Double-shear fork type six-degree-of-freedom adjusting alignment platform for tracked vehicle

Abstract

The utility model discloses a kind of tracked vehicle double shear fork type six-degree-of-freedom adjustment alignment platform, it is related to the field of multi-degree-of-freedom motion platform, including tracked vehicle, scissors fork lifting platform, six-degree-of-freedom motion platform, driving assembly and low-voltage battery compartment. Among them, scissors fork lifting platform includes the scissors fork lower frame installed on tracked vehicle, the scissors fork upper frame being set on scissors fork lower frame, the double scissors fork mechanism being hinged between scissors fork upper frame and scissors fork lower frame. By setting scissors fork lifting platform and six-degree-of-freedom motion platform on tracked vehicle, six-degree-of-freedom platform can be moved, reduce the influence of external environment, meet load object docking, movement, pose adjustment and other motion posture;Meanwhile, the setting of double scissors fork mechanism can make lifting platform more stable;The setting of low-voltage battery compartment can be powered for tracked vehicle, scissors fork lifting platform and six-degree-of-freedom motion platform low voltage.

Description

Technical Field

[0001] This utility model relates to the field of multi-degree-of-freedom motion platforms, specifically to a tracked vehicle double scissor type six-degree-of-freedom adjustable alignment platform. Background Technology

[0002] Currently, tracked vehicles are often used as load platforms when installing and debugging related products, which can facilitate short-distance displacement of related products. In order to enable the related products on the tracked vehicles to move with multiple degrees of freedom, multi-degree-of-freedom motion devices or scissor-type load platforms are often set between the tracked vehicles and the load platform, which can further facilitate the installation and debugging of related products.

[0003] However, existing multi-degree-of-freedom motion devices on tracked vehicles, such as the commonly used six-degree-of-freedom motion devices, have problems such as fixed positions that cannot be moved or are inconvenient to move, and are easily affected by the external power supply environment, making it difficult to transport equipment. The transport of equipment is also affected by geographical conditions. At the same time, the current scissor fork platform also has problems such as only being able to lift loads vertically and not being able to perform other postures. Utility Model Content

[0004] Purpose of the utility model: This utility model addresses the above-mentioned shortcomings by providing a tracked vehicle double scissor type six-degree-of-freedom adjustable alignment platform to solve the problems existing in the prior art.

[0005] Technical solution: A tracked vehicle double scissor lift six-degree-of-freedom adjustable alignment platform, including a tracked vehicle, a scissor lift platform, a six-degree-of-freedom motion platform, a drive assembly, and a low-voltage battery compartment.

[0006] The scissor fork lifting platform includes a lower scissor fork frame mounted on the tracked vehicle, an upper scissor fork frame mounted on the lower scissor fork frame, a double scissor fork mechanism hinged between the upper and lower scissor fork frames, and several nitrogen springs mounted between the upper and lower scissor fork frames. The six-degree-of-freedom motion platform includes a six-degree-of-freedom upper platform mounted on the upper scissor fork frame, a six-degree-of-freedom mechanism connected between the upper platform and the upper scissor fork frame, a pallet mounted on the upper platform, and several sets of V-shaped limiting plates mounted on the pallet for restricting the movement of the load. The tracked vehicle end is equipped with a drive assembly for driving the entire vehicle to move, and a low-voltage battery compartment for providing low-voltage power to the entire platform.

[0007] In a further embodiment, the scissor lift platform also includes a tri-color light, a camera, radar, and lighting.

[0008] The tri-color light is installed at the end of the upper frame of the scissor fork. Several cameras and radars are provided and installed on both sides of the upper frame of the scissor fork. The lighting is installed at the end of the upper frame of the scissor fork away from the tri-color light, which is used in conjunction with the tri-color light, camera and radar to facilitate remote operation by the operator.

[0009] In a further embodiment, the double scissor fork mechanism includes two sets of fork arms, two sets of fork arms, two sets of pins, and two scissor fork electric cylinders.

[0010] Two sets of fork arms are rotatably mounted on the lower frame of the scissor fork, and two sets of fork arms are rotatably mounted on the lower frame of the scissor fork and are correspondingly mounted to the two sets of fork arms. Pins are installed between the two sets of fork arms and the two sets of fork arms. Two electric cylinders for the scissor fork are installed between the two sets of fork arms and the two sets of fork arms to drive the fork arms to move.

[0011] In a further embodiment, the double scissor fork mechanism also includes two sets of channel steel wheels.

[0012] Two sets of channel steel wheels are installed on two sets of the second fork arms, and a U-shaped channel steel adapted to the channel steel wheels is installed on the upper frame of the scissor fork for rolling connection between the channel steel wheels and the upper frame of the scissor fork.

[0013] In a further embodiment, the six-degree-of-freedom mechanism includes a horizontal Hooke hinge and a servo electric cylinder.

[0014] The system includes multiple sets of horizontal Hooke hinges, which are installed on the surfaces of the scissor fork upper frame and the six-degree-of-freedom upper platform that are close to each other. Multiple servo cylinders are also provided, connected between the sets of horizontal Hooke hinges to cooperate with the horizontal Hooke hinges in driving the six-degree-of-freedom upper platform to move. The servo cylinders are of the folding type, used to reduce the overall height and center of gravity of the platform.

[0015] In a further embodiment, the six-degree-of-freedom motion platform also includes a load bandage, a bearing housing, and quick-release screws.

[0016] The load bandage is mounted on the six-degree-of-freedom upper platform and the support plate. Several sets of bearing seats and quick-release screws are correspondingly arranged on the six-degree-of-freedom upper platform and the support plate, which are used to fix the six-degree-of-freedom upper platform and the support plate in conjunction with the load bandage.

[0017] In a further embodiment, the six-degree-of-freedom motion platform also includes an electrical box and a cable tray.

[0018] The electrical box is mounted on the upper frame of the scissor fork, and the cable tray is installed on the upper frame of the scissor fork to facilitate cable routing.

[0019] In a further embodiment, the upper frame of the scissor fork is concave to allow for the recessed mounting of the electrical box and the six-degree-of-freedom mechanism, thereby reducing the overall height of the platform.

[0020] Beneficial effects: This utility model discloses a tracked vehicle double scissor lift six-degree-of-freedom adjustable alignment platform. By setting a scissor lift platform and a six-degree-of-freedom motion platform on the tracked vehicle, the six-degree-of-freedom platform can be moved, reducing the influence of the external environment and meeting the motion postures of load docking, movement, and attitude adjustment. At the same time, the double scissor lift mechanism makes the lifting platform more stable. The low-voltage battery compartment can provide low-voltage power to the tracked vehicle, scissor lift platform, and six-degree-of-freedom motion platform. The pallet facilitates the loading and unloading of loads. The camera, radar, and lighting structures facilitate remote control by the operator. The nitrogen spring can provide some power for the platform's lifting and also provide shock absorption for the platform's lowering. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0022] Figure 2 This is a front view of the scissor lift platform of this utility model.

[0023] Figure 3 This is a partial structural diagram of the scissor lift platform of this utility model. Figure 1 .

[0024] Figure 4 This is a partial structural diagram of the scissor lift platform of this utility model. Figure 2 .

[0025] Figure 5 This is a perspective view of the combination of the six-degree-of-freedom motion platform and the scissor lift platform of this utility model.

[0026] Figure 6 This is a front view of the combination of the six-degree-of-freedom motion platform and the scissor lift platform of this utility model.

[0027] Figure 7 This is a schematic diagram of the bottom part of the six-degree-of-freedom upper platform structure of this utility model.

[0028] The attached figures are labeled as follows: 1. Tracked vehicle; 2. Drive assembly; 3. Low-voltage battery compartment; 4. Scissor fork lifting platform; 401. Upper frame of scissor fork; 402. Nitrogen spring; 403. Tri-color light; 404. Camera; 405. Radar; 406. Lighting; 407. Lower frame of scissor fork; 5. Double scissor fork mechanism; 501. Scissor fork electric cylinder; 502. Fork arm one; 503. Fork arm two; 504. Pin shaft; 505. Channel steel wheel; 6. Six-degree-of-freedom motion platform; 601. Six-degree-of-freedom upper platform; 602. Horizontal Hooke hinge; 603. Servo electric cylinder; 604. Load strap; 605. V-shaped limit plate; 606. Pallet; 607. Bearing seat; 608. Quick-release screw; 609. Electrical box; 610. Cable tray frame. Detailed Implementation

[0029] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid confusion with the present invention.

[0030] The applicant argues that the existing six-degree-of-freedom motion devices on tracked vehicles have problems such as being fixed in position and unable to move or being inconvenient to move, being easily affected by the external power supply environment, making it difficult to transport equipment, and being affected by geographical conditions. At the same time, the current scissor fork platform also has the problem that it can only lift loads vertically and cannot perform other postures.

[0031] Therefore, the applicant proposes a tracked vehicle double scissor-type six-degree-of-freedom adjustable alignment platform, such as... Figures 1-7 As shown, it includes a tracked vehicle 1, a scissor lift platform 4, a six-degree-of-freedom motion platform 6, a drive assembly 2, and a low-voltage battery compartment 3.

[0032] The scissor lift platform 4 includes a lower scissor frame 407 mounted on the tracked vehicle 1, an upper scissor frame 401 mounted on the lower scissor frame 407, a double scissor mechanism 5 hinged between the upper scissor frame 401 and the lower scissor frame 407, and several nitrogen springs 402 mounted between the upper scissor frame 401 and the lower scissor frame 407. The six-degree-of-freedom motion platform 6 includes a six-degree-of-freedom upper platform 601 mounted on the upper scissor frame 401, a six-degree-of-freedom mechanism connected between the six-degree-of-freedom upper platform 601 and the upper scissor frame 401, a pallet 606 mounted on the six-degree-of-freedom upper platform 601, and several sets of V-shaped limit plates 605 mounted on the pallet 606 for limiting the movement of the load. The tracked vehicle 1 is equipped with a drive assembly 2 for driving the entire vehicle to move, and a low-voltage battery compartment 3 for providing low-voltage power to the entire platform.

[0033] This application mainly consists of a tracked vehicle 1, a scissor lift platform 4, and a six-degree-of-freedom motion platform 6. It can be used for transporting, adjusting, and simulating motion of loads. The tracked vehicle 1 can pass through most complex road conditions by relying on its two tracks, and can move loads on most terrains. The tracked vehicle 1 also has a strong load capacity. The scissor lift platform 4 can improve the overall lifting stability of the platform.

[0034] Meanwhile, the scissor lift platform 4 can increase the vertical lifting distance of the six-degree-of-freedom motion platform 6 and reduce the initial height of the six-degree-of-freedom motion platform 6. By installing the six-degree-of-freedom motion platform 6 on the scissor lift platform 4 and the tracked vehicle 1, it can meet the multi-directional movement of the six-degree-of-freedom motion platform 6. This not only allows the six-degree-of-freedom motion platform 6 to move without being affected by the external environment, but also makes the movement space more flexible, so that it is not fixed in the same place and is easy to move. The large stroke lifting of the scissor lift platform 4 can improve the docking accuracy and posture adjustment accuracy of the six-degree-of-freedom motion platform 6.

[0035] In addition, the drive component 2 includes a servo motor and a reducer, and the low-voltage battery compartment 3 can provide low-voltage power to the tracked vehicle 1, the scissor lift platform 4 and the six-degree-of-freedom motion platform 6, etc., so that the platform can be used in indoor and outdoor environments, and does not require external power supply. It can be powered even in environments without power, thus avoiding the trouble of connecting power cables. At the same time, this application can meet most posture requirements, and also achieve the advantages of smaller size, higher precision and convenient short-distance transportation.

[0036] like Figures 1-6 As shown, the scissor lift platform 4 also includes a three-color light 403, a camera 404, a radar 405, and a lighting 406.

[0037] Among them, the tri-color light 403 is installed at the end of the upper frame 401 of the scissor fork, and several cameras 404 and radars 405 are provided and installed on both sides of the upper frame 401 of the scissor fork. The lighting 406 is installed at the end of the upper frame 401 of the scissor fork away from the tri-color light 403, and is used to cooperate with the tri-color light 403, camera 404 and radar 405 to facilitate remote control by the operator.

[0038] In this application, the inclusion of components such as the tri-color light 403, camera 404, radar 405, and lighting 406 facilitates remote wireless control by the operator, making operation and transportation more convenient.

[0039] like Figures 1-3As shown, the double scissor fork mechanism 5 includes two sets of fork arms 502, two sets of fork arms 503, two sets of pins 504, two scissor fork electric cylinders 501, and two sets of channel steel wheels 505.

[0040] Two sets of fork arms 502 are rotatably mounted on the lower frame 407 of the scissor fork, and two sets of fork arms 503 are rotatably mounted on the lower frame 407 of the scissor fork and are correspondingly mounted to the two sets of fork arms 502. Pins 504 are installed between the two sets of fork arms 503 and the two sets of fork arms 502. Two electric cylinders 501 are installed between the two sets of fork arms 502 and the two sets of fork arms 503 to drive the fork arms 502 and 503 to move. Two sets of channel steel wheels 505 are installed on the two sets of fork arms 503. U-shaped channel steels adapted to the channel steel wheels 505 are installed on the upper frame 401 of the scissor fork for rolling connection between the channel steel wheels 505 and the upper frame 401 of the scissor fork.

[0041] In this application, the double scissor fork mechanism 5, consisting of two scissor fork electric cylinders 501, two sets of fork arms 1 502 and two sets of fork arms 2 503, can make the scissor fork lifting platform 4 more stable and smooth. Even if the load is uneven on the platform, it will not affect the operation of the platform at all. Even if one side of the platform is unbalanced, it can provide good support. At the same time, the upper frame 401 of the scissor fork is concave and has a sunken platform for sunken installation of components such as the six-degree-of-freedom mechanism, thereby reducing the initial height of the platform as a whole and facilitating the loading and unloading of loads.

[0042] Meanwhile, four nitrogen springs 402 are provided, and the four nitrogen springs 402 are respectively located at the four corners of the lowering part of the upper frame 401 of the scissor fork. In the initial stage of the lifting of the scissor fork lifting platform 4, the thrust of the nitrogen springs 402 can provide some power to the lifting platform, thereby reducing the output force of the scissor fork electric cylinder 501. In the later stage of the lowering of the scissor fork lifting platform 4, the thrust of the nitrogen springs 402 can provide some shock absorption force to the platform, making the platform descend more smoothly. That is, it can provide some power for the lifting of the platform and also provide shock absorption for the lowering of the platform.

[0043] like Figures 1-6 As shown, the six-degree-of-freedom mechanism includes a horizontal Hooke hinge 602 and a servo electric cylinder 603.

[0044] The system includes multiple sets of horizontal Hooke hinges 602, which are installed on the surfaces of the scissor fork upper frame 401 and the six-degree-of-freedom upper platform 601 that are close to each other. Multiple servo cylinders 603 are also provided, connected between the multiple sets of horizontal Hooke hinges 602 to cooperate with the horizontal Hooke hinges 602 in driving the six-degree-of-freedom upper platform 601 to move. The servo cylinders 603 are of the folding type, used to lower the overall height and center of gravity of the platform.

[0045] In this application, all servo electric cylinders 603 are reciprocating electric cylinders, which can make the overall platform height lower and the overall platform center of gravity lower. At the same time, the reciprocating electric cylinders themselves have a reduction ratio, greater torque, and can carry heavier loads, etc.

[0046] like Figure 6 The free-degree motion platform 6 also includes a load bandage 604, a bearing housing 607, a quick-release screw 608, an electrical box 609, and a cable tray 610.

[0047] The load-bearing strap 604 is mounted on the six-degree-of-freedom upper platform 601 and the support plate 606. Several sets of bearing seats 607 and quick-release screws 608 are correspondingly arranged on the six-degree-of-freedom upper platform 601 and the support plate 606 to cooperate with the load-bearing strap 604 to fix the six-degree-of-freedom upper platform 601 and the support plate 606. The electrical box 609 is set on the upper frame 401 of the scissor fork. The cable tray 610 is installed on the upper frame 401 of the scissor fork to facilitate cable routing.

[0048] In this application, the electrical box 609 is integrated into the sunken platform of the upper frame 401 of the scissor fork, which makes the wiring of the moving braid more convenient. The entire platform surface is made of machined aluminum plate, which can make the flatness higher. The pallet 606 and the six-degree-of-freedom upper platform 601 are fixed with quick-release screws 608 and load straps 604, which can be easily disassembled. The pallet 606 can facilitate the loading and unloading of loads, and the V-shaped limit plate 605 can effectively prevent the load from moving.

[0049] This application can meet all the posture requirements of the docking platform to a certain extent, thus making the related products easier to install and debug, and facilitating docking. At the same time, this platform can move short distances, and the scissor lift platform 4 can make up for the limited lifting height of the six-degree-of-freedom motion platform 6.

[0050] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the present invention itself. Various changes in form and detail may be made to the present invention without departing from the spirit and scope of the appended claims.

Claims

1. A tracked vehicle double scissor-type six-degree-of-freedom adjustable alignment platform, characterized in that, include: Tracked vehicles; The scissor fork lifting platform includes a lower scissor fork frame installed on the tracked vehicle, an upper scissor fork frame disposed on the lower scissor fork frame, a double scissor fork mechanism hinged between the upper scissor fork frame and the lower scissor fork frame, and a plurality of nitrogen springs installed between the upper scissor fork frame and the lower scissor fork frame. The six-degree-of-freedom motion platform includes a six-degree-of-freedom upper platform disposed on the upper frame of the scissor fork, a six-degree-of-freedom mechanism connecting the six-degree-of-freedom upper platform and the upper frame of the scissor fork, a pallet mounted on the six-degree-of-freedom upper platform, and a plurality of V-shaped limiting plates disposed on the pallet for limiting the movement of the load. The tracked vehicle is equipped with a drive assembly at its end for moving the entire vehicle, and a low-voltage battery compartment for providing low-voltage power to the entire platform.

2. The tracked vehicle double scissor type six-degree-of-freedom adjustable alignment platform according to claim 1, characterized in that: The scissor lift platform also includes tri-color lights, a camera, radar, and lighting. The tri-color light is installed at the end of the upper frame of the scissor fork; Several cameras and radars are provided and are installed on both sides of the upper frame of the scissor fork. The lighting is installed on the end of the upper frame of the scissor fork away from the tri-color light, and is used in conjunction with the tri-color light, camera and radar to facilitate remote operation by the operator.

3. The tracked vehicle double scissor type six-degree-of-freedom adjustable alignment platform according to claim 1, characterized in that: The double scissor fork mechanism includes: Two sets of fork arms are rotatably mounted on the lower frame of the scissor fork; Two sets of fork arms are rotatably mounted on the lower frame of the scissor fork and are correspondingly arranged with the two sets of fork arms. Pins are installed between the two sets of fork arms and the two sets of fork arms. Two electric scissor fork cylinders are installed between the two sets of fork arms one and the two sets of fork arms two, respectively, to drive the fork arms one and two to move.

4. The tracked vehicle double scissor type six-degree-of-freedom adjustable alignment platform according to claim 3, characterized in that: The double scissor fork mechanism also includes: Two sets of channel steel wheels are correspondingly installed on the two sets of fork arms II; The upper frame of the scissor fork is equipped with a U-shaped channel steel that is compatible with the channel steel wheel, for the channel steel wheel to be rolledly connected to the upper frame of the scissor fork.

5. The tracked vehicle double scissor type six-degree-of-freedom adjustable alignment platform according to claim 1, characterized in that: The six-degree-of-freedom mechanism includes a horizontal Hooke hinge and a servo electric cylinder; The horizontal Hooke hinge is provided in multiple sets, and the multiple sets of horizontal Hooke hinges are respectively installed on the side of the upper frame of the scissor fork and the upper platform of the six degrees of freedom that are close to each other. The servo electric cylinders are provided in multiple ways, and the multiple servo electric cylinders are connected to multiple sets of horizontal Hooke joints to cooperate with the horizontal Hooke joints to drive the six-degree-of-freedom upper platform to move. The servo electric cylinder adopts a reversible design to reduce the overall height and center of gravity of the platform.

6. The tracked vehicle double scissor type six-degree-of-freedom adjustable alignment platform according to claim 1, characterized in that: The six-degree-of-freedom motion platform also includes load bandages, bearing housings, and quick-release screws; The load bandage is mounted on the six-degree-of-freedom platform and the support plate; Several sets of bearing seats and quick-release screws are provided correspondingly, and several sets of bearing seats and quick-release screws are provided correspondingly on the six-degree-of-freedom upper platform and the support plate, for use in conjunction with the load bandage to fix the six-degree-of-freedom upper platform and the support plate.

7. The tracked vehicle double scissor type six-degree-of-freedom adjustable alignment platform according to claim 1, characterized in that: The six-degree-of-freedom motion platform also includes an electrical box and a cable tray; The electrical box is mounted on the upper frame of the scissor fork; The cable tray is mounted on the upper frame of the scissor fork to facilitate cable routing.

8. The tracked vehicle double scissor type six-degree-of-freedom adjustable alignment platform according to claim 7, characterized in that: The upper frame of the scissor fork is concave, which is used for the recessed installation of the electrical box and the six-degree-of-freedom mechanism, thereby reducing the overall height of the platform.

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