Hanging movable type operation platform

Abstract

The utility model discloses a suspension movable type operation platform, which relates to an operation platform and comprises an X-axis unit, a Y-axis unit and a Z-axis unit, the Y-axis unit is fixed to a ceiling, and the X-axis unit is installed at the driving end of the Y-axis unit. The Z-axis unit comprises a Z-axis main body and a Z-axis linear module, the Z-axis main body is installed at the driving end of the X-axis unit, the Z-axis linear module is installed on the Z-axis main body, the tail end executing mechanism is installed at the driving end of the Z-axis linear module, and the jacking mechanisms are installed at the upper end and the lower end of the Z-axis main body. The device is high in positioning precision, can omit an expensive sensor on the wheeled robot, is convenient to construct, and is stable and reliable.

Description

Technical Field

[0001] This utility model relates to a work platform, and more specifically, to a suspended mobile work platform. Background Technology

[0002] Currently, robots used for interior decoration are all standalone robots, meaning each robot independently handles different construction processes. They have independent chassis, lifting mechanisms, and actuators, each independently completing tasks such as navigation and positioning. This necessitates the use of a large number of robots to complete the entire interior decoration work, resulting in high construction costs. Furthermore, most interior decoration robots are wheeled, requiring onboard sensors for navigation and positioning, which leads to high costs and low positioning accuracy. Utility Model Content

[0003] The technical problem to be solved by this invention is to address the shortcomings of existing technologies by providing a suspended mobile work platform that not only has high positioning accuracy but also eliminates the need for expensive sensors on wheeled robots.

[0004] The suspended mobile work platform of this utility model includes an X-axis unit, a Y-axis unit, and a Z-axis unit; the Y-axis unit is fixed to the ceiling, and the X-axis unit is installed at the drive end of the Y-axis unit; the Z-axis unit includes a Z-axis body and a Z-axis linear module, the Z-axis body is installed at the drive end of the X-axis unit, the Z-axis linear module is installed on the Z-axis body, an end effector is installed at the drive end of the Z-axis linear module, and lifting mechanisms are installed at both the upper and lower ends of the Z-axis body.

[0005] Preferably, the lifting mechanism includes a main body, a first electric actuator, a guide rod, and a support base; the main body is fixed on the Z-axis main body, the first electric actuator is fixed in the main body, a guide rod is fixed above the first electric actuator, the end of the guide rod is inserted into and passes through the end of the main body away from the first electric actuator, and the guide rod is slidably engaged with the main body, and the support base is fixed at the end of the guide rod.

[0006] Preferably, a pressure sensor is provided between the first electric actuator and the guide rod.

[0007] Preferably, the Z-axis body has an upper part and a lower part, the upper part is mounted on the drive end of the X-axis unit, the Z-axis linear module is mounted on the lower part, and the upper part and the lower part are connected by a rotating mechanism.

[0008] Preferably, the rotating mechanism includes a rotating seat, a second electric actuator, and positioning components; one end of the rotating seat is fixedly connected to the upper part of the main body, and the other end of the rotating seat is fixedly connected to the lower part of the main body as a rotating end; the second electric actuator is installed on the upper part of the main body; multiple positioning components are fixed on the rotating end of the rotating seat; and the positioning components have positioning holes that match the piston end of the second electric actuator.

[0009] Preferably, the Y-axis unit includes a Y-axis guide rail and a Y-axis trolley; the Y-axis guide rail is fixed to the ceiling, and the Y-axis trolley is mounted on the Y-axis guide rail.

[0010] Preferably, the Y-axis carriage is provided with a second drive wheel and a second pin. The second drive wheel is rotatably connected to the Y-axis guide rail. The second pin is installed in the Y-axis carriage by an electric push rod. The Y-axis guide rail is provided with a plurality of Y-axis positioning holes that match the second pin.

[0011] Preferably, the X-axis unit includes an X-axis guide rail and an X-axis trolley; the X-axis guide rail is fixed on the Y-axis trolley, and the X-axis trolley is mounted on the X-axis guide rail.

[0012] Preferably, the X-axis trolley is provided with a first drive wheel and a first pin. The first drive wheel is rotatably connected to the X-axis guide rail. The first pin is installed in the X-axis trolley by an electric push rod. The X-axis guide rail is provided with a plurality of X-axis positioning holes that match the first pin.

[0013] Beneficial effects

[0014] The advantages of this utility model are:

[0015] 1. The work platform adopts a three-dimensional guide rail structure, that is, it has guide rails in three directions: X, Y and Z. Driven by a trolley mounted on the guide rail, the end effector can move to any position in three-dimensional space. This not only has high positioning accuracy, but also eliminates the need for expensive sensors on wheeled robots.

[0016] 2. The Y-axis of the work platform is fixedly installed on the ceiling, with pre-embedded mounting parts in the ceiling. This way, the work platform will not occupy the space of the floor and walls, making it convenient to complete various decoration and construction work on the floor and walls.

[0017] 3. The Z-axis of the work platform is equipped with lifting mechanisms at both the upper and lower ends. The upper end can support the ceiling, and the lower end can support the ground, thereby using the ceiling and the ground to support the Z-axis and increase the strength and rigidity of the Z-axis.

[0018] 4. The Z-axis of the work platform is equipped with a rotation mechanism, which allows the Z-axis to rotate 360 ​​degrees along its own axis, thereby increasing the coverage area of ​​the end effector.

[0019] 5. The motion mechanisms on the X and Y axis guide rails of the work platform all use pin-type mechanisms for positioning. Positioning holes are provided at regular intervals on the guide rails, and a pin is provided on the motion mechanism. When the pin is inserted into the positioning hole, the motion mechanism is positioned. This positioning method is lower in cost compared to conventional servo motor positioning. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural diagram of the suspended mobile work platform of this utility model;

[0021] Figure 2 This is a three-dimensional structural diagram of the X-axis unit of this utility model;

[0022] Figure 3 This is a three-dimensional structural diagram of the Y-axis unit of this utility model;

[0023] Figure 4 This is a three-dimensional structural diagram of the Z-axis unit of this utility model;

[0024] Figure 5 This is a three-dimensional structural diagram of the X-axis trolley of this utility model;

[0025] Figure 6 This is a three-dimensional structural diagram of the X-axis guide rail of this utility model;

[0026] Figure 7 This is a three-dimensional structural diagram of the Y-axis trolley of this utility model;

[0027] Figure 8 This is a three-dimensional structural diagram of the Y-axis guide rail of this utility model;

[0028] Figure 9 This is a schematic diagram of the first side structure of the Z-axis unit of this utility model;

[0029] Figure 10 This is a schematic diagram of the second side structure of the Z-axis unit of this utility model;

[0030] Figure 11 This is a three-dimensional structural diagram of the lifting mechanism of this utility model;

[0031] Figure 12 This is a side view of the rotating mechanism of this utility model. Detailed Implementation

[0032] The present invention will be further described below with reference to embodiments, but this does not constitute any limitation on the present invention. Any limited modifications made by any person within the scope of the claims of the present invention are still within the scope of the claims of the present invention.

[0033] like Figure 1As shown, the suspended mobile work platform of this utility model includes an X-axis unit 100, a Y-axis unit 200, and a Z-axis unit 300. Wherein, as... Figure 2 As shown, the X-axis unit 100 includes an X-axis guide rail 110 and an X-axis carriage 120; as Figure 3 As shown, the Y-axis unit 200 includes a Y-axis guide rail 210 and a Y-axis carriage 220; as Figure 4 As shown, the Z-axis unit 300 includes a Z-axis body 310 and a Z-axis linear module 320.

[0034] Regarding the X-axis guide rail 110 and X-axis carriage 120 in the X-axis unit 100, as follows: Figure 5 and Figure 6 As shown, the X-axis carriage 120 is equipped with a first drive wheel 121, which is installed in the main frame of the carriage and driven by a chain drive mechanism, thereby allowing the X-axis carriage 120 to move along the X-axis guide rail 110. The X-axis carriage 120 is equipped with a first pin 122, which is installed in the X-axis carriage 120 via an electric actuator. The X-axis guide rail 110 has multiple X-axis positioning holes 111, and the first pin 122 of the X-axis carriage 120 can be inserted into the X-axis positioning holes 111 of the X-axis guide rail 110, thereby achieving positioning of the X-axis carriage 120, preventing its easy displacement, and improving its stability.

[0035] like Figure 7 and Figure 8 As shown, the Y-axis carriage 220 is equipped with a second drive wheel 221, which is installed in the main frame of the carriage and driven by a chain drive mechanism, thereby allowing the Y-axis carriage 220 to move along the Y-axis guide rail 210. The Y-axis carriage 220 is equipped with a second pin 222, which is installed on the Y-axis carriage 220 via an electric actuator. The Y-axis guide rail 210 has a Y-axis positioning hole 211, and the second pin 222 of the Y-axis carriage 220 can be inserted into the Y-axis positioning hole 211 of the Y-axis guide rail 210 to achieve positioning of the Y-axis carriage 220.

[0036] like Figure 9 As shown, the Z-axis linear module 320 is fixed on the Z-axis body 310. An end effector 400 is installed on the drive end of the Z-axis linear module 320. The end effector 400 moves along the axial direction of the Z-axis body 310 through the Z-axis linear module 320, further improving the flexibility of the work platform.

[0037] Regarding the installation method of the work platform, firstly, mounting components need to be pre-embedded in the ceiling. Two Y-axis units 200 are fixed to the ceiling mounting components using bolts. The X-axis guide rail 110 is fixed at both ends to the two Y-axis carriages 220, and the Z-axis main body 310 is fixed to the X-axis carriage 120. This connection allows the X-axis unit 100 to move along the Y-axis unit 200, and the Z-axis unit 300 to move along the X-axis unit 100. Therefore, the end effector 400 can achieve translational movement in the X, Y, and Z directions, reaching any position in three-dimensional space. Furthermore, since the work platform is fixed to the ceiling via pre-embedded mounting components, it does not occupy floor or wall space, facilitating various floor and wall decoration work.

[0038] like Figure 10 As shown, lifting mechanisms 311 are installed at both the upper and lower ends of the Z-axis main body 310. The lifting mechanism 311 installed at the upper end can support the ceiling, and the lifting mechanism 311 installed at the lower end can support the ground. When the Z-axis unit 300 moves to the working position, the lifting mechanisms 311 at the upper and lower ends extend simultaneously, supporting the ceiling and the ground, thereby using the ceiling and the ground to form support for the Z-axis unit 300, increasing the strength and rigidity of the Z-axis unit 300.

[0039] like Figure 11 As shown, the lifting mechanism 311 includes a main body 3111, a first electric actuator 3112, a pressure sensor 3113, a guide rod 3114, and a support base 3115. The lifting mechanism 311 is fixed to the Z-axis main body 310 via the main body 3111. The first electric actuator 3112 is fixed in the main body 3111 and is fixedly connected to the guide rod 3114, with the pressure sensor 3113 located between them. The guide rod 3114 slides with the main body 3111, and its end extends through and above the main body 3111. The support base 3115 is fixed to the guide rod 3114. When the first electric actuator 3112 is activated, it drives the pressure sensor 3113, guide rod 3114 and support base 3115 to move together. When the support base 3115 contacts the ground or ceiling, the ground or ceiling provides a support reaction force to the support base 3115, which is transmitted to the pressure sensor 3113. When the magnitude of the support reaction force reaches the set pressure threshold, the first electric actuator 3112 stops moving.

[0040] like Figure 10 and 12As shown, a rotating mechanism 313 is provided between the upper and lower parts of the Z-axis main body 310. The rotating mechanism 313 includes a rotating seat 3131, a second electric actuator 3132, and a positioning member 3133. When the lifting mechanism 311 is not extended, the rotating seat 3131 can drive the lower part 315 of the main body to rotate relative to the upper part 314 of the main body. When the lower part 315 of the main body rotates until the positioning member 3133 is aligned with the positioning electric actuator 3132, the rotating seat 3131 stops moving. At this time, the second electric actuator 3132 extends and inserts into the positioning hole of the positioning member 3133, thereby locking the upper and lower parts of the Z-axis main body 310. The rotating mechanism 313 increases the coverage area of ​​the end effector 400.

[0041] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several modifications and improvements can be made without departing from the structure of the present utility model. These modifications and improvements will not affect the effectiveness of the present utility model or the practicality of the patent.

Claims

1. A suspended mobile work platform characterised in that, Including X axis unit (100), Y axis unit (200) and Z axis unit (300);The Y axis unit (200) is fixed on the ceiling, the X axis unit (100) is installed on the drive end of Y axis unit (200);The Z axis unit (300) includes Z axis body (310), Z axis linear module (320), the Z axis body (310) is installed on the drive end of X axis unit (100), the Z axis linear module (320) is installed on Z axis body (310), and the drive end of the Z axis linear module (320) is provided with end execution mechanism (400), and the upper and lower ends of the Z axis body (310) are both provided with jacking mechanism (311).

2. The suspended mobile work platform of claim 1, wherein, The jacking mechanism (311) includes mechanism body (3111), first electric push rod (3112), guide rod (3114) and support seat (3115);The mechanism body (3111) is fixed on the Z axis body (310), the first electric push rod (3112) is fixed in the mechanism body (3111), the first electric push rod (3112) is fixed with the guide rod (3114) above, the guide rod (3114) is inserted and penetrates the one end of the mechanism body (3111) away from the first electric push rod (3112), and the guide rod (3114) is slidably connected with the mechanism body (3111), and the support seat (3115) is fixed on the end of the guide rod (3114).

3. The suspended mobile work platform of claim 2, wherein, The first electric push rod (3112) and the guide rod (3114) are provided with a pressure sensor (3113).

4. The suspended mobile work platform of claim 1, wherein, The Z axis body (310) is provided with body upper portion (314) and body lower portion (315), the body upper portion (314) is installed on the drive end of X axis unit (100), the Z axis linear module (320) is installed on the body lower portion (315), and the body upper portion (314) and the body lower portion (315) are connected by rotating mechanism (313).

5. The suspended mobile work platform of claim 4, wherein, The rotating mechanism (313) includes rotating seat (3131), second electric push rod (3132) and positioning piece (3133);One end of the rotating seat (3131) is fixedly connected with the body upper portion (314), the other end of the rotating seat (3131) is fixedly connected with the body lower portion (315) as a rotating end, the second electric push rod (3132) is installed on the body upper portion (314), a plurality of positioning pieces (3133) are fixed on the rotating end of the rotating seat (3131), and the positioning hole matched with the piston end of the second electric push rod (3132) is formed in the positioning piece (3133).

6. The suspended mobile work platform of claim 1, wherein, The Y axis unit (200) includes Y axis guide rail (210) and Y axis trolley (220);The Y axis guide rail (210) is fixed on the ceiling, and the Y axis trolley (220) is installed on the Y axis guide rail (210).

7. The suspended mobile work platform of claim 6, wherein, The Y-axis trolley (220) is provided with a second driving wheel (221) and a second latch (222), the second driving wheel (221) is in rolling connection with the Y-axis guide rail (210), the second latch (222) is installed in the Y-axis trolley (220) through an electric push rod, and a plurality of Y-axis positioning holes (211) matched with the second latch (222) are formed in the Y-axis guide rail (210).

8. The suspended mobile work platform of claim 6, wherein, The X-axis unit (100) comprises an X-axis guide rail (110) and an X-axis trolley (120), the X-axis guide rail (110) is fixed on the Y-axis trolley (220), and the X-axis trolley (120) is installed on the X-axis guide rail (110).

9. The suspended mobile work platform of claim 8, wherein, The X-axis trolley (120) is provided with a first driving wheel (121) and a first latch (122), the first driving wheel (121) is in rolling connection with the X-axis guide rail (110), the first latch (122) is installed in the X-axis trolley (120) through an electric push rod, and a plurality of X-axis positioning holes (111) matched with the first latch (122) are formed in the X-axis guide rail (110).

Images