WO2022134719A1 - 顶升装置 - Google Patents

顶升装置 Download PDF

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Publication number
WO2022134719A1
WO2022134719A1 PCT/CN2021/121590 CN2021121590W WO2022134719A1 WO 2022134719 A1 WO2022134719 A1 WO 2022134719A1 CN 2021121590 W CN2021121590 W CN 2021121590W WO 2022134719 A1 WO2022134719 A1 WO 2022134719A1
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WO
WIPO (PCT)
Prior art keywords
accommodating area
fluid
piston rod
lifting column
movable end
Prior art date
Application number
PCT/CN2021/121590
Other languages
English (en)
French (fr)
Inventor
朱显宇
蒋俊杰
涂笔城
杨东鹏
林志宇
Original Assignee
库卡机器人(广东)有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 库卡机器人(广东)有限公司 filed Critical 库卡机器人(广东)有限公司
Publication of WO2022134719A1 publication Critical patent/WO2022134719A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
    • B66F3/24—Devices, e.g. jacks, adapted for uninterrupted lifting of loads fluid-pressure operated
    • B66F3/25—Constructional features
    • B66F3/26—Adaptations or arrangements of pistons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
    • B66F3/24—Devices, e.g. jacks, adapted for uninterrupted lifting of loads fluid-pressure operated
    • B66F3/25—Constructional features
    • B66F3/42—Constructional features with self-contained pumps, e.g. actuated by hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F3/00—Devices, e.g. jacks, adapted for uninterrupted lifting of loads
    • B66F3/44—Devices, e.g. jacks, adapted for uninterrupted lifting of loads with self-contained electric driving motors

Definitions

  • the present application relates to the field of machinery manufacturing, in particular to a jacking device.
  • Automated Guided Vehicle refers to a transport vehicle equipped with automatic guidance devices such as electromagnetic or optical, which can travel along a prescribed guidance path, with safety protection and various transfer functions. car.
  • automatic guidance devices such as electromagnetic or optical
  • car With the rapid development of the logistics system, the application scope of AGV is also expanding.
  • AGV is widely used in industry, military, transportation, electronics and other fields. It has good environmental adaptability, strong anti-interference ability and target recognition ability. .
  • the transportation method can be jacking and backpacking.
  • the jacking device used is usually a gear ball screw mechanism. Because the ball screw is in rigid contact during the movement process, the noise generated by the jacking device is very large.
  • An object of the present application is to solve the problem of high noise of the jacking device in the prior art.
  • the jacking device includes a piston rod, the piston rod is provided with a first accommodating area, the first accommodating area is filled with fluid, and the piston rod is filled with fluid.
  • the rod is provided with a through-flow port; the piston head is sleeved on the movable end of the piston rod and is movably connected with the piston rod, and a closed second accommodating area is enclosed between the piston head and the piston rod, The second accommodating area is communicated with the first accommodating area through the through-flow port; the driving component is arranged in the first accommodating area and is used for driving the fluid from the first accommodating area to the first accommodating area. Two accommodating areas flow to push the piston head away from the active end.
  • the piston head includes: a load-bearing plate disposed corresponding to the movable end, the second accommodating area is disposed between the load-bearing plate and the movable end; a lifting column surrounding the movable end
  • the outer side wall of the piston rod is arranged in a circle and is connected with the bearing plate; the shielding plate is connected with the end of the lifting column away from the bearing plate, and extends from the lifting column to the outer side wall of the piston rod, used for Cover the gap between the lift column and the piston rod.
  • the piston rod includes: a limiting portion extending from the movable end to the lifting column, when the end of the lifting column away from the load-bearing plate reaches the movable end, The limiting portion contacts the surface of the shielding plate facing the load-bearing plate.
  • the piston head is a multi-stage piston head
  • the multi-stage piston head has a plurality of the lifting columns nested with each other, and two adjacent lifting columns in the plurality of the lifting columns are lifted and lowered.
  • the columns are movably connected, and the lifting column located in the inner layer among the two adjacent lifting columns moves away from the movable end as the lifting column located in the outer layer moves away from the movable end, and the outermost of the plurality of lifting columns
  • the floor lifting column is connected to the load-bearing plate.
  • the driving assembly includes: a fluid pump, including a fluid channel, one end of the fluid channel is connected to the through-flow port, and the other end of the fluid channel is disposed in the fluid; a motor , which is connected with the fluid pump through a coupling for providing power to the fluid pump.
  • the driving assembly further includes: a valve block, disposed in the first accommodating area, and disposed at an end of the first accommodating area close to the movable end, and the motor is fixed on the first accommodating area.
  • the fluid valve is arranged in the valve block and communicates with one end of the fluid channel and the flow port.
  • the fluid channel includes an inflow channel and an outflow channel;
  • the fluid valve includes an inflow valve and an outflow valve;
  • the inflow channel communicates the fluid and the inflow valve ,
  • the outflow channel communicates the fluid and the outflow valve.
  • the through-flow port includes an inflow port and an outflow port
  • the inflow port is provided on the end face of the movable end, and communicates with the inflow channel
  • the outflow port is provided with The side wall of the piston rod communicates with the outflow channel.
  • a first accumulator groove is opened on the outer side wall of the valve block around the circumference of the valve block, the notch of the first accumulator groove faces the inner side wall of the piston rod, and the outflow port is located in the first accumulator.
  • the groove bottoms of the grooves are evenly distributed; the side wall of the piston rod is provided with a drainage port corresponding to the first accumulating groove, and the first accumulating groove communicates with the second accommodating area through the drainage port.
  • the jacking device further includes: an air pressure compensator, which is arranged in the first accommodating area, and the volume of the air pressure compensator varies with the air pressure in the first accommodating area. Adaptive change.
  • the application at least has the following advantages and positive effects:
  • a jacking device proposed in this application includes a piston rod, a piston head and a drive assembly.
  • the piston rod is provided with a first accommodating area, the first accommodating area is filled with fluid, the piston rod is provided with a flow port, and the piston head covers It is arranged at the movable end of the piston rod and is movably connected with the piston rod.
  • a closed second accommodating area is enclosed between the piston head and the piston rod.
  • the accommodating area is used to drive the fluid to flow from the first accommodating area to the second accommodating area through the through-flow port, so as to push the piston head away from the movable end to realize jacking.
  • the piston head is driven by fluid without rigid contact, which greatly reduces noise.
  • the driving device is arranged in the piston rod, the piston rod can isolate noise, and the piston head sleeved outside the piston rod can further Isolate noise.
  • FIG. 1 is a schematic structural diagram of a jacking device provided by an embodiment of the application.
  • FIG. 2 is a schematic structural diagram of a jacking device provided in an embodiment of the present application.
  • FIG. 3 is a schematic structural diagram of a jacking device provided in an embodiment of the present application.
  • FIG. 4 is a schematic structural diagram of a jacking device provided by an embodiment of the present application.
  • Piston Rod 11, First accommodating area, 12, Outflow port, 121, Inlet port, 122, Outflow port, 13, Second accommodating area, 14, Limiting part, 151, Inlet of inflow channel , 152, the outlet of the outflow channel, 16, the first accumulator, 17, the drainage port;
  • Piston head 21, load-bearing plate, 22, lifting column, 23, shielding plate, 24, rod cavity, 25, middle limiter, 26, middle flow port;
  • Air pressure compensator 41.
  • the third accommodation area 5. Flange.
  • a jacking device provided in this embodiment includes a piston rod 1 , a piston head 2 and a drive assembly 3 .
  • the piston rod 1 is provided with a first accommodating area 11 , and the first accommodating area 11 The inside is filled with fluid, the piston rod 1 is provided with a through-flow port 12, the piston head 2 is sleeved on the movable end of the piston rod 1, and is movably connected with the piston rod 1, and the piston head 2 and the piston rod 1 are enclosed in a closed first.
  • the second accommodating area 13 communicates with the first accommodating area 11 through the through-flow port 12;
  • the driving assembly 3 is arranged in the first accommodating area 11, and is used for driving the fluid from the first accommodating area 11 to the second accommodating area 13 flow to push the piston head 2 away from the free end.
  • the piston rod 1 may be a hollow rod, and the hollow portion may be the first accommodating area 11 .
  • the piston may include a partially hollow structure and a partially solid structure, and the solid structure can enhance the stability of the piston rod 1 .
  • the fluid may be hydraulic oil, and the hydraulic oil may lubricate the relatively moving parts, and there is no need to apply lubricating oil for lubrication.
  • the piston rod 1 may include opposite fixed ends and movable ends, the fixed end of the piston rod 1 may be fixed at a relatively fixed position on the AGV through the flange 5, and the movable end of the piston rod 1 and the piston
  • the head 2 is movably connected, the piston head 2 can be connected to the AGV carrying device, the piston head 2 is far away from the movable end, the piston head 2 drives the carrying device away from the fixed end to realize the lifting of the carrying device, and the piston head 2 is close to the movable end to realize the reset of the carrying device.
  • the piston head 2 may include a bearing plate 21, a lifting column 22 and a shielding plate 23.
  • the bearing plate 21 is provided corresponding to the movable end and is used to connect to the bearing device of the AGV.
  • the second accommodating area 13 is provided on the piston Between the head 2 and the piston rod 1, the fluid flows into the second accommodating area 13 and pushes the bearing plate 21 away from the movable end.
  • the lifting column 22 is arranged around the outer side wall of the piston rod 1 and is connected to the bearing plate 21. The lifting column 22 follows the load bearing.
  • the plate 21 is far away from the movable end, and the shielding plate 23 is connected with the end of the lifting column 22 away from the bearing plate 21, and extends from the lifting column 22 to the outer side wall of the piston rod 1 to block the gap between the lifting column 22 and the piston rod 1 to prevent
  • the lifting column 22 can be stably raised and lowered, and the fluid can be prevented from flowing out of the second accommodating area 13 from the gap between the lifting column 22 and the piston rod 1 .
  • the piston head 2 may include a load-bearing plate 21 and a lifting column 22, the load-bearing plate 21 is provided corresponding to the movable end, and is used for connecting the bearing device of the AGV, and the second accommodating area 13 may be arranged between the load-bearing plate 21 and the AGV. Between the movable ends, the fluid flows into the second accommodating area 13 and pushes the bearing plate 21 away from the movable end.
  • the lifting column 22 is arranged around the outer side wall of the piston rod 1 and is connected to the bearing plate 21. The lifting column 22 moves away from the bearing plate 21. At the end, the lifting column 22 can be lifted and lowered in accordance with the movable end.
  • the load-bearing plate 21 may be connected with the lifting column 22 by threads, which is convenient for maintenance, or may be connected in other manners, which are not limited herein.
  • the bearing plate 21 may be integrally provided with the lifting column 22 .
  • the lifting column 22 may be a telescopic device, the lifting column 22 may be arranged between the bearing plate 21 and the movable end, and the first accommodating area 11 for fluid flows into the second accommodating area 13, then the lifting column 22 extends open; the fluid flows from the second accommodating area 13 into the first accommodating area 11, and the lifting column 22 is retracted.
  • the piston rod 1 may include a limit portion 14, the limit portion 14 extends from the movable end to the lifting column 22, when the end of the lifting column 22 away from the bearing plate 21 reaches the movable end, the limit portion 14 14 contacts the surface of the shielding plate 23 facing the bearing plate 21 to prevent the shielding plate 23 from separating from the piston rod 1 from the movable end, thereby preventing the piston head 2 from separating from the piston rod 1 .
  • the second accommodating area 13 may be provided between the end of the movable end of the piston rod 1 and the piston head 2, and the fluid is used to drive the bearing plate 21 of the piston head 2 away from the end of the movable end, so as to More efficient drive piston head 2 to lift.
  • the first accommodating area 11 and the second accommodating area 13 are isolated from the outside world, and there is no leakage of fluid, so that the circulation can be realized without supplementing the fluid.
  • the second accommodating area 13 may include both the space between the end of the movable end and the piston head 2, and may also include the space between the outer side wall of the piston rod 1 and the lifting column 22.
  • the fluid between the outer side wall of the end and the lifting column 22 can enable the piston head 2 to rise and fall stably.
  • a rod cavity 24 may be provided on the lift column 22 of the piston head 2 corresponding to the outer side wall of the piston rod 1, and the space between the end of the movable end and the piston head 2 and the rod cavity 24 together form a second In the accommodating area 13, the hydraulic oil in the rod cavity 24 can avoid rigid contact with the piston rod 1 during the lifting and lowering of the lifting column 22, and can further reduce noise.
  • the piston head 2 may be a multi-stage piston head, and the multi-stage piston head has a plurality of lifting columns 22 nested with each other, and two adjacent lifting columns 22 among the plurality of lifting columns 22 are movable. Connected, the lifting column located in the inner layer of the two adjacent lifting columns 22 is away from the movable end as the lifting column located in the outer layer is away from the movable end, and the outermost lifting column of the plurality of lifting columns 22 is connected to the bearing plate 21, The outermost lifting column moves away from the movable end as the bearing plate 21 moves away from the movable end, and the outermost lifting column drives the innermost lifting column to move away from the movable end in turn to increase the jacking height.
  • one end of each lifting column 22 in the multi-stage piston head corresponding to the bearing plate 21 may be provided with a fixing plate, and the fixing plate can stably lift the lifting column 22 .
  • the body cavities of the multi-stage piston heads may communicate with each other through the intermediate through-flow port 26, and the intermediate through-flow port 26 may be arranged in the other lifting columns 22 except the outermost lifting column to correspond to the movement end position.
  • the plurality of lifting columns 22 are sleeved outside the piston rod 1, which can isolate noise more effectively.
  • the size of the multi-stage piston head is smaller in the retracted state, as shown in FIG. 2 , the jacking device can be enlarged The jacking range of the jacking.
  • connection relationship between two adjacent lifting columns 22 in the plurality of lifting columns 22 may refer to the connection relationship between the above-mentioned piston rod 1 and the lifting column 22 of the piston head 2, which may be the inner layer lifting column.
  • the outer side of the column is provided with an intermediate limit portion 25 corresponding to the movable end.
  • the shielding plate 23 of the outer lifting column contacts the middle limit portion 25 and drives the middle limiter.
  • the position part 25 is far away from the piston head 2 to drive the inner lifting column away from the piston head 2 .
  • the lifting part of the piston head of the stage is jacked up.
  • the drive assembly 3 may include a fluid pump 31 and a motor 32 , the fluid pump 31 includes a fluid channel, one end of the fluid channel is connected to the flow port 12 , the other end of the fluid channel is disposed in the fluid, and the motor 32 It is connected with the fluid pump 31 through the coupling 33 to provide power for the fluid pump 31.
  • the motor 32 arranged inside the piston rod 1 can isolate the noise of the motor 32 through the piston rod 1. Compared with the motor 32 arranged on the piston rod 1, the resulting noise is smaller.
  • the first accommodating area 11 is communicated with the second accommodating area 13 through the through-flow port 12, the hydraulic power unit is integrated inside the device, there is no need to set up a pipeline for fluid flow, the structure is simple, and maintenance pipelines are avoided. .
  • the drive group may further include a valve block 34 , the valve block 34 is disposed in the first accommodating area 11 , and is disposed at one end of the first accommodating area 11 close to the movable end, and the motor 32 is fixed in the valve block 34 , the motor 32 is not in direct contact with the piston rod 1, which further reduces the noise.
  • the driving group may further include a fluid valve 35 , which is arranged in the valve block 34 and communicates with one end of the fluid channel and the flow port 12 , and the fluid valve 35 can assist the flow of fluid.
  • the fluid channel may include an inflow channel and an outflow channel
  • the fluid valve 35 includes an inflow valve 351 and an outflow valve 352
  • the inflow channel communicates with the fluid and the inflow valve 351
  • the outflow channel communicates with the inflow valve 351.
  • the fluid and outflow valve 352 separates the inflow and outflow channels of the fluid, so that the inflow channel and the outflow channel can be set at different positions according to requirements, so as to improve the efficiency of the fluid lifting the piston head 2 .
  • the inlet 151 of the inflow channel may be in the fluid, the outlet of the inflow channel may be connected to the inflow valve 351; the outlet 152 of the outflow channel may be in the fluid, and the inlet of the outflow channel may be connected to the outflow channel. valve 352.
  • the inflow channel and the outflow channel may be the same channel to simplify the structure of the fluid pump 31 .
  • the valve block 34 may be provided with an outer fluid channel, and the outer fluid channel may include an outer inflow channel 341 and an outer outflow channel 342 , which may be an inflow channel through which the outer inflow channel 341 is connected to the fluid pump 31 .
  • the outflow channel 342 is connected to the outflow channel of the fluid pump 31 .
  • the through-flow port 12 may include an inflow port 121 and an outflow port 122 , the inflow port 121 may be disposed on the end face of the movable end, communicated with the inflow channel, and the fluid may directly pass through the inflow port 121 Acting on the bearing plate 21 of the piston head 2 can improve the efficiency of the fluid to lift the piston; when the second accommodating area 13 includes the space between the piston head 2 and the side wall of the piston rod 1, the outflow port 122 can be arranged on the piston The side wall of the rod 1 communicates with the outflow channel, and the outflow port 122 is lower than the inflow port 121 to minimize the remaining fluid in the second accommodating area 13 when the piston head 2 descends.
  • the fluid pump 31 may be a bidirectional oil pump, and the fluid flows in and out through the forward rotation and reverse rotation of the bidirectional oil pump. It can be that when the bidirectional oil pump rotates forward, the fluid in the first accommodating area 11 flows through the inflow channel into the second accommodating area 13 through the inflow port 121; when the bidirectional oil pump is reversed, the fluid in the second accommodating area 13 flows through The outflow channel flows out of the second receiving area 13 through the outflow opening 122 .
  • a first accumulating groove 16 may be opened on the outer side wall of the valve block 34 around the circumference of the valve block 34 .
  • the notch faces the inner side wall of the piston rod 1
  • the outflow port 122 can be opened at the bottom of the first accumulator groove 16
  • the drainage port 17 can be opened on the side wall of the piston rod 1 corresponding to the notch of the first accumulator groove 16.
  • the first accumulating tank 16 is connected to the second accommodating area 13 through the drainage port 17
  • the fluid in the first accommodating area 11 flows into the first accumulating tank 16 through the drainage port 17 , and then flows from the bottom of the first accumulating tank 16 .
  • the outflow opening 122 flows into the second receiving area 13 .
  • the outer side wall of the piston rod 1 may be provided with a second accumulating groove around the circumference of the piston rod 1, and the notch of the second accumulating groove may face the second accommodating area 13, which can temporarily hold the fluid Stored in the second accumulator tank, there may be multiple outflow ports 122, and the multiple outflow ports 122 are evenly distributed at the bottom of the second accumulator tank, and the fluid in the second accumulator tank flows in through the outflow port 122 In the first accommodating area 11 , the plurality of outflow ports 122 can speed up the speed of the fluid flowing out of the second accommodating area 13 .
  • the jacking device may further include an air pressure compensator 4 , the air pressure compensator 4 is arranged in the first accommodating area 11 , and the volume of the air pressure compensator 4 varies with the air pressure in the first accommodating area 11 .
  • the pressure of the fluid in the first accommodating area 11 can be kept constant, so as to assist the fluid in the first accommodating area 11 to flow into the second accommodating area 13 smoothly.
  • the air pressure compensator 4 may be an elastic material
  • a third accommodating area 41 may be provided in the air pressure compensator 4
  • the third accommodating area 41 may be isolated from the first accommodating area 11
  • the third accommodating area 41 It can be filled with fluid and communicated with supplementary fluid.
  • the fluid in the first accommodating area 11 flows to the second accommodating area 13
  • the pressure of the fluid in the first accommodating area 11 decreases
  • the third accommodating area 41 flows to the first accommodating area 11.
  • the third accommodating area 41 attracts supplementary fluid to flow into the third accommodating area 41 to keep the fluid pressure in the first accommodating area 11 constant, so as to assist the fluid in the first accommodating area 11 to smoothly flow into the second accommodating area 13 .
  • the air pressure compensator 4 may be an air bag filled with gas, and the filled gas may be nitrogen gas.
  • the fluid filled in the third accommodating area 41 may be air, and the third accommodating area 41 may be connected to the atmosphere, so that the air in the atmosphere flows into the third accommodating area 41 as a supplementary fluid.
  • the working process of the jacking device may be as follows: the bidirectional oil pump rotates forwardly, the hydraulic oil is sucked by the bidirectional oil pump to the inflow valve 351 through the inflow channel, and the fluid passes through the inflow valve. 351 flows to the inflow port 121 at the end of the movable end, and then flows into the second accommodating area 13 between the end of the movable end and the piston head 2 through the inflow port 121, and the second accommodating area 13 lifts the multi-stage piston head.
  • the bearing plate 21 is far away from the piston rod 1, and the bearing plate drives the outermost lifting column in the multi-stage piston head to lift up, and the hydraulic oil flows to the second accommodating area 13 and also to the rod cavity 24 of the outermost lifting column.
  • the shielding plate 23 connected to the outermost lifting column contacts the middle limiter 25 connected to the lifting column adjacent to the outermost lifting column, the outermost lifting column drives the adjacent lifting column to the outermost lifting column to continue to lift.
  • the hydraulic oil flows to the rod cavity 24 of the lifting column adjacent to the outermost lifting column, and so on, until the shielding plate 23 connected to the lifting column adjacent to the piston rod 1 and the connecting rod 1.
  • the limiting portion 14 contacts, and the jacking device is raised to the highest level.
  • the application at least has the following advantages and positive effects:
  • a jacking device proposed in this application includes a piston rod 1 , a piston head 2 and a drive assembly 3 .
  • the piston rod 1 is provided with a first accommodating area 11 , the first accommodating area 11 is filled with fluid, and the piston rod 1 is provided with a first accommodating area 11 .
  • There is a flow port 12, the piston head 2 is sleeved on the movable end of the piston rod 1, and is movably connected with the piston rod 1, and a closed second accommodating area 13 is enclosed between the piston head 2 and the piston rod 1.
  • the second accommodating area 13 The first accommodating area 11 is communicated with the through-flow port 12 , and the driving assembly 3 is disposed in the first accommodating area 11 for driving fluid to flow from the first accommodating area 11 to the second accommodating area 13 through the through-flow port 12 to push the piston
  • the head 2 is away from the movable end to realize jacking. It can be seen that in the present application, the piston head 2 is pushed by fluid without rigid contact, which greatly reduces noise. At the same time, since the piston head 2 is sleeved outside the piston rod 1, the noise can be further isolated, thereby reducing the noise.

Abstract

一种顶升装置，涉及机械制造领域，其主要用于运输物品；该顶升装置包括活塞杆（1），活塞杆（1）内设有第一容纳区（11），第一容纳区（11）内填充有流体，活塞杆（1）上设有通流口（12）；活塞头（2），套设在活塞杆（1）的活动端，与活塞杆（1）活动连接，活塞头（2）与活塞杆（1）之间围成封闭的第二容纳区（13），第二容纳区（13）通过通流口（12）连通第一容纳区（11）；驱动组件（3），设置在第一容纳区（11）内，用于驱动流体自第一容纳区（11）向第二容纳区（13）流动，以推动活塞头（2）远离活动端。

Description

顶升装置
本申请要求于2020年12月23日递交、发明名称为“顶升装置”的中国专利申请202011573079.9的优先权，在此通过引用将其全部内容合并于此。
技术领域
本申请涉及机械制造领域，特别涉及一种顶升装置。
背景技术
自动导引运输车(Automated Guided Vehicle，AGV)，是指装备有电磁或光学等自动导引装置的运输车，它能够沿规定的导引路径行驶，具有安全保护以及各种移载功能的运输车。随着物流系统的迅速发展，AGV的应用范围也在不断扩展，AGV被广泛运用于工业、军事、交通运输、电子等领域，具有良好的环境适应能力,很强的抗干扰能力和目标识别能力。
AGV运输货物时，运输方式可以为顶升背负式，使用的顶升装置通常为齿轮滚珠丝杆机构，由于滚珠丝杆在运动过程中为刚性接触，顶升装置产生的噪声很大。
技术解决方案
本申请的一个目的在于解决现有技术中顶升装置噪声大的问题。
为解决上述问题，本申请提供了一种顶升装置，所述顶升装置包括活塞杆，所述活塞杆内设有第一容纳区，所述第一容纳区内填充有流体，所述活塞杆上设有通流口；活塞头，套设在所述活塞杆的活动端，与所述活塞杆活动连接，所述活塞头与所述活塞杆之间围成封闭的第二容纳区，所述第二容纳区通过所述通流口连通所述第一容纳区；驱动组件，设置在所述第一容纳区内，用于驱动所述流体自所述第一容纳区向所述第二容纳区流动，以推动所述活塞头远离所述活动端。
在本申请的一个实施例中，所述活塞头包括：承重板，对应所述活动端设置，所述第二容纳区设置在所述承重板与所述活动端之间；升降柱，围绕所述活塞杆的外侧壁一周设置，与所述承重板连接；遮挡板，与所述升降柱远离所述承重板的一端连接，由所述升降柱延伸至所述活塞杆的外侧壁，用于遮挡所述升降柱与所述活塞杆之间的缝隙。
在本申请的一个实施例中，所述活塞杆包括：限位部，由所述活动端向所述升降柱延伸，当所述升降柱远离所述承重板的一端到达所述活动端时，所述限位部接触所述遮挡板 朝向所述承重板的面。
在本申请的一个实施例中，所述活塞头为多级活塞头，所述多级活塞头具有相互套设的多个所述升降柱，多个所述升降柱中相邻的两个升降柱活动连接，所述相邻的两个升降柱中位于内层的升降柱随着位于外层的升降柱远离所述活动端而远离所述活动端，多个所述升降柱中的最外层升降柱连接所述承重板。
在本申请的一个实施例中，所述驱动组件包括：流体泵，包括流体通道，所述流体通道的一端连通所述通流口，所述流体通道的另一端设置在所述流体内；电机，与所述流体泵通过联轴器连接，用于为所述流体泵提供动力。
在本申请的一个实施例中，所述驱动组件还包括：阀块，设置在所述第一容纳区内，设置在所述第一容纳区靠近所述活动端的一端，所述电机固定在所述阀块内；流体阀，设置在所述阀块内，连通所述流体通道的一端与所述通流口。
在本申请的一个实施例中，所述流体通道包括进流通道和出流通道；所述流体阀包括进流阀和出流阀；所述进流通道连通所述流体与所述进流阀，所述出流通道连通所述流体与所述出流阀。
在本申请的一个实施例中，所述通流口包括进流口和出流口，所述进流口设置在所述活动端的端面，与所述进流通道连通；所述出流口设置在所述活塞杆的侧壁，与所述出流通道连通。
在本申请的一个实施例中，阀块的外侧壁围绕阀块的一周开设有第一蓄流槽，第一蓄流槽的槽口朝向活塞杆的内侧壁，出流口在第一蓄流槽的槽底均匀分布；活塞杆的侧壁对应第一蓄流槽开设有引流口，第一蓄流槽通过引流口连通第二容纳区。
在本申请的一个实施例中，顶升装置还包括：气压补偿器，设置在所述第一容纳区内，所述气压补偿器的体积随着所述第一容纳区内的气压的变化而适应性变化。
由上述技术方案可知，本申请至少具有如下优点和积极效果：
本申请中提出的一种顶升装置包括活塞杆、活塞头和驱动组件，活塞杆内设有第一容纳区，第一容纳区内填充有流体，活塞杆上设有通流口，活塞头套设在活塞杆的活动端，与活塞杆活动连接，活塞头与活塞杆之间围成封闭的第二容纳区，第二容纳区通过通流口连通第一容纳区，驱动组件设置在第一容纳区内，用于驱动流体通过通流口自第一容纳区向第二容纳区流动，以推动活塞头远离活动端，实现顶升。可见，本申请中以流体推动活塞头，无刚性接触，极大的减小了噪音，同时，驱动装置设置在活塞杆内，活塞杆能够隔离噪音，套接在活塞杆外的活塞头能够进一步隔离噪声。
附图说明
图1为本申请实施例提供的顶升装置的结构示意图；
图2为本申请实施例提供的顶升装置的结构示意图；
图3为本申请实施例提供的顶升装置的结构示意图；
图4为本申请实施例提供的顶升装置的结构示意图。
附图标记说明如下：
1、活塞杆，11、第一容纳区，12、通流口，121、进流口，122、出流口，13、第二容纳区，14、限位部，151、进流通道的入口，152、出流通道的出口，16、第一蓄流槽，17、引流口；
2、活塞头，21、承重板，22、升降柱，23、遮挡板，24、有杆腔，25、中间限位部，26、中间通流口；
3、驱动组件，31、流体泵，32、电机，33、联轴器，34、阀块，341、外进流通道，342、外出流通道，35、流体阀，351、进流阀，352、出流阀；
4、气压补偿器，41、第三容纳区，5、法兰。
具体实施方式
体现本申请特征与优点的典型实施方式将在以下的说明中详细叙述。应理解的是本申请能够在不同的实施方式上具有各种的变化，其皆不脱离本申请的范围，且其中的说明及图示在本质上是当作说明之用，而非用以限制本申请。
本实施例提供的一种顶升装置，如图1至图4所示，包括活塞杆1、活塞头2和驱动组件3，活塞杆1内设有第一容纳区11，第一容纳区11内填充有流体，活塞杆1上设有通流口12，活塞头2套设在活塞杆1的活动端，与活塞杆1活动连接，活塞头2与活塞杆1之间围成封闭的第二容纳区13，第二容纳区13通过通流口12连通第一容纳区11；驱动组件3设置在第一容纳区11内，用于驱动流体自第一容纳区11向第二容纳区13流动，以推动活塞头2远离活动端。
在本申请的一个实施例中，活塞杆1可以为空心杆，空心处可以为第一容纳区11。
在本申请的一个实施例中，活塞可以包括部分空心结构和部分实心结构，实心结构能够增强活塞杆1的稳定性。
在本申请的一个实施例中，流体可以为液压油，液压油可以对相对运动的部件进行润滑，无需再涂抹润滑油润滑。
在本申请的一个实施例中，活塞杆1可以包括相对的固定端和活动端，活塞杆1的固定端可以通过法兰5固定在AGV上相对固定的位置，活塞杆1的活动端与活塞头2活动连接，活塞头2可以连接AGV承载装置，活塞头2远离活动端，活塞头2带动承载装置远离固定端，以实现承载装置顶升，活塞头2靠近活动端以实现承载装置复位。
在本申请的一个实施例中，活塞头2可以包括承重板21、升降柱22和遮挡板23，承重板21对应活动端设置，用于连接AGV的承载装置，第二容纳区13设置在活塞头2与活塞杆1之间，流体流入第二容纳区13内推动承重板21远离活动端，升降柱22围绕活塞杆1的外侧壁一周设置，与承重板21连接，升降柱22随着承重板21远离活动端，遮挡板23与升降柱22远离承重板21的一端连接，由升降柱22延伸至活塞杆1的外侧壁，用于遮挡升降柱22与活塞杆1之间的缝隙，以使升降柱22能够稳定升降，也能避免流体从升降柱22与活塞杆1之间的缝隙流出第二容纳区13。
在本申请的其他实施例中，活塞头2可以包括承重板21和升降柱22，承重板21对应活动端设置，用于连接AGV的承载装置，第二容纳区13可以设置在承重板21与活动端之间，流体流入第二容纳区13内推动承重板21远离活动端，升降柱22围绕活塞杆1的外侧壁一周设置，与承重板21连接，升降柱22随着承重板21远离活动端，升降柱22可以贴合活动端升降。
在本申请的一个实施例中，承重板21可以与升降柱22通过螺纹连接，方便维护，也可以为其他连接方式，在此不作限定。
在本申请的其他实施例中，承重板21可以与升降柱22一体设置。
在本申请的其他实施例中，升降柱22可以是伸缩装置，升降柱22可以设置在承重板21与活动端之间，流体第一容纳区11流入第二容纳区13，则升降柱22伸展开；流体由第二容纳区13流入第一容纳区11，则升降柱22缩回。
在本申请的一个实施例中，活塞杆1可以包括限位部14，限位部14由活动端向升降柱22延伸，当升降柱22远离承重板21的一端到达活动端时，限位部14接触遮挡板23朝向承重板21的面，以阻挡遮挡板23从活动端脱离活塞杆1，从而阻挡活塞头2脱离活塞杆1。
在本申请的一个实施例中，第二容纳区13可以设置在活塞杆1活动端的端部和活塞头2之间，流体均用于驱动活塞头2的承重板21远离活动端的端部，以更高效的驱动活塞头2顶升。
在该实施例中，第一容纳区11及第二容纳区13与外界隔离，流体无泄漏，可以实现 循环，无需补充流体。
在本申请的一个实施例中，第二容纳区13既可以包括活动端的端部和活塞头2之间的空间，也可以包括活塞杆1的外侧壁和升降柱22之间的空间，位于活动端的外侧壁和升降柱22之间的流体，能够使活塞头2能够稳定升降。
在本申请的一个实施例中，活塞头2对应活塞杆1外侧壁的升降柱22可以设置有杆腔24，活动端的端部和活塞头2之间的空间以及有杆腔24共同形成第二容纳区13，有杆腔24中的液压油能够避免升降柱22升降的过程中与活塞杆1发生刚性接触，能够进一步减小噪声。
在本申请的一个实施例中，活塞头2为可以为多级活塞头，多级活塞头具有相互套设的多个升降柱22，多个升降柱22中相邻的两个升降柱22活动连接，相邻的两个升降柱22中位于内层的升降柱随着位于外层的升降柱远离活动端而远离活动端，多个升降柱22中的最外层升降柱连接承重板21，最外层升降柱随着承重板21远离活动端而远离活动端，最外层升降柱依次带动位于内层的升降柱远离活动端，以增加顶升高度。
在本申请的一个实施例中，多级活塞头中各个升降柱22的对应承重板21的一端可以设有固定板，固定板能够使升降柱22稳定升降。
在本申请的一个实施例中，多级活塞头的有体腔之间可以通过中间通流口26连通，中间通流口26可以设置在除了最外层升降柱之外的其它升降柱22对应活动端的位置。
在该实施中，当多级活塞头呈缩回状态时，多个升降柱22套设在活塞杆1外，能够更加有效的隔离噪音。
在该实施中，相比于能够顶升至同样高度的具有单个升降柱22的活塞头2，在缩回状态时，多级活塞头的尺寸更小，如图2，可以增大顶升装置顶升的顶升范围。
在本申请的一个实施例中，多个升降柱22中相邻两个升降柱22的连接关系可以参照上述活塞杆1和活塞头2的升降柱22之间的连接关系，可以是内层升降柱的外侧面对应活动端设有中间限位部25，当外层升降柱升高至活塞头2的活动端时，外层升降柱的遮挡板23接触中间限位部25，并带动中间限位部25远离活塞头2，以带动内层升降柱远离活塞头2……直至与活塞杆1相邻的升降柱22的限位部14接触活塞杆1活动端的限位部14，以实现多级活塞头的升降部顶升。
在本申请的一个实施例中，驱动组件3可以包括流体泵31和电机32，流体泵31包括流体通道，流体通道的一端连通通流口12，流体通道的另一端设置在流体内，电机32与流体泵31通过联轴器33连接，用于为流体泵31提供动力，设置在活塞杆1内部的电机 32能够通过活塞杆1将电机32噪声隔离，相比于将电机32设置在活塞杆1外，产生的噪声更小。
在该实施例中，第一容纳区11通过通流口12与第二容纳区13连通，液压动力单元集成在装置内部，无需设置供流体流动的管路，结构简单，也避免了维护管路。
在本申请的一个实施例中，驱动组还可以包括阀块34，阀块34设置在第一容纳区11内，设置在第一容纳区11靠近活动端的一端，电机32固定在阀块34内，电机32不和活塞杆1直接接触，进一步减小噪声。
在本申请的一个实施例中，驱动组还可以包括流体阀35，流体阀35设置在阀块34内，连通流体通道的一端与通流口12，流体阀35可以辅助流体的流动。
在本申请的一个实施例中，流体通道可以包括进流通道和出流通道，流体阀35包括进流阀351和出流阀352，进流通道连通流体与进流阀351，出流通道连通流体与出流阀352，将流体流入和流出的通道分开，可以实现将进流通道和出流通道根据需要分别设置在不同的位置，以提高流体顶升活塞头2的效率。
在本申请的一个实施例中，可以是进流通道的入口151在流体内，进流通道的出口连通进流阀351；出流通道的出口152在流体内，出流通道的入口连通出流阀352。
在本申请的一个实施例中，进流通道和出流通道可以为同一通道，以简化流体泵31结构。
在本申请的一个实施例中，阀块34内可以设置外流体通道，外流体通道可以包括外进流通道341和外出流通道342，可以是外进流通道341连接流体泵31的进流通道，外出流通道342连接流体泵31的出流通道。
在本申请的一个实施例中，通流口12可以包括进流口121和出流口122，进流口121可以设置在活动端的端面，与进流通道连通，流体可以通过进流口121直接作用在活塞头2的承重板21上，能够提高流体顶升活塞的效率；当第二容纳区13包括活塞头2和活塞杆1侧壁之间的空间时，出流口122可以设置在活塞杆1的侧壁，与出流通道连通，出流口122低于进流口121，以尽量减少活塞头2下降时第二容纳区13中剩余的流体。
在本申请的一个实施例中，流体泵31可以为双向油泵，通过双向油泵的正转和反转驱动流体流入和流出。可以是当双向油泵正转时，第一容纳区11中的流体经进流口121流经进流通道进入第二容纳区13；当双向油泵反转时，第二容纳区13中的流体经出流通道通过出流口122流出第二容纳区13。
在本申请的一个实施例中，在阀块34和活塞杆1之间，可以在阀块34的外侧壁围绕 阀块34的一周开设有第一蓄流槽16，第一蓄流槽16的槽口朝向活塞杆1的内侧壁，出流口122可以开设在第一蓄流槽16的槽底，在活塞杆1的侧壁上可以对应第一蓄流槽16的槽口开设引流口17，第一蓄流槽16通过引流口17连通第二容纳区13，第一容纳区11中的流体经过引流口17流入第一蓄流槽16中，再从第一蓄流槽16槽底的出流口122流入第二容纳区13中。
在本申请的一个实施例中，引流口17可以有多个，以提高流体流入第一蓄流槽16的效率。
在本申请的其他实施例中，活塞杆1的外侧壁可以围绕活塞杆1的一周开设有第二蓄流槽，第二蓄流槽的槽口可以朝向第二容纳区13，能够将流体暂存至第二蓄流槽中，出流口122可以有多个，多个出流口122在第二蓄流槽的槽底均匀分布，第二蓄流槽中的流体经过出流口122流入第一容纳区11中，多个出流口122能够加快流体流出第二容纳区13的速度。
在本申请的一个实施例中，顶升装置还可以包括气压补偿器4，气压补偿器4设置在第一容纳区11内，气压补偿器4的体积随着第一容纳区11内的气压的变化而适应性变化，以使第一容纳区11内的流体压强保持一定，以辅助第一容纳区11中的流体顺利流入第二容纳区13中。
在本申请的一个实施例中，气压补偿器4可以为弹性材料，气压补偿器4中可以设置第三容纳区41，第三容纳区41可以与第一容纳区11隔离，第三容纳区41中可以填充有流体并连通补充流体，当第一容纳区11中的流体流向第二容纳区13时，第一容纳区11中流体的压力减小，第三容纳区41向第一容纳区11扩大，第三容纳区41吸引补充流体流入第三容纳区41中，以使第一容纳区11中的流体压力保持恒定，以辅助第一容纳区11中的流体顺利流入第二容纳区13中。
在本申请的其他实施例中，气压补偿器4可以是填充气体的气囊，填充的气体可以是氮气。
在本申请的一个实施例中，第三容纳区41中填充的流体可以是空气，可以是第三容纳区41连通大气，以使大气中的空气作为补充流体流入第三容纳区41中。
在本申请的一个实施例中，参照上述方案的记载，顶升装置的工作流程可以为：双向油泵正转，液压油被双向油泵经过进流通道吸至进流阀351，流体经过进流阀351流至位于活动端端部的进流口121，再通过进流口121流入活动端的端部与活塞头2之间的第二容纳区13，第二容纳区13顶升多级活塞头的承重板21远离活塞杆1，承载板带动多级活 塞头中最外层升降柱顶升，液压油流向第二容纳区13的同时，也流向最外层升降柱的有杆腔24中，当连接最外层升降柱的遮挡板23接触连接在与最外层升降柱相邻升降柱上的中间限位部25时，最外层升降柱带动与最外层升降柱相邻升降柱继续顶升，参照图3，液压油流向与最外层升降柱相邻升降柱的有杆腔24中，依次类推，直至与活塞杆1相邻的升降柱连接的遮挡板23与连接活塞杆1的限位部14接触，顶升装置升高至最高，此时第二容纳区13的边缘被各级活塞的有杆腔24包围，气压补偿器4在第一容纳区11内的体积变大，如图4。顶升装置升高至最高时双向油泵反转，液压油被吸向设置在活塞杆1侧壁的出流口122，液压油经过出流口122流经出流阀352流入出流通道，再从出流通道流入第一容纳区11中，第二容纳区13中的流体减少，不足以支撑活塞头2升高至最高，多级活塞头随着流体流动而落下，气压补偿器4在第一容纳区11内的体积变小。
由上述技术方案可知，本申请至少具有如下优点和积极效果：
本申请中提出的一种顶升装置包括活塞杆1、活塞头2和驱动组件3，活塞杆1内设有第一容纳区11，第一容纳区11内填充有流体，活塞杆1上设有通流口12，活塞头2套设在活塞杆1的活动端，与活塞杆1活动连接，活塞头2与活塞杆1之间围成封闭的第二容纳区13，第二容纳区13通过通流口12连通第一容纳区11，驱动组件3设置在第一容纳区11内，用于驱动流体通过通流口12自第一容纳区11向第二容纳区13流动，以推动活塞头2远离活动端，实现顶升。可见，本申请中以流体推动活塞头2，无刚性接触，极大的减小了噪音，同时，由于活塞头2套接在活塞杆1外，能够进一步隔离噪声，从而减小噪音。
虽然已参照几个典型实施方式描述了本申请，但应当理解，所用的术语是说明和示例性、而非限制性的术语。由于本申请能够以多种形式具体实施而不脱离申请的精神或实质，所以应当理解，上述实施方式不限于任何前述的细节，而应在随附权利要求所限定的精神和范围内广泛地解释，因此落入权利要求或其等效范围内的全部变化和改型都应为随附权利要求所涵盖。

Claims (10)

  1. 一种顶升装置，其中，包括：
    活塞杆，所述活塞杆内设有第一容纳区，所述第一容纳区内填充有流体，所述活塞杆上设有通流口；
    活塞头，套设在所述活塞杆的活动端，与所述活塞杆活动连接，所述活塞头与所述活塞杆之间围成封闭的第二容纳区，所述第二容纳区通过所述通流口连通所述第一容纳区；
    驱动组件，设置在所述第一容纳区内，用于驱动所述流体自所述第一容纳区向所述第二容纳区流动，以推动所述活塞头远离所述活动端。
  2. 根据权利要求1所述的顶升装置，其中，所述活塞头包括：
    承重板，对应所述活动端设置，所述第二容纳区设置在所述承重板与所述活动端之间；
    升降柱，围绕所述活塞杆的外侧壁一周设置，与所述承重板连接；
    遮挡板，与所述升降柱远离所述承重板的一端连接，由所述升降柱延伸至所述活塞杆的外侧壁，用于遮挡所述升降柱与所述活塞杆之间的缝隙。
  3. 根据权利要求2所述的顶升装置，其中，所述活塞杆包括：
    限位部，由所述活动端向所述升降柱延伸，当所述升降柱远离所述承重板的一端到达所述活动端时，所述限位部接触所述遮挡板朝向所述承重板的面。
  4. 根据权利要求2所述的顶升装置，其中，
    所述活塞头为多级活塞头，所述多级活塞头具有相互套设的多个所述升降柱，多个所述升降柱中相邻的两个升降柱活动连接，所述相邻的两个升降柱中位于内层的升降柱随着位于外层的升降柱远离所述活动端而远离所述活动端，多个所述升降柱中的最外层升降柱连接所述承重板。
  5. 根据权利要求1所述的顶升装置，其中，所述驱动组件包括：
    流体泵，包括流体通道，所述流体通道的一端连通所述通流口，所述流体通道的另一端设置在所述流体内；
    电机，与所述流体泵通过联轴器连接，用于为所述流体泵提供动力。
  6. 根据权利要求5所述的顶升装置，其中，所述驱动组件还包括：
    阀块，设置在所述第一容纳区内，设置在所述第一容纳区靠近所述活动端的一端，所述电机固定在所述阀块内；
    流体阀，设置在所述阀块内，连通所述流体通道的一端与所述通流口。
  7. 据权利要求6所述的顶升装置，其中，
    所述流体通道包括进流通道和出流通道；
    所述流体阀包括进流阀和出流阀；
    所述进流通道连通所述流体与所述进流阀，所述出流通道连通所述流体与所述出流阀。
  8. 根据权利要求7所述的顶升装置，其中，所述通流口包括：
    进流口，设置在所述活动端的端面，与所述进流通道连通；
    出流口，设置在所述活塞杆的侧壁，与所述出流通道连通。
  9. 根据权利要求8所述的顶升装置，其中，
    所述阀块的外侧壁围绕所述阀块的一周开设有第一蓄流槽，所述第一蓄流槽的槽口朝向所述活塞杆的内侧壁，所述出流口在所述第一蓄流槽的槽底均匀分布；
    所述活塞杆的侧壁对应所述第一蓄流槽开设有引流口，所述第一蓄流槽通过所述引流口连通所述第二容纳区。
  10. 根据权利要求1所述的顶升装置，其中，还包括：
    气压补偿器，设置在所述第一容纳区内，所述气压补偿器的体积随着所述第一容纳区内的气压的变化而适应性变化。
PCT/CN2021/121590 2020-12-23 2021-09-29 顶升装置 WO2022134719A1 (zh)

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