Multi-stage lifting mechanical arm

Abstract

The utility model relates to a multistage lifting mechanical arm which comprises a supporting plate, lifting plates, transmission mechanisms, limiting mechanisms and a driving mechanism, the multistage lifting plates are arranged on the outer side of the supporting plate, the transmission mechanisms and the limiting mechanisms are arranged between the adjacent lifting plates, and the supporting plate is provided with the driving mechanism used for controlling the lifting plates to move. When the driving mechanism controls the adjacent supporting plates to have displacement relation, the transmission chain rotates under the action of the rear locking piece, and the transmission chain drives the next-stage moving plate to generate the same displacement through the rear locking piece due to the fact that the contour path length of the front locking piece and the rear locking piece on the transmission chain is fixed. Therefore, the requirement of synchronous movement of all moving plates is met; through meshing connection of the transmission chain and the chain wheel, the possible slipping problem of the transmission mechanism is avoided, it is ensured that all levels of lifting frames generate the completely same displacement amount, the control precision of the mechanical arm is high, and the requirement for digital and automatic control is met.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of lifting equipment, especially a multi-stage lifting mechanical arm. BACKGROUND

[0002] The lifting mechanical arm is widely used in industrial automation, logistics and warehousing and high-altitude operation fields, and realizes the lifting function in a certain range through a multi-stage lifting structure, but the traditional lifting mechanical arm still has the phenomenon that the transmission precision is not high, for example, the patent no. CN202223569162.6 discloses an open type lifting device, which realizes the control of the lifting device through the synchronous belt transmission assembly arranged on the supporting bottom plate and each intermediate lifting plate, but the synchronous belt structure is easy to produce elastic deformation under long-term load working condition, which causes the displacement accumulation error between each lifting plate, resulting in low control precision of the lifting plate, and it is difficult to meet the demand of high-precision motion for digitalization and automation control. SUMMARY

[0003] In order to overcome the defects of the background art, the utility model adopts the technical scheme of a multi-stage lifting mechanical arm, which comprises a supporting plate, a lifting plate, a transmission mechanism, a limiting mechanism and a driving mechanism, the outer side of the supporting plate is provided with a plurality of lifting plates, and the transmission mechanism and the limiting mechanism are arranged between adjacent lifting plates, and the supporting plate is provided with a driving mechanism for controlling the movement of the lifting plate.

[0004] The transmission mechanism comprises a transmission chain, a chain wheel, a front locking piece and a rear locking piece, the chain wheel is rotatably connected to the lifting plate, the chain wheel is meshingly connected with the transmission chain, and the transmission chain forms a ring structure through the positioning of the chain wheel, the transmission chain is fixedly connected to the next stage lifting plate through the front locking piece, and the transmission chain is fixedly connected to the previous stage lifting plate / supporting plate through the rear locking piece, and the multi-stage lifting plate is driven to move synchronously by the transmission mechanism.

[0005] By adopting the above technical scheme, when the driving mechanism controls the displacement relationship between the adjacent supporting plates, the transmission chain rotates through the action of the rear locking piece, and since the contour path length of the front locking piece and the rear locking piece on the transmission chain is fixed, the transmission chain drives the next stage moving plate to produce the same displacement through the rear locking piece, and the transmission mechanism is arranged between adjacent moving plates, thereby meeting the demand of synchronous movement of all moving plates; through the meshing connection of the transmission chain and the chain wheel, the slippage problem of the transmission mechanism is avoided, and the same displacement amount is ensured for each lifting frame, so that the control precision of the mechanical arm is high, and the demand of digitalization and automation control is met.

[0006] The utility model further provides for, the lifting plate includes backplate, side plate, upper mounting plate, lower mounting plate, rotary seat and pivot, backplate both sides are connected with the side plate that backplate vertical distribution has the screw thread, backplate passes through upper mounting plate, lower mounting plate respectively screw thread connection has two groups of symmetry distribution's rotary seat, the sprocket is rotated and connected between two groups of rotary seat through pivot.

[0007] Further, the rotary seat is provided with a clamping groove for simultaneously clamping the backplate and the upper mounting plate / lower mounting plate.

[0008] By screw thread connection of the side plate, the upper mounting plate, the lower mounting plate and the rotary seat on the backplate, the thickness of the upper and lower ends of the backplate is increased by the upper mounting plate and the lower mounting plate, the mounting area is improved, the rotary seat is clamped on the backplate by the clamping groove, and the transmission chain always applies a force to the rotary seat towards the backplate, thereby avoiding displacement of the rotary seat from the backplate due to loosening of the screw, and improving control accuracy.

[0009] The utility model further provides for, the limiting mechanism includes the positioning roller and guide rail that are matched, the side plate is connected with the guide rail, and the guide rail is symmetrically distributed on both sides of the backplate, the positioning roller is linearly distributed on both sides of the backplate, the guide rail is provided with symmetrically distributed inclined surfaces, and the side surface of the positioning roller is provided with a trapezoidal groove matched with the inclined surface.

[0010] By structural design of the positioning roller and the guide rail, the freedom of the moving plate is limited, the guide rail is designed to be centered, the inclined surfaces guide the movement of the moving plate, and the moving plate always maintains a parallel relationship with the support plate during movement, thereby improving the reliability of the structure.

[0011] The utility model further provides for, the drive mechanism includes motor, speed reducer, chain wheel group and drive chain, and the motor is fixedly connected to the back surface of the support plate through the speed reducer, the support plate is rotatably connected with the chain wheel group meshed with the drive chain, and the output end of the motor controls the rotation of the chain wheel group through the speed reducer, the rotary seat is provided with a mounting portion for connecting the drive chain, and the two ends of the drive chain are connected to the upper and lower ends of the lifting plate through the rotary seat, and the motor controls the movement of the lifting plate through the drive chain.

[0012] The chain wheel group is composed of one driving wheel and two driven wheels, the driving wheel and the driven wheels are triangularly distributed on the support plate and simultaneously meshed with the drive chain, the main shaft of the motor and the driving wheel are respectively keyed to the input and output ends of the speed reducer, the driving wheel is rotated by the motor, and the movement of the lifting plate is controlled by the drive chain.

[0013] The utility model further provides for, the front locking piece is provided with a long hole and a semicircular groove, the front locking piece is screw-connected to the next stage lifting plate through the long hole, and clamped on the transmission chain through the semicircular groove.

[0014] Further, the transmission chain is provided with a plurality of chain links and sleeves for connecting adjacent chain links, the front locking members are clamped to the sleeves through the semicircular grooves, and two groups of front locking members are symmetrically distributed on the transmission chain.

[0015] The front locking member is screw-connected to the next stage lifting plate through the long hole by a screw, so that the horizontal position of the front locking member is finely adjusted, the tension of the transmission chain is controlled, the connection structure of the front locking member is ensured to be firm, the semicircular grooves of the front locking members face opposite directions and act on the transmission chain in the lifting or lowering state of the lifting plate respectively, and the control precision is improved.

[0016] The rear locking member is screw-connected to the next stage lifting plate / supporting plate through the mounting hole and is clamped to the transmission chain through the open groove.

[0017] Further, the transmission chain is provided with a plurality of chain links and sleeves for connecting adjacent chain links, the rear locking member is clamped to the sleeve through the open groove, and the distance between adjacent open grooves is the same as the distance between adjacent sleeves.

[0018] The rear locking member is screw-connected to the moving plate through the mounting hole, and the transmission chain is clamped to the next stage lifting plate / supporting plate through the open groove, so that the overall structure is simple and convenient to install.

[0019] The embodiments of the utility model will be further described below with reference to the drawings. DRAWINGS

[0020] Figure 1 It is a perspective view of the utility model;

[0021] Figure 2 It is a plan view of the utility model;

[0022] Figure 3 It is a structural schematic view of the transmission mechanism of the utility model;

[0023] Figure 4 It is an exploded view of the lifting plate of the utility model;

[0024] Figure 5 It is a sectional view of the utility model in the B direction view; Figure 2 It is a sectional view of the utility model in the B direction view;

[0025] Figure 6 It is a sectional view of the utility model in the B direction view; Figure 2

[0026] Figure 7 ​It is the perspective view of the front locking piece of the utility model;

[0027] Figure 8 It is the perspective view of the rear locking piece of the utility model;

[0028] Figure 9 It is the structure schematic view when the utility model is opened synchronously;

[0029] Among them: 1 - support plate, 2 - lifting plate, 3 - transmission mechanism, 4 - limiting mechanism, 5 - drive mechanism, 21 - backboard, 22 - side plate, 23 - upper mounting plate, 24 - lower mounting plate, 25 - rotating seat, 26 - rotating shaft, 31 - transmission chain, 32 - sprocket, 33 - front locking piece, 34 - rear locking piece, 41 - positioning roller, 42 - guide rail, 51 - motor, 52 - speed reducer, 53 - sprocket set, 54 - drive chain, 55 - driving wheel, 56 - driven wheel, 201 - first stage lifting plate, 202 - second stage lifting plate, 203 - third stage lifting plate, 204 - fourth stage lifting plate, 211 - first mounting hole, 212 - counterbore, 213 - through hole, 216 - sixth mounting hole, 342 - open slot, 221 - fourth mounting hole, 231 - second mounting hole, 232 - third mounting hole, 233 - fifth mounting hole, 234 - through slot, 251 - clamping groove, 252 - mounting portion, 301 - first transmission chain, 302 - second transmission chain, 303 - third transmission chain, 311 - chain link, 312 - sleeve, 331 - long slot, 332 - semicircular groove, 341 - mounting hole, 342 - open slot, 411 - trapezoidal groove, 421 - inclined surface; DETAILED DESCRIPTION

[0030] As Figures 1-3 shown, the utility model provides a kind of multistage lifting mechanical arm, including support plate 1, lifting plate 2, transmission mechanism 3, limiting mechanism 4 and drive mechanism 5, the outside of support plate 1 is equipped with multistage lifting plate 2, and limiting mechanism 4 is equipped between adjacent lifting plate 2 with transmission mechanism 3, and support plate 1 is equipped with the drive mechanism 5 for controlling the movement of lifting plate 2;

[0031] Transmission mechanism 3 includes transmission chain 31, sprocket 32, front locking piece 33 and rear locking piece 34, sprocket 32 is rotatably connected to lifting plate 2, sprocket 32 is engagedly connected with transmission chain 31, and transmission chain 31 is positioned into annular structure by sprocket 32, transmission chain 31 is fixedly connected to next stage lifting plate 2 by front locking piece 33, and transmission chain 31 is fixedly connected to previous stage lifting plate 2 / support plate 1 by rear locking piece 34, and multistage lifting plate 2 is synchronously moved by transmission mechanism 3.

[0032] Combined Figure 4As shown, in this embodiment, the lifting plate 2 includes a back plate 21, a side plate 22, an upper mounting plate 23, a lower mounting plate 24, a rotating seat 25, and a rotating shaft 26. The back plate 21 has first mounting holes 211 on both sides. The side plates 22, which are perpendicular to the back plate 21, are threaded to both sides of the back plate 21. The back plate 21 has countersunk holes 212 on the upper and lower sides for mounting the upper mounting plate 23 and the lower mounting plate 24. The upper mounting plate 23 and the lower mounting plate 24 have second mounting holes 231 corresponding to the countersunk holes 212, and third mounting holes 232 for connecting the rotating seat 25. The back plate 21 is threaded to two sets of symmetrically distributed rotating seats 25 through the upper mounting plate 23 and the lower mounting plate 24, respectively. The sprocket 32 ​​is rotatably connected between the two sets of rotating seats 25 through the rotating shaft 26. The rotating seat 25 has a slot 251 for simultaneously engaging the back plate 21 and the upper mounting plate 23 / lower mounting plate 24.

[0033] Combination Figure 4 , 5 As shown, in this embodiment, the limiting mechanism 4 includes a matching positioning roller 41 and a guide rail 42. The side plate 22 is provided with a fourth mounting hole 221 for mounting the guide rail 42. The side plate 22 is threadedly connected to the guide rail 42, and the guide rail 42 is symmetrically distributed on both sides of the back plate 21. The back plate 21 is provided with a through hole 213 for mounting the positioning roller 41. The positioning roller 41 is provided with a screw part, which passes through the through hole 213 and is connected to the back plate 21 by a bolt structure. The positioning roller 41 is linearly distributed on both sides of the back plate 21. The guide rail 42 is provided with symmetrically distributed inclined surfaces 421. The side of the positioning roller 41 is provided with a trapezoidal groove 411 that matches the inclined surface 421.

[0034] Combination Figure 6 In this embodiment, the drive mechanism 5 includes a motor 51, a reducer 52, a sprocket assembly 53, and a drive chain 54. The reducer 52 is threadedly connected to one side of the support plate 1 with screws. The motor 51 is fixedly connected to the back of the support plate 1 via the reducer 52. The support plate 1 is rotatably connected to the sprocket assembly 53, which meshes with the drive chain 54. The output end of the motor 51 controls the rotation of the sprocket assembly 53 via the reducer 52. The sprocket assembly 53 is composed of a set of driving wheels 55 and two sets of driven wheels 56. The drive wheel 55 and driven wheel 56 are triangularly distributed on the support plate 1 and are simultaneously meshed with the drive chain 54. The main shaft of the motor 51 and the drive wheel 55 are keyed to the input and output ends of the reducer 52, respectively. The rotating seat 25 is provided with a mounting part 252 for connecting the drive chain 54. The drive chain 54 is bolted to the mounting part 252. The two ends of the drive chain 54 are respectively connected to the upper and lower ends of the lifting plate 2 through the rotating seat 25. The motor 51 controls the movement of the lifting plate 2 through the drive chain 54.

[0035] Combination Figure 3 , 4As shown in Figure 7, in this embodiment, the front locking member 33 is T-shaped. The front locking member 33 is provided with an elongated hole 331 and a semi-circular groove 332. The upper mounting plate 23 is provided with a fifth mounting hole 233 and a through groove 234 for installing the front locking member 33. The front locking member 33 passes through the through groove 234 so that the elongated hole 331 corresponds to the fifth mounting hole 233. The front locking member 33 is threaded to the next-level lifting plate 2 through the elongated hole 331 and is engaged with the transmission chain 31 through the semi-circular groove 332. The front locking member 33 is moved up and down along the elongated hole 331 to control the tension of the transmission chain 31. The transmission chain 31 is provided with multiple sets of chain links 311 and sleeves 312 for connecting adjacent chain links 311. The front locking member 33 is engaged with the sleeve 312 through the semi-circular groove 332, and the two sets of front locking members 33 are symmetrically distributed on the transmission chain 31, one above the other.

[0036] Combination Figure 3 , 4 As shown in Figure 8, in this embodiment, the rear locking member 34 is provided with staggered mounting holes 341 and opening slots 342. The back plate 21 is provided with a sixth mounting hole 216 corresponding to the mounting holes 341. The rear locking member 34 is threaded to the upper-level lifting plate 2 / support plate 1 through the mounting holes 341 and is engaged with the transmission chain 31 through the opening slots 342. The transmission chain 31 is provided with multiple sets of chain links 311 and sleeves 312 for connecting adjacent chain links 311. The rear locking member 34 is engaged with the sleeves 312 through the opening slots 342, and the spacing between adjacent opening slots 342 is the same as the spacing between adjacent sleeves 312.

[0037] Combination Figure 9 As shown, the working principle of this utility model is that a first-level lifting plate 201, a second-level lifting plate 202, a third-level lifting plate 203 and a fourth-level lifting plate 204 are respectively provided in front of the support plate 1. The limiting mechanism 4 between adjacent lifting plates has the same structure, the transmission mechanism 3 is staggered, the motor 51 drives the drive wheel 55 to rotate through the reducer, and controls the first-level lifting plate 201 to move up and down through the drive chain 54.

[0038] The rear side of the first transmission chain 301 on the first-stage lifting plate 201 is fixedly connected to the support plate 1 by the rear locking member 34, and the front side of the first transmission chain 301 is fixedly connected to the second-stage lifting plate 202 by the front locking member 33. Since the contour path length of the front locking member 33 and the rear locking member 34 on the first transmission chain 301 is fixed, when the support plate 1 and the first-stage lifting plate 201 are relatively displaced, the first transmission chain 301 rotates and drives the second-stage lifting plate 202 to move synchronously.

[0039] The rear side of the second transmission chain 302 of the second-stage lifting plate 202 is fixedly connected to the first-stage lifting plate 201 by the rear locking member 34, and the front side of the second transmission chain 302 is fixedly connected to the third-stage lifting plate 203 by the front locking member 33. Therefore, when the first-stage lifting plate 201 and the second-stage lifting plate 202 have relative displacement, the second transmission chain 302 rotates and drives the third-stage lifting plate 203 to move synchronously.

[0040] The rear side of the third transmission chain 303 of the third-stage lifting plate 203 is fixedly connected to the second-stage lifting plate 202 by the rear locking member 34, and the front side of the third transmission chain 303 is fixedly connected to the fourth-stage lifting plate 204 by the front locking member 33. Therefore, when the second-stage lifting plate 202 and the third-stage lifting plate 203 have relative displacement, the third transmission chain 303 rotates and drives the fourth-stage lifting plate 204 to move synchronously.

[0041] Based on the above principle, it is ensured that each level of the lifting platform produces the same displacement, thus achieving synchronous movement of multiple lifting platforms.

[0042] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A multi-stage lifting robotic arm, characterized in that, It includes a support plate (1), a lifting plate (2), a transmission mechanism (3), a limiting mechanism (4) and a driving mechanism (5). The support plate (1) has multiple lifting plates (2) on its outer side, and a transmission mechanism (3) and a limiting mechanism (4) are provided between adjacent lifting plates (2). The support plate (1) is provided with a driving mechanism (5) for controlling the movement of the lifting plates (2). The transmission mechanism (3) includes a transmission chain (31), a sprocket (32), a front locking member (33), and a rear locking member (34). The sprocket (32) is rotatably connected to the lifting plate (2). The sprocket (32) is meshed with the transmission chain (31), and the transmission chain (31) is positioned into a ring structure by the sprocket (32). The transmission chain (31) is fixedly connected to the next level lifting plate (2) by the front locking member (33), and the transmission chain (31) is fixedly connected to the previous level lifting plate (2) / support plate (1) by the rear locking member (34). The transmission mechanism (3) drives the multi-level lifting plates (2) to move synchronously.

2. The multi-stage lifting robotic arm according to claim 1, characterized in that: The lifting plate (2) includes a back plate (21), side plates (22), an upper mounting plate (23), a lower mounting plate (24), a rotating seat (25), and a rotating shaft (26). The back plate (21) is threaded with side plates (22) that are perpendicular to the back plate (21). The back plate (21) is threaded with two sets of symmetrically distributed rotating seats (25) through the upper mounting plate (23) and the lower mounting plate (24). The sprocket (32) is rotatably connected between the two sets of rotating seats (25) through the rotating shaft (26).

3. The multi-stage lifting robotic arm according to claim 2, characterized in that: The rotating base (25) is provided with a slot (251) for simultaneously engaging the back plate (21) and the upper mounting plate (23) / lower mounting plate (24).

4. The multi-stage lifting robotic arm according to claim 2, characterized in that: The limiting mechanism (4) includes a matching positioning roller (41) and a guide rail (42). The side plate (22) is threadedly connected to the guide rail (42), and the guide rail (42) is symmetrically distributed on both sides of the back plate (21). The positioning roller (41) is linearly distributed on both sides of the back plate (21). The guide rail (42) is provided with symmetrically distributed inclined surfaces (421). The side of the positioning roller (41) is provided with a trapezoidal groove (411) that matches the inclined surface (421).

5. A multi-stage lifting robotic arm according to claim 2, characterized in that: The drive mechanism (5) includes a motor (51), a reducer (52), a sprocket assembly (53), and a drive chain (54). The motor (51) is fixedly connected to the back of the support plate (1) through the reducer (52). The support plate (1) is rotatably connected to the sprocket assembly (53) that meshes with the drive chain (54). The output end of the motor (51) controls the rotation of the sprocket assembly (53) through the reducer (52). The rotating seat (25) is provided with a mounting part (252) for connecting the drive chain (54). The two ends of the drive chain (54) are respectively connected to the upper and lower ends of the lifting plate (2) through the rotating seat (25). The motor (51) controls the movement of the lifting plate (2) through the drive chain (54).

6. The multi-stage lifting robotic arm according to claim 1, characterized in that: The front locking member (33) is provided with an elongated hole (331) and a semi-circular groove (332). The front locking member (33) is threaded to the next level lifting plate (2) through the elongated hole (331) and is engaged with the transmission chain (31) through the semi-circular groove (332).

7. A multi-stage lifting robotic arm according to claim 6, characterized in that: The transmission chain (31) is provided with multiple sets of links (311) and sleeves (312) for connecting adjacent links (311). The front locking member (33) is engaged with the sleeve (312) through a semi-circular groove (332), and the two sets of front locking members (33) are symmetrically distributed on the transmission chain (31), one above the other.

8. A multi-stage lifting robotic arm according to claim 1, characterized in that: The rear locking member (34) is provided with staggered mounting holes (341) and opening slots (342). The rear locking member (34) is threaded to the upper-level lifting plate (2) / support plate (1) through the mounting holes (341) and is engaged with the transmission chain (31) through the opening slots (342).

9. A multi-stage lifting robotic arm according to claim 8, characterized in that: The transmission chain (31) is provided with multiple sets of chain links (311) and sleeves (312) for connecting adjacent chain links (311). The rear locking member (34) is engaged with the sleeve (312) through an opening groove (342), and the spacing between adjacent opening grooves (342) is the same as the spacing between adjacent sleeves (312).

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