WO2024093445A1 - 驱动机构及搬运装置 - Google Patents
驱动机构及搬运装置 Download PDFInfo
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- WO2024093445A1 WO2024093445A1 PCT/CN2023/113605 CN2023113605W WO2024093445A1 WO 2024093445 A1 WO2024093445 A1 WO 2024093445A1 CN 2023113605 W CN2023113605 W CN 2023113605W WO 2024093445 A1 WO2024093445 A1 WO 2024093445A1
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- Prior art keywords
- assembled
- bearing
- assembly
- scissor arm
- base
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Classifications
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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
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/065—Scissor linkages, i.e. X-configuration
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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
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/0608—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement driven by screw or spindle
Definitions
- the present disclosure relates to the technical field of transport equipment, and in particular to a driving mechanism and a transport device.
- the fork legs of the handling device can extend to the bottom of the material rack, and use the lifting drive mechanism to lift the material rack to achieve material transportation. It is often used for the transportation of material racks and material carts, effectively reducing human resource costs and alleviating manual labor intensity.
- the lifting drive mechanism of the handling device usually needs to drive the scissor arms through the threaded transmission of the driving screw and the threaded transmission member, thereby driving the handling device to complete the corresponding handling action.
- the supporting and fixing method of the driving screw in the related art makes the driving screw easy to move during the driving process, which has problems with structural reliability and increased axial length.
- the present disclosure provides a driving mechanism and a transporting device to solve the deficiencies in the related art.
- a driving mechanism comprising: a base; a support assembly, assembled on the base; the support assembly comprises a first support bearing, a second support bearing and an axial fixing member; and a power assembly, comprising a driving motor and a driving screw, the driving motor being assembled on the base; one end of the driving screw is provided with a connecting end and a first supporting fitting portion close to the connecting end; the other end of the driving screw is provided with a second supporting fitting portion; the connecting end is connected to the output end of the driving motor, the first supporting bearing is assembled on the first supporting fitting portion; the second supporting bearing is assembled on the second supporting fitting portion, and the axial fixing member and the second supporting fitting portion are matched in the axial limit position of the driving screw.
- the driving motor includes a motor body and a connecting harness
- the motor body is provided with an assembly recess extending in the axial direction
- the connecting harness extends from the assembly recess and extends along the assembly recess in a direction away from the driving screw.
- the motor body includes a bottom surface facing the base and a top surface opposite to the bottom surface, and the assembly recess is provided on the top surface.
- the motor body includes a bottom surface facing the base, a top surface opposite to the bottom surface, and a side surface connecting the bottom surface and the top surface, and the assembly recess is arranged at a corner where the top surface meets the side surface.
- At least one of the first support bearing and the second support bearing comprises a spherical angle bearing.
- the axial fixing member comprises a thrust bearing assembled to the second supporting fitting portion.
- the support assembly includes a bracket and a fixing nut, the bracket is fixedly mounted on the base; the thrust bearing and the second support bearing are assembled on the bracket, and the thrust bearing is assembled on the outside of the second support bearing; the fixing nut is locked with the drive screw on the outside of the thrust bearing.
- the bracket includes a main structure and a positioning structure extending upward from the main structure, the main structure is fixedly assembled to the base, and the positioning structure is located between the second support bearing and the thrust bearing to position the assembly of the second support bearing and the thrust bearing.
- a receiving space is provided on a side of the thrust bearing facing the fixing nut, and the fixing nut is assembled into the receiving space.
- the second supporting fitting portion includes a first step, a second step and a third step whose sizes decrease successively, and the third step is located at the end of the driving screw; the second supporting bearing is assembled on the first step, the thrust bearing is assembled on the second step, and the fixing nut is assembled on the third step.
- a transport device which includes a top plate, a scissors arm assembly and any one of the driving mechanisms described in the first aspect; the driving mechanism includes a threaded transmission member that cooperates with the driving screw; the top plate and the base are connected to both ends of the scissors arm assembly; the threaded transmission member is connected to the scissors arm assembly to provide power to the scissors arm assembly.
- the scissor arm assembly includes a pushing member and a first scissor arm and a second scissor arm hinged to each other, wherein one end of the first scissor arm is hingedly cooperated with the base, and the other end of the first scissor arm is slidably connected to the top plate; one end of the second scissor arm is hingedly cooperated with the top plate, and the other end of the second scissor arm is slidably connected to the base; the pushing member is hingedly connected to one of the first scissor arm and the second scissor arm and the sliding member respectively.
- the transport device further includes a sensor and a detection reference member; one of the sensor and the detection reference member is disposed on the base, and the other is disposed on the top plate.
- the two ends of the driving screw of the present disclosure are supported by the first support bearing and the second support bearing, and the driving screw is axially limited by the axial fixing member at the end away from the driving motor, thereby avoiding the movement of the driving screw during use.
- the above structural arrangement improves the movement smoothness of the driving mechanism, and avoids excessive increase in the axial size of the driving mechanism while ensuring the support strength of the driving screw.
- FIG1 is a schematic cross-sectional view of a driving mechanism in an exemplary embodiment of the present disclosure
- FIG2 is a partial enlarged structural schematic diagram of a driving mechanism in an exemplary embodiment of the present disclosure
- FIG3 is a schematic diagram of a partial structure of a driving motor in an exemplary embodiment of the present disclosure
- FIG4 is a schematic cross-sectional view of a driving mechanism in another exemplary embodiment of the present disclosure.
- FIG. 5 is a schematic diagram of a three-dimensional structure of a driving mechanism in an exemplary embodiment of the present disclosure.
- 1 driving mechanism 11 base; 12 power assembly; 121 driving motor; 1211 motor body; 1211a top surface; 1211b bottom surface; 1211c side surface; 1212 connecting harness; 1213 assembly recess; 122 driving screw; 1221 first supporting matching part; 1222 second supporting matching part; 1222a first step; 1222b second step; 1222c third step; 1223 connecting end; 123 threaded transmission member; 13 supporting assembly; 131 first supporting bearing; 132 second supporting bearing; 133 axial fixing member; 134 bracket; 1341 main structure; 1342 positioning structure; 135 fixing nut; 14 scissor arm assembly; 141 first scissor arm; 142 second scissor arm; 143 pushing rod; 15 sensor; 16 top plate; 161 detection reference member.
- the fork legs of the handling device can extend to the bottom of the material rack, and the lifting drive mechanism is used to lift the material rack to realize the transportation of materials. It is often used for the transportation of material racks and material carts, effectively reducing human resource costs and reducing manual labor intensity.
- the lifting drive mechanism of the handling device usually needs to drive the scissor arm through the threaded transmission of the driving screw and the threaded transmission part, thereby driving the handling device to complete the corresponding handling action.
- the support and fixing method of the driving screw in the related art makes the driving screw easy to move during the driving process, and there are problems with structural reliability and increased axial length.
- FIG1 is a schematic cross-sectional structure diagram of a driving mechanism in an exemplary embodiment of the present disclosure.
- the driving mechanism 1 includes a base 11, a support assembly 13 and a power assembly 12.
- the support assembly 13 is assembled on the base 11, and the support assembly 13 includes a first support bearing 131, a second support bearing 132 and an axial fixing member 133.
- the power assembly 12 includes a driving motor 121 and a driving screw 122, and the driving motor 121 is assembled on the base 11.
- One end of the driving screw 122 is provided with a connecting end 1223 and a first supporting matching portion 1221 close to the connecting end 1223, and the other end of the driving screw 122 is provided with a second supporting matching portion 1222.
- the connecting end 1223 is connected to the output end of the driving motor 121, the first supporting bearing 131 is assembled on the first supporting matching portion 1221, the second supporting bearing 132 is assembled on the second supporting matching portion 1222, and the axial fixing member 133 is matched with the second supporting matching portion 1222 in the axial limit of the driving screw 122.
- the drive screw 122 needs to withstand radial thrust to transmit the force through the thread.
- the other components of the driving mechanism 1 are driven to generate corresponding driving force.
- the driving screw 122 When the driving screw 122 is subjected to a large load, the axial thrust it receives easily causes the driving screw 122 to axially move, affecting the smoothness of movement and structural strength of the driving mechanism 1.
- the two ends of the driving screw 122 are supported by the first support bearing 131 and the second support bearing 132, and the driving screw 122 is axially limited by the axial fixing member 133 at the end away from the driving motor 121, thereby avoiding the movement of the driving screw 122 during use.
- the above structural arrangement improves the smoothness of movement of the driving mechanism 1.
- the driving screw 122 needs to bear the load through multiple pairs of bearings, and the support scheme often causes excessive occupation of the axial space.
- the present invention ensures the supporting strength of the driving screw 122 while avoiding excessive increase in the axial size of the driving mechanism 1 through the coordination of the first support bearing 131, the second support bearing 132 and the axial fixing member 133.
- At least one of the first support bearing 131 and the second support bearing 132 includes a spherical bearing, so that the size and installation method of the spherical bearing can reduce the occupation of the axial space of the drive mechanism 1 and improve the space utilization.
- the first support bearing 131 and the second support bearing 132 can be deep groove ball bearings.
- the axial fixing member 133 includes a thrust bearing assembled in the second supporting fitting portion 1222.
- the thrust bearing can not only provide supporting force for the driving screw 122, but also use its own structure to provide axial limitation for the driving screw 122 to prevent the driving screw 122 from moving when subjected to force.
- the support assembly 13 includes a bracket 134 and a fixing nut 135.
- the bracket 134 is fixedly mounted on the base 11.
- the thrust bearing and the second support bearing 132 are assembled on the bracket 134.
- the thrust bearing is assembled on the outside of the second support bearing 132.
- the fixing nut 135 is locked with the driving screw 122 on the outside of the thrust bearing.
- the outer side of the thrust bearing is locked by the fixing nut 135 to prevent the thrust bearing or the driving screw 122 from moving, thereby improving the overall reliability of the driving mechanism 1.
- the bracket 134 may include a main structure 1341 and a positioning structure 1342 extending upward from the main structure 1341, the main structure 1341 is fixedly assembled to the base 11, and the positioning structure 1342 is located between the second support bearing 132 and the thrust bearing to achieve assembly and positioning of the second support bearing 132 and the thrust bearing.
- a receiving space may be provided on one side of the thrust bearing facing the fixing nut 135, and the fixing nut 135 is assembled to the receiving space to avoid increasing the axial dimension occupied by the driving screw 122.
- the axial fixing member 133 may also be a limiting plate, limiting rib, limiting block, etc. that forms an axial abutment with the second supporting matching portion 1222, and the present disclosure is not limited to this.
- the axial fixing member 133 may be assembled to the second supporting matching portion 1222 to limit the base 11 or the bracket 134 fixedly assembled to the base 11.
- the axial fixing member 133 can also be assembled on the base 11 to cooperate with the second supporting portion in a limiting manner.
- the second support fitting portion 1222 includes a first step 1222a, a second step 1222b, and a third step 1222c of which sizes decrease in sequence, the third step 1222c is located at the end of the driving screw 122, the second support bearing 132 is assembled to the first step 1222a, the thrust bearing is assembled to the second step 1222b, and the fixing nut 135 is assembled to the third step 1222c.
- the second support fitting portion 1222 of the driving screw 122 include a step structure, and making the second support bearing 132, the thrust bearing, and the fixing nut 135 arranged on different steps, it is possible to facilitate the assembly positioning of the second support bearing 132, the thrust bearing, and the fixing nut 135, thereby improving the assembly reliability.
- the driving motor 121 includes a motor body 1211 and a connecting harness 1212.
- the motor body 1211 is provided with an assembly recess 1213 extending in the axial direction.
- the connecting harness 1212 extends from the assembly recess 1213 and extends along the assembly recess 1213 in a direction away from the driving lead screw 122.
- the connecting harness 1212 is assembled in the assembly recess 1213 and extends in a direction away from the driving lead screw 122, so as to facilitate the unchaining of the connecting harness 1212 when entering the handling device, thereby avoiding the increase in cost and space occupation caused by the bending of the connecting harness 1212.
- the motor body 1211 may include a bottom surface 1211b facing the base 11 and a top surface 1211a opposite to the bottom surface 1211b, and the assembly recess 1213 is arranged on the top surface 1211a, so that the connecting wire harness 1212 extends out from the top surface 1211a by setting the assembly recess 1213 on the top surface 1211a, thereby optimizing the wire outlet position of the motor and facilitating the connecting wire harness 1212 to enter the unchaining of the carrying device.
- the motor body 1211 may further include a side surface 1211c connecting the bottom surface 1211b and the top surface 1211a, and the assembly recess 1213 is provided at the corner where the top surface 1211a and the side surface 1211c meet.
- the overall aesthetics of the motor body 1211 and the convenience of wiring harness assembly can be improved by providing the assembly recess 1213 at the corner.
- the present disclosure further provides a handling device, which includes a top plate 16, a scissor arm assembly 14 and the above-mentioned driving mechanism 1, wherein the driving mechanism 1 includes a threaded transmission member 123 matched with a driving screw 122.
- the top plate 16 and the base 11 are connected to both ends of the scissor arm assembly 14, and the threaded transmission member 123 is connected to the scissor arm assembly 14 to provide power to the scissor arm assembly 14.
- the scissor arm assembly 14 and the top plate 16 can generate corresponding movements with the operation of the driving mechanism 1 , thereby realizing the function of loading goods.
- the scissor arm assembly 14 may include a pusher 143 and a first scissor arm hinged to each other. 141 and the second scissor arm 142.
- One end of the first scissor arm 141 is hinged to the base 11, and the other end is slidably connected to the top plate 16.
- One end of the second scissor arm 142 is hinged to the top plate 16, and the other end is slidably connected to the base 11.
- the pusher 143 is hinged to one of the first scissor arm 141 and the second scissor arm 142 and the sliding member respectively.
- the sliding member slides relative to the first slide groove, pulling the pusher 143 to perform the expected movement, and then the pusher 143 pushes the first scissor arm 141 and the second scissor arm 142, which are mutually hinged, to rotate relative to each other, and one end of the first scissor arm 141 slides relative to the top plate 16 and the second scissor arm 142 slides relative to the base 11, so that the top plate 16 obtains a lifting motion trajectory, so that the loading and unloading of goods can be realized through the top plate 16.
- the above-mentioned pusher 143 can be a rod.
- the handling device may further include a sensor 15 and a detection reference member 161.
- One of the sensor 15 and the detection reference member 161 is disposed on the base 11, and the other is disposed on the top plate 16.
- the sensor 15 is fixedly disposed on the base 11, and the top plate 16 is provided with a detection reference member 161 corresponding to the position of the sensor 15.
- the detection reference member 161 is disposed on the top plate 16, and the sensor 15 is disposed on the fixed base 11.
- the sensor 15 may be located below the detection reference member 161, so that the height position of the top plate 16 can be obtained intuitively, thereby improving the convenience and accuracy of detection and avoiding errors caused by indirect calculation of the height of the top plate 16.
- the detection reference member 161 may be a plate-like structure disposed on the top plate 16 and disposed toward the base 11.
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Abstract
一种驱动机构（1）及搬运装置，其中驱动机构（1）具有驱动丝杠（122），驱动丝杠（122）的两端通过第一支撑轴承（131）和第二支撑轴承（132）进行支撑，且在远离驱动电机（121）的一端通过轴向固定件（133）对驱动丝杠（122）进行轴向限位，避免了驱动丝杠（122）在使用过程中的窜动。
Description
相关申请的交叉引用
本申请要求于2022年10月31日提交的、申请号为202222918036.0的中国专利申请的优先权，该申请以引用的方式并入本文中。
本公开涉及搬运设备技术领域，尤其涉及驱动机构及搬运装置。
搬运装置的叉腿能够伸到料架底部，并利用升降驱动机构提升料架进而实现物料的输送，常用于物料架、物料车的转运，有效降低了人力资源成本、减轻了人工劳动强度。
搬运装置的升降驱动机构通常需要通过驱动丝杠与螺纹传动件的螺纹传动实现对剪叉臂的驱动，从而带动搬运装置完成相应的搬运动作。然而，相关技术中驱动丝杠的支撑固定方式导致驱动丝杠容易在驱动过程中发生窜动，存在结构可靠性和轴向长度增加的问题。
发明内容
本公开提供一种驱动机构及搬运装置，以解决相关技术中的不足。
根据本公开实施例的第一方面提供一种驱动机构，包括：底座；支撑组件，组装于所述底座；所述支撑组件包括第一支撑轴承、第二支撑轴承和轴向固定件；以及动力组件，包括驱动电机和驱动丝杠，所述驱动电机组装于所述底座；所述驱动丝杠的一端设有连接端和靠近所述连接端的第一支撑配合部；所述驱动丝杠的另一端设有第二支撑配合部；所述连接端与所述驱动电机的输出端相连，所述第一支撑轴承组装于所述第一支撑配合部；所述第二支撑轴承组装于所述第二支撑配合部，所述轴向固定件与所述第二支撑配合部在所述驱动丝杠的轴向限位配合。
可选的，所述驱动电机包括电机主体和连接线束，所述电机主体设有沿轴向延伸的组装凹部；所述连接线束自所述组装凹部伸出并沿所述组装凹部朝向远离所述驱动丝杠的方向延伸。
在一个实施中，所述电机主体包括朝向所述底座的底面和与所述底面相对的顶面，所述组装凹部设置于所述顶面。
在一个实施例中，所述电机主体包括朝向所述底座的底面、与所述底面相对的顶面以及连接所述底面和所述顶面的侧面，所述组装凹部设置于所述顶面与所述侧面相接的拐角处。
在一个实施例中，所述第一支撑轴承和所述第二支撑轴承中的至少一个包括球角轴承。
在一个实施例中，所述轴向固定件包括组装于所述第二支撑配合部的推力轴承。
在一个实施例中，所述支撑组件包括支架和固定螺母，所述支架固定安装于所述底座；所述推力轴承和所述第二支撑轴承组装于所述支架上，且所述推力轴承组装于所述第二支撑轴承外侧；所述固定螺母在所述推力轴承外侧与所述驱动丝杠锁紧配合。
在一个实施例中，所述支架包括主体结构和自所述主体结构向上延伸的定位结构，所述主体结构固定组装于所述底座，所述定位结构位于所述第二支撑轴承与所述推力轴承之间，以对所述第二支撑轴承与所述推力轴承的组装定位。
在一个实施例中，所述推力轴承朝向所述固定螺母的一侧设有容纳空间，所述固定螺母组装至所述容纳空间。
在一个实施例中，所述第二支撑配合部包括尺寸依次减小的第一阶梯、第二阶梯和第三阶梯，所述第三阶梯位于所述驱动丝杠的端部；所述第二支撑轴承组装于所述第一阶梯，所述推力轴承组装于所述第二阶梯，所述固定螺母组装于所述第三阶梯。
根据本公开的第二方面提供一种搬运装置，所述搬运装置包括顶板、剪叉臂组件和第一方面所述的任一驱动机构；所述驱动机构包括配合于所述驱动丝杠的螺纹传动件；所述顶板和所述底座连接于所述剪叉臂组件的两端；所述螺纹传动件与所述剪叉臂组件相连，以为所述剪叉臂组件提供动力。
在一个实施例中，所述剪叉臂组件包括推动件以及相互铰接的第一剪叉臂和第二剪叉臂，其中，所述第一剪叉臂的一端与所述底座铰接配合，所述第一剪叉臂的另一端与所述顶板滑动连接；所述第二剪叉臂的一端与所述顶板铰接配合，所述第二剪叉臂的另一端与所述底座滑动连接；所述推动件分别与所述第一剪叉臂和所述第二剪叉臂中的一个以及所述滑动件铰接。
在一个实施例中，所述搬运装置还包括传感器和检测基准件；所述传感器和所述检测基准件中的一个设置于所述底座，另一个设置于所述顶板。
本公开的实施例提供的技术方案可以包括以下有益效果：
由上述实施例可知，本公开的驱动丝杠的两端通过第一支撑轴承和第二支撑轴承进行支撑，且在远离驱动电机的一端通过轴向固定件对驱动丝杠进行轴向限位，避免了驱动丝杠在使用过程中的窜动。上述结构设置提升了驱动机构的运动流畅性，在确保驱动丝杠的支撑强度的同时避免了驱动机构轴向尺寸的过多增加。
应理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，并不能限制本公开。
为了更清楚地说明本公开实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本公开一示例性实施例中一种驱动机构的截面结构示意图；
图2是本公开一示例性实施例中一种驱动机构的局部放大结构示意图；
图3是本公开一示例性实施例中一种驱动电机的局部结构示意图；
图4是本公开另一示例性实施例中一种驱动机构的截面结构示意图；
图5是本公开一示例性实施例中一种驱动机构的立体结构示意图。
其中，1驱动机构；11底座；12动力组件；121驱动电机；1211电机主体；1211a顶面；1211b底面；1211c侧面；1212连接线束；1213组装凹部；122驱动丝杠；1221第一支撑配合部；1222第二支撑配合部；1222a第一阶梯；1222b第二阶梯；1222c第三阶梯；1223连接端；123螺纹传动件；13支撑组件；131第一支撑轴承；132第二支撑轴承；133轴向固定件；134支架；1341主体结构；1342定位结构；135固定螺母；14剪叉臂组件；141第一剪叉臂；142第二剪叉臂；143推动杆；15传感器；16顶板；161检测基准件。
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的方式并不代表与本公开相一致的所有方式。相反，它们仅是与如所附权利
要求书中所详述的、本公开的一些方面相一致的装置的例子。
在本公开使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本公开。除非另作定义，本公开使用的技术术语或者科学术语应当为本公开所属领域内具有一般技能的人士所理解的通常意义。本公开说明书以及权利要求书中使用的“第一”“第二”以及类似的词语并不表示任何顺序、数量或者重要性，而只是用来区分不同的组成部分。同样，“一个”或者“一”等类似词语也不表示数量限制，而是表示存在至少一个，若仅指代“一个”时会再单独说明。“多个”或者“若干”表示两个及两个以上。除非另行指出，“前部”、“后部”、“下部”和/或“上部”等类似词语只是为了便于说明，而并非限于一个位置或者一种空间定向。“包括”或者“包含”等类似词语意指出现在“包括”或者“包含”前面的元件或者物件涵盖出现在“包括”或者“包含”后面列举的元件或者物件及其等同，并不排除其他元件或者物件。“连接”或者“相连”等类似的词语并非限定于物理的或者机械的连接，而且可以包括电性的连接，不管是直接的还是间接的。在本公开说明书和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所有可能组合。
搬运装置的叉腿能够伸到料架底部，并利用升降驱动机构提升料架进而实现物料的输送，常用于物料架、物料车的转运，有效降低了人力资源成本、减轻了人工劳动强度。搬运装置的升降驱动机构通常需要通过驱动丝杠与螺纹传动件的螺纹传动实现对剪叉臂的驱动，从而带动搬运装置完成相应的搬运动作。然而，相关技术中驱动丝杠的支撑固定方式导致驱动丝杠容易在驱动过程中发生窜动，存在结构可靠性和轴向长度增加的问题。
本公开提供一种驱动机构，图1是本公开一示例性实施例中一种驱动机构的截面结构示意图，如图1所示，驱动机构1包括底座11、支撑组件13和动力组件12。支撑组件13组装于底座11，支撑组件13包括第一支撑轴承131、第二支撑轴承132和轴向固定件133。动力组件12包括驱动电机121和驱动丝杠122，驱动电机121组装于底座11。驱动丝杠122的一端设有连接端1223和靠近连接端1223的第一支撑配合部1221，驱动丝杠122的另一端设有第二支撑配合部1222。连接端1223与驱动电机121的输出端相连，第一支撑轴承131组装于第一支撑配合部1221，第二支撑轴承132组装于第二支撑配合部1222，轴向固定件133与第二支撑配合部1222在驱动丝杠122的轴向限位配合。
在驱动机构1的使用过程中，驱动丝杠122需要承受径向的推力，以通过螺纹传动
带动驱动机构1的其他部件产生相应的驱动力。而在驱动丝杠122受到负载较大的情况下，其受到的轴向推力容易导致驱动丝杠122发生轴向窜动，影响驱动机构1的运动流畅性以及结构强度。上述驱动丝杠122的两端通过第一支撑轴承131和第二支撑轴承132进行支撑，且在远离驱动电机121的一端通过轴向固定件133对驱动丝杠122进行轴向限位，避免了驱动丝杠122在使用过程中的窜动，上述结构设置提升了驱动机构1的运动流畅性。
此外，驱动丝杠122需要通过多对轴承承担负载，支撑方案常常造成对轴向空间的过多占用，本公开通过第一支撑轴承131、第二支撑轴承132和轴向固定件133的配合，在确保驱动丝杠122的支撑强度的同时避免了驱动机构1轴向尺寸的过多增加。
在一些实施例中，如图1、图2所示，第一支撑轴承131和第二支撑轴承132中的至少一个包括球角轴承，以通过球角轴承的尺寸及安装方式减小对驱动机构1轴向空间的占用，提升空间利用率。例如，第一支撑轴承131和第二支撑轴承132可以是深沟球轴承。
在一些实施例中，如图1、图2所示，轴向固定件133包括组装于第二支撑配合部1222的推力轴承，推力轴承不仅能够为驱动丝杠122提供支撑力，还能够利用自身结构为驱动丝杠122提供轴向限位，避免驱动丝杠122在受力时产生窜动。
在上述实施例中，如图1、图2所示，支撑组件13包括支架134和固定螺母135，支架134固定安装于底座11，推力轴承和第二支撑轴承132组装于支架134上，且推力轴承组装于第二支撑轴承132外侧，固定螺母135在推力轴承外侧与驱动丝杠122锁紧配合。通过固定螺母135将推力轴承的外侧锁紧，避免推力轴承或驱动丝杠122发生窜动，提升了驱动机构1的整体可靠性。
其中，支架134可以包括主体结构1341和自所述主体结构1341向上延伸的定位结构1342，主体结构1341固定组装于底座11，定位结构1342位于第二支撑轴承132与推力轴承之间，以实现对第二支撑轴承132与推力轴承的组装定位。推力轴承朝向固定螺母135的一侧可以设有容纳空间，固定螺母135组装至所述容纳空间，以避免增加对驱动丝杠122的轴向尺寸占用。
在其他实施例中，轴向固定件133也可以是与第二支撑配合部1222形成轴向抵接的限位板、限位筋、限位块等结构，本公开并不对此进行限制。轴向固定件133可以组装于第二支撑配合部1222以与底座11或固定组装于底座11的支架134等结构进行限位
配合，轴向固定件133也可以组装于底座11以与第二支撑部限位配合。
在一些实施例中，如图1、图2所示，第二支撑配合部1222包括尺寸依次减小的第一阶梯1222a、第二阶梯1222b和第三阶梯1222c，第三阶梯1222c位于驱动丝杠122的端部，第二支撑轴承132组装于第一阶梯1222a，推力轴承组装于第二阶梯1222b，固定螺母135组装于第三阶梯1222c。通过使驱动丝杠122的第二支撑配合部1222包含阶梯结构，并使第二支撑轴承132、推力轴承和固定螺母135设置在不同的阶梯上，能够便于形成对第二支撑轴承132、推力轴承和固定螺母135的组装定位，提升组装可靠性。
在一些实施例中，如图3所示，驱动电机121包括电机主体1211和连接线束1212，电机主体1211设有沿轴向延伸的组装凹部1213，连接线束1212自组装凹部1213伸出并沿组装凹部1213朝向远离驱动丝杠122的方向延伸。通过在电机主体1211设置组装凹部1213能够避免连接线束1212对电机主体1211外部空间的占用，减小驱动机构1的整体尺寸。连接线束1212组装于组装凹部1213，并朝向远离驱动丝杠122的方向延伸，以便于连接线束1212进入搬运装置的脱链，避免连接线束1212的弯折造成成本增加及空间占用。
在上述实施例中，电机主体1211可以包括朝向底座11的底面1211b和与底面1211b相对的顶面1211a，组装凹部1213设置于顶面1211a，以通过在顶面1211a设置组装凹部1213，使连接线束1212从顶面1211a伸出，优化了电机的出线位置，便于连接线束1212进入搬运装置的脱链。
其中，电机主体1211还可以包括连接底面1211b和顶面1211a的侧面1211c，组装凹部1213设置于顶面1211a与侧面1211c相接的拐角处。通过在拐角处设置组装凹部1213能够提升电机主体1211的整体美观性和线束组装便利性。
本公开进一步提供一种搬运装置，搬运装置包括顶板16、剪叉臂组件14和上述驱动机构1，驱动机构1包括配合于驱动丝杠122的螺纹传动件123。顶板16和底座11连接于所述剪叉臂组件14的两端，螺纹传动件123与剪叉臂组件14相连，以为剪叉臂组件14提供动力。
在驱动机构1的作用下，剪叉臂组件14及顶板16能够随驱动机构1的工作产生相应运动，进而实现负载货物的功能。
其中，如图4所示，剪叉臂组件14可以包括推动件143和相互铰接的第一剪叉臂
141和第二剪叉臂142。第一剪叉臂141的一端与底座11铰接配合，另一端与顶板16滑动连接。第二剪叉臂142的一端与顶板16铰接配合，另一端与底座11滑动连接。推动件143分别与第一剪叉臂141和第二剪叉臂142中的一个以及滑动件铰接。当驱动丝杠122带动螺纹传动件123轴向移动时，滑动件相对于第一滑槽滑动，拉动推动件143发生预期运动，进而由推动件143推动交互铰接的第一剪叉臂141和第二剪叉臂142发生相对转动、第一剪叉臂141一端相对于顶板16的滑动以及第二剪叉臂142相对于底座11的滑动，顶板16因此获得升降运动轨迹，从而能够通过顶板16实现对货物的负载和卸载。上述推动件143可以为杆件。
在一些实施例中，如图5所示，搬运装置还可以包括传感器15和检测基准件161。传感器15和检测基准件161中的一个设置于底座11，另一个设置于顶板16。例如，传感器15固定设置于底座11，顶板16设有与传感器15位置对应的检测基准件161。在顶板16设置检测基准件161，并将传感器15设置于位置固定的底座11，传感器15可以位于检测基准件161的下方，能够直观获得顶板16的高度位置，提升检测便利性和准确性，避免间接计算获得顶板16高度导致的误差。检测基准件161可以是设置于顶板16且朝向底座11设置的板状结构。
本文中所描述的具体实施例仅仅是对本公开精神作举例说明。本公开所属技术领域的技术人员可以对所描述的具体实施例做多种修改、补充、或采用类似的方法替代，但并不会偏离本公开的精神或者超越所附权利要求书所定义的范围。
以上实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
Claims (13)
- 一种驱动机构，包括：底座；支撑组件，组装于所述底座；所述支撑组件包括第一支撑轴承、第二支撑轴承和轴向固定件；以及动力组件，包括驱动电机和驱动丝杠，所述驱动电机组装于所述底座；所述驱动丝杠的一端设有连接端和靠近所述连接端的第一支撑配合部；所述驱动丝杠的另一端设有第二支撑配合部；所述连接端与所述驱动电机的输出端相连，所述第一支撑轴承组装于所述第一支撑配合部；所述第二支撑轴承组装于所述第二支撑配合部，所述轴向固定件与所述第二支撑配合部在所述驱动丝杠的轴向限位配合。
- 根据权利要求1所述的驱动机构，其特征在于，所述驱动电机包括电机主体和连接线束，所述电机主体设有沿轴向延伸的组装凹部；所述连接线束自所述组装凹部伸出并沿所述组装凹部朝向远离所述驱动丝杠的方向延伸。
- 根据权利要求2所述的驱动机构，其特征在于，所述电机主体包括朝向所述底座的底面和与所述底面相对的顶面，所述组装凹部设置于所述顶面。
- 根据权利要求2所述的驱动机构，其特征在于，所述电机主体包括朝向所述底座的底面、与所述底面相对的顶面以及连接所述底面和所述顶面的侧面，所述组装凹部设置于所述顶面与所述侧面相接的拐角处。
- 根据权利要求1所述的驱动机构，其特征在于，所述第一支撑轴承和所述第二支撑轴承中的至少一个包括球角轴承。
- 根据权利要求1所述的驱动机构，其特征在于，所述轴向固定件包括组装于所述第二支撑配合部的推力轴承。
- 根据权利要求6所述的驱动机构，其特征在于，所述支撑组件包括支架和固定螺母，所述支架固定安装于所述底座；所述推力轴承和所述第二支撑轴承组装于所述支架上，且所述推力轴承组装于所述第二支撑轴承外侧；所述固定螺母在所述推力轴承外侧与所述驱动丝杠锁紧配合。
- 根据权利要求7所述的驱动机构，其特征在于，所述支架包括主体结构和自所述主体结构向上延伸的定位结构，所述主体结构固定组装于所述底座，所述定位结构位于所述第二支撑轴承与所述推力轴承之间，以对所述第二支撑轴承与所述推力轴承的组装定位。
- 根据权利要求7所述的驱动机构，其特征在于，所述推力轴承朝向所述固定螺 母的一侧设有容纳空间，所述固定螺母组装至所述容纳空间。
- 根据权利要求7所述的驱动机构，其特征在于，所述第二支撑配合部包括尺寸依次减小的第一阶梯、第二阶梯和第三阶梯，所述第三阶梯位于所述驱动丝杠的端部；所述第二支撑轴承组装于所述第一阶梯，所述推力轴承组装于所述第二阶梯，所述固定螺母组装于所述第三阶梯。
- 一种搬运装置，其特征在于，包括顶板、剪叉臂组件和如权利要求1-8任一项所述的驱动机构；所述驱动机构包括配合于所述驱动丝杠的螺纹传动件；所述顶板和所述底座连接于所述剪叉臂组件的两端；所述螺纹传动件与所述剪叉臂组件相连，以为所述剪叉臂组件提供动力。
- 根据权利要求11所述的搬运装置，其特征在于，所述剪叉臂组件包括推动件以及相互铰接的第一剪叉臂和第二剪叉臂，其中，所述第一剪叉臂的一端与所述底座铰接配合，所述第一剪叉臂的另一端与所述顶板滑动连接；所述第二剪叉臂的一端与所述顶板铰接配合，所述第二剪叉臂的另一端与所述底座滑动连接；所述推动件分别与所述第一剪叉臂和所述第二剪叉臂中的一个以及所述滑动件铰接。
- 根据权利要求11所述的搬运装置，其特征在于，还包括传感器和检测基准件；所述传感器和所述检测基准件中的一个设置于所述底座，另一个设置于所述顶板。
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- 2022-10-31 CN CN202222918036.0U patent/CN218371607U/zh active Active
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2023
- 2023-08-17 WO PCT/CN2023/113605 patent/WO2024093445A1/zh not_active Ceased
- 2023-08-17 DE DE212023000320.1U patent/DE212023000320U1/de active Active
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| JP2000211895A (ja) * | 1999-01-21 | 2000-08-02 | Murata Mach Ltd | 昇降台装置 |
| DE29907147U1 (de) * | 1999-04-22 | 1999-08-26 | Clamor, Reinhard, 32339 Espelkamp | Scherenhubtisch |
| JP2009073657A (ja) * | 2007-09-22 | 2009-04-09 | Akashin Corp | テーブルリフト |
| CN108033398A (zh) * | 2017-12-01 | 2018-05-15 | 浙江理工大学 | 一种基于丝杠的柜式货物装卸升降机 |
| CN110294054A (zh) * | 2019-07-23 | 2019-10-01 | 杭州易博特科技有限公司 | 新型电动剪叉举升机构及自动导引运输车 |
| CN214989997U (zh) * | 2021-05-13 | 2021-12-03 | 山东派伦智能装备有限公司 | 一种新型丝杠剪叉升降机构 |
| CN215556683U (zh) * | 2021-06-25 | 2022-01-18 | 一汽解放汽车有限公司 | 一种丝杠的支撑机构及车架转运设备 |
| CN217458628U (zh) * | 2022-04-28 | 2022-09-20 | 深圳市兆威机电股份有限公司 | 丝杠升降机构 |
| CN218371607U (zh) * | 2022-10-31 | 2023-01-24 | 杭州海康机器人股份有限公司 | 驱动机构及搬运装置 |
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| DE212023000320U1 (de) | 2025-05-08 |
| CN218371607U (zh) | 2023-01-24 |
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