CN103523707B - The scissors mechanism that COUNTABLY VALUED controls and the scissors mechanism drive system be combined into thereof - Google Patents
The scissors mechanism that COUNTABLY VALUED controls and the scissors mechanism drive system be combined into thereof Download PDFInfo
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- CN103523707B CN103523707B CN201310479612.9A CN201310479612A CN103523707B CN 103523707 B CN103523707 B CN 103523707B CN 201310479612 A CN201310479612 A CN 201310479612A CN 103523707 B CN103523707 B CN 103523707B
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Abstract
The scissors mechanism that a kind of COUNTABLY VALUED controls, include by many secondary shear type frames intersected carrier unit hinged successively in end, also include support, the ball screw being arranged on the numerical-control motor on support and being driven by numerical-control motor, one end bottom carrier unit that secondary shear type frame nethermost is hinged on support as initial point, the other end is hinged on the nut of ball screw, just the displacement of scissors mechanism at vertical direction accurately can be calculated like this according to the stroke of numerical-control motor, thus realize the Numerical Control (NC) of scissors mechanism displacement, therefore the flexible accurate positioning of scissors mechanism of the present invention, and compared with the scissors mechanism by the Joint Manipulator of driven by servomotor, its magnification ratio is large, in addition scissors mechanism of the present invention can be improved greatly load capacity and the stationarity of scissors mechanism by the scissors mechanism drive system that series, parallel or series-parallel system are combined into.
Description
[technical field]
The present invention relates to scissors mechanism and the scissors mechanism drive system that is combined into it that a kind of COUNTABLY VALUED controls, specifically a kind of accurate positioning, magnification ratio are large, can the large compound scissors mechanism arm of load.
[background technology]
Existing scissors mechanism is all the type of drive adopting nonumeric control, and as cylinder, oil cylinder or mechanical type, as US Patent No. 8151935B2, US 4867277 etc., these mechanisms also exist the inaccurate shortcoming of terminal positioning.And the mechanism that existing COUNTABLY VALUED controls, the Joint Manipulator as driven by servomotor also exist again magnification ratio little, can the little shortcoming of load.
[summary of the invention]
The object of the invention is to be to overcome the deficiencies in the prior art, the scissors mechanism drive system providing a kind of accurate positioning, scissors mechanism that magnification ratio is large, load capacity is large COUNTABLY VALUED controls and be combined into.
In order to solve the technical matters of above-mentioned existence, the present invention adopts following technical proposals:
The scissors mechanism that a kind of COUNTABLY VALUED controls, include by many secondary shear type frames intersected carrier unit hinged successively in end, the ball screw also including support, be arranged on the numerical-control motor on support and driven by numerical-control motor, one end bottom described carrier unit that secondary shear type frame nethermost is hinged on support as initial point, and the other end is hinged on the nut of ball screw; Described ball screw and carrier unit are to overlook direction parallel or overlap.
In the improvement project of the scissors mechanism that above-mentioned a kind of COUNTABLY VALUED is controlled, be connected with terminal platform by a hinged cross connection frame at that secondary shear type frame topmost, one end and the terminal platform of described cross connection top of the trellis are hinged, and the other end is provided with the slide shaft that can slide in the chute of terminal platform; The initial point of the hinge-point on described terminal platform and scissors mechanism is positioned at the same side of the hinge-point of shear type frame, and the hinge-point on the nut of ball screw is then located on the opposite side of the hinge-point of shear type frame with the slide shaft of the chute being arranged in terminal platform.
The scissors mechanism drive system that the scissors multi mechanism compound that COUNTABLY VALUED controls becomes, it is the tandem drive system stacked gradually by Liang Ge scissors mechanism; Each scissors mechanism that secondary shear type frame is topmost provided with terminal platform by a cross connection frame; One end and the terminal platform of described cross connection top of the trellis are hinged, and the other end is provided with the slide shaft that can slide in the chute of terminal platform; Between adjacent scissors mechanism, the support of a upper scissors mechanism is fixed on the terminal platform of next scissors mechanism; The initial point of the hinge-point on described terminal platform and scissors mechanism is positioned at the same side of the hinge-point of shear type frame, and the hinge-point on the nut of ball screw is then located on the opposite side of the hinge-point of shear type frame with the slide shaft of the chute being arranged in terminal platform.
In the improvement project of the scissors mechanism drive system of the scissors multi mechanism compound one-tenth that above-mentioned a kind of COUNTABLY VALUED is controlled, the trigonometric expression drive system that it is made up of two or more scissors mechanism, one of them scissors mechanism is main scissors mechanism, and all the other are auxiliary scissors mechanism; Each scissors mechanism that secondary shear type frame is topmost provided with terminal platform by a cross connection frame; One end and the terminal platform of described cross connection top of the trellis are hinged, and the other end is provided with the slide shaft that can slide in the chute of terminal platform; Two hinge-points of the lower end of that secondary shear type frame of each scissors mechanism foot are hinged on respectively by lower link on the oscillating axle of total support; A hinge-point between a pair adjacent two secondary shear type frame in hinge-point on the terminal platform of described auxiliary scissors mechanism and main scissors mechanism shares; In each scissors mechanism, the initial point of the hinge-point on described terminal platform and scissors mechanism is positioned at the same side of the hinge-point of shear type frame, and the hinge-point on the nut of ball screw is then located on the opposite side of the hinge-point of shear type frame with the slide shaft of the chute being arranged in terminal platform.
In the improvement project of the scissors mechanism drive system become at the scissors multi mechanism compound controlled above-mentioned a kind of COUNTABLY VALUED it be by more than three or three not scissors mechanism on the same line at vertical direction arrangement in parallel; The support of all scissors mechanisms swings and is connected on total support; All scissors mechanisms share a combination mechanism terminal platform, two end points of that secondary shear type frame of each scissors mechanism topmost respectively by respective upper rod hinge connection on the oscillating axle of combination mechanism terminal platform.
Compared with prior art, the invention has the beneficial effects as follows: 1), due to the numerical-control motor on support and the ball screw that driven by numerical-control motor, one end bottom described carrier unit that secondary shear type frame nethermost is hinged on support as initial point, the other end is hinged on the nut of ball screw, just the displacement of scissors mechanism at vertical direction accurately can be calculated like this according to the stroke of numerical-control motor (i.e. stepping motor), thus the Numerical Control (NC) of scissors mechanism displacement can be realized by control step motor, and be next time precisely flexible ready with regard to recoverable starting point after folding at every turn, therefore the flexible accurate positioning of scissors mechanism of the present invention, and compared with the scissors mechanism by the Joint Manipulator of driven by servomotor, its magnification ratio is large, 2), scissors mechanism of the present invention can be improved greatly load capacity and the stationarity of scissors mechanism by the scissors mechanism drive system that series, parallel or series-parallel system are combined into.
Below in conjunction with accompanying drawing and detailed description of the invention, the present invention is described in further detail:
[accompanying drawing explanation]
Fig. 1 is the structural representation of scissors mechanism embodiment of the present invention;
Fig. 2 is the side left view of Fig. 1;
Fig. 3 is the structural representation of scissors mechanism drive system embodiment one of the present invention;
Fig. 4 is the structural representation of scissors mechanism drive system embodiment two of the present invention;
Fig. 5 is the structural representation of scissors mechanism drive system embodiment three of the present invention;
Fig. 6 is the birds-eye view of Fig. 5.
[detailed description of the invention]
The present invention is the scissors mechanism that a kind of COUNTABLY VALUED controls, as shown in Figure 1, 2, include by least two secondary shear type frames 11 the intersected carrier unit 1 hinged successively in end, support 2, the ball screw 4 that is arranged on the numerical-control motor 3 on support 2 and driven by numerical-control motor 3, one end bottom described carrier unit 1 that secondary shear type frame 11 nethermost is hinged on support 2 as initial point O, and the other end is hinged on the nut 41 of ball screw 4; Described ball screw 4 and carrier unit 1 are to overlook direction parallel or overlap.In the present embodiment, carrier unit has two covers, and each hinge-point of their correspondences is by adapter shaft 30 synchronized links, and as shown in Figure 1, 2, this structure is often applied in current scissors mechanism.As shown in Figure 1, often overlap carrier unit 1 and have two secondary shear type frames 11.
When numerical-control motor 3 turns of angles, it also drives ball screw 4 turn of one angle, ball screw 4 drives nut 41 to move a distance, drive scissors actuator base one end to move a distance simultaneously, moving due to scissors actuator base one end makes scissors mechanism stretch, thus lead agency terminal identity moves.Can find out, it is one to one that the movement of mechanism's terminal identity and numerical-control motor 3 rotate, namely when numerical-control motor 3 is rotating with making Numerical Control (NC), mechanism's terminal identity, also in the movement making corresponding numerical value, makes to there is a relationship one to one between the rotation of numerical-control motor 3 and the movement of mechanism's terminal identity.Scissors mechanism is from rounding state when numerical-control motor 3 drives ball screw 4 to come flexible, and the shear type frame of its top moving displacement in vertical, horizontal direction is:
Y= n l cos
α
X= l sin
α
X=ms
The vertical distance of the shear type frame distance initial point of wherein Y----top;
Bottom X----, movable wire stem nut is apart from the distance of initial point;
α---the angle of straight-bar 112 in the vertical direction of-shear type frame 11;
Straight-bar 112 length of l----shear type frame 11;
The secondary number of n----shear type frame;
The number of turns that m---numerical-control motor rotates;
The pitch of s----screw mandrel.
Calculate angle α=arcsin (ms/l) according to second and third relational expression, and then calculate the vertical distance Y of shear type frame apart from initial point of top by first relational expression.Like this, stroke according to numerical-control motor (i.e. stepping motor) 3 just accurately can calculate the displacement of scissors mechanism at vertical direction, thus the Numerical Control (NC) of scissors mechanism displacement can be realized by control step motor, and be next time precisely flexible ready with regard to recoverable starting point after folding at every turn, therefore the flexible accurate positioning of scissors mechanism of the present invention, and compared with the scissors mechanism by the Joint Manipulator of driven by servomotor, its magnification ratio is large, such as present industrial the most frequently used articulated robot hand is that two joint arm bodies are connected, compared with the scissors mechanism described in Fig. 1, straight-bar 112 length of shear type frame 11 is just equivalent to the former arm body length, suppose that there are 3 assistant support straight-bars in scissors mechanism, such the latter increases 50% than the former magnification ratio, and the increase of secondary number along with support straight-bar, magnification ratio also increases pro rata.
Scissors mechanism can be used alone, as shown in Figure 1, usually the same with shear type frame by the length l ' of hinged its straight-bar 52 of cross connection frame 5(at that secondary shear type frame 11 topmost, at this, its length is 3/4 of shear type frame) be connected with terminal platform 6, one end and the terminal platform 6 at described cross connection frame 5 top are hinged, the other end is provided with the slide shaft 51 that can slide in the chute 61 of terminal platform 6, like this when calculating scissors mechanism in the vertical direction moving displacement, also to count the length of cross connection frame 5 in, i.e. Y=(n l+ l ') cos
α,x=l sin
α.At this, hinge-point 62 on described terminal platform 6 and the initial point O of scissors mechanism are positioned at the same side of the hinge-point 111 of shear type frame 11, and the hinge-point 411 on the nut 41 of ball screw 4 and the slide shaft 51 of the chute 61 being arranged in terminal platform 6 are then located on the opposite side of the hinge-point 111 of shear type frame 11.
Scissors mechanism also can be combined into scissors mechanism drive system by the mode such as series, parallel or connection in series-parallel.As shown in Figures 2 to 4, wherein:
In scissors mechanism drive system as shown in Figure 3, it stacks gradually by Liang Ge scissors mechanism the tandem drive system be in series, and it also can be composited by plural scissors mechanisms in series certainly.Each scissors mechanism that secondary shear type frame 11 is topmost provided with terminal platform 6 by a cross connection frame 5; One end and the terminal platform 6 at described cross connection frame 5 top are hinged, and the other end is provided with the slide shaft 51 that can slide in the chute 61 of terminal platform 6; Between adjacent scissors mechanism, the support 2 of a upper scissors mechanism is fixed on the terminal platform 6 of next scissors mechanism; Hinge-point 62 on described terminal platform 6 and the initial point O of scissors mechanism are positioned at the same side of the hinge-point 111 of shear type frame 11, and the hinge-point 411 on the nut 41 of ball screw 4 and the slide shaft 51 of the chute 61 being arranged in terminal platform 6 are then located on the opposite side of the hinge-point 111 of shear type frame 11.
In scissors mechanism drive system as shown in Figure 4, the trigonometric expression drive system that it is made up of two or more scissors mechanism, one of them scissors mechanism is main scissors mechanism A, all the other are as playing the auxiliary scissors mechanism B of draw, to strengthen the load of whole drive system, thrust and stationarity; Each scissors mechanism that secondary shear type frame 11 is topmost provided with terminal platform 6 by a cross connection frame 5; One end and the terminal platform 6 at described cross connection frame 5 top are hinged, and the other end is provided with the slide shaft 51 that can slide in the chute 61 of terminal platform 6; Two hinge-points (i.e. initial point O and nut hinge-point 411) of the lower end of that secondary shear type frame 11 of each scissors mechanism foot are hinged on the oscillating axle 9 of total support 8 respectively by lower link 7; That of the normally middle and upper part of a pair adjacent two secondary shear type frame 11(in hinge-point 62 on the terminal platform 6 of described auxiliary scissors mechanism B and main scissors mechanism A is two secondary) between a hinge-point share.
In scissors mechanism drive system as shown in Figure 5,6, it be by more than three or three not scissors mechanism on the same line at vertical direction arrangement in parallel; The support 2 of all scissors mechanisms swings and is connected on total support 8; All scissors mechanisms share a combination mechanism terminal platform 10, and two end points of that secondary shear type frame 11 of each scissors mechanism topmost are hinged on the oscillating axle 101 of combination mechanism terminal platform 10 respectively by respective upper connecting rod 20.Whole system is moved on desired position by mobile switchboard seat and uses, whole scissors mechanism can promote the power system operational of combination mechanism terminal platform 10 by the identical height of synchronization telescope, also each scissors mechanism highly different combination mechanism terminal platform 10 that makes that stretches can be made while flexible to swing the power system operational promoted on terminal platform, each scissors mechanism can swing around respective oscillating axle 101, and whole like this drive system just can be applied in the occasions such as radar, search lamp and the assembling dish needing accurately flexible and weave control.
Outside each scissors mechanism drive system above independently uses, these system recombinants can also be got up use.
Although reference above embodiment describes the present invention in detail, but be it will be apparent to one skilled in the art that by the disclosure, and when not departing from principle of the present invention and the scope of described claim restriction, can make a variety of changes the present invention or revise.Therefore, the detailed description of disclosure embodiment is only used for explaining, instead of is used for limiting the present invention, but is defined by the subject-matter of the claims the scope of protection.
Claims (1)
1. the scissors mechanism drive system of the scissors multi mechanism compound one-tenth of a COUNTABLY VALUED control, it is characterized in that, the trigonometric expression drive system that it is made up of two or more scissors mechanism, one of them scissors mechanism is main scissors mechanism (A), and all the other are auxiliary scissors mechanism (B); Each scissors mechanism includes by many secondary shear type frames (11) intersected carrier unit (1) hinged successively in end, support (2), the ball screw (4) that is arranged on the numerical-control motor (3) on support (2) and driven by numerical-control motor (3), one end of described carrier unit (1) that secondary shear type frame (11) bottom nethermost is hinged on support (2) as initial point (O), and the other end is hinged on the nut (41) of ball screw (4); Described ball screw (4) and carrier unit (1) are to overlook direction parallel or overlap; Each scissors mechanism that secondary shear type frame (11) is topmost provided with terminal platform (6) by a cross connection frame (5); One end and the terminal platform (6) at described cross connection frame (5) top are hinged, and the other end is provided with the slide shaft (51) that can slide in the chute of terminal platform (6) (61); Two hinge-points of the lower end of that secondary shear type frame (11) of each scissors mechanism foot are hinged on the oscillating axle (9) of total support (8) respectively by lower link (7); A hinge-point between a pair adjacent two secondary shear type frame (11) in hinge-point (62) on the terminal platform (6) of described auxiliary scissors mechanism (B) and main scissors mechanism (A) shares; In each scissors mechanism, hinge-point (62) on described terminal platform (6) and the initial point (O) of scissors mechanism are positioned at the same side of the hinge-point (111) of shear type frame (11), and the hinge-point (411) on the nut (41) of ball screw (4) and the slide shaft (51) of chute (61) being arranged in terminal platform (6) are then located on the opposite side of the hinge-point (111) of shear type frame (11).
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| CN201310479612.9A CN103523707B (en) | 2013-10-15 | 2013-10-15 | The scissors mechanism that COUNTABLY VALUED controls and the scissors mechanism drive system be combined into thereof |
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| CN201310479612.9A CN103523707B (en) | 2013-10-15 | 2013-10-15 | The scissors mechanism that COUNTABLY VALUED controls and the scissors mechanism drive system be combined into thereof |
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| CN103523707B true CN103523707B (en) | 2015-10-21 |
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| FI65761C (en) * | 1981-09-03 | 1984-07-10 | Elevator Gmbh | TEATERSCEN |
| CN2264170Y (en) * | 1995-07-27 | 1997-10-08 | 机械工业部北京起重运输机械研究所 | Electric mechanic lifting vehicle |
| US6044927A (en) * | 1998-09-23 | 2000-04-04 | Zefer Operations, Inc. | Work platform lift machine with scissor lift mechanism employing telescopable electro-mechanical based lift actuation arrangement |
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| CN201592972U (en) * | 2009-12-31 | 2010-09-29 | 青岛金华工业集团有限公司 | Hydraulic balancing device for platform shear type lifter secondary lifting mechanism |
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| CN203106476U (en) * | 2012-12-24 | 2013-08-07 | 嘉兴电力局 | Power switch trolley storage device capable of being manually and automatically switched to be driven |
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| CN105967121A (en) * | 2016-07-26 | 2016-09-28 | 钦州学院 | Scissor-type lifting device capable of adjusting height flexibly |
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