Electric lifting device with posture adjustment function

Abstract

The present application relates to a kind of electric lifting device with posture adjustment function, belong to lifting machinery technical field, solve the problem that lifting device does not have the function of adjusting posture in prior art.The present application includes lifting end platform, first series lifting branch chain and second series lifting branch chain, the first series lifting branch chain and the second series lifting branch chain are symmetrically arranged at the two sides of the lifting end platform, and the height and posture of the lifting end platform can be adjusted.The first series lifting branch chain and the second series lifting branch chain of the present application can not only adjust the height of lifting end platform, but also adjust the posture of lifting end platform.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of lifting machinery, in particular to an electric lifting device with posture adjustment function. BACKGROUND

[0002] The lifting device is a common tool in people's daily work and life, and is widely used in the fields of building, automobile manufacturing and maintenance, power erection and maintenance. The lifting device can lift the object placed on the platform to a certain height to facilitate the user to operate the object. However, the existing lifting device is mostly a scissor structure, which only has the function of lifting and does not have the function of adjusting the posture. SUMMARY

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

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

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

[0006] Further, one end of one of the connecting brackets is connected with the upper end of the first series lifting branch chain, and the other end is connected with the bearing platform; one end of the other connecting bracket is connected with the upper end of the second series lifting branch chain, and the other end is connected with the bearing platform.

[0007] Further, the lifting end platform further comprises 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] Further, the lifting end platform further comprises an inertial measurement unit, an industrial computer and a collection board, and the inertial measurement unit, the industrial computer and the collection board are arranged on the bearing platform.

[0009] Further, it further comprises two first six-dimensional force sensors.

[0010] Further, one of the first six-dimensional force sensors is used to connect the first series lifting branch chain and the connecting bracket, and the other first six-dimensional force sensor is used to connect the second series lifting branch chain and the connecting bracket.

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

[0012] Further, one of the second six-dimensional force sensors is arranged at the bottom of the first serial lifting branch chain, and the other second six-dimensional force sensor is arranged at the bottom of the second serial lifting branch chain.

[0013] Further, two bottom supports are further included, and the two bottom supports are arranged at the bottom of the two second six-dimensional force sensors, respectively.

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

[0015] (1) The electric lifting device of the present application is provided with a first serial lifting branch chain and a second serial lifting branch chain on two symmetrical sides of a lifting end platform, and the lifting end platform is connected with the upper end of the first serial lifting branch chain and the upper end of the second serial lifting branch chain, respectively. The first serial lifting branch chain and the second serial lifting branch chain can not only adjust the height of the lifting end platform, but also adjust the attitude of the lifting end platform.

[0016] (2) The electric lifting device of the present application is provided with three links and two intermediate stretchable joints in the middle part of the first serial lifting branch chain and the second serial lifting branch chain, and the lengths of the links at both ends are equal and equal to half of the connection length in the middle. Compared with the two-link structure with one intermediate stretchable joint, the present application has a larger folding ratio, can lift the same weight with smaller torque demand of the joint motor, that is, has higher lifting height and stronger load lifting capacity under the same configuration condition.

[0017] (3) The electric lifting device of the present application is provided with seven degrees of freedom, including five active degrees of freedom and two passive degrees of freedom. The active degrees of freedom are driven by the driving motor, and the passive degrees of freedom are positioned by the reset elastic component to ensure reset and correction. The setting of the two passive degrees of freedom increases the flexibility of the system and reduces the control difficulty.

[0018] (4) The electric lifting device of the present application directly connects the driving motor with the joint without redundant mechanical transmission structure, and is stable, reliable, easy to maintain, and provided with two six-dimensional force sensors. The first six-dimensional force sensor is used for detecting the load stress, and the second six-dimensional force sensor is used for realizing the attitude control of the lifting device to prevent overturning. The two sensors cooperate with each other to realize lifting and attitude adjustment. The lower cross shaft joint can be staggered in addition to being arranged side by side in the same coronal plane, thereby improving the lifting capacity. The present application has large folding ratio, small volume, light weight, and is easy to move.

[0019] The technical solutions in the present application can be combined with each other to realize more preferred combination solutions. Other features and advantages of the present application will be described in the following description, and some advantages will become apparent from the description, or will be understood by those skilled in the art through implementation of the present application. The objects and other advantages of the present application can be realized and obtained through the contents particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0020] The accompanying drawings are included to provide a further understanding of the present application, and are incorporated herein and constitute a part of the detailed description. The drawings illustrate embodiments of the present application and, together with the description, serve to explain the principles of the present application. In the drawings:

[0021] Figure 1 Structure diagram of the electric lifting device set on the operation platform according to the embodiment (1);

[0022] Figure 2 Structure diagram of the electric lifting device set on the operation platform according to the embodiment (2);

[0023] Figure 3 Structure diagram of the lifting end platform according to the embodiment;

[0024] Figure 4 Connection structure diagram of the first serial lifting branch chain and the bottom support according to the embodiment;

[0025] Figure 5 Exploded diagram of the first cross axle joint according to the embodiment;

[0026] Figure 6 Exploded diagram of the second cross axle joint, the second six-dimensional force sensor and the bottom support according to the embodiment;

[0027] Figure 7 Connection structure diagram of the second serial lifting branch chain and the bottom support according to the embodiment;

[0028] Figure 8 Exploded diagram of the third cross axle joint according to the embodiment;

[0029] Figure 9 Exploded diagram of the fourth cross axle joint, the second six-dimensional force sensor and the bottom support according to the embodiment.

[0030] Reference signs:

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

[0032] 2 - first series lifting branch; 21 - first cross axle joint; 211 - first U-shaped adapter; 212 - first U-shaped frame assembly; 2121 - first plate; 2122 - second plate; 2123 - third plate; 213 - first cross axle cylinder assembly; 214 - first cross roller bearing; 215 - first reset elastic assembly; 216 - first driving motor; 217 - second driving motor; 218 - first tail flange; 22 - first connecting rod; 23 - first stretch flexure joint; 24 - second connecting rod; 25 - second stretch flexure joint; 26 - third connecting rod; 27 - second cross axle joint; 271 - second U-shaped frame assembly; 2711 - fourth plate; 2712 - fifth plate; 2713 - sixth plate; 272 - second cross axle 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 protection end cover; 278 - third driving motor;

[0033] 3 - second series lifting branch; 31 - third cross axle joint; 311 - second U-shaped adapter; 312 - third U-shaped frame assembly; 3121 - seventh plate; 3122 - eighth plate; 3123 - ninth plate; 313 - third cross axle cylinder assembly; 314 - second cross roller bearing; 315 - third reset elastic assembly; 316 - fourth driving motor; 317 - fifth driving motor; 318 - second tail flange; 32 - fourth connecting rod; 33 - third stretch flexure joint; 34 - fifth connecting rod; 35 - fourth stretch flexure joint; 36 - sixth connecting rod; 37 - fourth cross axle joint; 371 - fourth U-shaped frame assembly; 3711 - tenth plate; 3712 - eleventh plate; 3713 - twelfth plate; 372 - fourth cross axle cylinder assembly; 373 - second auxiliary ball bearing; 374 - fourth reset elastic assembly; 375 - second tail end bearing seat; 376 - second tail end bearing assembly; 377 - second protection 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 application will be described in detail below with reference to the drawings, which form a part of this application. The drawings illustrate embodiments of the application and, together with the description, serve to explain the principles of the application, and to enable the skilled in the art to make and use the application.

[0036] One specific embodiment of the present application, as shown in Figure 1As shown, the electric lifting device with attitude adjustment function is disclosed, which comprises a lifting end platform 1, a first serial lifting branch chain 2 and a second serial lifting branch chain 3. The first serial lifting branch chain 2 and the second serial lifting branch chain 3 are symmetrically arranged on both sides of the lifting end platform 1 and can adjust the height and attitude of the lifting end platform 1.

[0037] Compared with the prior art, the electric lifting device provided by the embodiment has the first serial lifting branch chain 2 and the second serial lifting branch chain 3 arranged on the two symmetric sides of the lifting end platform 1. The lifting end platform 1 is connected with the upper end of the first serial lifting branch chain 2 and the upper end of the second serial lifting branch chain 3 respectively. The first serial lifting branch chain 2 and the second serial lifting branch chain 3 can not only adjust the height of the lifting end platform 1, but also adjust the attitude of the lifting end platform 1.

[0038] As shown, Figure 3 The lifting end platform 1 comprises a connecting support 11 and a bearing platform 12. The connecting support 11 is provided with two connecting supports 11 which are symmetrically arranged on both sides of the bearing platform 12. One connecting support 11 is connected with the first serial lifting branch chain 2, and the other connecting support 11 is connected with the second serial lifting branch chain 3.

[0039] The connecting support 11 comprises a first connecting plate 111, a second connecting plate 112 and a third connecting plate 113 which are connected in sequence. The two ends of the second connecting plate 112 are connected with the first connecting plate 111 and the third connecting plate 113 respectively. The third connecting plate 113 is connected with the bottom of the bearing platform 12. The first connecting plate 111 and the third connecting plate 113 are located on both sides of the second connecting plate 112 respectively. Since the connecting support 11 is provided with two connecting supports 11, the first connecting plate 111 is also provided with two first connecting plates 111. One first connecting plate 111 is connected with the first serial lifting branch chain 2, and the other first connecting plate 111 is connected with the second serial lifting branch chain 3.

[0040] In order to enhance the connection strength of the connecting support 11 and the bearing platform 12 and ensure the structural stability of the connecting support 11 and the bearing platform 12 after being connected, the lifting end platform 1 further comprises a first reinforcing rod 13 and a second reinforcing rod 14. The first reinforcing rod 13 and the second reinforcing rod 14 are both provided with two reinforcing rods. The first reinforcing rod 13 and the second reinforcing rod 14 are symmetrically arranged on both sides of the connecting support 11.

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

[0042] In order to enhance the connection strength of the first connecting plate 111 and the second connecting plate 112, the lifting end platform 1 further comprises a plurality of reinforcing ribs 15 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 attitude of the bearing platform 12, the lifting end platform 1 further comprises an inertial measurement unit 16 (Inertial Measurement Unit) arranged on the bearing platform 12 for placing the lifted object. The lifting end platform 1 further comprises an industrial computer 17 arranged at the bottom of the bearing platform 12 and a collection board 18 arranged on the side of the bearing platform 12.

[0044] As shown in Figure 4 The first series lifting branch chain 2 comprises a first cross shaft joint 21, a first connecting rod 22, a first flexion joint 23, a second connecting rod 24, a second flexion joint 25, a third connecting rod 26 and a second cross shaft joint 27. The first cross shaft joint 21, the first connecting rod 22, the first flexion joint 23, the second connecting rod 24, the second flexion joint 25, the third connecting rod 26 and the second cross shaft joint 27 are connected in turn from top to bottom.

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

[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 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-rod structure with two connecting rods and one intermediate flexion joint, it has a larger folding ratio, and it requires less torque for the joint motor to lift the same weight, that is, it has a higher lifting height under the same configuration condition, and it also has a stronger load lifting capacity.

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

[0048] Specifically, the first U-shaped bracket assembly 212 is in a U shape and includes the first plate 2121, the second plate 2122, and the third plate 2123 connected in sequence, the first plate 2121 and the third plate 2123 are respectively arranged at two ends of the second plate 2122 and are connected perpendicularly 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 shaft joint 21 further includes a first cross roller bearing 214, and the first U-shaped adapter 211 is connected to the first U-shaped bracket assembly 212 through the first cross roller bearing 214. Specifically, the first U-shaped adapter 211 is arranged on the second plate 2122. The first U-shaped adapter 211 is connected to the inner retainer of the first cross roller bearing 214, and the outer retainer of the first cross roller bearing 214 is arranged on the second plate 2122.

[0050] The first cross shaft joint 21 further includes a first reset elastic assembly 215, and two first reset elastic assemblies 215 are symmetrically arranged on both sides of the first U-shaped adapter 211. One end of the first reset elastic assembly 215 is connected to the first U-shaped adapter 211, and the other end is connected to the first U-shaped bracket assembly 212, specifically to the second plate 2122. Understandably, the second plate 2122 is provided with a protrusion connected to the first reset elastic assembly 215. Preferably, the first reset elastic assembly 215 is a torsion spring. The first U-shaped bracket assembly 212 is connected to the first U-shaped adapter 211 through the first cross roller bearing 214 and the first reset elastic assembly 215, and a certain range of rotational movement in the yaw direction is realized.

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

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

[0053] In this embodiment, the first cross shaft joint 21 has three degrees of freedom in pitch, roll and yaw directions, the three axes of movement are perpendicular to each other and intersect at a point, wherein the pitch and roll are active degrees of freedom, respectively driven by the first driving motor 216 and the second driving motor 217, and the yaw is a passive degree of freedom, which is ensured to be reset to normal by the first reset elastic component 215. Two first reset elastic components 215 are symmetrically distributed on both sides of the sagittal plane of the first cross shaft 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 assembly 212.

[0054] As shown in Figure 6 The second cross shaft joint 27 includes a second U-shaped frame assembly 271 and a second cross shaft cylinder assembly 272, the second cross shaft cylinder assembly 272 is arranged in the U-shaped opening of the second U-shaped frame assembly 271 and is rotatably connected with the second U-shaped frame assembly 271, and the second cross shaft cylinder assembly 272 is rotatably connected with 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 perpendicularly connected with the fifth plate 2712, and 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, and a first auxiliary ball bearing 273 is arranged in the through hole, and the second cross shaft cylinder assembly 272 is connected with the first auxiliary ball bearing 273.

[0056] The second cross shaft cylinder assembly 272 is provided with a through hole on each of the four side surfaces, which are respectively referred to as an eighth through hole, a ninth through hole, a tenth through hole and an 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 provided with the eighth through hole is connected with the fourth plate 2711, and the surface provided with the tenth through hole is connected with the sixth plate 2713.

[0057] The second cross shaft joint 27 further includes a second reset elastic component 274, the second reset elastic component 274 is provided with two, the two second reset elastic components 274 are symmetrically arranged on both sides of the fourth plate 2711, one end of the second reset elastic component 274 is connected with the fourth plate 2711, and the other end is connected with the second cross shaft cylinder assembly 272, and specifically connected with the surface provided with the eighth through hole. Preferably, the second reset elastic component 274 is a torsional spring.

[0058] The second cross shaft joint 27 further comprises a first tail end bearing seat 275 connected with the surface provided with the eleventh through hole, a first tail end bearing assembly 276 connected with the first tail end bearing seat 275, and a first protection end cover 277 arranged outside the first tail end bearing assembly 276. The second cross shaft joint 27 further comprises a third driving motor 278 arranged in the second cross shaft cylinder assembly 272 and driving the third connecting rod 26 to rotate.

[0059] In the embodiment, the two second reset elastic assemblies 274 are symmetrically distributed on both sides of the sagittal plane of the second cross shaft joint 27, one end of the second reset elastic assembly 274 is fixedly connected with the second U-shaped frame assembly 271, and the other side is mounted on the second cross shaft cylinder assembly 272. The second cross shaft joint 27 has two degrees of freedom in pitch and roll directions, and the rotation axes of the two directions are orthogonal to a plane, wherein the degree of freedom in the pitch direction is the main active degree of freedom, driven by the third driving motor 278, and the stretch and bend of the second cross shaft joint 27 and the third connecting rod 26 are realized. The roll direction is a passive degree of freedom, which is assisted by the second reset elastic assembly 274 to ensure automatic reset to the normal position after deflection.

[0060] Understandably, the second series lifting branch chain 3 has the same structure as the first series lifting branch chain 2, specifically as shown in the following figure. Figure 7 As shown in the figure, the second series lifting branch chain 3 comprises a third cross shaft joint 31, a fourth connecting rod 32, a third stretch and bend joint 33, a fifth connecting rod 34, a fourth stretch and bend joint 35, a sixth connecting rod 36, and a fourth cross shaft joint 37. The third cross shaft joint 31, the fourth connecting rod 32, the third stretch and bend joint 33, the fifth connecting rod 34, the fourth stretch and bend joint 35, the sixth connecting rod 36, and the fourth cross shaft joint 37 are connected in sequence from top to bottom.

[0061] Specifically, one end of the fourth connecting rod 32 is rotationally connected with the third cross shaft joint 31, the other end is rotationally connected with the third stretch and bend joint 33, one end of the fifth connecting rod 34 is rotationally connected with the third stretch and bend joint 33, the other end is rotationally connected with the fourth stretch and bend joint 35, one end of the sixth connecting rod 36 is rotationally connected with the fourth stretch and bend joint 35, and the other end is rotationally connected with the fourth cross shaft joint 37. It should be noted that the driving motor driving the fifth connecting rod 34 to rotate is mounted on the sixth connecting rod 36, and the driving motor driving the fourth connecting rod 32 to rotate is mounted 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 links and two intermediate stretch and bend joints in common, and the length of the fourth link 32 is equal to the length of the sixth link 36, which is equal to 0.5 times the length of the fifth link 34. Compared with the two-link structure with two links and one intermediate stretch and bend joint, it has a larger folding and unfolding ratio, and it is easier to lift the same weight, and the torque demand of the joint motor is smaller, that is, the lifting height is higher under the same configuration condition, and the load lifting capacity is also stronger.

[0063] As shown in Figure 8 The third cross shaft joint 31 includes a second U-shaped adapter 311, a third U-shaped frame assembly 312, and a third cross shaft cylinder assembly 313. The second U-shaped adapter 311 is arranged on the third U-shaped frame assembly 312, and the third cross shaft cylinder assembly 313 is arranged in the U-shaped opening of the third U-shaped frame assembly 312. The fourth link 32 is rotationally connected with the third cross shaft cylinder assembly 313.

[0064] Specifically, the third U-shaped frame assembly 312 is in a U shape and includes a seventh plate 3121, an eighth plate 3122, and a ninth plate 3123 connected in sequence. The seventh plate 3121 and the ninth plate 3123 are arranged at two ends of the eighth plate 3122 respectively and are connected perpendicularly with the eighth plate 3122. 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 arranged concentrically.

[0065] The third cross shaft joint 31 further includes a second cross roller bearing 314, and the second U-shaped adapter 311 is connected with 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 with the inner retainer of the second cross roller bearing 314, and the outer retainer of the second cross roller bearing 314 is arranged on the eighth plate 3122.

[0066] The third cross shaft joint 31 further comprises a third reset elastic assembly 315, and two third reset elastic assemblies 315 are symmetrically arranged on two sides of the second U-shaped adapter 311. One end of the third reset elastic assembly 315 is connected with the second U-shaped adapter 311, and the other end is connected with the third U-shaped frame assembly 312, and specifically connected with the eighth plate 3122. Understandably, the eighth plate 3122 is provided with a protrusion connected with the third reset elastic assembly 315. Preferably, the third reset elastic assembly 315 is a torsional spring. The third U-shaped frame assembly 312 is connected with the second U-shaped adapter 311 through the second cross roller bearing 314 and the third reset elastic assembly 315, and realizes a rotating movement in a certain range in the yaw direction. Four sides of the third cross shaft cylinder assembly 313 are each provided with a through hole, which are respectively the fourteenth through hole, the fifteenth through hole, the sixteenth through hole and the seventeenth through hole. The fourteenth through hole and the sixteenth through hole are opposite to each other, and the fifteenth through hole and the seventeenth through hole are opposite to each other. The side provided with the fifteenth through hole is connected with the seventh plate 3121, and the side provided with the seventeenth through hole is connected with the ninth plate 3123.

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

[0068] In the embodiment, the third cross shaft joint 31 has three degrees of freedom in pitch, roll and yaw directions. The three movement axes are perpendicular to each other and intersect at a point. The pitch and roll are active degrees of freedom, which are respectively provided by the fourth driving motor 316 and the fifth driving motor 317. The yaw is a passive degree of freedom, which is guaranteed to be reset to normal by the third reset elastic assembly 315. The two third reset elastic assemblies 315 are symmetrically distributed on both sides of the sagittal plane of the third cross shaft joint 31. One end of the third reset elastic assembly 315 is fixedly connected to the second U-shaped adapter 311, and the other end is fixedly connected to the third U-shaped frame assembly 312.

[0069] As shown in Figure 9 The fourth cross shaft joint 37 comprises a fourth U-shaped frame assembly 371 and a fourth cross shaft cylinder assembly 372. The fourth cross shaft cylinder assembly 372 is arranged in the U-shaped opening of the fourth U-shaped frame assembly 371 and is rotatably connected with the fourth U-shaped frame assembly 371. The fourth cross shaft cylinder assembly 372 is rotatably connected with the sixth connecting rod 36.

[0070] The fourth U-shaped frame assembly 371 comprises 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 two ends of the eleventh plate 3712 and are connected perpendicularly with 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 a second auxiliary ball bearing 373 is arranged in the eighteenth through hole, and the fourth cross shaft cylinder assembly 372 is connected with the second auxiliary ball bearing 373.

[0071] The fourth cross shaft cylinder assembly 372 is provided with a through hole on each of the four sides, which are respectively referred to as a nineteenth through hole, a twentieth through hole, a twenty-first through hole and a 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 side provided with the nineteenth through hole is connected with the tenth plate 3711, and the side provided with the twenty-first through hole is connected with the twelfth plate 3713.

[0072] The fourth cross shaft joint 37 further comprises a fourth reset elastic assembly 374, and the fourth reset elastic assembly 374 is provided in two, and the two fourth reset elastic assemblies 374 are symmetrically arranged at two sides of the tenth plate 3711, one end of the fourth reset elastic assembly 374 is connected with the tenth plate 3711, and the other end is connected with the fourth cross shaft cylinder assembly 372, and specifically connected with the side provided with the nineteenth through hole. Preferably, the fourth reset elastic assembly 374 is a torsional spring.

[0073] The fourth cross shaft joint 37 further comprises a second tail end bearing seat 375, a second tail end bearing assembly 376 and a second protection end cover 377, the second tail end bearing seat 375 is connected with the side provided with the twenty-second through hole, the second tail end bearing assembly 376 is connected with the second tail end bearing seat 375, and the second protection end cover 377 is arranged outside the second tail end bearing assembly 376. The fourth cross shaft joint 37 further comprises a sixth driving motor 378, and the sixth driving motor 378 is arranged in the fourth cross shaft cylinder assembly 372 and drives the sixth connecting rod 36 to rotate.

[0074] In the embodiment, the two fourth reset elastic assemblies 374 are symmetrically distributed on two sides of the sagittal plane of the fourth cross shaft joint 37, one end of the fourth reset elastic assembly 374 is fixedly connected with the fourth U-shaped frame assembly 371, and the other side is mounted on the fourth cross shaft cylinder assembly 372. The fourth cross shaft joint 37 has two degrees of freedom in pitch and roll directions, and the rotation axes of the two directions are orthogonal to a plane, wherein the degree of freedom in the pitch direction is the main active degree of freedom, which is driven by the sixth driving motor 378, and is manifested as the stretching and bending of the fourth cross shaft joint 37 and the sixth connecting rod 36. The roll direction is a passive degree of freedom, which is assisted by the fourth reset elastic assembly 374 to position and ensure automatic reset to the normal position 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 the driving motor, and the passive degrees of freedom are assisted by the reset elastic component to ensure the reset and correction. The setting of the two passive degrees of freedom increases the flexibility of the system and reduces the control difficulty.

[0076] As shown in Figure 2 , Figure 6 and Figure 9 , in order to realize the attitude control of the electric lifting device, the electric lifting device further comprises a first six-dimensional force sensor 4, a second six-dimensional force sensor 5 and a bottom support 6; the first six-dimensional force sensor 4 and the second six-dimensional force sensor 5 are both provided with two, 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, connected with the first U-shaped adapter 211 and the second U-shaped adapter 311 respectively, 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. 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, connected with the bottom of the second U-shaped frame assembly 271 and the bottom of the fourth U-shaped frame assembly 371 respectively. The bottom support 6 is provided with two, which are respectively located at the bottom of the two second six-dimensional force sensors 5, that is, one second six-dimensional force sensor 5 is arranged between the second U-shaped frame assembly 271 and one bottom support 6, and another second six-dimensional force sensor 5 is arranged between the fourth U-shaped frame assembly 371 and one bottom support 6.

[0077] The electric lifting device of this embodiment has the functions of lifting and attitude adjustment; the passive degree of freedom is set in the cross shaft joint, which adopts the reset elastic component mode, and other forms such as spring damper can also be adopted, the system is flexible, and the control difficulty is reduced; the driving motor is directly connected to drive the joint, there is no redundant mechanical transmission structure, the system is stable, reliable and easy to maintain; the double six-dimensional force sensors are arranged, the first six-dimensional force sensor is used to detect the load stress, the second six-dimensional force sensor is used to realize the attitude control of the lifting device, and the overturning is prevented, the two sensors cooperate with each other to realize lifting and attitude adjustment; the lower cross shaft joints (the second cross shaft joint 27 and the fourth cross shaft joint 37) can be staggered in addition to being arranged side by side in the same coronal plane, which improves the lifting capacity; the folding 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 end platform 1 has 6 degrees of freedom in horizontal movement, vertical movement, pitch, yaw, roll and lifting, and can realize omnidirectional adjustment in space, that is, the lifting end platform 1 can realize lifting and attitude adjustment functions at the same time.

[0079] The above merely describes preferred specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. An electric lifting device with posture adjustment function, characterized in that, It includes a lifting end platform, a first series lifting chain, a second series lifting chain, two first six-dimensional force sensors and two second six-dimensional force sensors. The first series lifting chain and the second series lifting chain are symmetrically arranged on both sides of the lifting end platform and can adjust the height and attitude of the lifting end platform. The first tandem lifting chain includes, from top to bottom, a first cross-axis joint, a first connecting rod, a first flexion-extension joint, a second connecting rod, a second flexion-extension joint, a third connecting rod, and a second cross-axis joint. The middle section of the first tandem lifting chain has three connecting rod segments and two intermediate flexion-extension joints, and the length of the first connecting rod is equal to the length of the third connecting rod, which is equal to 0.5 times the length of the second connecting rod. Both the first and second tandem lifting chains have 7 degrees of freedom, including 5 active degrees of freedom and 2 passive degrees of freedom. The active degrees of freedom are driven by a drive motor, and the passive degrees of freedom are assisted in positioning by a reset elastic component. The second tandem lifting chain has the same structure as the first tandem lifting chain. Two first six-dimensional force sensors are located at the top of the first series lifting chain and the second series lifting chain, respectively, and two second six-dimensional force sensors are located at the bottom of the first series lifting chain and the second series lifting chain, respectively; the first six-dimensional force sensors are used to detect the load force, and the second six-dimensional force sensors are used to realize the attitude control of the lifting device.

2. The electric lifting device with attitude adjustment function according to claim 1, characterized in that, The lifting end platform includes a support platform and two connecting brackets, which are symmetrically arranged on both sides of the support platform.

3. The electric lifting device with attitude adjustment function according to claim 2, characterized in that, One end of one of the connecting brackets is connected to the upper end of the first tandem lifting chain, and the other end is connected to the load-bearing platform; one end of the other connecting bracket is connected to the upper end of the second tandem lifting chain, and the other end is connected to the load-bearing platform.

4. The electric lifting device with attitude adjustment function according to claim 2, characterized in that, The lifting end platform also includes a first reinforcing rod and a second reinforcing rod, which are symmetrically arranged on both sides of the connecting bracket.

5. The electric lifting device with posture adjustment function according to any one of claims 2-4, characterized in that, The lifting end platform also includes an inertial measurement unit, an industrial control computer, and a data acquisition board, all of which are located on the bearing platform.

6. The electric lifting device with attitude adjustment function according to claim 2, characterized in that, One of the first six-dimensional force sensors is used to connect the first tandem lifting chain and the connecting bracket, and another of the first six-dimensional force sensors is used to connect the second tandem lifting chain and the connecting bracket.

7. The electric lifting device with attitude adjustment function according to claim 1, characterized in that, It also includes two bottom supports, which are respectively located at the bottom of the two second six-dimensional force sensors.

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