Parallel linkage tail end synchronization structure and hoisting device with same

Abstract

The utility model discloses a parallel linkage tail end synchronization structure and a hoisting device provided with the same, the parallel linkage tail end synchronization structure comprises a ball shaft, a locking nut, an adapter plate, a ball seat, a transition plate, a sliding block and a guide rail, the top of the ball shaft penetrates through the ball seat to form a spherical hinge joint structure, the adapter plate is located above the top of the ball seat at an interval, and the transition plate is located above the ball seat at an interval. The adapter plate is arranged on the outer side of the upper portion of the ball shaft in a sleeving mode and fastened through the locking nut, the ball seat is detachably connected with the transition plate, the sliding block is detachably arranged at the bottom of the transition plate, and the guide rail is connected with the sliding block in a sliding mode. According to the parallel linkage tail end synchronous structure, the lifting appliance and the Z shaft are connected through the spherical hinge and the guide rail sliding block, and the technical problems that when the lifting appliance and the tail end of the Z shaft of a truss are rigidly connected, an existing parallel linkage tail end synchronous structure is poor in movement flexibility, obvious in stress concentration, free of buffering and vibration reduction and the like are effectively solved.

Description

Technical Field

[0001] This application belongs to the field of hoisting equipment technology, specifically relating to a parallel linkage end-synchronization structure and a hoisting device assembled with the structure, which is suitable for the connection between the end of the parallel linkage and the hoisting device. Background Technology

[0002] Currently, in fields such as industrial manufacturing, logistics warehousing, and aerospace, multiple actuators are often required to work together to complete related lifting tasks, which places higher demands on the reliability of the end effectors of each actuator. Although current technology has made some progress, there are still limitations, such as: the lifting device and the Z-axis are usually rigidly connected. Although this structure can make the two connected and transmitted stably, it also has many disadvantages: (1) Poor movement flexibility. The rigid connection restricts the lifting device to only move in a straight line along the Z-axis and cannot swing or rotate to a certain extent in other directions such as the X and Y axes. When encountering a workpiece with a slight deviation in position, it is difficult to quickly adjust the posture of the lifting device to adapt to it. The position of the workpiece or the entire equipment must be readjusted, which reduces work efficiency. (2) Significant stress concentration. During the movement, the rigid connection will concentrate the force and torque at the connection. If subjected to a large external impact or long-term heavy load, stress concentration is likely to occur at the connection, which will accelerate the wear of the parts, shorten the service life of the equipment, and in severe cases may lead to the breakage of the connection and cause safety accidents. (3) Rigid connections lack a buffer structure and cannot absorb impacts and vibrations during movement. This not only affects the workpiece's accuracy and surface quality but also generates significant noise, deteriorates the working environment, and increases fatigue damage to equipment components. (4) High installation accuracy is required. Rigid connections require highly precise installation of the lifting device and Z-axis. Otherwise, initial installation errors may cause subsequent movement to stall or malfunction. (5) Difficulty adapting to environmental changes. During operation, changes in environmental factors such as temperature and humidity can cause thermal expansion and contraction of materials. Due to the lack of elastic deformation capacity in rigid connections, these changes can lead to stress at the connection points, affecting the stability of the equipment. (6) High maintenance difficulty and cost. If a component of a rigid connection malfunctions or is damaged, it will affect the normal use of the equipment. Rigid connection components typically require high manufacturing precision and material strength. Frequent replacement of components will increase maintenance costs and reduce the economic benefits of the equipment. Utility Model Content

[0003] This application provides a parallel linkage end synchronization structure and a hoisting device for assembling the structure. By using a ball joint connection and a guide rail slider connection between the hoist and the Z-axis, it effectively solves the technical problems of poor motion flexibility, obvious stress concentration and lack of buffering and vibration reduction that exist in the current parallel linkage end synchronization structure when a rigid connection is used between the hoist and the Z-axis end of the truss.

[0004] The technical solution to the technical problem solved in this application is as follows:

[0005] According to one aspect of this application, a parallel linkage end-synchronization structure is provided, which includes a ball shaft, a locking nut, an adapter plate, a ball seat, a transition plate, a slider, and a guide rail. The top of the ball shaft passes through the ball seat to form a ball joint structure. The adapter plate is spaced above the top of the ball seat. The adapter plate is sleeved on the upper outer side of the ball shaft and fastened by the locking nut. The ball seat is detachably connected to the transition plate. The slider is detachably disposed at the bottom of the transition plate. The guide rail is slidably connected to the slider.

[0006] Furthermore, a stop is provided on the upper part of the ball shaft, and the adapter plate is sleeved on the stop on the upper part of the ball shaft and fastened by the locking nut.

[0007] Furthermore, a hemispherical ball head is provided at one end of the ball shaft, and a ball joint structure is formed between the hemispherical ball head and the ball seat.

[0008] Furthermore, the ball seat is bolted to the transition plate.

[0009] Furthermore, the slider is detachably mounted to the bottom of the transition plate by bolts.

[0010] Furthermore, the sliders are in two sets, and the two sets of sliders are arranged in parallel and spaced apart.

[0011] According to another aspect of this application, a hoisting device is provided, comprising two rows of evenly arranged frames, each row of frames having a truss X-axis at its top, two sets of X-axis traveling mechanisms between the two truss X-axis, each set of X-axis traveling mechanisms having a truss Y-axis, a Y-axis traveling mechanism on the truss Y-axis, a Z-axis traveling mechanism on the Y-axis traveling mechanism, and a truss Z-axis on the Z-axis traveling mechanism; the ends of the two truss Z-axis are respectively equipped with the parallel linkage end synchronization structure described in the above technical solution, and the guide rails at the bottom of the two parallel linkage end synchronization structures are orthogonal and are jointly connected to a hoisting device.

[0012] Furthermore, the parallel linkage end synchronization structure is connected to the Z-axis end of the truss via the adapter plate and bolts.

[0013] Furthermore, the lifting device is connected to the guide rail by bolts.

[0014] Compared with the prior art, the parallel linkage end synchronization structure and the hoisting device for assembling the structure provided in this application have the following advantages:

[0015] (1) The structural design of this application is novel, simple and reasonable, easy to assemble and use, convenient to maintain, low in cost and good in effect.

[0016] (2) The structure described in this application has high flexibility and good adaptability. The ball joint connection can provide multiple degrees of freedom of movement, allowing the connected lifting device to swing and rotate to a certain extent in multiple directions. It can usually swing and rotate to different degrees around the X, Y, and Z axes, providing the lifting device with rich motion possibilities. This allows the lifting device to adjust its posture more flexibly to adapt to workpieces of different shapes, sizes, and positions without frequently adjusting the Z-axis position or repositioning the entire mechanical system, effectively improving work efficiency, work quality, and ease of operation. For example, when the mechanical system encounters obstacles during movement or needs to adapt to irregular workpiece surfaces or workpiece surfaces with a certain tilt angle, the ball joint connection can allow the lifting device to automatically adjust its posture, maintain good contact and magnetic attraction with the workpiece, and make the mechanical system more stable and reliable when handling workpieces with complex shapes.

[0017] (3) The ball joint connection structure in this application can effectively reduce stress concentration, so that the force can be evenly distributed on the connection part during mechanical movement, avoiding stress concentration at a certain point or in a certain direction. Compared with rigid connection, ball joint connection can effectively reduce the risk of stress damage or fatigue failure of connection part caused by stress concentration, extend the service life of lifting device and Z-axis, and improve the stability of mechanical system.

[0018] (4) The ball joint connection in this application has a certain elastic deformation capacity, which can buffer the vibration and impact generated during mechanical movement to a certain extent. When subjected to external impact, the ball joint connection can absorb and disperse energy through its own deformation, which helps to reduce the impact on the lifting device and workpiece, improve the processing accuracy and surface quality, and also reduce the wear and failure rate of the equipment caused by long-term vibration.

[0019] (5) In this application, the transition plate and the lifting device are connected by guide rails and sliders. The two sets of guide rails and sliders are connected to the lifting device in an orthogonal manner, which ensures smooth and stable movement and releases some stress concentration effect, and can effectively reduce resistance and vibration during movement. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the parallel linkage end synchronization structure described in this application;

[0021] Figure 2 This is a cross-sectional schematic diagram of the parallel linkage end synchronization structure described in this application;

[0022] Figure 3 This is an exploded view of the parallel linkage end synchronization structure described in this application;

[0023] Figure 4 This is a schematic diagram of the hoisting device in this application;

[0024] Figure 5 This is a schematic diagram showing the connection between the parallel linkage end synchronization structure, the truss Z-axis, and the lifting device in this application;

[0025] In the diagram: 1. Frame; 21. Truss X-axis; 22. X-axis traveling mechanism; 31. Truss Y-axis; 32. Y-axis traveling mechanism; 41. Truss Z-axis; 42. Z-axis traveling mechanism; 5. Parallel linkage end synchronization structure; 51. Ball shaft; 511. Hemispherical ball head; 52. Locking nut; 53. Adapter plate; 54. Ball seat; 55. Transition plate; 56. Slider; 57. Guide rail; 6. Lifting device. Detailed Implementation

[0026] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application. Unless otherwise defined, the technical or scientific terms used herein should have the ordinary meaning understood by those of ordinary skill in the art to which this disclosure pertains. The terms "upper," "lower," "left," "right," "front," "back," "inside," "outside," "X-direction," and "Y-direction" used in the specification and claims of this patent application are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship also changes accordingly. Any aspects not detailed in this application are well-known technologies to those skilled in the art.

[0027] Example 1:

[0028] like Figures 1-3 As shown, this application provides a parallel linkage end synchronization structure, which includes a ball shaft 51, a locking nut 52, an adapter plate 53, a ball seat 54, a transition plate 55, a slider 56, and a guide rail 57.

[0029] The upper and lower end faces of the ball seat 54 are through and set as a concave hemispherical shape. One end of the ball shaft 51 is provided with a hemispherical ball head 511 that is adapted to the inner side of the ball seat 54. Its top passes through the ball seat 54 and extends out from the top opening of the ball seat 54. At the same time, the hemispherical ball head 511 and the ball seat 54 form a ball joint connection structure.

[0030] The adapter plate 53 is positioned above the top of the ball seat 54. The upper part of the ball shaft 51 is provided with a stop. The adapter plate 53 is sleeved on the upper stop of the ball shaft 51 and is fastened by the lock nut 52.

[0031] The ball seat 54 and the transition plate 55 are detachably connected by bolts for easy assembly. The slider 56 is detachably mounted on the bottom of the transition plate 55 by bolts, and the guide rail 57 is slidably connected to the slider 56. In a preferred embodiment, there are two sets of sliders 56, which are arranged in parallel and spaced apart to improve the stability of the entire structure.

[0032] Example 2:

[0033] like Figure 1-5 As shown, this application provides a hoisting device, including two rows of evenly arranged frames 1. Each row of frames 1 has a truss X-axis 21 at its top. Two sets of X-axis traveling mechanisms 22 are arranged between the two truss X-axis 21. Each set of X-axis traveling mechanisms 22 has a truss Y-axis 31. The truss Y-axis 31 has a Y-axis traveling mechanism 32. The Y-axis traveling mechanism 32 has a Z-axis traveling mechanism 42. The Z-axis traveling mechanism 42 has a truss Z-axis 41. The above structure is a common existing X, Y and Z-axis traveling mechanism.

[0034] The innovation of this embodiment is that the ends of the two truss Z-axis 41 are respectively equipped with the parallel linkage end synchronization structure 5 of embodiment 1, and the guide rails 57 at the bottom of the two parallel linkage end synchronization structures 5 are orthogonal and are connected to the lifting device 6.

[0035] To facilitate the connection between the parallel linkage end synchronization structure 5 and the Z-axis traveling mechanism 42 and the lifting device 6, in this embodiment, the parallel linkage end synchronization structure 5 is connected to the end of the truss Z-axis 41 via an adapter plate 53 and bolts, and the lifting device 6 is connected to the guide rail 57 via bolts.

[0036] In this embodiment, the ball seat and the ball shaft are connected to form a ball joint, which can release its rotational degree of freedom and facilitate flexible adjustment of the lifting device's posture. Then, it is connected to two sets of guide rails and sliders through a transition plate to release the translational degree of freedom in one direction. Finally, the adapter plate is connected to the end of the Z-axis of the truss, and the two sets of guide rails are connected to the lifting device in an orthogonal manner. Through the parallel linkage of the two sets of parallel linkage end synchronous structures, even if there is a certain error in the synchronization of all moving axes of the two sets of trusses, the degree of freedom of this structure can still be used to enable the lifting device to move smoothly and solve the above problems.

Claims

1. A parallel linkage end-synchronization structure, characterized in that, The assembly includes a ball joint (51), a locking nut (52), an adapter plate (53), a ball seat (54), a transition plate (55), a slider (56), and a guide rail (57). The top of the ball joint (51) passes through the ball seat (54) to form a ball joint structure. The adapter plate (53) is spaced above the top of the ball seat (54). The adapter plate (53) is sleeved on the upper outer side of the ball joint (51) and fastened by the locking nut (52). The ball seat (54) is detachably connected to the transition plate (55). The slider (56) is detachably disposed at the bottom of the transition plate (55). The guide rail (57) is slidably connected to the slider (56).

2. A parallel link tip synchronization structure according to claim 1, wherein The ball shaft (51) has a stop at its upper part, and the adapter plate (53) is sleeved on the stop at the upper part of the ball shaft (51) and fastened by the locking nut (52).

3. A parallel link tip synchronization structure according to claim 1, wherein A hemispherical ball head (511) is provided at one end of the ball shaft (51), and a ball joint structure is formed between the hemispherical ball head (511) and the ball seat (54).

4. The parallel link tip synchronization structure of claim 1, wherein, The ball seat (54) is bolted to the transition plate (55).

5. A parallel link tip synchronization structure according to claim 1, wherein The slider (56) is detachably mounted on the bottom of the transition plate (55) by bolts.

6. A parallel link tip synchronization structure according to claim 1, wherein The slider (56) consists of two sets, which are arranged in parallel and spaced apart.

7. A hoisting device, comprising two rows of evenly arranged frames (1), each row of frames (1) having a truss X-axis (21) at its top, two sets of X-axis traveling mechanisms (22) between the two truss X-axis (21), each set of X-axis traveling mechanisms (22) having a truss Y-axis (31), a Y-axis traveling mechanism (32) on the truss Y-axis (31), a Z-axis traveling mechanism (42) on the Y-axis traveling mechanism (32), and a truss Z-axis (41) on the Z-axis traveling mechanism (42); characterized in that, The two Z-axis (41) ends of the trusses are respectively equipped with the parallel linkage end synchronization structure (5) according to any one of claims 1-6, and the guide rails (57) at the bottom of the two parallel linkage end synchronization structures (5) are orthogonal and are connected to the lifting device (6).

8. The hoisting device of claim 7, wherein, The parallel linkage end synchronization structure (5) is connected to the end of the truss Z-axis (41) via the adapter plate (53) and bolts.

9. The hoisting device of claim 7, wherein, The lifting device (6) is connected to the guide rail (57) by bolts.

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