Lifting platform and industrial robot

Abstract

The utility model belongs to the technical field of robots, and particularly relates to a lifting platform and an industrial robot, the lifting platform comprises a lifting plate, a base, a supporting rod set and a driving device, the driving device is connected with the base, the supporting rod set comprises a first supporting rod and a second supporting rod which are arranged in a crossed mode, and the middle of the first supporting rod is hinged to the middle of the second supporting rod; the upper end of the first supporting rod and the lifting plate are rotationally assembled around a first rotating axis, the lower end of the first supporting rod is a first driving end connected with the driving device, the upper end of the second supporting rod and the lifting plate are rotationally assembled around a second rotating axis, and the lower end of the second supporting rod and the base are rotationally assembled around a third rotating axis. The first rotating axis, the second rotating axis and the third rotating axis are parallel, and the driving device can drive the first driving end to move in the direction close to or away from the lower end of the second supporting rod. And the stability of the lifting platform is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and in particular relates to a lifting platform and an industrial robot. Background Art

[0002] Insulator flashover occurs when contaminants adhere to the surface of power grid insulators (external insulation) and, under humid conditions, their soluble materials gradually dissolve in water, forming a conductive film on the surface. This significantly reduces the insulation level of the insulator and causes a strong discharge under the action of an electric field. Typically, industrial robots are used to automatically clean contaminants from insulators.

[0003] An existing industrial robot includes a lifting platform, a main body, an extension arm and a cleaning tool. The lifting platform includes a lifting plate, a scissor-type support rod and a base. The upper end of the scissor-type support rod is connected to the lifting plate, and the lower end of the scissor rod is provided with a roller. The roller rolls on the base, and the lifting plate is driven up or down by a driving device. The main body is placed on the lifting plate, and the bottom end of the extension arm is connected to the main body, which can increase the operating range of the robot. The cleaning tool is connected to the top end of the extension arm, and the cleaning tool is electrically connected to the main body. The lifting platform drives the main body to rise and fall so that the main body is close to the position of the insulator, and then the main body drives the extension arm to swing so that the cleaning tool on the extension wall moves to the position of the insulator. The cleaning tool recognizes the insulator through its own visual system and automatically cleans the insulator.

[0004] In the existing industrial robot, during the operation of cleaning insulators, the extension arm and cleaning tooling will constantly swing, which will generate lateral force on the lifting plate. When the lateral force is transmitted to the roller, it will cause the roller to shake on the base. The stability of the lifting platform is poor, which may cause the body to tilt or overturn. Utility Model Content

[0005] The technical problem to be solved by the utility model is: to provide a lifting platform and an industrial robot in view of the problem that the lifting platform of the existing industrial robot has poor stability.

[0006] To solve the above technical problems, on the one hand, an embodiment of the present utility model provides a lifting platform, including a lifting plate, a base, a support rod group and a driving device, the driving device is connected to the base, the support rod group includes a first support rod and a second support rod arranged crosswise, the middle part of the first support rod is hinged to the middle part of the second support rod, the upper end of the first support rod is rotatably assembled with the lifting plate around a first rotation axis, the lower end of the first support rod is a first driving end, the first driving end is connected to the driving device, the upper end of the second support rod is rotatably assembled with the lifting plate around a second rotation axis, the lower end of the second support rod is rotatably assembled with the base around a third rotation axis, the first rotation axis, the second rotation axis and the third rotation axis are parallel, and the driving device can drive the first driving end to move toward or away from the lower end of the second support rod.

[0007] Optionally, the driving device includes a driving mechanism, a first slide and a first slide rail, the driving mechanism is connected to the base, the first slide rail is connected to the base, the first slide rail extends along the moving direction of the first driving end, the first slide is slidably assembled with the first slide rail, the driving mechanism can drive the first slide to move toward or away from the lower end of the second support rod, and the first driving end is rotatably assembled with the first slide.

[0008] Optionally, the first slide seat includes a first seat body and a first counterweight plate, the first counterweight plate is slidably assembled with the first slide rail on the side facing the base, the first seat body is connected to the side of the first counterweight plate facing away from the first slide rail, the first driving end is rotatably assembled with the first seat body around a fourth rotation axis, and the fourth rotation axis is parallel to the first rotation axis.

[0009] Optionally, an end hinge assembly is provided between the first driving end and the first seat body, and the end hinge assembly includes a first pin shaft, a first conical bearing and a second conical bearing, the first pin shaft passes through the first seat body and the first driving end, the first conical bearing is arranged between the first pin shaft and the first driving end, and the second conical bearing is arranged between the first pin shaft and the first seat body.

[0010] Optionally, the end hinge assembly further includes a first plane bearing, the first plane bearing is sleeved on the first pin shaft, and the first plane bearing is arranged between the first seat body and the first driving end.

[0011] Optionally, the upper end of the second support rod is a second driving end, and the second driving end can move toward or away from the upper end of the first support rod.

[0012] Optionally, it further includes a second slide and a second slide rail, the second slide rail is connected to the side of the lifting plate facing the base, the second slide is slidably assembled with the second slide rail, and the second driving end is rotatably assembled with the second slide.

[0013] Optionally, the second slide seat includes a second seat body and a second counterweight plate, the side of the second seat body facing away from the base is slidably assembled with the second slide rail, the second counterweight plate is connected to the side of the second seat body facing the base, and the second driving end is rotatably assembled with the second counterweight plate around the second rotation axis.

[0014] Optionally, a middle hinge assembly is provided between the first support rod and the second support rod, the middle hinge assembly comprising a second pin, a third conical bearing, a fourth conical bearing and a second plane bearing, the second pin passing through the first support rod and the second support rod, the third conical bearing being provided between the second pin and the first support rod, and the fourth conical bearing being provided between the second pin and the second support rod;

[0015] The second plane bearing is sleeved on the second pin shaft, and the second plane bearing is arranged between the first support rod and the second support rod.

[0016] According to the lifting platform of the embodiment of the utility model, the first support rod and the second support rod are arranged crosswise. When the driving device drives the first driving end to move in the direction close to the lower end of the second support rod, the angle between the first support rod and the lifting plate can be increased, and the angle between the second support rod and the lifting plate and the base can also be increased accordingly, thereby achieving the purpose of raising the lifting plate. When the driving device drives the first driving end to move in the direction away from the lower end of the second support rod, the angle between the first support rod and the lifting plate can be reduced, and the angle between the second support rod and the lifting plate and the base can also be reduced accordingly, thereby achieving the purpose of lowering the height of the lifting plate. The position where the second support rod is connected to the lifting plate and the base is fixed and will not deviate. The position where the first support rod is connected to the lifting plate is fixed and will not deviate. The support is relatively stable, and the stability of the lifting platform is improved compared with the prior art.

[0017] On the other hand, an embodiment of the present invention provides an industrial robot, comprising a body and the above-mentioned lifting platform, wherein the body is placed on the lifting platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic structural diagram of a lifting platform provided in one embodiment of the present utility model;

[0019] Figure 2 for Figure 1 Schematic diagram of the assembly of the middle end hinge assembly, the first seat body and the first driving end;

[0020] Figure 3 for Figure 1 Schematic diagram of the assembly of the middle hinge assembly with the first support rod and the second support rod.

[0021] The accompanying drawings in the specification are as follows: 1. base; 2. lifting plate; 3. first vertical plate; 4. second vertical plate; 5. third vertical plate; 6. fourth vertical plate; 7. first support rod; 8. first driving end; 9. second support rod; 10. second driving end; 11. driving mechanism; 12. first slide rail; 13. first slide seat; 14. first counterweight plate; 15. first seat body; 16. second slide seat; 17. second seat body; 18. second counterweight plate; 19. second slide rail; 20. end hinge assembly; 21. first pin shaft; 22. first conical bearing; 23. second conical bearing; 24. first plane bearing; 25. first nut; 26. middle hinge assembly; 27. second pin shaft; 28. third conical bearing; 29. fourth conical bearing; 30. second plane bearing; 31. second nut. DETAILED DESCRIPTION

[0022] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0023] like Figures 1 to 3 As shown, an embodiment of the present invention provides a lifting platform, including a lifting plate 2, a base 1, a support rod group and a driving device, wherein the driving device is connected to the base 1, and the support rod group includes a first support rod 7 and a second support rod 9 arranged crosswise, the middle part of the first support rod 7 is hinged to the middle part of the second support rod 9, the upper end of the first support rod 7 is assembled to rotate with the lifting plate 2 around a first rotation axis, the lower end of the first support rod 7 is a first driving end 8, the first driving end 8 is connected to the driving device, the upper end of the second support rod 9 is assembled to rotate with the lifting plate 2 around a second rotation axis, the lower end of the second support rod 9 is assembled to rotate with the base 1 around a third rotation axis, the first rotation axis, the second rotation axis and the third rotation axis are parallel, and the driving device can drive the first driving end 8 to move in a direction close to or away from the lower end of the second support rod 9.

[0024] Specifically, when the driving device drives the first driving end 8 to move in the direction close to the lower end of the second support rod 9, the angle between the first support rod 7 and the lifting plate 2 can be increased, and the angle between the second support rod 9 and the lifting plate 2 and the base 1 can also be increased accordingly, thereby achieving the purpose of raising the lifting plate 2. When the driving device drives the first driving end 8 to move in the direction away from the lower end of the second support rod 9, the angle between the first support rod 7 and the lifting plate 2 can be reduced, and the angle between the second support rod 9 and the lifting plate 2 and the base 1 can also be reduced accordingly, thereby achieving the purpose of lowering the height of the lifting plate 2.

[0025] In one embodiment, the driving device includes a driving mechanism 11, a first slide 13 and a first slide rail 12, the driving mechanism 11 is connected to the base 1, the first slide rail 12 is connected to the base 1, the first slide rail 12 extends along the moving direction of the first driving end 8, the first slide 13 is slidably assembled with the first slide rail 12, the driving mechanism 11 can drive the first slide 13 to move toward or away from the lower end of the second support rod 9, and the first driving end 8 is rotatably assembled with the first slide 13.

[0026] Specifically, the first slide rail 12 points from one end of the base 1 to the other end of the base 1, and the driving mechanism 11 drives the first slide 13 to move on the first slide rail 12, so that the first slide 13 moves toward or away from the lower end of the second support rod 9 to approach and move away from the second support rod 9.

[0027] In one embodiment, the first slide 13 includes a first seat body 15 and a first counterweight plate 14, the first counterweight plate 14 is slidably assembled with the first slide rail 12 on the side facing the base 1, the first seat body 15 is connected to the side of the first counterweight plate 14 facing away from the first slide rail 12, and the first driving end 8 is rotatably assembled with the first seat body 15 around a fourth rotation axis, and the fourth rotation axis is parallel to the first rotation axis.

[0028] Specifically, the driving mechanism 11 is a hydraulic cylinder. The cylinder body of the hydraulic cylinder is installed on the base 1 through a mounting frame. The mounting frame lifts the cylinder body of the hydraulic cylinder. The piston rod of the hydraulic cylinder is connected to the first seat body 15. The telescopic action of the piston rod of the hydraulic cylinder drives the first seat body 15 to drive the first counterweight plate 14 to move along the first slide rail 12. The hydraulic cylinder has a high working efficiency and can quickly complete the telescopic action of the piston rod, thereby quickly driving the lifting plate 2 to rise or fall. The setting of the first counterweight plate 14 can increase the overall weight of the first slide 13, thereby improving the stability of the first slide 13 during movement.

[0029] In one embodiment, an end hinge assembly 20 is provided between the first driving end 8 and the first seat body 15, and the end hinge assembly 20 includes a first pin shaft 21, a first conical bearing 22 and a second conical bearing 23. The first pin shaft 21 passes through the first seat body 15 and the first driving end 8, the first conical bearing 22 is arranged between the first pin shaft 21 and the first driving end 8, and the second conical bearing 23 is arranged between the first pin shaft 21 and the first seat body 15.

[0030] Specifically, a first vertical plate 3 is provided on the side of the first seat body 15 facing away from the first counterweight plate 14, a first pin shaft 21 is passed through the first vertical plate 3 and the first driving end 8, the first support rod 7 rotates around the axis of the first pin shaft 21, the axis of the first pin shaft 21 forms a fourth rotation axis, the first conical bearing 22 is filled in the gap between the first pin shaft 21 and the first driving end 8, so as to improve the support stability and rotation smoothness between the first pin shaft 21 and the first driving end 8, and the second conical bearing 23 is filled in the gap between the first pin shaft 21 and the first vertical plate 3, so as to improve the support stability and rotation smoothness between the first pin shaft 21 and the first vertical plate 3.

[0031] In one embodiment, the end hinge assembly 20 further includes a first plane bearing 26 , which is sleeved on the first pin 21 , and the first plane bearing 26 is disposed between the first seat 15 and the first driving end 8 .

[0032] Specifically, the first plane bearing 26 is sleeved on the first pin 21. The first plane bearing 26 is clamped between the first vertical plate 3 and the first drive end 8. The first pin 21 is formed by a screw. By screwing the first nut 25 onto the screw, the first vertical plate 3 and the first drive end 8 clamp the first plane bearing 26. The first plane bearing 26 can reduce friction between the first vertical plate 3 and the first drive end 8.

[0033] In one embodiment, the upper end of the second support rod 9 is a second driving end 10, and the second driving end 10 can move toward or away from the upper end of the first support rod 7. The second driving end 10 can move toward or away from the upper end of the first support rod 7.

[0034] In one embodiment, the lifting platform further includes a second slide 16 and a second slide rail 19, the second slide rail 19 is connected to the side of the lifting plate 2 facing the base 1, the second slide 16 is slidably assembled with the second slide rail 19, and the second driving end 10 is rotatably assembled with the second slide 16.

[0035] Specifically, the second slide rail 19 is arranged parallel to the first slide rail 12, and the second slide seat 16 is slidably assembled on the second slide rail 19, so that the second slide seat 16 can approach and move away from the upper end of the first support rod 7 along the second slide rail 19, thereby improving the lifting and lowering smoothness of the lifting plate 2.

[0036] In one embodiment, the second slide 16 includes a second seat body 17 and a second counterweight plate 18, the second seat body 17 is slidably assembled with the second slide rail 19 on the side facing away from the base 1, the second counterweight plate 18 is connected to the side of the second seat body 17 facing the base 1, and the second driving end 10 and the second counterweight plate 18 are rotatably assembled around the second rotation axis.

[0037] Specifically, a second vertical plate 4 is provided on the side of the second counterweight plate 18 facing away from the second base 17. The second drive plate is rotatably assembled with the second vertical plate 4. The second vertical plate 4 provides mounting space for the second drive end 10, facilitating installation. The second counterweight plate 18 can increase the overall weight of the lifting platform 2 and improve its stability.

[0038] In one embodiment, the second vertical plate 4 and the second driving end 10, the upper end of the first support rod 7 and the third vertical plate 5 on the lifting plate 2, and the lower end of the second support rod 9 and the fourth vertical plate 6 on the base 1 are all connected through an end hinge assembly 20.

[0039] In one embodiment, a middle hinge assembly 26 is provided between the first support rod 7 and the second support rod 9. The middle hinge assembly 26 includes a second pin 27, a third conical bearing 28, a fourth conical bearing 29 and a second plane bearing 30. The second pin 27 passes through the first support rod 7 and the second support rod 9, the third conical bearing 28 is arranged between the second pin 27 and the first support rod 7, and the fourth conical bearing 29 is arranged between the first pin 21 and the second support rod 9.

[0040] The second pin 27 is passed through the first vertical plate 3 and the second support rod 9. The first support rod 7 and the second support rod 9 rotate around the axis of the second pin 27. The third conical bearing 28 is filled in the gap between the second pin 27 and the first support rod 7 to improve the support stability and rotation smoothness between the second pin 27 and the first support rod 7. The fourth conical bearing 29 is filled in the gap between the second pin 27 and the second support rod 9 to improve the support stability and rotation smoothness between the second pin 27 and the second support rod 9.

[0041] The second plane bearing 30 is sleeved on the second pin shaft 27 , and the second plane bearing 30 is arranged between the first support rod 7 and the second support rod 9 .

[0042] The first plane bearing 26 is sleeved on the second pin 27, and the second plane bearing 30 is clamped between the first support rod 7 and the second support rod 9. The second pin 27 is formed by a screw. By screwing a second nut 31 on the screw, the first support rod 7 and the second support rod 9 clamp the second plane bearing 30. The second plane bearing 30 can reduce friction between the first support rod 7 and the second support rod 9.

[0043] The working principle of the lifting platform of the embodiment of the utility model is as follows:

[0044] When the driving device drives the first driving end 8 to move in the direction close to the lower end of the second support rod 9, the angle between the first support rod 7 and the lifting plate 2 can be increased, and the angle between the second support rod 9 and the lifting plate 2 and the base 1 can also be increased accordingly, thereby achieving the purpose of raising the lifting plate 2. When the driving device drives the first driving end 8 to move in the direction away from the lower end of the second support rod 9, the angle between the first support rod 7 and the lifting plate 2 can be reduced, and the angle between the second support rod 9 and the lifting plate 2 and the base 1 can also be reduced accordingly, thereby achieving the purpose of lowering the height of the lifting plate 2.

[0045] According to the lifting platform of the embodiment of the present invention, the first support rod 7 and the second support rod 9 are cross-arranged. When the driving device drives the first driving end 8 to move in the direction close to the lower end of the second support rod 9, the angle between the first support rod 7 and the lifting plate 2 can be increased, and the angle between the second support rod 9 and the lifting plate 2 and the base 1 can also be increased accordingly, thereby achieving the purpose of raising the lifting plate 2. When the driving device drives the first driving end 8 to move in the direction away from the lower end of the second support rod 9, the angle between the first support rod 7 and the lifting plate 2 can be reduced, and the angle between the second support rod 9 and the lifting plate 2 and the base 1 can also be reduced accordingly, thereby achieving the purpose of lowering the height of the lifting plate 2. The position where the second support rod 9 is connected to the lifting plate 2 and the base 1 is fixed and will not deviate. The position where the first support rod 7 is connected to the lifting plate 2 is fixed and will not deviate. The support is relatively stable. Compared with the prior art, the stability of the lifting platform is improved.

[0046] In other embodiments, the driving mechanism 11 may be an electric push rod.

[0047] In addition, an embodiment of the present invention further provides an industrial robot, comprising a main body and the above-mentioned lifting platform, wherein the main body is placed on the lifting plate 2 .

[0048] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A lifting platform, characterized in that: The invention comprises a lifting plate (2), a base (1), a support rod group and a driving device, wherein the driving device is connected to the base (1), the support rod group comprises a first support rod (7) and a second support rod (9) arranged crosswise, the middle part of the first support rod (7) is hinged to the middle part of the second support rod (9), the upper end of the first support rod (7) is assembled and rotated with the lifting plate (2) around a first rotation axis, the lower end of the first support rod (7) is a first driving end (8), the first driving end (8) is connected to the driving device, the upper end of the second support rod (9) is assembled and rotated with the lifting plate (2) around a second rotation axis, the lower end of the second support rod (9) is assembled and rotated with the base (1) around a third rotation axis, the first rotation axis, the second rotation axis and the third rotation axis are parallel, and the driving device can drive the first driving end (8) to move toward or away from the lower end of the second support rod (9).

2. The lifting platform according to claim 1, characterized in that: The driving device comprises a driving mechanism (11), a first slide seat (13) and a first slide rail (12); the driving mechanism (11) is connected to the base (1); the first slide rail (12) is connected to the base (1); the first slide rail (12) extends along the moving direction of the first driving end (8); the first slide seat (13) and the first slide rail (12) are slidably assembled; the driving mechanism (11) can drive the first slide seat (13) to move toward or away from the lower end of the second support rod (9); the first driving end (8) and the first slide seat (13) are rotatably assembled.

3. The lifting platform according to claim 2, characterized in that: The first slide seat (13) includes a first seat body (15) and a first counterweight plate (14), wherein the first counterweight plate (14) is slidably assembled with the first slide rail (12) on a side facing the base (1), and the first seat body (15) is connected to a side of the first counterweight plate (14) facing away from the first slide rail (12). The first driving end (8) is rotatably assembled with the first seat body (15) around a fourth rotation axis, and the fourth rotation axis is parallel to the first rotation axis.

4. The lifting platform according to claim 3, characterized in that: An end hinge assembly (20) is provided between the first driving end (8) and the first seat (15), and the end hinge assembly (20) includes a first pin shaft (21), a first conical bearing (22) and a second conical bearing (23), wherein the first pin shaft (21) passes through the first seat (15) and the first driving end (8), the first conical bearing (22) is provided between the first pin shaft (21) and the first driving end (8), and the second conical bearing (23) is provided between the first pin shaft (21) and the first seat (15).

5. The lifting platform according to claim 4, characterized in that: The end hinge assembly (20) further comprises a first plane bearing (24), wherein the first plane bearing (24) is sleeved on the first pin shaft (21), and the first plane bearing (24) is arranged between the first seat body (15) and the first driving end (8).

6. The lifting platform according to claim 3, characterized in that: The upper end of the second support rod (9) is a second driving end (10), and the second driving end (10) can move toward or away from the upper end of the first support rod (7).

7. The lifting platform according to claim 6, characterized in that: The second slide (16) and the second slide rail (19) are connected to the side of the lifting plate (2) facing the base (1), the second slide (16) and the second slide rail (19) are slidably assembled, and the second driving end (10) and the second slide (16) are rotatably assembled.

8. The lifting platform according to claim 7, characterized in that: The second slide seat (16) includes a second seat body (17) and a second counterweight plate (18); the second seat body (17) is slidably assembled with the second slide rail (19) on the side facing away from the base (1); the second counterweight plate (18) is connected to the side of the second seat body (17) facing the base (1); and the second driving end (10) and the second counterweight plate (18) are rotatably assembled around the second rotation axis.

9. The lifting platform according to claim 3, characterized in that: A middle hinge assembly (26) is provided between the first support rod (7) and the second support rod (9), and the middle hinge assembly (26) includes a second pin shaft (27), a third conical bearing (28), a fourth conical bearing (29) and a second plane bearing (30), the second pin shaft is passed through the first support rod (7) and the second support rod (9), the third conical bearing (28) is provided between the second pin shaft (27) and the first support rod (7), and the fourth conical bearing (29) is provided between the second pin shaft (27) and the second support rod (9); The second plane bearing (30) is sleeved on the second pin shaft (27), and the second plane bearing (30) is arranged between the first support rod (7) and the second support rod (9).

10. An industrial robot, characterized in that: It comprises a main body and a lifting platform according to any one of claims 1 to 9, wherein the main body is placed on the lifting plate (2).

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