexion and extension joints in the middle parts of the first series lifting branch chain and the second series lifting branch chain, and the lengths of the connecting rods at both ends are equal and equal to half of the middle connection length. Compared with the two-link structure of two connecting rods and one intermediate flexion and extension joint, it has a larger folding and unfolding ratio. When lifting heavy objects of the same mass, the torque requirement of the joint motor is smaller, that is, the lifting height is higher under the same configuration conditions, and the load lifting capacity is also stronger.

[0017] (3) In the electric lifting device of the present invention, the first series lifting branch chain and the second series lifting branch chain each have 7 degrees of freedom, including 5 active degrees of freedom and 2 passive degrees of freedom, wherein the active degrees of freedom are driven by a driving motor, and the passive degrees of freedom are assisted by a reset elastic component to ensure reset. The setting of 2 passive degrees of freedom increases the flexibility of the system and reduces the control difficulty.

[0018] (4) The electric lifting device of the present invention adopts a drive motor directly connected to the drive joint, without redundant mechanical transmission structure, and the system is stable, reliable and easy to maintain; dual six-axis force sensors are set, the first six-axis force sensor is used to detect the load force condition, and the second six-axis force sensor is used to achieve the posture control of the lifting device to prevent overturning, and the two sensors cooperate with each other to achieve lifting and posture adjustment; the lower cross-axis joints can be arranged side by side in the same coronal plane and can also be arranged in a staggered manner to improve the lifting capacity; the folding and unfolding ratio is large, the volume is small, the weight is light, and it is easy to move.

[0019] In the present invention, the above-mentioned technical solutions can also be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the subsequent description, and some advantages can become obvious from the description, or can be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the contents particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings are only for the purpose of illustrating particular embodiments and are not to be considered limiting of the present invention. Like reference symbols denote like components throughout the drawings.

[0021] Figure 1 It is a structural schematic diagram of an electric lifting device arranged on an operating platform according to a specific embodiment (I);

[0022] Figure 2 It is a structural schematic diagram of an electric lifting device arranged on an operating platform according to a specific embodiment (II);

[0023] Figure 3 It is a structural schematic diagram of the lifting end platform of a specific embodiment;

[0024] Figure 4 It is a schematic diagram of the connection structure between the first series lifting branch chain and the bottom support of a specific embodiment;

[0025] Figure 5 is an exploded schematic diagram of a first cross-axis joint of a specific embodiment;

[0026] Figure 6 It is an exploded schematic diagram of a second cross-axis joint, a second six-dimensional force sensor, and a bottom support in a specific embodiment;

[0027] Figure 7 It is a schematic diagram of the connection structure between the second series lifting branch chain and the bottom support of a specific embodiment;

[0028] Figure 8 is an exploded schematic diagram of a third cross axis joint of a specific embodiment;

[0029] Fig. 9 It is an exploded schematic diagram of the fourth cross-axis joint, the second six-dimensional force sensor, and the bottom support of a specific embodiment.

[0030] Reference numerals:

[0031] 1-lifting end platform; 11-connecting bracket; 111-first connecting plate; 112-second connecting plate; 113-third connecting plate; 12-carrying platform; 13-first reinforcing rod; 14-second reinforcing rod; 15-reinforcing rib; 16-inertial measurement unit; 17-industrial computer; 18-collection board;

[0032] 2-first series lifting branch chain; 21-first cross-axis joint; 211-first U-shaped adapter; 212-first U-shaped frame assembly; 2121-first plate; 2122-second plate; 2123-third plate; 213-first cross-axis cylinder assembly; 214-first cross roller bearing; 215-first reset elastic assembly; 216-first drive motor; 217-second drive motor; 218-first tail flange; 22-first connecting rod; 23-first extension and flexion joint ; 24-second connecting rod; 25-second extension and flexion joint; 26-third connecting rod; 27-second cross-axis joint; 271-second U-shaped frame assembly; 2711-fourth plate; 2712-fifth plate; 2713-sixth plate; 272-second cross-axis cylinder assembly; 273-first auxiliary ball bearing; 274-second reset elastic assembly; 275-first tail end bearing seat; 276-first tail end bearing assembly; 277-first protective end cover; 278-third drive motor;

[0033] 3-second tandem lifting branch chain; 31-third cross-axis joint; 311-second U-shaped adapter; 312-third U-shaped frame assembly; 3121-seventh plate; 3122-eighth plate; 3123-ninth plate; 313-third cross-axis cylinder assembly; 314-second cross roller bearing; 315-third reset elastic assembly; 316-fourth drive motor; 317-fifth drive motor; 318-second tail flange; 32-fourth connecting rod; 33-third extension and flexion joint; 34-fifth connecting rod; 35-fourth extension and flexion joint; 36-sixth connecting rod; 37-fourth cross-axis joint; 371-fourth U-shaped frame assembly; 3711-tenth plate; 3712-eleventh plate; 3713-twelfth plate; 372-fourth cross-axis cylinder assembly; 373-second auxiliary ball bearing; 374-fourth resetting elastic assembly; 375-second tail end bearing seat; 376-second tail end bearing assembly; 377-second protective end cover; 378-sixth driving motor;

[0034] 4-first six-dimensional force sensor; 5-second six-dimensional force sensor; 6-bottom support. DETAILED DESCRIPTION

[0035] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the present invention and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0036] A specific embodiment of the present invention, as Figure 1As shown, an electric lifting device with a posture adjustment function is disclosed, including a lifting terminal platform 1, a first series lifting branch chain 2 and a second series lifting branch chain 3. The first series lifting branch chain 2 and the second series lifting branch chain 3 are symmetrically arranged on both sides of the lifting terminal platform 1, and can adjust the height and posture of the lifting terminal platform 1.

[0037] Compared with the prior art, the electric lifting device provided in this embodiment is provided with a first series lifting branch chain 2 and a second series lifting branch chain 3 on two symmetrical sides of the lifting terminal platform 1. The lifting terminal platform 1 is respectively connected to the upper end of the first series lifting branch chain 2 and the upper end of the second series lifting branch chain 3. The first series lifting branch chain 2 and the second series lifting branch chain 3 can not only adjust the height of the lifting terminal platform 1, but also adjust the posture of the lifting terminal platform 1.

[0038] like Figure 3 As shown, the lifting end platform 1 includes a connecting bracket 11 and a bearing platform 12. Two connecting brackets 11 are provided, and the two connecting brackets 11 are symmetrically arranged on both sides of the bearing platform 12. One connecting bracket 11 is connected to the first series lifting branch chain 2, and the other is connected to the second series lifting branch chain 3.

[0039] The connecting bracket 11 includes a first connecting plate 111, a second connecting plate 112 and a third connecting plate 113 connected in sequence, the two ends of the second connecting plate 112 are respectively vertically connected to the first connecting plate 111 and the third connecting plate 113, the third connecting plate 113 is connected to the bottom of the carrying platform 12, and the first connecting plate 111 and the third connecting plate 113 are respectively located on both sides of the second connecting plate 112. Since there are two connecting brackets 11, there are also two first connecting plates 111, one of which is connected to the first series lifting branch chain 2, and the other first connecting plate 111 is connected to the second series lifting branch chain 3.

[0040] In order to enhance the connection strength between the connecting bracket 11 and the carrying platform 12 and ensure the structural stability after the connecting bracket 11 and the carrying platform 12 are connected, the lifting end platform 1 also includes a first reinforcing rod 13 and a second reinforcing rod 14. The first reinforcing rod 13 and the second reinforcing rod 14 are each provided with two, and the first reinforcing rod 13 and the second reinforcing rod 14 are symmetrically arranged on both sides of the connecting bracket 11.

[0041] One end of the first reinforcing rod 13 is connected to the connecting bracket 11, and the other end is connected to the carrying platform 12. Specifically, one end of the first reinforcing rod 13 is connected to the second connecting plate 112, and the other end is connected to the carrying platform 12. One end of the second reinforcing rod 14 is connected to the connecting bracket 11, and the other end is connected to the carrying platform 12. Specifically, one end of the second reinforcing rod 14 is connected to the second connecting plate 112, and the other end is connected to the carrying platform 12.

[0042] In order to enhance the connection strength between the first connecting plate 111 and the second connecting plate 112 , the lifting end platform 1 further includes a reinforcing rib 15 . A plurality of reinforcing ribs 15 are provided and are located in the right angle space after the first connecting plate 111 and the second connecting plate 112 are connected.

[0043] In order to obtain the posture of the carrying platform 12, the lifting terminal platform 1 also includes an inertial measurement unit 16 (Inertial Measurement Unit), which is arranged on the carrying platform 12, and the carrying platform 12 is used to place the lifted object. The lifting terminal platform 1 also includes an industrial computer 17 and a collection board 18, the industrial computer 17 is arranged at the bottom of the carrying platform 12, and the collection board 18 is arranged on the side of the carrying platform 12.

[0044] like Figure 4 As shown, the first tandem lifting branch chain 2 includes a first cross-axis joint 21, a first connecting rod 22, a first flexion and extension joint 23, a second connecting rod 24, a second flexion and extension joint 25, a third connecting rod 26 and a second cross-axis joint 27. The first cross-axis joint 21, the first connecting rod 22, the first flexion and extension joint 23, the second connecting rod 24, the second flexion and extension joint 25, the third connecting rod 26 and the second cross-axis joint 27 are connected in sequence from top to bottom.

[0045] Specifically, one end of the first connecting rod 22 is rotatably connected to the first cross-axis joint 21, and the other end is rotatably connected to the first flexion and extension joint 23. One end of the second connecting rod 24 is rotatably connected to the first flexion and extension joint 23, and the other end is rotatably connected to the second flexion and extension joint 25. One end of the third connecting rod 26 is rotatably connected to the second flexion and extension joint 25, and the other end is rotatably connected to the second cross-axis joint 27. It should be noted that a driving motor for driving the second connecting rod 24 to rotate is installed on the third connecting rod 26, and a driving motor for driving the first connecting rod 22 to rotate is installed on the second connecting rod 24.

[0046] It is worth noting that the middle part of the first series lifting branch chain 2 has three connecting rods and two intermediate flexion and extension joints, and the length of the first connecting rod 22 is equal to the length of the third connecting rod 26, which is equal to 0.5 times the length of the second connecting rod 24. Compared with the two-link structure of two connecting rods and one intermediate flexion and extension joint, it has a larger folding ratio, and when lifting heavy objects of the same mass, the torque requirement of the joint motor is smaller, that is, under the same configuration conditions, the lifting height is higher and the load lifting capacity is also stronger.

[0047] like Figure 5 As shown, the first cross-axis joint 21 includes a first U-shaped adapter 211, a first U-shaped frame assembly 212 and a first cross-axis cylinder assembly 213. The first U-shaped adapter 211 is arranged on the first U-shaped frame assembly 212, and the first cross-axis cylinder assembly 213 is arranged in the U-shaped opening of the first U-shaped frame assembly 212. The first connecting rod 22 is rotatably connected to the first cross-axis cylinder assembly 213.

[0048] Specifically, the first U-shaped frame assembly 212 is U-shaped, including a first plate 2121, a second plate 2122 and a third plate 2123 connected in sequence, the first plate 2121 and the third plate 2123 are respectively arranged at both ends of the second plate 2122, and are vertically connected to the second plate 2122, and the first plate 2121 and the third plate 2123 are parallel. The first plate 2121 and the third plate 2123 are respectively provided with a first through hole and a second through hole, and the first through hole and the second through hole are concentrically arranged.

[0049] The first cross-axis joint 21 further includes a first cross roller bearing 214, and the first U-shaped adapter 211 is connected to the first U-shaped frame assembly 212 through the first cross roller bearing 214. Specifically, the first U-shaped adapter 211 is disposed on the second plate 2122. The first U-shaped adapter 211 is connected to the inner retaining ring of the first cross roller bearing 214, and the outer retaining ring of the first cross roller bearing 214 is disposed on the second plate 2122.

[0050] The first cross-axis joint 21 also includes a first resetting elastic component 215, and two first resetting elastic components 215 are provided. The two first resetting elastic components 215 are symmetrically arranged on both sides of the first U-shaped adapter 211. One end of the first resetting elastic component 215 is connected to the first U-shaped adapter 211, and the other end is connected to the first U-shaped frame component 212, specifically connected to the second plate 2122. It can be understood that a protrusion connected to the first resetting elastic component 215 is provided on the second plate 2122. Preferably, the first resetting elastic component 215 is a torsion spring. The first U-shaped frame component 212 is connected to the first U-shaped adapter 211 through the first cross roller bearing 214 and the first resetting elastic component 215 to achieve a certain range of rotational movement in the yaw direction.

[0051] A through hole is provided on each of the four side surfaces of the first cross shaft cylinder assembly 213, which are respectively recorded as the third through hole, the fourth through hole, the fifth through hole and the sixth through hole. The third through hole is opposite to the fifth through hole, and the fourth through hole is opposite to the sixth through hole. The surface with the fourth through hole is connected to the first plate 2121, and the surface with the sixth through hole is connected to the third plate 2123.

[0052] The first cross-axis joint 21 further includes a first drive motor 216 and a second drive motor 217. The first drive motor 216 is connected to the first U-shaped frame assembly 212, specifically connected to the first plate 2121. The first drive motor 216 drives the first U-shaped frame assembly 212 to rotate relative to the first cross-axis cylinder assembly 213. The second drive motor 217 is disposed in the first cross-axis cylinder assembly 213, and drives the first cross-axis cylinder assembly 213 to rotate relative to the first connecting rod 22. The first cross-axis joint 21 further includes a first tail flange 218, which is disposed at the rear end of the second drive motor 217 and connected to the first cross-axis cylinder assembly 213.

[0053] In this embodiment, the first cross-axis joint 21 has three degrees of freedom in pitch, roll and yaw directions, and the motion axes in the three directions are perpendicular to each other and intersect at one point, wherein pitch and roll are active degrees of freedom, respectively provided by the first drive motor 216 and the second drive motor 217, and yaw is a passive degree of freedom, and the joint is reset to the correct position by the first reset elastic component 215. The two first reset elastic components 215 are symmetrically distributed on both sides of the sagittal plane of the first cross-axis joint 21, one end of the first reset elastic component 215 is fixedly connected to the first U-shaped adapter 211, and the other end is fixedly connected to the first U-shaped frame component 212.

[0054] like Figure 6 As shown, the second cross-axis joint 27 includes a second U-shaped frame assembly 271 and a second cross-axis cylinder assembly 272. The second cross-axis cylinder assembly 272 is arranged in the U-shaped opening of the second U-shaped frame assembly 271 and is rotatably connected to the second U-shaped frame assembly 271. The second cross-axis cylinder assembly 272 is rotatably connected to the third connecting rod 26.

[0055] The second U-shaped frame assembly 271 includes a fourth plate 2711, a fifth plate 2712, and a sixth plate 2713 connected in sequence. The fourth plate 2711 and the sixth plate 2713 are respectively arranged at both ends of the fifth plate 2712 and are vertically connected to the fifth plate 2712. The fourth plate 2711 and the sixth plate 2713 are parallel. The fourth plate 2711 and the sixth plate 2713 are both provided with a seventh through hole, in which a first auxiliary ball bearing 273 is arranged, and the second cross shaft cylinder assembly 272 is connected to the first auxiliary ball bearing 273.

[0056] The four side surfaces of the second cross-axis cylinder assembly 272 are each provided with a through hole, which are respectively recorded as the eighth through hole, the ninth through hole, the tenth through hole and the eleventh through hole. The eighth through hole and the tenth through hole are opposite to each other, and the ninth through hole and the eleventh through hole are opposite to each other. The surface with the eighth through hole is connected to the fourth plate 2711, and the surface with the tenth through hole is connected to the sixth plate 2713.

[0057] The second cross-axis joint 27 further includes a second resetting elastic component 274, two of which are symmetrically arranged at two times of the fourth plate 2711, one end of the second resetting elastic component 274 is connected to the fourth plate 2711, and the other end is connected to the second cross-axis cylinder component 272, specifically connected to the surface provided with the eighth through hole. Preferably, the second resetting elastic component 274 is a torsion spring.

[0058] The second cross-axis joint 27 further includes a first tail end bearing seat 275, a first tail end bearing assembly 276 and a first protective end cover 277. The first tail end bearing seat 275 is connected to the surface provided with the eleventh through hole, the first tail end bearing assembly 276 is connected to the first tail end bearing seat 275, and the first protective end cover 277 is arranged on the outside of the first tail end bearing assembly 276. The second cross-axis joint 27 further includes a third driving motor 278, which is arranged in the second cross-axis cylinder assembly 272 and drives the third connecting rod 26 to rotate.

[0059] In this embodiment, two second resetting elastic components 274 are symmetrically distributed on both sides of the sagittal plane of the second cross-axis joint 27, one end of the second resetting elastic component 274 is fixedly connected to the second U-shaped frame component 271, and the other end is installed on the second cross-axis cylinder component 272. The second cross-axis joint 27 has two degrees of freedom in pitch and roll directions, and the rotation axes in the two directions are orthogonal to a plane, wherein the degree of freedom in the pitch direction is an active degree of freedom, driven by the third drive motor 278, and is manifested as the extension and flexion of the second cross-axis joint 27 and the third connecting rod 26. The roll direction is a passive degree of freedom, which is assisted in positioning by the second resetting elastic component 274 to ensure automatic resetting after deflection.

[0060] It can be understood that the structure of the second series lifting branch chain 3 is the same as that of the first series lifting branch chain 2, specifically: Figure 7 As shown, the second tandem lifting branch chain 3 includes a third cross-axis joint 31, a fourth connecting rod 32, a third flexion and extension joint 33, a fifth connecting rod 34, a fourth flexion and extension joint 35, a sixth connecting rod 36 and a fourth cross-axis joint 37. The third cross-axis joint 31, the fourth connecting rod 32, the third flexion and extension joint 33, the fifth connecting rod 34, the fourth flexion and extension joint 35, the sixth connecting rod 36 and the fourth cross-axis joint 37 are connected in sequence from top to bottom.

[0061] Specifically, one end of the fourth connecting rod 32 is rotatably connected to the third cross-axis joint 31, and the other end is rotatably connected to the third flexion and extension joint 33. One end of the fifth connecting rod 34 is rotatably connected to the third flexion and extension joint 33, and the other end is rotatably connected to the fourth flexion and extension joint 35. One end of the sixth connecting rod 36 is rotatably connected to the fourth flexion and extension joint 35, and the other end is rotatably connected to the fourth cross-axis joint 37. It should be noted that a driving motor for driving the fifth connecting rod 34 to rotate is installed on the sixth connecting rod 36, and a driving motor for driving the fourth connecting rod 32 to rotate is installed on the fifth connecting rod 34.

[0062] It is worth noting that the middle part of the second series lifting branch chain 3 has three connecting rods and two intermediate flexion and extension joints, and the length of the fourth connecting rod 32 is equal to the length of the sixth connecting rod 36, which is equal to 0.5 times the length of the fifth connecting rod 34. Compared with the two-link structure of two connecting rods and one intermediate flexion and extension joint, it has a larger folding ratio, and when lifting heavy objects of the same mass, the torque requirement of the joint motor is smaller, that is, under the same configuration conditions, the lifting height is higher and the load lifting capacity is also stronger.

[0063] like Figure 8 As shown, the third cross-axis joint 31 includes a second U-shaped adapter 311, a third U-shaped frame assembly 312 and a third cross-axis cylinder assembly 313. The second U-shaped adapter 311 is arranged on the third U-shaped frame assembly 312, and the third cross-axis cylinder assembly 313 is arranged in the U-shaped opening of the third U-shaped frame assembly 312. The fourth connecting rod 32 is rotatably connected to the third cross-axis cylinder assembly 313.

[0064] Specifically, the third U-shaped frame assembly 312 is U-shaped, including the seventh plate 3121, the eighth plate 3122 and the ninth plate 3123 connected in sequence, the seventh plate 3121 and the ninth plate 3123 are respectively arranged at both ends of the eighth plate 3122, and are vertically connected to the eighth plate 3122, and the seventh plate 3121 and the ninth plate 3123 are parallel. The seventh plate 3121 and the ninth plate 3123 are respectively provided with a twelfth through hole and a thirteenth through hole, and the twelfth through hole and the thirteenth through hole are concentrically arranged.

[0065] The third cross-axis joint 31 further includes a second cross roller bearing 314, and the second U-shaped adapter 311 is connected to the third U-shaped frame assembly 312 through the second cross roller bearing 314. Specifically, the second U-shaped adapter 311 is arranged on the eighth plate 3122. The second U-shaped adapter 311 is connected to the inner retaining ring of the second cross roller bearing 314, and the outer retaining ring of the second cross roller bearing 314 is arranged on the eighth plate 3122.

[0066] The third cross-axis joint 31 also includes a third resetting elastic component 315, and two third resetting elastic components 315 are provided. The two third resetting elastic components 315 are symmetrically arranged on both sides of the second U-shaped adapter 311. One end of the third resetting elastic component 315 is connected to the second U-shaped adapter 311, and the other end is connected to the third U-shaped frame component 312, specifically connected to the eighth plate 3122. It can be understood that the eighth plate 3122 is provided with a protrusion connected to the third resetting elastic component 315. Preferably, the third resetting elastic component 315 is a torsion spring. The third U-shaped frame component 312 is connected to the second U-shaped adapter 311 through the second cross roller bearing 314 and the third resetting elastic component 315 to achieve a certain range of rotational movement in the yaw direction. The four side surfaces of the third cross shaft cylinder assembly 313 are each provided with a through hole, which are respectively recorded as the fourteenth through hole, the fifteenth through hole, the sixteenth through hole and the seventeenth through hole. The fourteenth through hole is opposite to the sixteenth through hole, and the fifteenth through hole is opposite to the seventeenth through hole. The surface with the fifteenth through hole is connected to the seventh plate 3121, and the surface with the seventeenth through hole is connected to the ninth plate 3123.

[0067] The third cross-axis joint 31 further includes a fourth drive motor 316 and a fifth drive motor 317. The fourth drive motor 316 is connected to the third U-shaped frame assembly 312, specifically connected to the seventh plate 3121. The fourth drive motor 316 drives the third U-shaped frame assembly 312 to rotate relative to the third cross-axis cylinder assembly 313. The fifth drive motor 317 is disposed in the third cross-axis cylinder assembly 313, and drives the third cross-axis cylinder assembly 313 to rotate relative to the fourth connecting rod 32. The third cross-axis joint 31 further includes a second tail flange 318, which is disposed at the rear end of the fifth drive motor 317 and connected to the third cross-axis cylinder assembly 313.

[0068] In this embodiment, the third cross-axis joint 31 has three degrees of freedom in pitch, roll and yaw directions, and the motion axes in the three directions are perpendicular to each other and intersect at one point, wherein pitch and roll are active degrees of freedom, respectively provided by the fourth drive motor 316 and the fifth drive motor 317, and yaw is a passive degree of freedom, and the joint is reset and returned to the normal position by the third reset elastic component 315. Two third reset elastic components 315 are symmetrically distributed on both sides of the sagittal plane of the third cross-axis joint 31, one end of the third reset elastic component 315 is fixedly connected to the second U-shaped adapter 311, and the other end is fixedly connected to the third U-shaped frame component 312.

[0069] like Fig. 9 As shown, the fourth cross axis joint 37 includes a fourth U-shaped frame assembly 371 and a fourth cross axis cylinder assembly 372. The fourth cross axis cylinder assembly 372 is arranged in the U-shaped opening of the fourth U-shaped frame assembly 371 and is rotatably connected to the fourth U-shaped frame assembly 371. The fourth cross axis cylinder assembly 372 is rotatably connected to the sixth connecting rod 36.

[0070] The fourth U-shaped frame assembly 371 includes a tenth plate 3711, an eleventh plate 3712, and a twelfth plate 3713 connected in sequence, the tenth plate 3711 and the twelfth plate 3713 are respectively arranged at both ends of the eleventh plate 3712, and are vertically connected to the eleventh plate 3712, and the tenth plate 3711 and the twelfth plate 3713 are parallel. The tenth plate 3711 and the twelfth plate 3713 are both provided with an eighteenth through hole, and the second auxiliary ball bearing 373 is arranged in the eighteenth through hole, and the fourth cross shaft cylinder assembly 372 is connected to the second auxiliary ball bearing 373.

[0071] The four side surfaces of the fourth cross-axis cylinder assembly 372 are each provided with a through hole, which are respectively recorded as the nineteenth through hole, the twentieth through hole, the twenty-first through hole and the twenty-second through hole. The nineteenth through hole and the twenty-first through hole are opposite to each other, and the twentieth through hole and the twenty-second through hole are opposite to each other. The surface with the nineteenth through hole is connected to the tenth plate 3711, and the surface with the twenty-first through hole is connected to the twelfth plate 3713.

[0072] The fourth cross-axis joint 37 further includes a fourth resetting elastic component 374, two of which are symmetrically arranged at two positions of the tenth plate 3711, one end of the fourth resetting elastic component 374 is connected to the tenth plate 3711, and the other end is connected to the fourth cross-axis cylinder component 372, specifically connected to the surface provided with the nineteenth through hole. Preferably, the fourth resetting elastic component 374 is a torsion spring.

[0073] The fourth cross-axis joint 37 further includes a second tail end bearing seat 375, a second tail end bearing assembly 376 and a second protective end cover 377. The second tail end bearing seat 375 is connected to the surface provided with the twenty-second through hole, the second tail end bearing assembly 376 is connected to the second tail end bearing seat 375, and the second protective end cover 377 is arranged on the outside of the second tail end bearing assembly 376. The fourth cross-axis joint 37 further includes a sixth drive motor 378, which is arranged in the fourth cross-axis cylinder assembly 372 and drives the sixth connecting rod 36 to rotate.

[0074] In this embodiment, two fourth resetting elastic components 374 are symmetrically distributed on both sides of the sagittal plane of the fourth cross-axis joint 37, one end of the fourth resetting elastic component 374 is fixedly connected to the fourth U-shaped frame component 371, and the other end is installed on the fourth cross-axis cylinder component 372. The fourth cross-axis joint 37 has two degrees of freedom in pitch and roll directions, and the rotation axes in the two directions are orthogonal to a plane, wherein the degree of freedom in the pitch direction is an active degree of freedom, driven by the sixth drive motor 378, and is manifested as the extension and flexion of the fourth cross-axis joint 37 and the sixth connecting rod 36. The roll direction is a passive degree of freedom, which is assisted in positioning by the fourth resetting elastic component 374 to ensure automatic resetting after deflection.

[0075] In this embodiment, the first series lifting branch chain 2 and the second series lifting branch chain 3 both have 7 degrees of freedom, including 5 active degrees of freedom and 2 passive degrees of freedom, wherein the active degrees of freedom are driven by a driving motor, and the passive degrees of freedom are assisted by a reset elastic component to ensure reset. The setting of 2 passive degrees of freedom increases the flexibility of the system and reduces the control difficulty.

[0076] like Figure 2 , Figure 6 and Fig. 9 As shown, in order to realize the posture control of the electric lifting device, the electric lifting device also includes a first six-dimensional force sensor 4, a second six-dimensional force sensor 5 and a bottom support 6; two first six-dimensional force sensors 4 and two second six-dimensional force sensors 5 are provided, and the two first six-dimensional force sensors 4 are respectively located at the top of the first series lifting branch chain 2 and the second series lifting branch chain 3, specifically, they are respectively connected to the first U-shaped adapter 211 and the second U-shaped adapter 311, one is located between the first connecting plate 111 and the first U-shaped adapter 211, and the other is located between the first connecting plate 111 and the second U-shaped adapter 311. The two second six-dimensional force sensors 5 are respectively located at the bottom of the first series lifting branch chain 2 and the second series lifting branch chain 3, specifically, they are respectively connected to the bottom of the second U-shaped frame assembly 271 and the bottom of the fourth U-shaped frame assembly 371. There are two bottom supports 6, which are respectively located at the bottom of the two second six-dimensional force sensors 5, that is, a second six-dimensional force sensor 5 is provided between the second U-shaped frame assembly 271 and a bottom support 6, and another second six-dimensional force sensor 5 is provided between the fourth U-shaped frame assembly 371 and a bottom support 6.

[0077] The electric lifting device of this embodiment has the functions of lifting and posture adjustment at the same time; the cross-axis joint is set with passive degrees of freedom, adopts the reset elastic component method, and can also adopt other forms such as spring dampers, so the system is flexible and reduces the control difficulty; the drive motor is directly connected to the drive joint, there is no redundant mechanical transmission structure, the system is stable, reliable and easy to maintain; dual six-dimensional force sensors are set, the first six-dimensional force sensor is used to detect the load force condition, and the second six-dimensional force sensor is used to realize the posture control of the lifting device to prevent overturning, and the two sensors cooperate with each other to realize lifting and posture adjustment; the lower cross-axis joints (the second cross-axis joints 27 and the fourth cross-axis joints 37) can be arranged side by side in the same coronal plane and can also be arranged in a staggered manner to improve the lifting capacity; the folding and unfolding ratio is large, the volume is small, the weight is light, and it is easy to move.

[0078] The electric lifting device of this embodiment has 6 degrees of freedom, so the lifting terminal platform 1 has six degrees of freedom in the directions of lateral movement, longitudinal movement, pitch, yaw, roll and lifting, and can realize all-round adjustment in space, that is, the lifting terminal platform 1 can realize the lifting and posture adjustment functions at the same time.

[0079] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. An electric lifting device with posture adjustment function, characterized in that: The invention comprises a lifting terminal platform (1), a first series lifting branch chain (2) and a second series lifting branch chain (3); the first series lifting branch chain (2) and the second series lifting branch chain (3) are symmetrically arranged on both sides of the lifting terminal platform (1) and are capable of adjusting the height and posture of the lifting terminal platform (1).

2. The electric lifting device with posture adjustment function according to claim 1, characterized in that: The lifting end platform (1) comprises a bearing platform (12) and two connecting brackets (11), wherein the two connecting brackets (11) are symmetrically arranged on both sides of the bearing platform (12).

3. The electric lifting device with posture adjustment function according to claim 2, characterized in that: One end of one of the connecting brackets (11) is connected to the upper end of the first series lifting branch chain (2), and the other end is connected to the bearing platform (12); one end of the other connecting bracket (11) is connected to the upper end of the second series lifting branch chain (3), and the other end is connected to the bearing platform (12).

4. The electric lifting device with posture adjustment function according to claim 2, characterized in that: The lifting end platform (1) further comprises a first reinforcing rod (13) and a second reinforcing rod (14), wherein the first reinforcing rod (13) and the second reinforcing rod (14) are symmetrically arranged on both sides of the connecting bracket (11).

5. The electric lifting device with posture adjustment function according to any one of claims 2 to 4, characterized in that: The lifting end platform (1) further comprises an inertial measurement unit (16), an industrial computer (17) and a collection board (18); the inertial measurement unit (16), the industrial computer (17) and the collection board (18) are all arranged on the carrying platform (12).

6. The electric lifting device with posture adjustment function according to any one of claims 1 to 4, characterized in that: It also includes two first six-dimensional force sensors (4).

7. The electric lifting device with posture adjustment function according to claim 6, characterized in that: One of the first six-dimensional force sensors (4) is used to connect the first serial lifting branch chain (2) and the connecting bracket (11), and another of the first six-dimensional force sensors (4) is used to connect the second serial lifting branch chain (3) and the connecting bracket (11).

8. The electric lifting device with posture adjustment function according to any one of claims 1 to 4 and 7, characterized in that: It also includes two second six-dimensional force sensors (5).

9. The electric lifting device with posture adjustment function according to claim 8, characterized in that: One of the second six-dimensional force sensors (5) is arranged at the bottom of the first serial lifting branch chain (2), and another of the second six-dimensional force sensors (5) is arranged at the bottom of the second serial lifting branch chain (3).

10. The electric lifting device with posture adjustment function according to claim 9, characterized in that: It also comprises two bottom supports (6), which are respectively arranged at the bottom of the two second six-dimensional force sensors (5).

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