WO2019041995A1 - 提升执行器与提升装置 - Google Patents

提升执行器与提升装置 Download PDF

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Publication number
WO2019041995A1
WO2019041995A1 PCT/CN2018/093064 CN2018093064W WO2019041995A1 WO 2019041995 A1 WO2019041995 A1 WO 2019041995A1 CN 2018093064 W CN2018093064 W CN 2018093064W WO 2019041995 A1 WO2019041995 A1 WO 2019041995A1
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WO
WIPO (PCT)
Prior art keywords
reel unit
transmission
shaft
unit
drive
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Application number
PCT/CN2018/093064
Other languages
English (en)
French (fr)
Inventor
贾王强
蔡昌荣
李满天
孟西闻
邓静
陈智
王鑫
袁金生
刘国才
蒋振宇
Original Assignee
深圳龙海特机器人科技有限公司
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Application filed by 深圳龙海特机器人科技有限公司 filed Critical 深圳龙海特机器人科技有限公司
Publication of WO2019041995A1 publication Critical patent/WO2019041995A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/02—Driving gear
    • B66D1/14—Power transmissions between power sources and drums or barrels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/30—Rope, cable, or chain drums or barrels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/36—Guiding, or otherwise ensuring winding in an orderly manner, of ropes, cables, or chains
    • B66D1/39—Guiding, or otherwise ensuring winding in an orderly manner, of ropes, cables, or chains by means of axially-movable drums or barrels

Definitions

  • the invention belongs to the field of mechanical technology, in particular to a lifting actuator and a lifting device.
  • the lifting device is a power assisting device configured to realize vertical lifting of heavy objects, which greatly reduces the labor burden of workers and avoids the accidental risk that human lifting may occur, and thus is increasingly valued and welcomed by people.
  • the pulley releases or winds around to realize the lifting of the object by the telescopic retraction of the cable.
  • the cable is wound on the pulley in a single layer to form a horizontally arranged loop on the surface of the pulley. As the pulley rotates, the cable retracts in a circle.
  • the existing lifting device Due to the difference in the horizontal position of the loop cables, the cable is not tensioned in the vertical direction during retraction, and the tapping point has a positional change in the horizontal direction. Then, the lifting force has a certain angle with the vertical direction, which causes the swinging moment, causing the swing of the lifting process, and the risk is easily caused by instability. This is an issue that cannot be solved by existing structures. In addition, the existing lifting device also has the problem of bloated structure and large volume.
  • the present invention provides a lifting actuator and a lifting device, the lifting force is vertically stable and compact.
  • a lifting actuator having:
  • a roll unit having an outer surface having a second spiral groove and being rotatably held on the first spiral groove
  • a transmission unit having at least one drive shaft, the drive shaft being parallel to a helical axis of the reel unit, the reel unit being slidably retained on the drive shaft, the drive shaft being configured to be driven The reel unit rotates;
  • a cable which is wound in a single layer in the second spiral groove, and one end projects from the reel unit to form a free end configured to connect a load.
  • the transmission shaft and the reel unit constitute a rolling spline pair: the transmission shaft is a spline shaft, the reel unit has a spline sleeve, and the spline sleeve is slidable The ground is held on the spline shaft.
  • the spline shaft has a coaxial relationship with the reel unit.
  • the transmission unit has at least two transmission shafts and a coupling portion arranged in parallel: the transmission shaft is evenly distributed within 360° along a rotation direction of the reel unit, An input end of the drive shaft is commonly connected to the coupling portion.
  • the transmission shaft and the reel unit constitute a guide rail pair:
  • the drive shaft is a linear shaft
  • the reel unit has a linear bearing inside, and the linear bearing is rotatably and slidably held on the linear shaft.
  • the reel unit includes an integrally connected spiral reel and the linear bearing, and an outer surface of the spiral reel has the second spiral groove.
  • the transmission unit has a guide shaft:
  • the guide shaft has a coaxial relationship with the reel unit, and the reel unit is rotatably held on the guide shaft.
  • a lifting device comprising a driver and the lifting actuator described above:
  • the nut remains fixed, the drive is coupled to the input of the transmission unit via a steering wheel set, and the drive and the lift actuator are located on the same side of the steering wheel set.
  • the steering wheel set is a gear transmission group or a flexible transmission group:
  • the gear train has a drive gear that maintains engagement and at least one driven gear, the drive gear being coupled to an output of the drive, the driven gear being coupled to an input of the drive unit, the drive gear Arranging in the horizontal direction with the axial direction of the driven gear;
  • the flexible transmission set has a driving wheel, at least one driven transmission wheel, and a flexure tensioned on the driving wheel and the driven wheel, the driving wheel is connected to an output end of the driver
  • the driven transmission wheel is connected to an input end of the transmission unit, and an axial direction of the driving transmission wheel and the driven transmission wheel is arranged in a horizontal direction.
  • the lifting device further has a guiding wheel:
  • It is disposed between the reel unit and the free end of the cable and is configured to guide the sliding lift of the cable, the cable being tensioned on the surface of the guide wheel.
  • the reel unit has a macroscopic linear movement, so that the single layer is wound around the reel
  • the cable in the spiral groove on the surface of the unit is retracted in a circle, and the outlet point and the free end of the cable are always on the same vertical line, so that the protruding portion of the cable is always kept vertical, so that the lifting force is vertically stable and does not wobble. Or swing risk;
  • FIG. 1 is a first schematic view of a lift actuator according to Embodiment 1 of the present invention.
  • FIG. 2 is a schematic view of the lifting actuator according to Embodiment 1 of the present invention after removing the housing;
  • FIG. 3 is a second schematic diagram of a lift actuator according to Embodiment 1 of the present invention.
  • FIG. 4 is a third schematic diagram of a lift actuator according to Embodiment 1 of the present invention.
  • Figure 5 is a cross-sectional view of the lift actuator of Figure 4 taken along the line A-A;
  • Figure 6 is an enlarged schematic view of the M of the lifting actuator of Figure 5;
  • Figure 7 is a first schematic view of a lifting device according to Embodiment 1 of the present invention.
  • Figure 8 is a second schematic view of a lifting device according to Embodiment 1 of the present invention.
  • FIG. 9 is a third schematic diagram of a lifting device according to Embodiment 1 of the present invention.
  • FIG. 10 is a schematic structural diagram of a lift actuator according to Embodiment 2 of the present invention.
  • FIG. 11 is a first schematic diagram of a lift actuator according to Embodiment 3 of the present invention.
  • Figure 12 is a schematic view of the lift actuator of the third embodiment of the present invention after removing the housing;
  • FIG. 13 is a second schematic diagram of a lift actuator according to Embodiment 3 of the present invention.
  • Figure 14 is a cross-sectional view showing the lift actuator provided in Embodiment 3 of the present invention.
  • Figure 15 is a schematic structural view of a lifting device according to Embodiment 3 of the present invention.
  • FIG. 16 is a schematic structural diagram of a lift actuator according to Embodiment 4 of the present invention.
  • 1000-lifting device 0100-lifting actuator, 0110-nut, 0111-first spiral groove, 0120-roll unit, 0121-screw reel, 0121a-second spiral groove, 0121-linear bearing, 0130-transmission unit , 0131 - drive shaft, 0132 - coupling part, 0131 - guide shaft, 0124 - spline shaft, 0140 - cable, 0141 - extension, 0141a - free end, 0200 - drive, 0300 - steering wheel set, 0310 - Active drive wheel, 0320-driven drive wheel, 0330-flexure, 0340-tensioning device, 0400-guide wheel.
  • the lift actuator 0100 includes a nut 0110, a reel unit 0120, a transmission unit 0130, and a cable 0140 for achieving vertical stability of the lifting force without causing sloshing and causing a risk.
  • the specific structure of the lift actuator 0100 is detailed below.
  • the inner surface of the nut 0110 has a first spiral groove 0111, which forms a motion fit relationship with the reel unit 0120.
  • the nut 0110 can be in a variety of configurations and fixedly attached to the outer bracket or housing to remain relatively stationary.
  • the lift actuator 0100 also includes a reel unit 0120.
  • the outer surface of the reel unit 0120 has a second spiral groove 0121a, and the second spiral groove 0121a is matched with the first spiral groove 0111, so that the reel unit 0120 can be spirally held on the first spiral groove 0111.
  • the thread shape of the first spiral groove 0111 and the second spiral groove 0121a may be in various forms, and preferably, in the present embodiment, both are implemented in the form of a screw thread. Different from the general screw drive form, here the nut 0110 remains stationary and the reel unit 0120 has the ability to move.
  • the lift actuator 0100 also includes a transmission unit 0130 configured to input power to the reel unit 0120.
  • the transmission unit 0130 has at least one transmission shaft 0131.
  • the transmission shaft 0131 is parallel to the spiral axis of the reel unit 0120.
  • the reel unit 0120 is slidably held on the transmission shaft 0131.
  • the transmission shaft 0131 is configured to drive the reel unit 0120 to rotate. .
  • a cable 0140 is attached to the reel unit 0120. Specifically, the cable 0140 is wound in a single layer in the second spiral groove 0121a, and one end is extended from the reel unit 0120 to form a free end 0141a configured to connect the load.
  • the free end 0141a is configured to connect the weight as a load, keeping the extended section 0141 of the cable 0140 tensioned, and grasping the weight with tension.
  • the protruding section 0141 of the cable 0140 refers to a section in which the cable 0140 protrudes outside the reel unit 0120.
  • the free end 0141a of the cable 0140 is located at the end of the extended section 0141 of the cable 0140 away from the reel unit 0120.
  • the free end 0141a can be accessed with a hook configured to hang a weight to improve the stability of the hanging.
  • the reel unit 0120 is spirally moved on the nut 0110.
  • the nut 0110 remains stationary, macroscopically representing the linear movement of the reel unit 0120.
  • the cable 0140 is wound or released in a circle with the spiral rotation of the reel unit 0120.
  • the loop that needs to be retracted moves to the exit point point by circle, thereby ensuring that the draw point is always stationary.
  • the exit point refers to the intersection of the extended section 0141 of the cable 0140 and the reel unit 0120, that is, the intersection of the loop and the reel unit 0120 in the retracted state.
  • the extended section 0141 of the cable 0140 is always vertically tensioned, and the lifting force provided by the tensioning force is maintained to be vertically distributed.
  • the structural form in which the nut 0110 is kept stationary and the reel unit 0120 is spirally rotated greatly compresses the structural size of the lift actuator 0100.
  • the lift actuator 0100 only needs to provide a length space equivalent to twice the axial effective stroke of the reel unit 0120, so that the full length winding and release of the cable 0140 wound around the reel unit 0120 can be realized, so that the lifting is performed.
  • the structure of the 0100 is very compact.
  • the axial effective stroke of the reel unit 0120 refers to the axial length of the reel section in which the reel unit 0120 is wound with the cable 0140.
  • the radial dimension of the reel unit 0120 can be further increased, and the axial dimension of the reel unit 0120 can be further compressed to improve the radial and axial matching of the reel unit 0120, further The structural compactness of the lift actuator 0100 is enhanced.
  • the transmission unit 0130 has at least two transmission shafts 0131 and a coupling portion 0132 arranged in parallel:
  • the drive shafts 0131 are evenly distributed within 360° along the rotational direction of the reel unit 0120, and the input ends of the drive shafts 0131 are commonly connected to the coupling portion 0132.
  • the transmission shaft 0131 and the reel unit 0120 constitute a guide rail pair.
  • the drive shaft 0131 is a linear shaft
  • the reel unit 0120 has a linear bearing 0122 inside, and the linear bearing 0122 is rotatably and slidably held on the linear shaft.
  • the two or more transmission shafts 0131 are driven via the same coupling portion 0132, and have a motion state in which the central axis of the reel unit 0120 is integrally rotated.
  • the plurality of drive shafts 0131 collectively act on the reel unit 0120 to apply a tangential force such that the reel unit 0120 has a tendency to rotate about its central axis.
  • the reel unit 0120 undergoes a helical rotational motion on the first spiral groove 0111.
  • the guide rail pair between the linear bearing 0122 and the linear shaft is substantially a moving pair, and the reel unit 0120 is linearly moved by the linear bearing 0122.
  • the transmission shaft 0131 can have various shapes, such as a cylindrical shaft, a square shaft, a profiled shaft, and the like.
  • the transmission shaft 0131 is a cylindrical shaft.
  • the transmission shaft 0131 is preferably a linear optical axis, and the linear optical axis is a product having a guiding function of a sliding bearing to enable linear motion.
  • the reel unit 0120 includes an integrally connected spiral reel 0021 and a linear bearing 0122, and the outer surface of the spiral reel 0121 has a second spiral groove 0121a.
  • the spiral reel 0121 is spirally held on the nut 0110 by the second spiral groove 0121a.
  • the spiral reel 0121 is integrally coupled with the linear bearing 0122, and the spiral rotation of the spiral reel 0121 is integrated with the linear motion of the linear bearing 0122 to realize the spiral rotational movement of the reel unit 0120.
  • the lifting device 1000 provided in this embodiment includes a driver 0200 and the aforementioned lifting actuator 0100.
  • the lifting device 1000 can include a rack.
  • the nut 0110 is attached to the frame and remains fixed. In other words, the nut 0110 does not move relative to each other and functions as a guide base.
  • the lifting device 1000 also includes a steering wheel set 0300 configured to communicate the output power of the drive 0200 to the lift actuator 0100.
  • a steering wheel set 0300 configured to communicate the output power of the drive 0200 to the lift actuator 0100.
  • the input end of the drive 0200 and the transmission unit 0130 is connected through the steering wheel set 0300, and the output power of the drive 0200 is input to the lift actuator 0100 via the steering wheel set 0300 and the transmission unit 0130 to drive the lift actuator 0100 to perform the lifting action.
  • the drive 0200 and the lift actuator 0100 are located on the same side of the steering wheel set 0300.
  • the input end and the output end of the steering wheel set 0300 are both located on the same side of the steering wheel set 0300, so that the driver 0200 and the lift actuator 0100 form a stacked structure, so as to avoid the structure of the inline arrangement being swollen and bulky.
  • steering wheel set 0300 has the distinct effect of parallel transposition.
  • the lifting device 1000 has the outstanding advantages of lifting force stability, compact structure and compactness.
  • the steering wheel set 0300 can also have a speed control function.
  • the driver 0200 can be a motor, a hydraulic motor, a crank linkage mechanism or the like that can realize a rotating output.
  • the steering wheel set 0300 is a gear transmission group or a flexible transmission group:
  • the gear transmission group has a driving gear that keeps meshing with at least one driven gear, the driving gear is connected with an output end of the driving 0200, the driven gear is connected with an input end of the transmission unit 0130, and the axial direction of the driving gear and the driven gear is horizontal.
  • the flexible transmission set has an active transmission wheel 0310, at least one driven transmission wheel 0320, and a flexure 0330 that is tensioned on the driving wheel 0310 and the driven wheel.
  • the driving wheel 0310 is connected to the output end of the driver 0200, and the driven transmission is driven.
  • the wheel 0320 is connected to the input end of the transmission unit 0130, and the driving wheel 0310 and the driven transmission wheel 0320 are arranged in the horizontal direction in the horizontal direction.
  • the flexible transmission relationship is a common mechanical transmission, usually composed of two or more transmission wheels and a flexible member 0330, through which the movement and power are transmitted between the transmission wheels.
  • the flexible transmission mainly has a belt drive, a chain drive and a rope drive.
  • the drive wheels are respectively a pulley, a sprocket and a sheave, and the flexures 0330 are respectively a drive belt, a drive chain and a drive rope.
  • the steering wheel set 0300 can be adjusted to adjust the output speed of the drive 0200 to the lift actuator 0100. The required speed.
  • the steering wheel set 0300 further has a tensioning device 0340 configured to permanently tension the flexure 0330 to the rotational drive wheel 0310 and the driven drive wheel 0320.
  • the tensioning device 0340 can be in various forms such as a tensioning pulley.
  • the lifting device 1000 also has a guide wheel 0400.
  • the guide wheel 0400 is disposed between the reel unit 0120 and the free end 0141a of the cable 0140, and is configured to guide the movement process of the cable 0140, and to a certain extent, saves labor.
  • the cable 0140 is tensioned against the surface of the guide wheel 0400.
  • the transmission unit 0130 is driven by only a combination of a transmission shaft 0131 and a guide shaft 0133.
  • the guide shaft 0133 has a coaxial relationship with the reel unit 0120, and the reel unit 0120 is rotatably held on the guide shaft 0133.
  • the drive shaft 0131 is parallel to the helical axis of the reel unit 0120, and the reel unit 0120 is slidably retained on the drive shaft 0131.
  • the guide shaft 0133 is directly coupled to the coupling portion 0132. Further, the guide shaft 0133 is remote from one end of the reel unit 0133 and appears as an input end of the transmission unit 0130.
  • the guide shaft 0133 has a rotation ability and drives the coupling portion 0132 to rotate.
  • the transmission shaft 0131 connected to the coupling portion 0132 has an overall rotation of the revolution type around the guide shaft 0133, and the plurality of transmission shafts 0131 cooperate to drive the reel unit 0120 to spirally rotate.
  • the transmission unit 0130 employs at least two transmission shafts 0131 and has a guide shaft 0133.
  • the guide shaft 0133 has a coaxial relationship with the reel unit 0120, and the reel unit 0120 is rotatably held on the guide shaft 0133.
  • the drive shaft 0131 is parallel to the helical axis of the reel unit 0120, and the reel unit 0120 is slidably retained on the drive shaft 0131.
  • the two or more transmission shafts 0131 are driven via the same coupling portion 0132, and have a motion state in which the central axis of the reel unit 0120 is integrally rotated.
  • the plurality of drive shafts 0131 collectively act on the reel unit 0120 to apply a tangential force such that the reel unit 0120 has a tendency to rotate about its central axis.
  • the guide shaft 0133 is directly coupled to the coupling portion 0132 and is at the center of the distribution circumference of the drive shaft 0131.
  • the guide shaft 0133 has a rotation ability and drives the coupling portion 0132 to rotate.
  • the transmission shaft 0131 connected to the coupling portion 0132 has an overall rotation of the revolution type around the guide shaft 0133, and the plurality of transmission shafts 0131 cooperate to drive the reel unit 0120 to spirally rotate. The combination of the plurality of transmission shafts 0131 and the guide shaft 0133 makes the transmission smoother and centering effect better.
  • the transmission unit 0130 adopts a transmission mode of rolling spline pairs.
  • the transmission shaft 0131 and the reel unit 0120 constitute a rolling spline pair.
  • the transmission shaft 0131 is a spline shaft 0134
  • the reel unit 0120 has a spline sleeve, and the spline sleeve is slidably held on the spline shaft 0134.
  • a ball and circulation device is provided between the spline sleeve and the spline shaft 0134. Through the point contact of the balls, the spline sleeve can transmit torque in a linear motion on the spline shaft 0134.
  • the rolling spline pair is implemented in a rolling manner with less friction.
  • the rolling spline pair also has a compact structure that delivers excess load and power and has a long life.
  • the spline shaft 0134 has a coaxial relationship with the reel unit 0120 to avoid eccentric moments that affect transmission and motion.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transmission Devices (AREA)

Abstract

一种提升执行器（0100）包括：内表面具有第一螺旋槽（0111）的螺母（0110）；外表面具有第二螺旋槽（0121a）的卷筒单元（0120），可螺旋旋转地保持于第一螺旋槽上；具有至少一根传动轴（0131）的传动单元（0130），传动轴与卷筒单元的螺旋轴线平行，卷筒单元可滑动地保持于传动轴上，传动轴配置成驱动卷筒单元旋转；以及缆绳（0140），其单层地缠绕于第二螺旋槽内，一端自卷筒单元上伸出而形成配置成连接负载的自由端（0141a）。一种提升装置（1000）包括驱动器（0200）与所述提升执行器，其中螺母保持固定，驱动器与传动单元的输入端通过转向轮组（0300）连接，驱动器与提升执行器位于转向轮组的同一侧。该提升执行器与提升装置的结构紧凑且其提升力在铅垂方向稳定。

Description

提升执行器与提升装置
相关申请的交叉引用
本申请要求于2017年09月01日提交中国专利局的申请号为CN201710777592.1、名称为“提升执行器与提升装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明属于机械技术领域，具体地来说，是一种提升执行器与提升装置。
背景技术
提升装置是一种配置成实现重物垂直提升的助力装置，极大地减轻了工人的劳动负担，避免了人力抬升可能发生的意外风险，因而日益受到人们的重视与欢迎。
目前的提升装置中，需要采用滑轮释放或收卷缠绕于其上的缆绳，以通过缆绳的伸缩收放而实现物体的移动提升。现有结构中，缆绳单层地缠绕于滑轮上，于滑轮表面形成水平排布的绳圈。随着滑轮的旋转，缆绳逐圈收放。
由于各圈缆绳水平位置的不同，收放时缆绳并未沿竖直方向张紧，出绳点具有水平方向的位置变化。继而，提升力与铅垂方向具有一定的夹角而引致摆动力矩，造成提升过程的摆动，容易因不稳而发生风险。这是现有结构无法解决的问题。此外，现有的提升装置还存在结构臃肿、体积庞大的问题。
发明内容
为了克服现有技术的不足，本发明提供了一种提升执行器与提升装置，提升力铅垂稳定且结构紧凑。
本发明的目的通过以下技术方案来实现：
一种提升执行器，具有：
螺母，其内表面具有第一螺旋槽；
卷筒单元，其外表面具有第二螺旋槽，而可螺旋旋转地保持于所述第一螺旋槽上；
传动单元，其具有至少一根传动轴，所述传动轴与所述卷筒单元的螺旋轴向平行，所述卷筒单元可滑动地保持于所述传动轴上，所述传动轴配置成驱动所述卷筒单元旋转；
缆绳，其单层地缠绕于所述第二螺旋槽内，一端自所述卷筒单元上伸出而形成配置成连接负载的自由端。
作为上述技术方案的改进，所述传动轴与所述卷筒单元组成滚动花键副：所述传动轴为花键轴，所述卷筒单元上具有花键套，所述花键套可滑动地保持于所述花键轴上。
作为上述技术方案的进一步改进，所述花键轴与所述卷筒单元具有共轴关系。
作为上述技术方案的进一步改进，所述传动单元具有至少两根平行布置的所述传动轴与联轴部：所述传动轴沿所述卷筒单元的旋转方向于360°内均匀分布，所述传动轴的输入端共同连接于所述联轴部上。
作为上述技术方案的进一步改进，所述传动轴与所述卷筒单元组成导轨副：
所述传动轴为直线轴，所述卷筒单元内部具有线性轴承，所述线性轴承可旋转并滑动地保持于所述直线轴上。
作为上述技术方案的进一步改进，所述卷筒单元包括一体连接的螺旋卷筒与所述线性轴承，所述螺旋卷筒的外表面具有所述第二螺旋槽。
作为上述技术方案的进一步改进，所述传动单元具有导向轴：
所述导向轴与所述卷筒单元具有共轴关系，所述卷筒单元可螺旋旋转地保持于所述导向轴上。
一种提升装置，包括驱动器与以上所述的提升执行器：
所述螺母保持固定，所述驱动器与所述传动单元的输入端通过转向轮组连接，所述驱动器与所述提升执行器位于所述转向轮组的同一侧。
作为上述技术方案的改进，所述转向轮组为齿轮传动组或者挠性传动组：
所述齿轮传动组具有保持啮合的主动齿轮与至少一个从动齿轮，所述主动齿轮与所述驱动器的输出端连接，所述从动齿轮与所述传动单元的输入端连接，所述主动齿轮与所述从动齿轮的轴向沿水平方向布置；
所述挠性传动组具有主动传动轮、至少一个从动传动轮及张紧于所述主动传动轮与所述从动轮上的挠性件，所述主动传动轮与所述驱动器的输出端连接，所述从动传动轮与所述传动单元的输入端连接，所述主动传动轮与所述从动传动轮的轴向沿水平方向布置。
作为上述技术方案的进一步改进，所述提升装置还具有导向轮：
其设于所述卷筒单元与所述缆绳的自由端之间，配置成对所述缆绳的滑动提升进行导向限制，所述缆绳张紧于所述导向轮表面。
本发明的有益效果是：
(1)具有静止不动的螺母与可螺旋旋转地保持于螺母上的卷筒单元，于卷筒单元的螺旋运动过程中，卷筒单元具有宏观上的线性移动，使单层缠绕于卷筒单元表面的螺旋槽内的缆绳逐圈收放，出绳点与缆绳自由端始终处于同一铅垂线上，使缆绳的伸出段始终保持铅垂，使提升力铅垂稳定，不会发生摇晃或摆动风险；
(2)在螺母静止而卷筒单元螺旋旋转的结构下，提升执行器的有效长度可压缩至卷筒单元的轴向有效行程，使提升执行器具有十分突出的结构紧凑性。
为使本发明的上述目的、特征和优点能更明显易懂，下文特举较佳实施例，并配合所附附图，作详细说明如下。
附图说明
为了更清楚地说明本发明实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本发明的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1是本发明实施例1提供的提升执行器的第一示意图；
图2是本发明实施例1提供的提升执行器去除壳体后的示意图；
图3是本发明实施例1提供的提升执行器的第二示意图；
图4是本发明实施例1提供的提升执行器的第三示意图；
图5是图4中提升执行器的A-A剖视示意图；
图6是图5中提升执行器的M处放大示意图；
图7是本发明实施例1提供的提升装置的第一示意图；
图8是本发明实施例1提供的提升装置的第二示意图；
图9是本发明实施例1提供的提升装置的第三示意图；
图10是本发明实施例2提供的提升执行器的结构示意图；
图11是本发明实施例3提供的提升执行器的第一示意图；
图12是本发明实施例3提供的提升执行器去除壳体后的示意图；
图13是本发明实施例3提供的提升执行器的第二示意图；
图14是本发明实施例3提供的提升执行器的对剖示意图；
图15是本发明实施例3提供的提升装置的结构示意图；
图16是本发明实施例4提供的提升执行器的结构示意图。
主要元件符号说明：
1000-提升装置，0100-提升执行器，0110-螺母，0111-第一螺旋槽，0120-卷筒单元，0121-螺旋卷筒，0121a-第二螺旋槽，0122-线性轴承，0130-传动单元，0131-传动轴，0132-联轴部，0133-导向轴，0134-花键轴，0140-缆绳，0141-伸出段，0141a-自由端，0200-驱动器，0300-转向轮组，0310-主动传动轮，0320-从动传动轮，0330-挠性件，0340-张紧装置，0400-导向轮。
具体实施方式
为了便于理解本发明，下面将参照相关附图对提升执行器与提升装置进行更全面的描述。附图中给 出了提升执行器与提升装置的优选实施例。但是，提升执行器与提升装置可以通过许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供这些实施例的目的是使对提升执行器与提升装置的公开内容更加透彻全面。
需要说明的是，当元件被称为“固定于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。相反，当元件被称作“直接在”另一元件“上”时，不存在中间元件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在提升执行器与提升装置的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
实施例1
请结合参阅图1～6，提升执行器0100包括螺母0110、卷筒单元0120、传动单元0130与缆绳0140，用以实现提升力的铅垂稳定，不致发生晃动而引致风险。提升执行器0100的具体结构详述如下。
螺母0110内表面具有第一螺旋槽0111，与卷筒单元0120形成运动配合关系。在本实施例中，螺母0110可以是多种结构形式，并固定连接于外部支架或壳体上，保持相对静止。
提升执行器0100还包括卷筒单元0120。卷筒单元0120的外表面具有第二螺旋槽0121a，第二螺旋槽0121a与第一螺旋槽0111相匹配，使卷筒单元0120可螺旋旋转地保持于第一螺旋槽0111上。第一螺旋槽0111与第二螺旋槽0121a的螺纹形状可以是多种形式，优选地，在本实施例中，二者均以丝杠螺纹的形式实施。区别于一般的丝杠传动形式，在此，螺母0110保持静止，而卷筒单元0120具有运动能力。
提升执行器0100还包括配置成向卷筒单元0120输入动力的传动单元0130。传动单元0130具有至少一根传动轴0131，传动轴0131与卷筒单元0120的螺旋轴向平行，卷筒单元0120可滑动地保持于传动轴0131上，传动轴0131配置成驱动卷筒单元0120旋转。
卷筒单元0120上附着有缆绳0140，具体地，缆绳0140单层地缠绕于第二螺旋槽0121a内，一端自卷筒单元0120上伸出而形成配置成连接负载的自由端0141a。
在提升过程，自由端0141a配置成连接作为负载的重物，使缆绳0140的伸出段0141保持张紧，以张紧力而抓紧重物。其中，缆绳0140的伸出段0141是指缆绳0140伸出于卷筒单元0120外部的段落。相应地，缆绳0140的自由端0141a位于缆绳0140的伸出段0141远离卷筒单元0120的一端末端。作为一个示范性的实施例，自由端0141a处可接入挂钩，配置成吊挂重物，以改善挂物的稳定性。
此时，在传动单元0130的驱动下，卷筒单元0120于螺母0110上螺旋旋转地移动。同时，螺母0110保持不动，宏观上表现为卷筒单元0120的线性移动。在此过程中，缆绳0140随卷筒单元0120的螺旋旋转而逐圈收卷或释放。
换言之，需要收放的绳圈逐圈移动至出绳点，从而保证出绳点始终不动。其中，出绳点是指，缆绳0140的伸出段0141与卷筒单元0120的交点，亦即处于收放状态的绳圈与卷筒单元0120的交点。于是，缆绳0140的伸出段0141始终保持铅垂地张紧，而由张紧力提供的提升力亦得以保持铅垂分布。
兼之，采用螺母0110保持静止、卷筒单元0120螺旋旋转的结构形式，极大地压缩提升执行器0100的结构尺寸。一般地，提升执行器0100仅需提供相当于卷筒单元0120的两倍轴向有效行程的长度空间，即可实现缠绕于卷筒单元0120的缆绳0140的全长度收卷与释放，使提升执行器0100的结构紧凑性十分突出。其中，卷筒单元0120的轴向有效行程，是指卷筒单元0120缠绕有缆绳0140的卷筒段的轴向长度。
在一个示范性的实施例中，可以进一步增大卷筒单元0120的径向尺寸，则可进一步压缩卷筒单元0120的轴向尺寸，改善卷筒单元0120的径向与轴向匹配度，进一步增强提升执行器0100的结构紧凑性。
优选地，传动单元0130具有至少两根平行布置的传动轴0131与联轴部0132：
传动轴0131沿卷筒单元0120的旋转方向于360°内均匀分布，传动轴0131的输入端共同连接于联轴部0132上。
进一步优选，传动轴0131与卷筒单元0120组成导轨副。传动轴0131为直线轴，卷筒单元0120内部具有线性轴承0122，线性轴承0122可旋转并滑动地保持于直线轴上。
具体地，两根以上的传动轴0131经由同一联轴部0132驱动，具有绕卷筒单元0120的中心轴一体旋转的运动状态。多根传动轴0131共同对卷筒单元0120作用而施加切向力，使卷筒单元0120具有绕其中心轴的旋转运动趋势。
由于第一螺旋槽0111与第二螺旋槽0121a的配合导向，卷筒单元0120于第一螺旋槽0111上发生螺旋旋转运动。同时，线性轴承0122与直线轴之间的导轨副，其实质为移动副，卷筒单元0120通过线性轴承0122而实现线性移动。
其中，传动轴0131可以具有多种形状，如圆柱轴、方轴、异形轴等，在本实施例中，优选地，传动轴0131为圆柱轴。进一步地，传动轴0131优选为直线光轴，直线光轴是具有滑动轴承的引导作用，可使实行直线运动的产品。
优选地，卷筒单元0120包括一体连接的螺旋卷筒0121与线性轴承0122，螺旋卷筒0121的外表面具有第二螺旋槽0121a。
具体地，螺旋卷筒0121通过第二螺旋槽0121a而可螺旋旋转地保持于螺母0110上。螺旋卷筒0121与线性轴承0122一体连接，而使螺旋卷筒0121具有的螺旋旋转与线性轴承0122具有的线性运动结合为一体，实现卷筒单元0120的螺旋式旋转移动。
请结合参阅图7～9，本实施例提供的提升装置1000，包括驱动器0200与前述的提升执行器0100。
具体地，在一个示范性的实施例中，提升装置1000可以包括机架。螺母0110连接于机架上而保持固定，换言之，螺母0110不发生相对运动，而发挥导向基座的作用。
提升装置1000还包括转向轮组0300，配置成将驱动器0200的输出动力传递于提升执行器0100。具体地，驱动器0200与传动单元0130的输入端通过转向轮组0300连接，驱动器0200的输出动力经转向轮组0300以及传动单元0130而输入提升执行器0100，以驱动提升执行器0100执行提升动作。
同时，驱动器0200与提升执行器0100位于转向轮组0300的同一侧。具体地，转向轮组0300的输入端与输出端均位于转向轮组0300的同一侧，使驱动器0200与提升执行器0100形成堆叠式结构，避免一字式排布结构的结构臃肿庞大。简言之，转向轮组0300具有平行转置的明显作用。结合前述提升执行器0100本身的结构紧凑性，提升装置1000具有提升力铅垂稳定、结构紧凑小巧的突出优点。在一个示范性的实施例中，转向轮组0300亦可具有调速功能。其中，驱动器0200可以是电动机、液压马达、曲柄连杆机构等可实现旋转输出的结构形式。
优选地，转向轮组0300为齿轮传动组或者挠性传动组：
齿轮传动组具有保持啮合的主动齿轮与至少一个从动齿轮，主动齿轮与驱动器0200的输出端连接，从动齿轮与传动单元0130的输入端连接，主动齿轮与从动齿轮的轴向沿水平方向布置；
挠性传动组具有主动传动轮0310、至少一个从动传动轮0320及张紧于主动传动轮0310与从动轮上的挠性件0330，主动传动轮0310与驱动器0200的输出端连接，从动传动轮0320与传动单元0130的输入端连接，主动传动轮0310与从动传动轮0320的轴向沿水平方向布置。
其中，挠性传动关系是一种常见的机械传动，通常由两个或多个传动轮与挠性件0330组成，通过挠性件0330在传动轮之间传递运动与动力。根据挠性件0330的类型不同，挠性传动主要有带传动、链传动和绳传动，传动轮分别为带轮、链轮和绳轮，挠性件0330分别为传动带、传动链和传动绳。
在一个示范性的实施例中，根据齿轮传动组或者挠性传动组的传动比不同，转向轮组0300即可起到相应的调速作用，以将驱动器0200的输出转速调整至提升执行器0100所需的转速。
进一步优选，转向轮组0300还具有张紧装置0340，配置成使挠性件0330始终张紧于转动传动轮0310与从动传动轮0320上。具体地，张紧装置0340可以是张紧轮等多种形式。
优选地，提升装置1000还具有导向轮0400。导向轮0400设于卷筒单元0120与缆绳0140的自由端0141a之间，配置成对缆绳0140的移动过程进行方向引导，并在一定程度上起到省力的作用。优选地，缆绳0140张紧于导向轮0400表面。
实施例2
本实施例与实施例1的区别在于，在本实施例中，传动单元0130仅采用一根传动轴0131与一根导 向轴0133的组合而实现传动。
请结合参阅图10，具体地，导向轴0133与卷筒单元0120具有共轴关系，卷筒单元0120可螺旋旋转地保持于导向轴0133上。如前所述，传动轴0131与卷筒单元0120的螺旋轴向平行，卷筒单元0120可滑动地保持于传动轴0131上。
在一个示范性的实施例中，导向轴0133直连于联轴部0132上。进一步地，导向轴0133远离卷筒单元0133的一端，作为传动单元0130的输入端而出现。在此，导向轴0133具有自转能力，并带动联轴部0132旋转。进而，连接于联轴部0132上的传动轴0131绕导向轴0133而具有公转类型的整体转动，多根传动轴0131共同作用而驱动卷筒单元0120发生螺旋旋转。
实施例3
本实施例与实施例1的区别在于，在本实施例中，传动单元0130采用至少两根传动轴0131，并具有导向轴0133。
请结合参阅图11～15，导向轴0133与卷筒单元0120具有共轴关系，卷筒单元0120可螺旋旋转地保持于导向轴0133上。如前所述，传动轴0131与卷筒单元0120的螺旋轴向平行，卷筒单元0120可滑动地保持于传动轴0131上。
具体地，两根以上的传动轴0131经由同一联轴部0132驱动，具有绕卷筒单元0120的中心轴一体旋转的运动状态。多根传动轴0131共同对卷筒单元0120作用而施加切向力，使卷筒单元0120具有绕其中心轴的旋转运动趋势。
在一个示范性的实施例中，导向轴0133直连于联轴部0132上，并处于传动轴0131的分布圆周的中心处。在此，导向轴0133具有自转能力，并带动联轴部0132旋转。进而，连接于联轴部0132上的传动轴0131绕导向轴0133而具有公转类型的整体转动，多根传动轴0131共同作用而驱动卷筒单元0120发生螺旋旋转。多根传动轴0131与导向轴0133的共同作用，使传动的平稳性与定心效果更佳。
实施例4
本实施例与实施例1的区别在于，在本实施例中，传动单元0130采用滚动花键副的传动方式。
请结合参阅图16，在本实施例提供的提升执行器0100与提升装置1000中，传动轴0131与卷筒单元0120组成滚动花键副。其中，传动轴0131为花键轴0134，卷筒单元0120上具有花键套，花键套可滑动地保持于花键轴0134上。
在一个具体的实施例中，花键套与花键轴0134之间设有滚珠与循环装置。通过滚珠的点接触，花键套可于花键轴0134上发生直线运动而传递扭矩。滚动花键副以滚动方式实现，具有较小的摩擦力。滚动花键副还具有较紧凑的结构，能够传递超额的载荷及动力，并且具有较长的寿命。
优选地，花键轴0134与卷筒单元0120具有共轴关系，避免发生偏心力矩而影响传动与运动。
在这里示出和描述的所有示例中，任何具体值应被解释为仅仅是示例性的，而不是作为限制，因此，示例性实施例的其他示例可以具有不同的值。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步定义和解释。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对本发明范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明的保护范围应以所附权利要求为准。

Claims (10)

  1. 一种提升执行器，其特征在于，具有：
    螺母，其内表面具有第一螺旋槽；
    卷筒单元，其外表面具有第二螺旋槽，而可螺旋旋转地保持于所述第一螺旋槽上；
    传动单元，其具有至少一根传动轴，所述传动轴与所述卷筒单元的螺旋轴向平行，所述卷筒单元可滑动地保持于所述传动轴上，所述传动轴配置成驱动所述卷筒单元旋转；
    缆绳，其单层地缠绕于所述第二螺旋槽内，一端自所述卷筒单元上伸出而形成配置成连接负载的自由端。
  2. 根据权利要求1所述的提升执行器，其特征在于，所述传动轴与所述卷筒单元组成滚动花键副：所述传动轴为花键轴，所述卷筒单元上具有花键套，所述花键套可滑动地保持于所述花键轴上。
  3. 根据权利要求2所述的提升执行器，其特征在于，所述花键轴与所述卷筒单元具有共轴关系。
  4. 根据权利要求1所述的提升执行器，其特征在于，所述传动单元具有至少两根平行布置的所述传动轴与联轴部，所述传动轴沿所述卷筒单元的旋转方向于360°内均匀分布，所述传动轴的输入端共同连接于所述联轴部上。
  5. 根据权利要求4所述的提升执行器，其特征在于，所述传动轴与所述卷筒单元组成导轨副：所述传动轴为直线轴，所述卷筒单元内部具有线性轴承，所述线性轴承可旋转并滑动地保持于所述直线轴上。
  6. 根据权利要求5所述的提升执行器，其特征在于，所述卷筒单元包括一体连接的螺旋卷筒与所述线性轴承，所述螺旋卷筒的外表面具有所述第二螺旋槽。
  7. 根据权利要求1所述的提升执行器，其特征在于，所述传动单元具有导向轴，所述导向轴与所述卷筒单元具有共轴关系，所述卷筒单元可螺旋旋转地保持于所述导向轴上。
  8. 一种提升装置，其特征在于，包括驱动器与权利要求1-7任一项所述的提升执行器，所述螺母保持固定，所述驱动器与所述传动单元的输入端通过转向轮组连接，所述驱动器与所述提升执行器位于所述转向轮组的同一侧。
  9. 根据权利要求8所述的提升装置，其特征在于，所述转向轮组为齿轮传动组或挠性传动组：
    所述齿轮传动组具有保持啮合的主动齿轮与至少一个从动齿轮，所述主动齿轮与所述驱动器的输出端连接，所述从动齿轮与所述传动单元的输入端连接，所述主动齿轮与所述从动齿轮的轴向沿水平方向布置；
    所述挠性传动组具有主动传动轮、至少一个从动传动轮及张紧于所述主动传动轮与所述从动轮上的挠性件，所述主动传动轮与所述驱动器的输出端连接，所述从动传动轮与所述传动单元的输入端连接，所述主动传动轮与所述从动传动轮的轴向沿水平方向布置。
  10. 根据权利要求8所述的提升装置，其特征在于，所述提升装置还具有导向轮，其设于所述卷筒单元与所述缆绳的自由端之间，配置成对所述缆绳的滑动提升进行导向限制，所述缆绳张紧于所述导向轮表面。
PCT/CN2018/093064 2017-09-01 2018-06-27 提升执行器与提升装置 WO2019041995A1 (zh)

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CN108017000A (zh) * 2018-01-17 2018-05-11 合肥工业大学 一种新型提升装置
CN110904499A (zh) * 2019-12-24 2020-03-24 大连连城数控机器股份有限公司 单晶炉用卷丝轮传动导向机构
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