WO2024259663A1 - 顶升装置和载物车顶升系统 - Google Patents

顶升装置和载物车顶升系统 Download PDF

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Publication number
WO2024259663A1
WO2024259663A1 PCT/CN2023/101868 CN2023101868W WO2024259663A1 WO 2024259663 A1 WO2024259663 A1 WO 2024259663A1 CN 2023101868 W CN2023101868 W CN 2023101868W WO 2024259663 A1 WO2024259663 A1 WO 2024259663A1
Authority
WO
WIPO (PCT)
Prior art keywords
lifting
jacking device
jacking
component
movable
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2023/101868
Other languages
English (en)
French (fr)
Inventor
谌亚飞
陈蕃科
赵猛
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Contemporary Amperex Technology Co Ltd
Original Assignee
Contemporary Amperex Technology Co Ltd
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.)
Filing date
Publication date
Application filed by Contemporary Amperex Technology Co Ltd filed Critical Contemporary Amperex Technology Co Ltd
Priority to CN202380065409.9A priority Critical patent/CN119866309B/zh
Priority to PCT/CN2023/101868 priority patent/WO2024259663A1/zh
Priority to EP23833558.2A priority patent/EP4509352A4/en
Priority to US18/658,996 priority patent/US20240425335A1/en
Publication of WO2024259663A1 publication Critical patent/WO2024259663A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • 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
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • B60L2200/42—Fork lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/40—Working vehicles
    • B60L2200/44—Industrial trucks or floor conveyors

Definitions

  • the present application relates to the field of object lifting, and in particular to a lifting device and a lifting system for a cargo vehicle.
  • Lifting devices are used in many aspects of industrial production and daily life. Lifting devices can be used to lift objects from a lower position to a higher position for subsequent manufacturing, assembly, debugging or other operations.
  • the present application provides a jacking device and a cargo vehicle jacking system, which can improve the stability of the jacking device.
  • the present application provides a lifting device, the lifting device comprising: a first actuator, the first actuator comprising a first actuating rod, the first actuating rod being configured to be movable in a first direction; a movable component, the movable component being connected to the first actuating rod and being configured to be movable along with the movement of the first actuating rod; and a lifting component, the lifting component being configured to lift an object to be lifted, wherein the lifting component is configured to be movable in a second direction by receiving a force applied by the movable component, and the second direction is different from the first direction.
  • the movement direction of the first actuating rod of the first actuator can be different from the lifting direction of the lifting component, even if the lifting component is subjected to excessive pressure, it is not easy to cause the first actuating rod of the first actuator to move under pressure, thereby improving the stability of lifting and the accuracy of positioning.
  • the movable component is configured to be able to move along the first direction with the movement of the first actuating rod.
  • the movable component has an inclined surface, and the inclined surface is configured to apply a force to the lifting component when the movable component moves so that the lifting component moves in the second direction.
  • the inclined surface enables self-locking of lifting to be achieved through a simple structure, thereby improving the stability of lifting and the accuracy of positioning.
  • the inclination angle of the inclined surface relative to the first direction may be 10° to 45°. In some embodiments, the inclination angle of the inclined surface relative to the first direction may be 15° to 30°. In some embodiments, the inclination angle of the inclined surface relative to the first direction may be 20° to 25°.
  • the first actuating rod is connected to the movable component via a first connecting mechanism.
  • the first connecting mechanism can be configured to transfer the movement of the first actuating rod to the movable component, and the first connecting mechanism is configured to enable the first actuating rod and the movable component to move in the first direction. There is a movement margin. This connection method reduces the requirements for part processing accuracy, thereby reducing manufacturing costs.
  • the first connecting mechanism may include a connecting rod and a connecting seat.
  • the connecting rod is connected to the first actuating rod, and the connecting seat is connected to the movable component.
  • the connecting rod may have a first limiting portion with an increased diameter, a second limiting portion with an increased diameter, and a third portion located between the first limiting portion and the second limiting portion.
  • the connecting seat may have a notch.
  • the first limiting portion and the second limiting portion are located on opposite sides of the outer side of the notch and are configured to limit the movement of the connecting rod in the first direction.
  • the third portion is accommodated in the notch.
  • the notch has a length in the first direction.
  • the length of the third portion is slightly greater than the length of the notch so that the connecting rod has the movement margin relative to the connecting seat in the first direction.
  • the notch may be a U-shaped groove.
  • the design of the U-shaped groove can facilitate the assembly of the connecting rod and the connecting seat.
  • connection base may have a step portion, the step portion including a first surface and a second surface perpendicular to each other, the movable component is seated on the first surface and fixedly connected to the movable component by a fastener disposed on the second surface. This can ensure that the connection base can be more reliably fixed to the movable component.
  • the movable component may include at least one inclined wedge, the inclined wedge having the inclined surface, and the inclined surface is configured to apply a force to the lifting component when the movable component moves so that the lifting component moves in the second direction.
  • the inclined wedge will not fall even when subjected to a large force, thereby improving the lifting stability and preventing the lifting from tilting.
  • the lifting device may include at least two movable parts, and the at least two movable parts are connected by a connecting rod, so that the force can be applied to the lifting parts relatively evenly, stress concentration can be avoided, and the lifting can be made more stable.
  • the movable component may be provided with one of a slide rail and a slider, and the frame of the lifting device may be provided with the other of the slide rail and the slider, and the slide rail and the slider cooperate with each other to enable the movable component to move in the first direction. In this way, the movable component can move steadily and smoothly in the first direction, thereby further improving the stability of lifting.
  • the lifting surface of the lifting component for lifting the object may be provided with a plurality of fixing seats, and each fixing seat is provided with a plurality of universal balls.
  • the provision of the universal balls makes it easy to adjust and position the lifted object.
  • the provision of the plurality of fixing seats facilitates modular manufacturing, thereby increasing flexibility and reducing costs.
  • the plurality of universal balls is also conducive to increasing the contact surface and better load bearing.
  • the plurality of fixing seats may include a plurality of first fixing seats, wherein the universal balls on the first fixing seats may be arranged in a straight line, so that the lifted object can be well supported and adjusted, and the contact surface and the load-bearing capacity can be increased.
  • the plurality of fixing seats may include a plurality of second fixing seats, wherein the universal balls on the plurality of second fixing seats may be arranged in a triangle, so as to better increase the contact surface and better disperse the pressure.
  • the triangular arrangement of the universal balls on the plurality of second fixing seats may have at least two different orientations, which can further increase the contact area, disperse the pressure and improve the load-bearing capacity.
  • the lifting device may further include a second actuator and a clamping mechanism, wherein the second actuator is configured to drive the clamping mechanism to move between a clamping position and a loosening position.
  • the second actuator is configured to drive the clamping mechanism to move between a clamping position and a loosening position.
  • the lifting device may further include a positioning mechanism, the positioning mechanism is fixed to the lifting component, the positioning mechanism may include a third actuator and a positioning pin, and the third actuator may be configured to drive the positioning pin to move between an extended position and a retracted position along the second direction. Providing a positioning mechanism may allow the lifted object to be more accurately positioned relative to the lifting device.
  • the positioning pins may be configured to fit with the positioning holes, and the outer contour of the cross section of at least one of the positioning pins may include a contact section and a non-contact section.
  • the contact section contacts and fits with the inner surface of the positioning hole, and the non-contact section does not contact with the inner surface of the positioning hole.
  • the positioning pin can be configured to fit into a circular positioning hole.
  • the contact section can include two opposite circular arcs, and the non-contact section can include four straight line segments respectively connected to the four endpoints of the two circular arcs, and the adjacent straight line segments are connected to each other.
  • the lengths of the four straight line segments can be equal to each other.
  • the positioning pin of such a configuration is easy to process and can prevent over-positioning, and is convenient for movement, installation and debugging while providing accurate positioning.
  • the positioning mechanism may further include a slide slot, in which the positioning pin can move.
  • the slide slot can limit the range of motion of the positioning pin.
  • the third actuator may include a third actuating rod, and the third actuating rod may be coupled to the positioning pin via a connector.
  • the positioning mechanism may be fixed to the lifting component via a fixing plate.
  • the connector reduces the requirements for the machining accuracy of the parts and facilitates assembly and disassembly.
  • the positioning mechanism is fixed to the lifting component via a fixing plate, which is conducive to accurate positioning after the lifting component is lifted into place.
  • the lifting device may include a first detection device, which may be configured to detect whether the object to be lifted has been loaded. By detecting whether the object is loaded, it can be determined whether the object to be lifted has been loaded, thereby avoiding invalid lifting.
  • the lifting device may include a second detection device, which may be configured to detect whether the object to be lifted is skewed.
  • the second detection device may prevent lifting when the object is not properly loaded, thereby further improving the stability of the lifting.
  • the first detection device and/or the second detection device may include an optical detector.
  • the optical detector may include a through-beam detector. Using an optical sensor such as a through-beam sensor can accurately detect in a simple and low-cost manner.
  • the first detection device may be arranged on at least one side of the object to be lifted. This allows objects of various sizes to be detected as being loaded.
  • the second detection device may be arranged near at least one of the four corners of the object to be lifted, so as to better detect whether the object to be lifted is deflected in the vertical direction.
  • the lifting component may include a crossbeam.
  • a roller is provided at the bottom of the crossbeam, and the roller is configured to move on the inclined surface when the movable component moves so that the crossbeam moves in the second direction.
  • the lifting device may further include a guide mechanism, which is configured to guide an object into the lifting device.
  • the guide mechanism may prevent an object (eg, a cargo carrier) entering the lifting device from walking crookedly.
  • the first actuator may further include at least one position detection sensor, and the position detection sensor is configured to detect whether the movement of the first actuating rod in the first direction reaches a predetermined position. Providing a position sensor can more accurately control the lifting of the lifting device to prevent over-lifting or under-lifting.
  • the first actuator, the second actuator and/or the third actuator are cylinders.
  • the cylinder can stably provide driving force.
  • the first actuator is a cylinder
  • some embodiments of the present invention provide a vehicle lifting system, characterized in that the vehicle lifting system comprises a lifting device according to any of the above embodiments and a vehicle, wherein the vehicle comprises a base plate, and the base plate is configured to be lifted by the lifting device in the second direction.
  • the vehicle lifting system comprises a lifting device according to any of the above embodiments and a vehicle, wherein the vehicle comprises a base plate, and the base plate is configured to be lifted by the lifting device in the second direction.
  • the base plate may have at least one positioning hole, which may cooperate with a positioning pin of the lifting device to accurately position the base plate of the vehicle relative to the lifting device.
  • the carrier can be an automatic guided vehicle, which helps to automatically carry out conveying, lifting and other operations.
  • the cargo carrier can be used to load the battery pack, which helps to achieve stable lifting during the manufacturing, assembly and/or maintenance of the battery.
  • FIG1 is a schematic structural diagram of a lifting system for a cargo vehicle according to some embodiments of the present application.
  • FIG2 is a schematic side view of a cargo carrier according to some embodiments of the present application.
  • FIG3 is a schematic top view of a cargo carrier according to some embodiments of the present application.
  • FIG4 is a schematic structural diagram of a lifting device in some embodiments of the present application.
  • FIG5A is a perspective schematic diagram of a portion of a lifting device according to some embodiments of the present application, as viewed from the bottom;
  • FIG5B is a perspective schematic diagram of a part of the lifting device according to some embodiments of the present application, viewed from the side;
  • FIG6 is a schematic side view of a portion of a lifting device according to some embodiments of the present application.
  • FIG7A is a schematic side view and a front view of a connecting rod and a connecting seat assembled together in a first connecting mechanism of some embodiments of the present application;
  • FIG. 7B is a schematic diagram of a side view and a front view of a connecting rod of a first connecting mechanism in some embodiments of the present application;
  • FIG7C is a schematic diagram of a side view and a front view of a connection base of a first connection mechanism in some embodiments of the present application;
  • FIG8 is a schematic structural diagram of a positioning mechanism of a jacking device in some embodiments of the present application.
  • FIG9 is a front view schematic diagram of a positioning mechanism of a lifting device in some embodiments of the present application.
  • FIG10 is a schematic cross-sectional view of a positioning mechanism of a lifting device according to some embodiments of the present application, viewed from A-A;
  • FIG11 is a schematic top view of a positioning mechanism of a lifting device in some embodiments of the present application.
  • FIG12 is an enlarged cross-sectional view of a positioning pin of a positioning mechanism according to some embodiments of the present application.
  • a lifting system 1000 for a cargo vehicle a lifting device 100; a first actuator 10; a first actuating rod 11; a position sensor 12; a movable component 20; a frame 21; an inclined surface 22; a connecting rod 23; a slide rail 24; a slide block 25; a lifting component 30; a lifting surface 31; a fixing seat 32; a first fixing seat 321; a second fixing seat 322; a universal ball 33; a crossbeam 34; a roller 35; a first connecting mechanism 40; a connecting rod 41; a first limiting portion 411; a second limiting portion 412 ; third part 413; connecting seat 42; notch 421; step portion 422; first surface 4221; second surface 4222; nut 43; fastener 44; second actuator 50; clamping mechanism 51; positioning mechanism 60; third actuator 61; third actuating rod 611; positioning pin 62; contact section 621; non-contact section 622; slide groove
  • the term "and/or" is only a description of the association relationship of the associated objects, indicating that there may be three relationships.
  • a and/or B can represent: A exists alone, A and B exist at the same time, and B exists alone.
  • the character "/" in this article generally indicates that the associated objects before and after are in an "or" relationship.
  • the term “plurality” refers to more than two (including two).
  • Lifting devices are widely used in various occasions in industrial production and daily life.
  • the current lifting devices have the problem of low stability. Especially when the weight of the object being lifted is large, the lifting surface of the lifting device is easy to drop under the action of pressure, which causes the lifted object to be skewed and inaccurately positioned.
  • an embodiment of the present application provides a lifting device, wherein the lifting device includes an actuator and a lifting component, wherein the actuator is used as a driving source for the lifting movement, and the lifting component is used to lift the object to be lifted in the lifting direction.
  • the movement direction of the lifting component is different from the lifting direction of the lifting component.
  • the actuator rod of the actuator Since the movement direction of the actuator rod of the actuator is different from the lifting direction, even if the lifting device is borne by a large load, the actuator rod of the actuator is difficult to be pushed by the downward pressure, thereby realizing self-locking of the lifting surface, thereby improving the stability of the lifting device and preventing the lifted object from being skewed and mispositioned.
  • the lifting device may include a movable component.
  • the movable component is connected to the actuating rod and can move with the movement of the first actuating rod.
  • the movable component is configured to apply a force to the lifting component when moving so that the lifting component moves in a lifting direction different from the movement direction of the actuating rod.
  • the lifting device disclosed in the embodiment of the present application can be used to lift any object to be lifted from a lower position to a higher position and return the object from a higher position to a lower position.
  • the object can be, for example, a battery pack, a car or its parts, or any other part that needs to be lifted.
  • Figure 1 is a schematic structural diagram of a vehicle lifting system 1000 of an embodiment of the present application.
  • Figures 2 and 3 respectively show a side view schematic diagram and a top view schematic diagram of an embodiment of a vehicle 200.
  • the vehicle lifting system 1000 includes a lifting device 100 and a vehicle 200.
  • the lifting device 100 is a device for raising an object to be lifted.
  • the vehicle 200 is a transport vehicle for loading objects to be lifted.
  • Figures 1 and 3 show that the vehicle can have wheels, as an alternative, the vehicle may not have wheels.
  • the vehicle 200 may be a feeder vehicle, an automatic guided vehicle (AGV) or any other transport vehicle capable of carrying objects.
  • AGV automatic guided vehicle
  • the object carrier 200 may have a base plate 201.
  • the object to be lifted may be loaded on the base plate 201.
  • the base plate 201 can be raised and lowered separately. That is, when the vehicle 200 is in place in the lifting device 100, the lifting device 100 can only lift the base plate 201 and keep the vehicle 200 stationary. This can reduce the lifting load and facilitate lifting and positioning. As an alternative, the lifting device 100 can also directly lift the object to be lifted or lift the vehicle 200.
  • the jacking device 100 is described below in conjunction with Figure 1 and Figures 4 to 6.
  • Figure 4 is a schematic structural diagram of the jacking device of some embodiments of the present application.
  • Figures 5A and 5B are schematic structural diagrams of a part of the jacking device of some embodiments of the present application observed from the bottom and the side, respectively.
  • the jacking device 100 may include a first actuator 10, a movable component 20 and a jacking component 30.
  • the first actuator 10 includes a first actuating rod 11.
  • the first actuating rod 11 is configured to be able to move along a first direction.
  • the movable component 20 is connected to the first actuating rod 11 and is configured to be able to move with the movement of the first actuating rod 11.
  • the jacking component 30 is configured to jack an object to be jacked.
  • the jacking component is configured to be able to receive the force applied by the movable component and move in a second direction. Wherein, the second direction is different from the first direction.
  • Figure 4 shows a first direction X as an example and a second direction Z as an example.
  • the first actuator 10 is a driving source for the lifting motion.
  • the first actuator can be any device that can drive the movable part to move.
  • the first actuator can be a driving source for outputting a linear motion.
  • the first actuator 10 may be a cylinder.
  • the first actuator 10 may also be other types of power drive sources such as a hydraulic cylinder and a motor.
  • the first actuator rod 11 is a power output component of the first actuator. Among them, being able to move along a first direction may be being able to reciprocate in a first straight line direction.
  • the first direction may be the length direction of the first actuator rod 11, such as the direction along which the straight line X in FIG. 4 is located.
  • Movement in a second direction may be reciprocating in a second straight line direction.
  • the second direction is the direction along which the lifting component 30 lifts an object and retracts the object, such as the direction along which the straight line Z in FIG. 4 is located.
  • the second direction is different from the first direction in that the first direction and the second direction intersect each other.
  • the first direction may be perpendicular to the second direction.
  • the first direction may be a horizontal direction and the second direction may be a vertical direction.
  • the movement direction of the first actuating rod 11 of the first actuator 10 can be different from the lifting direction of the lifting component 30, even if the lifting component 30 is subjected to excessive pressure, it is not easy to cause the first actuating rod 11 of the first actuator 10 to move under pressure, thereby realizing self-locking of the lifting, which can prevent the lifted object from shifting and tilting, and improve the stability of the lifting and the accuracy of positioning.
  • the movable component 20 as a motion transmission component, can convert the motion of the first actuating rod 11 of the first actuator 10 in the first direction into the motion of the lifting component 30 in the second direction.
  • the movable component 20 can be any motion transmission component that can move with the motion of the first actuating rod 11 and can apply a force having a component in the second direction to the lifting component 30 when moving.
  • a motion transmission component can include, but is not limited to, one or more of a transmission rod, a slider, a cam, a ratchet, and a gear.
  • the movable component is configured to be movable along the first direction with the movement of the first actuating rod 11.
  • the movable component 20 may have an inclined surface 22.
  • the inclined surface 22 is configured to apply a force to the lifting component when the movable component moves so that the lifting component moves in the second direction.
  • the movable component 20 has an inclined surface may mean that at least a portion of the surface of the movable component interacting with the lifting component 30 is inclined relative to the first direction. In other words, at least a portion of the surface of the movable component interacting with the lifting component 30 is not parallel to the first direction.
  • the movable component 20 has the inclined surface 22
  • the inclined surface can exert a force on the lifting component 30.
  • the force can have a component in the second direction, so that the lifting component 30 can move in the second direction. In this way, the lifting self-locking can be achieved with a simple structure, thereby improving the stability of lifting and the accuracy of positioning.
  • the inclination angle of the inclined surface 22 relative to the first direction may be 10° to 45°. In some embodiments, the inclination angle of the inclined surface 22 relative to the first direction may be 15° to 30°. In some embodiments, the inclination angle of the inclined surface 22 relative to the first direction may be 20° to 25°. The inclination angle of the inclined surface 22 relative to the first direction may be 12°, 17°, 22°, 27°, 35° or 40°.
  • the first actuating rod 11 of the first actuator 10 can be better prevented from moving under pressure, thereby better improving the stability of the jacking and the accuracy of the positioning.
  • the first actuating rod 11 may be connected to the movable component 20 via a first connection mechanism 40.
  • the first connection mechanism 40 may be configured to transfer the movement of the first actuating rod 11 to the movable component 20, and the first connection mechanism 40 may be configured to allow a movement margin between the first actuating rod 11 and the movable component 20 in the first direction.
  • the existence of a movement margin between the first actuating rod 11 and the movable component 20 in the first direction means that the first actuating rod 11 and the movable component 20 are not completely rigidly connected in the first direction but may have a slight relative displacement.
  • the movement margin may be, for example, 0.5 mm to 1.5 mm, and may be 0.6 mm, 0.8 mm, 1.0 mm, 1.2 mm or 1.4 mm. Of course, when the size of the component increases, the movement margin may also be set larger.
  • the first actuating rod 11 is connected to the movable component 20 via the first connecting mechanism 40 in a manner with a certain movement margin, the requirements on the machining accuracy of the parts are reduced, thereby reducing the manufacturing cost.
  • FIG. 7A is a side view and a front view schematic diagram of a connecting rod and a connecting seat assembled together of the first connecting mechanism of some embodiments of the present application.
  • FIG. 7B is a side view and a front view schematic diagram of a connecting rod of the first connecting mechanism of some embodiments of the present application.
  • FIG. 7C is a side view and a front view schematic diagram of a connecting seat of the first connecting mechanism of some embodiments of the present application.
  • the first connecting mechanism 40 may include a connecting rod 41 and a connecting seat 42.
  • the connecting rod 41 may be connected to the first actuating rod 11 (for example, connected by a nut 43 shown in FIGS. 5A and 5B ).
  • the connecting seat 42 may be connected to the movable component 20.
  • the connecting rod 41 may have a first limiting portion 411, a second limiting portion 412, and a third portion 413 located between the first limiting portion 411 and the second limiting portion 412.
  • the first limiting portion 411 and the second limiting portion may be limiting portions with increased diameters.
  • the connecting seat may have a notch 421.
  • the first limiting portion 411 and the second limiting portion 412 are located on opposite sides of the outer side of the notch 421 and are configured to limit the movement of the connecting rod 41 in the first direction.
  • the third portion 413 is accommodated in the notch 421. With such a structure, the stability of the mechanism can be improved and assembly is facilitated.
  • the notch 421 has a length L2 in the first direction (see FIGS. 7A and 7C ).
  • the length L1 of the third portion 413 may be slightly greater than the length L2 of the notch 421 , so that the connecting rod 41 has the movement margin relative to the connecting seat 42 in the first direction.
  • the limit portion with an increased diameter means that the diameter of the limit portion is larger than the diameter of other portions of the connecting rod 41.
  • the clearance can be 0.5mm to 1.5mm, and can be 0.6mm, 0.8mm, 1.0mm, 1.2mm or 1.4mm. In the component In case the size increases, the clearance can be set larger.
  • the connecting rod 41 and the connecting seat 42 as described above, the stability of the mechanism can be improved and the wear of the parts can be reduced. In addition, the requirements for the processing accuracy of the parts can be reduced, thereby reducing the manufacturing cost. In addition, such a structure is easy to assemble, which reduces the requirements for the technical level of the assembler.
  • the notch 421 is a U-shaped groove. As shown in Figure 5A, the design of the U-shaped groove can facilitate the assembly of the connecting rod 41 and the connecting seat 42.
  • connection seat 42 may have a step portion 422.
  • the step portion 422 may include a first surface 4221 and a second surface 4222 that are perpendicular to each other, and the movable component 20 is seated on the first surface 4221 and fixedly connected to the movable component 20 by a fastener 44 disposed on the second surface 4222.
  • the fastener 44 may be a bolt or a similar component.
  • the extension direction of the first surface 4221 can be set to be the same as the extension direction of the bottom surface of the movable component 30, so that the bottom surface of the movable component 20 can be placed on the first surface.
  • the extension direction of the first surface 4221 can be the same as the first direction.
  • the first surface can be set in a horizontal direction.
  • the second surface 4222 can be perpendicular to the first surface 4221, for example, can be set in a vertical direction.
  • the step portion 422 as described above ensures that the connecting seat 42 can be more reliably fixed on the movable component 20 .
  • the movable component 20 includes at least one inclined wedge, and the inclined wedge has an inclined surface 22.
  • the inclined surface 22 is configured to apply a force to the lifting component 30 when the movable component 20 moves, so that the lifting component 30 moves in the second direction.
  • the inclined wedge may be a slider having an inclined surface.
  • "the inclined wedge has an inclined surface 22" may mean that at least a portion of the surface (e.g., the upper surface) of the inclined wedge that interacts with the lifting component 30 is inclined relative to the surface opposite to the surface (e.g., the lower surface) or relative to the direction along which the inclined wedge moves (e.g., the first direction).
  • at least a portion of the surface (e.g., the upper surface) of the inclined wedge that interacts with the lifting component 30 is not parallel to the surface (e.g., the lower surface) opposite to the surface or the direction along which the inclined wedge moves (e.g., the first direction).
  • the inclined wedge has an inclined surface 22 does not exclude that the surface of the inclined wedge that interacts with the lifting component 30 may have a non-inclined surface.
  • the non-inclined surface is connected to the inclined surface, and the connected portion serves as the starting point and/or end point of the lifting formation.
  • the inclined wedge is a movable component used to convert the movement of the first actuating rod 11 in the first direction into the movement of the lifting component 30 in the second direction.
  • the inclined wedge will not drop even when subjected to a large force, thereby improving the lifting stability and preventing the lifting from tilting.
  • the inclination angle ⁇ of the inclined surface 22 relative to the first direction may be 10° to 45°. In some embodiments, the inclination angle ⁇ of the inclined surface 22 relative to the first direction may be 15° to 30°. In some embodiments, the inclination angle ⁇ of the inclined surface 22 relative to the first direction may be 20° to 25°. The inclination angle ⁇ to the first direction may be 12°, 17°, 22°, 27°, 35° or 40°.
  • the lifting device 100 includes at least two movable components 20, and the at least two movable components 20 are connected by a connecting rod 23.
  • the lifting device 100 includes two movable components 20.
  • One of the movable components 20 is connected to the first actuating rod 11 of the first actuator 10.
  • the two movable components 20 are connected by a connecting rod 23.
  • the movable parts 20 are connected by connecting rods 23, so they can move in an integrated manner. Since a plurality of movable parts are provided, a force can be applied to the lifting part 30 relatively evenly, stress concentration can be avoided, and lifting can be made more stable.
  • one of the slide rail 24 and the slider 25 is provided on the movable component 20, and the other of the slide rail 24 and the slider 25 is provided on the frame 21 of the jacking device 20, and the slide rail 24 and the slider 25 cooperate with each other so that the movable component 20 can move in the first direction.
  • the movable component 20 is provided with a slide rail 24.
  • the slide rail 24 can be connected to the movable component 20 as a whole.
  • a slider 25 is provided on the frame 21 of the lifting device 20.
  • the slider 25 is fixed on the frame 21.
  • the movable component 20 moves in the first direction (the X direction in FIG. 4 ) by the movement of the slide rail 24 on the slider 25.
  • the movable component 20 can be moved steadily and smoothly in the first direction, thereby further improving the stability of the lifting.
  • providing the slide rail on the movable component 20 can reduce space occupation, which is particularly beneficial for the case where the movable component has a long travel distance.
  • a plurality of fixing seats 32 may be provided on the lifting surface 31 of the lifting component 30 for lifting the object.
  • Each fixing seat is provided with a plurality of universal balls 33.
  • the plurality of fixing seats 32 may be arranged at equal intervals on the lifting component 30.
  • a universal ball is a sphere that can roll in all directions around the center of the ball. Therefore, the object being lifted can move on the surface formed by the universal balls, so that it is convenient to adjust and position the object being lifted.
  • Providing multiple fixed seats and arranging multiple universal balls on each fixed seat facilitates modular arrangement and adjustment of the universal balls, thereby increasing flexibility and reducing costs.
  • providing multiple universal balls is also conducive to increasing the contact surface and facilitating load bearing. Arranging multiple fixed seats 30 at equal intervals can achieve a better pressure dispersion effect with fewer universal balls.
  • the plurality of fixing seats 32 may include a first fixing seat 321, wherein the universal balls 33 on the first fixing seat 321 are arranged along a straight line, as shown in Fig. 4.
  • the straight line may extend along the length direction of the lifting component.
  • the universal balls arranged in a straight line can well support and adjust the lifted objects, and can increase the contact surface and improve the load-bearing capacity.
  • the plurality of fixing seats 32 may include a plurality of second fixing seats 322.
  • the universal balls 33 on the plurality of second fixing seats 322 are arranged in a triangle.
  • the universal balls 33 are arranged in a triangle, which means that the universal balls form the vertices of the triangle.
  • the universal ball can better increase the contact surface and better disperse the pressure.
  • the triangular arrangement of the universal balls 33 on the plurality of second fixing seats 322 has at least two different orientations.
  • the triangles arranged with the same orientation means that the directions along which the corresponding sides of the triangles are arranged are the same.
  • the triangles arranged with different orientations means that the directions along which the corresponding sides of the triangles are arranged are different.
  • the two triangles arranged with different orientations means that the two triangles are rotated relative to each other by a predetermined angle.
  • the universal balls 33 on the second fixing seat 322 are arranged in a triangle with different orientations to further increase the contact area, disperse the pressure and improve the load-bearing capacity.
  • a plurality of first fixing seats 321 having universal balls 33 arranged in a straight line and a plurality of second fixing seats 322 having universal balls 33 arranged in a triangular shape are provided on the lifting surface 31 of the lifting component 30.
  • the first fixing seats 321 may be provided on the two end portions of the lifting surface 31 of the lifting component 30.
  • the second fixing seats 322 may be provided between the first fixing seats 321.
  • each second fixing seat 322 having universal balls 33 arranged in a triangular shape may have the same structure.
  • at least one second fixing seat is arranged to be rotated by a predetermined angle (e.g., 180 degrees) relative to an adjacent second fixing seat. This facilitates modular production, thereby better increasing the contact area, dispersing the pressure, and improving the bearing capacity at a lower cost.
  • the lifting device 100 further includes a second actuator 50 and a clamping mechanism 51.
  • the second actuator 50 is configured to drive the clamping mechanism 51 to move between a clamping position (see the clamping mechanism 51 shown by solid lines in Figures 1 and 4) and a loosening position (see the clamping mechanism 51 shown by dotted lines in Figures 1 and 4).
  • the clamping mechanism 51 can be any type of clamp.
  • the clamping position is the position where the clamping mechanism 51 clamps the object to be lifted or the vehicle carrying the object to limit its movement.
  • the release position is the position where the clamping mechanism 51 no longer clamps the object to be lifted or the vehicle carrying the object.
  • the clamping mechanism 51 in the clamping position, can clamp the vehicle 200 at both ends of the vehicle 200 in the first direction (the driving direction of the vehicle or the X direction in Figure 4) to limit its movement in the first direction.
  • the object to be lifted or the vehicle can be preliminarily positioned before lifting.
  • the lifting device 100 further includes a positioning mechanism 60.
  • the positioning mechanism 60 may be fixed to the lifting component 30.
  • the positioning mechanism 60 includes a third actuator 61 and a positioning pin 62.
  • the third actuator 61 is configured to drive the positioning pin 62 to move between an extended position and a retracted position along the second direction.
  • the positioning mechanism 60 is a device for positioning the object to be lifted on a lifting plane (a plane perpendicular to the second direction).
  • the extended position is a position in which the positioning pin 62 is extended in the second direction so that the positioning pin 62 can be inserted into and fit into the positioning hole 202 in the object to be lifted.
  • the retracted position is a position in which the positioning pin 62 is retracted in the second direction so that the positioning pin 62 withdraws from the positioning hole 202.
  • the object to be lifted can be, for example, the base plate 201 of the vehicle 200, the vehicle 200 and/or the base plate loaded on the vehicle 200. Object on plate 201.
  • Providing the positioning mechanism 60 can allow the object to be lifted to be positioned more accurately relative to the lifting device 100 .
  • the positioning pin 62 is configured to be adapted to the positioning hole 202.
  • Figure 11 is a schematic top view of the positioning mechanism of the jacking device of some embodiments of the present application.
  • Figure 12 is an enlarged cross-sectional view of the positioning pin of the positioning mechanism of some embodiments of the present application.
  • the outer contour of the cross section of at least one positioning pin of the positioning pin 62 has a contact section 621 and a non-contact section 622.
  • the contact section 621 is in contact with the inner surface of the positioning hole 202, and the non-contact section 622 is not in contact with the inner surface of the positioning hole.
  • the cross-sectional outer contour of the positioning pin as described above can reduce one degree of freedom in positioning, prevent over-positioning, and facilitate activities and installation and debugging while ensuring accurate positioning.
  • the locating pin 62 is configured to be adapted to fit with the circular locating hole 202.
  • the contact section 621 includes two opposite circular arcs.
  • the non-contact section 622 includes four straight line segments connected to the four endpoints of the two circular arcs, respectively, and the adjacent straight line segments are connected to each other. The lengths of the four straight line segments can be equal to each other.
  • a locating pin with a rhombus-like cross section can be formed.
  • the rhombus-like shape can be regarded as a rhombus in which two opposite corners are replaced by arcs suitable for contacting and matching with the inner surface of the circular locating hole.
  • the positioning pin with such a structure is easy to process and can prevent over-positioning, which is convenient for activities, installation and debugging while ensuring accurate positioning.
  • the positioning mechanism 60 further includes a slide groove 63 , and the positioning pin 62 can move in the slide groove 63 .
  • the slide groove 63 is a channel for the positioning pin to slide therein.
  • the slide groove 63 can limit the range of motion of the positioning pin.
  • the third actuator 61 includes a third actuating rod 611.
  • the third actuating rod 611 can be connected to the positioning pin 62 via a connector 64.
  • the positioning mechanism 60 can be fixed to the lifting component 30 via a fixing plate 65.
  • the third actuating rod 611 can be connected to the positioning pin 62 through the connector 64 to reduce the requirements for component processing accuracy and facilitate assembly and disassembly.
  • the positioning mechanism is fixed to the lifting component through a fixing plate, which is conducive to accurate positioning after the lifting component is lifted into place.
  • the lifting device 100 includes a first detection device 70, which is configured to detect whether the object to be lifted has been loaded.
  • the first detection device 70 may be any sensor capable of detecting whether an object exists.
  • the first detection device may include an optical sensor.
  • the optical sensor is a sensor that detects an object using optical principles.
  • the optical sensor may include a through-beam sensor.
  • a through-beam sensor is a sensor that can determine whether an object exists by comparing the states of emitted and received light. In the case where the light emitted by the optical sensor is blocked by the object to be lifted, the optical sensor may receive a signal to determine the existence of the object to be lifted.
  • Optical sensors such as through-beam sensors can be used to accurately detect the presence of an object in a simple and cost-effective manner.
  • the lifting device comprises a second detection device 71.
  • the second detection device is configured to detect whether the object to be lifted is deflected.
  • the second detection device 71 may be any sensor capable of detecting whether the object to be lifted is deflected.
  • the first detection device may include an optical sensor.
  • the optical sensor may include a through-beam sensor.
  • Optical sensors such as through-beam sensors can be used to accurately detect whether an object is tilted in a simple and cost-effective manner.
  • the first detection device 70 is disposed in the middle of at least one side of the object to be lifted.
  • the at least one side of the object to be lifted can be any one side or multiple sides of the object to be lifted, as long as it can be sensed from the side whether the object to be lifted has been loaded.
  • the first detection device 70 is arranged in the middle of at least one side of the object to be lifted so that objects of various sizes can be detected whether they have been loaded.
  • the second detection device 71 is disposed near at least one of the four corners of the object to be lifted.
  • the second detection device 71 By setting the second detection device 71 near at least one of the four corners of the object to be lifted, when the height of the corner deviates from the predetermined range, the second detection device 71 (such as an optical sensor) can detect the position deviation of the corner, thereby accurately determining whether the object to be lifted is skewed.
  • the lifting component 30 includes a crossbeam 34.
  • a roller 35 is provided at the bottom of the crossbeam 34. The roller 35 is configured to move on the inclined surface 22 when the movable component 20 moves so that the crossbeam 34 moves in the second direction.
  • the cross beam 34 can move in the second direction through the cooperation between one of the slide rails and the sliders provided on the cross beam 34 and the other of the slide rails and the sliders provided on the frame of the jacking device.
  • the thrust required by the first actuator can be reduced and the lifting can be smoothly performed.
  • the lifting device 100 may also have a guide mechanism. 80 , the guide mechanism 80 is configured to guide an object into the lifting device 100 .
  • the guide mechanism may be any mechanism that can guide the object into the lifting device, such as a guide roller, a guide wheel, a guide wall, etc.
  • the guide mechanism can prevent the object (such as a vehicle) entering the lifting device 100 from walking crookedly.
  • the first actuator 10 may have at least one position detection sensor 12.
  • the position detection sensor 12 is configured to detect whether the movement of the first actuating rod 11 in the first direction reaches a predetermined position.
  • the position sensor 12 may be any sensor that can sense the position of the object to be measured and convert the sensing result into an output signal.
  • the position sensor 12 may include, for example, a contact position sensor (such as a travel switch) or a non-contact position sensor (such as a proximity sensor). The position sensor can more accurately control the lifting of the lifting device to prevent over-lifting or under-lifting.
  • the first actuator 10, the second actuator 50 and/or the third actuator 61 are cylinders.
  • the cylinder can stably provide driving force.
  • the first actuator 10 is a cylinder
  • the second direction as the lifting direction is different from the first direction as the cylinder extension direction, even if the cylinder is under-supplied with gas during the compression process, the first actuating rod of the cylinder is difficult to be pushed to extend and retract by the downward pressure, thereby achieving self-locking of the lifting surface.
  • the vehicle lifting system may include a lifting device 100 according to any of the above embodiments and a vehicle 200.
  • the vehicle 200 includes a base plate 201.
  • the base plate 201 is configured to be lifted by the lifting device 100 in the second direction.
  • the object carrier includes the base plate 201 for carrying objects which can be lifted up independently, there is no need to lift the object carrier, so the lifting capacity can be improved to meet various lifting needs.
  • the substrate 201 has at least one positioning hole 202 .
  • the positioning holes 202 are used to match the positioning pins 62 on the lifting device 100.
  • the positioning holes can accurately position the base plate 201 of the vehicle relative to the lifting device 100.
  • the positioning holes 201 can be arranged in any number at any position of the base plate 201. In some embodiments, the positioning holes 201 can be arranged near the opposite corners of the base plate. This can achieve a better positioning effect.
  • the carrier 200 is an automatic guided vehicle (AGV), which helps to automatically perform transport, lifting and other operations.
  • AGV automatic guided vehicle
  • the cargo carrier 200 is used to load a battery pack, which helps to achieve stable lifting during the manufacturing, assembly and/or maintenance of the battery.
  • the present application provides a vehicle lifting system 1000.
  • the lifting system 1000 includes a lifting device 100 and a vehicle 200.
  • the vehicle 200 includes a base plate 201 for carrying an object.
  • the lifting device 100 is used to lift the base plate 201.
  • the lifting system 1000 may have at least one lifting device. Lifting device.
  • a lifting device 100 is provided on both sides of the base plate 201.
  • Each lifting device 100 is constructed as follows.
  • the lifting device 100 includes a cylinder 10.
  • the cylinder 10 has a first actuating rod 11.
  • the first actuating rod 11 can move in the horizontal direction.
  • the first actuating rod 11 is connected to an inclined wedge 20 through a first connecting mechanism 40, so that the inclined wedge 20 can move in the horizontal direction with the movement of the first actuating rod 11.
  • the inclined wedge 20 can be connected to another inclined wedge located on the other side of the cylinder 10 through a connecting rod 23, so that the two inclined wedges 20 can move in the horizontal direction as a whole.
  • Both inclined wedges have an inclined surface 22.
  • the inclined surface 22 is configured to apply a force to the cross beam 34 as the lifting component 30 when the inclined wedge moves in the horizontal direction so that the cross beam 34 moves in the vertical direction.
  • the working principle of the vehicle lifting system 1000 is as follows.
  • the vehicle 200 is brought to a predetermined position in the lifting device 100.
  • the second actuator 50 drives the clamping mechanism 51 to clamp the vehicle 200.
  • the first actuating rod 11 of the first actuator 10 of the lifting device 100 moves in the first direction to drive the lifting component 30 to move in the second direction, thereby lifting the substrate 201 of the vehicle 200 off the vehicle.
  • the third actuator 61 drives the positioning pin 62 to extend and fit with the positioning hole 202 in the substrate 201, thereby positioning the substrate 201.
  • the positioning pin 62 is disengaged from the positioning hole 202 and retracted.
  • the first actuator 10 drives the substrate 201 to move in the second direction in the opposite direction and descend to the vehicle 200.
  • the second actuator 50 drives the clamping mechanism 51 to release the vehicle 200.
  • the vehicle 200 leaves the lifting device 100 .

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Abstract

一种顶升装置和载物车顶升系统。顶升装置（100）包括具有能够沿第一方向运动的第一致动杆（11）的第一致动器（10）、可移动部件（20）和顶升部件（30），顶升部件（30）被配置成用于顶升待被顶升的物体并且被配置成能够接收可移动部件（20）施加的作用力而在第二方向上运动，并且第二方向与所述第一方向不同。载物车顶升系统（1000）包括顶升装置（100）和载物车（200）。

Description

顶升装置和载物车顶升系统 技术领域
本申请涉及物体顶升领域，特别是涉及一种顶升装置和载物车顶升系统。
背景技术
在工业生产和日常生活的诸多环节中都会使用顶升装置。顶升装置可以用于将物体从较低位置抬升到较高位置，以便进行后续的制造、装配、调试或其它作业。
在被顶升的物体重量较大的情况下，目前的顶升装置容易发生受压下降，从而造成顶升装置的稳定性差。
发明内容
鉴于上述问题，本申请提供一种顶升装置和载物车顶升系统，能够提高顶升装置的稳定性。
第一方面，本申请提供了一种顶升装置，所述顶升装置包括：第一致动器，所述第一致动器包括第一致动杆，所述第一致动杆被配置为能够沿第一方向运动；可移动部件，所述可移动部件与所述第一致动杆相连并且被配置为能够随第一致动杆的运动而移动；以及顶升部件，所述顶升部件被配置成用于顶升待被顶升的物体，其中，所述顶升部件被配置成能够接收由所述可移动部件施加的作用力而在第二方向上运动，并且所述第二方向与所述第一方向不同。由于第一致动器的第一致动杆的运动方向可以与顶升部件的顶升方向不同，因此即使顶升部件承受过大的压力，也不容易导致第一致动器的第一致动杆在受压下发生移动，因此提高了顶升的稳定性和定位的准确性。
在一些实施例中，所述可移动部件被配置为能够随第一致动杆的运动而沿所述第一方向移动。所述可移动部件具有倾斜表面，所述倾斜表面被设置成在所述可移动部件移动时对所述顶升部件施加作用力以使得所述顶升部件在所述第二方向上运动。倾斜表面使得可以通过简单的结构实现顶升自锁，从而提高顶升的稳定性和定位的准确性。
在一些实施例中，所述倾斜表面相对于所述第一方向的倾斜角度可以是10°至45°。在一些实施例中，所述倾斜表面相对于所述第一方向的倾斜角度可以是15°至30°。在一些实施例中，所述倾斜表面相对于所述第一方向的倾斜角度可以是20°至25°。通过适当地选择倾斜角度，可以更好地避免第一致动器10的第一致动杆11在受压下发生移动，从而更好地提高顶升的稳定性和定位的准确性。
在一些实施例中，所述第一致动杆通过第一连接机构连接到所述可移动部件。所述第一连接机构可以被配置成使第一致动杆的运动被传递到所述可移动部件，并且第一连接机构被配置成使得所述第一致动杆和所述可移动部件之间在所述第一方向上 存在移动裕量。这种连接方式降低了对零件加工精度的要求，进而降低了制造成本。
在一些实施例中，所述第一连接机构可以包括连接杆和连接座。所述连接杆与所述第一致动杆连接，所述连接座与所述可移动部件连接。这样的设置减少对主要零部件的磨损并且便于装配。
在一些实施例中，所述连接杆可以具有直径增大的第一限位部分、直径增大的第二限位部分和位于所述第一限位部分和所述第二限位部分之间的第三部分。所述连接座可以具有槽口。所述第一限位部分和所述第二限位部分分别在相反的两侧位于所述槽口的外侧并且被配置成用于限制所述连接杆在所述第一方向上的运动。所述第三部分被容纳在所述槽口中。这样的设置可以提高机构稳定性并且便于装配。
在一些实施例中，所述槽口具有在所述第一方向上的长度。所述第三部分的长度略大于所述槽口的所述长度使得所述连接杆相对于所述连接座在所述第一方向上存在所述移动裕量。这样的设置提高了机构稳定性，减少零部件的磨损，并且还可以降低对零件加工精度的要求，进而降低制造成本，这样的结构也更容易装配，降低了对装配人员技术水平的要求。
在一些实施例中，所述槽口可以是U形槽。U形槽的设计可以方便连接杆和连接座的装配。
在一些实施例中，所述连接座可以具有台阶部，所述台阶部包括彼此垂直的第一表面和第二表面，所述可移动部件被坐放在所述第一表面上并通过设置在所述第二表面上的紧固件与所述可移动部件固定连接。这样可以确保连接座可以更可靠地固定在所述可移动部件上。
在一些实施例中，所述可移动部件可以包括至少一个斜楔，所述斜楔具有所述倾斜表面，所述倾斜表面被设置成在所述可移动部件移动时对所述顶升部件施加作用力使得所述顶升部件在所述第二方向上运动。斜楔在承受较大的作用力的情况下也不会下降，因此可以提高顶升稳定性并防止顶升歪斜。
在一些实施例中，所述顶升装置可以包括至少两个可移动部件，所述至少两个可移动部件之间通过连杆相连。这样可以相对均匀地对顶升部件施加作用力，避免应力集中，并且可以使顶升更加平稳。
在一些实施例中，所述可移动部件上可以设置有滑轨和滑块中的一者，所述顶升装置的机架上可以设置有滑轨和滑块中另一者，所述滑轨与所述滑块彼此配合使得所述可移动部件能够在所述第一方向上移动。这样可以使可移动部件平稳且顺畅地在所述第一方向上移动，从而可以进一步提高顶升的稳定性。
在一些实施例中，所述顶升部件的用于顶升物体的顶升面上可以设有多个固定座，每个固定座上设有多个万向球。万向球的设置使得可以方便对被顶升的物体进行调整和定位。多个固定座的设置便于模块化制造从而增加灵活度并降低成本。多个万向球还有利于增大接触面和更好地承重。
在一些实施例中，所述多个固定座可以包括多个第一固定座，其中，所述第一固定座上的万向球可以沿直线排列。这样可以很好地支撑和调整被顶升的物体，并且可以增大接触面和提高承载能力。
在一些实施例中，所述多个固定座可以包括多个第二固定座，其中，所述多个第二固定座上的万向球可以呈三角形排列。这样可以更好地增大接触面并且更好地分散压力。
在一些实施例中，所述多个第二固定座上的万向球的三角形排列可以具有至少两种不同的取向。这样可以更进一步地增大接触面积、分散压力和提高承载能力。
在一些实施例中，所述顶升装置还可以包括第二致动器和夹持机构，所述第二致动器被配置成驱动夹持机构在夹紧位置和松开位置之间运动。这样，待被顶升的物体或载物车可以在顶升之前被初步定位从而防止位置偏移。
在一些实施例中，所述顶升装置还可以包括定位机构，所述定位机构固定在所述顶升部件上，所述定位机构可以包括第三致动器和定位销，所述第三致动器可以被配置成能够驱动所述定位销沿着所述第二方向在伸出位置和缩回位置之间移动。设置定位机构可以使得被顶升的物体相对于顶升装置更加精确地定位。
在一些实施例中，所述定位销可以被构造成用于与定位孔适配，并且所述定位销中的至少一个定位销的横截面的外轮廓可以包括接触区段以及非接触区段。所述接触区段与该定位孔的内表面接触配合的，所述非接触区段与该定位孔的内表面不接触。这样的设置可以防止过度定位，在定位精准的同时利于活动及安装调试。
在一些实施例中，所述定位销可以被构造成用于与圆形的定位孔适配。所述接触区段可以包括相对的两段圆弧，所述非接触区段可以包括分别与所述两段圆弧的四个端点相连的四个直线段，相邻的直线段之间彼此连接。所述四个直线段的长度可以彼此相等。这样构造的定位销便于加工，同时可以防止过度定位，在定位精准的同时利于活动及安装调试。
在一些实施例中，所述定位机构还可以包括滑槽，所述定位销能够在所述滑槽内移动。所述滑槽能够限制定位销的活动范围。
在一些实施例中，所述第三致动器可以包括第三致动杆，所述第三致动杆可以通过联接器与所述定位销联接。所述定位机构可以通过固定板与所述顶升部件固定。联接器使得可以降低零部件加工精度的要求并且可以方便装配和拆卸。定位机构通过固定板与所述顶升部件固定有利于在顶升部件顶升到位后实现准确的定位。
在一些实施例中，所述顶升装置可以包括第一检测设备，所述第一检测设备可以被构造成用于检测待被顶升的物体是否已被装载。通过对物体有无进行检测可以确定待被顶升的物体是否已经被装载，从而可以避免无效顶升。
在一些实施例中，所述顶升装置可以包括第二检测设备，所述第二检测设备可以被构造成用于检测待被顶升的物体是否存在偏斜。所述第二检测设备可以防止在物体装载不正常的情况下进行顶升，从而进一步提高顶升的稳定性。
在一些实施例中，所述第一检测设备和/或所述第二检测设备可以包括光学检测器。所述光学检测器可以包括对射检测器。采用诸如对射传感器的光学传感器可以以简单且成本较低的方式准确地进行检测。
在一些实施例中，所述第一检测设备可以设置在待被顶升的物体的至少一侧的 中部。这样可以检测各种尺寸的物体是否已被装载。
在一些实施例中，所述第二检测设备可以设置在待被顶升的物体的四个角部中的至少一个角部附近。这样可以更好地检测待被顶升的物体在竖直方向上是否发生偏斜。
在一些实施例中，所述顶升部件可以包括横梁。所述横梁的底部设有滚轮，所述滚轮被构造成在所述可移动部件移动时能够在所述倾斜表面上运动以使得所述横梁在所述第二方向上运动。通过设置如上所述的滚轮，可以减少第一致动器所需的推力并顺畅地完成顶升。
在一些实施例中，所述顶升装置还可以具有导向机构，所述导向机构被构造成用于引导物体进入所述顶升装置。导向机构可以防止进入顶升装置的物体(例如载物车)行走歪斜。
在一些实施例中，所述第一致动器还可以具有至少一个位置检测传感器，所述位置检测传感器被配置成用于检测所述第一致动杆在第一方向上的运动是否到达预定位置。设置位置传感器可以更精确地控制顶升装置的顶升，防止过顶升或欠顶升等情况的发生。
在一些实施例中，所述第一致动器、所述第二致动器和/或所述第三致动器是气缸。气缸可以稳定地提供驱动力。在第一致动器为气缸的情况下，由于作为顶升方向的所述第二方向与作为气缸伸缩方向的所述第一方向不同，因此即使在受压过程中气缸的气量供应不足，气缸的第一致动杆也难以被下压压力推动伸缩，从而可以实现顶升面的自锁。
在另一方面中，本发明的一些实施例提供了一种载物车顶升系统，其特征在于，所述载物车顶升系统包括根据前面任意实施例所述的顶升装置以及载物车，所述载物车包括基板，所述基板被构造成能够在所述第二方向上被所述顶升装置顶升。除了前面所述的顶升装置所带来的优点以外，由于载物车包括可以单独被顶升的用于载物的基板，因此无需顶升载物车，可以提高顶升能力，适应各种顶升需要。
在一些实施例中，所述基板上可以具有至少一个定位孔。定位孔可以与顶升装置的定位销配合使载物车的基板相对于顶升装置精确地定位。
在一些实施例中，所述载物车可以是自动引导车。这有助于实现自动地进行输送、顶升和其它作业。
在一些实施例中，所述载物车可以用于装载电池包。这有助于在电池的制造、装配和/或维护过程中实现稳定的顶升。
上述说明仅是本申请技术方案的概述，为了能够更清楚了解本申请的技术手段，而可依照说明书的内容予以实施，并且为了让本申请的上述和其它目的、特征和优点能够更明显易懂，以下特举本申请的具体实施方式。
附图说明
通过阅读对下文优选实施方式的详细描述，各种其他的优点和益处对于本领域普通技术人员将变得清楚明了。附图仅用于示出优选实施方式的目的，而并不认为是 对本申请的限制。而且在全部附图中，用相同的附图标号表示相同的部件。在附图中：
图1是本申请一些实施例的载物车顶升系统的结构示意图；
图2是本申请一些实施例的载物车的侧视示意图；
图3是本申请一些实施例的载物车的俯视示意图；
图4是本申请一些实施例的顶升装置的结构示意图；
图5A是本申请一些实施例的顶升装置的一部分的从底面观察的立体示意图；
图5B是本申请一些实施例的顶升装置的一部分的从侧面观察的立体示意图；
图6是本申请一些实施例的顶升装置的一部分的侧视示意图；
图7A是本申请一些实施例的第一连接机构的装配在一起的连接杆和连接座的侧视和主视示意图；
图7B是本申请一些实施例的第一连接机构的连接杆的侧视和主视示意图；
图7C是本申请一些实施例的第一连接机构的连接座的侧视和主视示意图；
图8是本申请一些实施例的顶升装置的定位机构的结构示意图；
图9是本申请一些实施例的顶升装置的定位机构的正视示意图；
图10是本申请一些实施例的顶升装置的定位机构的A-A剖视示意图；
图11是本申请一些实施例的顶升装置的定位机构的俯视示意图；以及
图12是本申请一些实施例的定位机构的定位销的横截面放大图；
在附图中，附图并未按照实际的比例绘制。
具体实施方式中的附图标号如下：载物车顶升系统1000；顶升装置100；第一致动器10；第一致动杆11；位置传感器12；可移动部件20；机架21；倾斜表面22；连杆23；滑轨24；滑块25；顶升部件30；顶升面31；固定座32；第一固定座321；第二固定座322；万向球33；横梁34；滚轮35；第一连接机构40；连接杆41；第一限位部分411；第二限位部分412；第三部分413；连接座42；槽口421；台阶部422；第一表面4221；第二表面4222；螺母43；紧固件44；第二致动器50；夹持机构51；定位机构60；第三致动器61；第三致动杆611；定位销62；接触区段621；非接触区段622；滑槽63；联接器64；固定板65；第一检测设备70；第二检测设备71；导向机构80；载物车200；基板201；定位孔202。
具体实施方式
下面将结合附图对本申请技术方案的实施例进行详细的描述。以下实施例仅用于更加清楚地说明本申请的技术方案，因此只作为示例，而不能以此来限制本申请的保护范围。
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申请的技术领域的技术人员通常理解的含义相同；本文中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本申请；本申请的说明书和权利要求书及上述附图说明中的术语“包括”和“具有”以及它们的任何变形，意图在于覆盖不排他的包含。
在本申请实施例的描述中，技术术语“第一”“第二”等仅用于区别不同对象，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量、特定顺序或主次关系。在本申请实施例的描述中，“多个”的含义是两个以上，除非另有明确具体的限定。
在本文中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是，本文所描述的实施例可以与其它实施例相结合。
在本申请实施例的描述中，术语“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
在本申请实施例的描述中，术语“多个”指的是两个以上(包括两个)。
在本申请实施例的描述中，技术术语“长度”“上”“下”“前”“后”“左”“右”“竖直”“竖向”“水平”“顶”“底”“内”“外”“轴向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请实施例和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请实施例的限制。
在本申请实施例的描述中，除非另有明确的规定和限定，技术术语“安装”“相连”“连接”“固定”“联接”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；也可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请实施例中的具体含义。
虽然已经参考一些实施例对本申请进行了描述，但在不脱离本申请的范围的情况下，可以对其进行各种改进并且可以用等效物替换其中的部件。尤其是，只要不存在结构冲突，各个实施例中所提到的各项技术特征均可以任意方式组合起来。本申请并不局限于文中公开的特定实施例，而是包括落入权利要求的范围内的所有技术方案。
顶升装置在工业生产和日常生活的各种场合得到了广泛的应用。目前的顶升装置存在稳定性不高的问题。特别是在被顶升的物体重量较大的情况下，顶升装置的顶升面在压力的作用下容易下降，从而导致被顶升的物体发生歪斜和定位不准。
为了提高顶升装置的稳定性，本申请的实施例提供了一种顶升装置，其中，所述顶升装置包括致动器和顶升部件，所述致动器作为顶升运动的驱动源，所述顶升部件用于在顶升方向上顶升待被顶升的物体。其中，所述致动器被构造成使得其致动杆 的运动方向与顶升部件的顶升方向不同。
由于致动器的致动杆的运动方向与顶升方向不同，即使顶升装置承受的负载较大，致动器的致动杆也难以被下压的压力推动，从而实现了顶升面的自锁，因此提高了顶升装置的稳定性并且可以防止被顶升的物体发生歪斜和定位不准。
为了实现此目的，根据本申请的实施例的顶升装置可以包括可移动部件。所述可移动部件与所述致动杆相连并且能够随第一致动杆的运动而移动。所述可移动部件被配置成在移动时对所述顶升部件施加作用力使得所述顶升部件在与致动杆的运动方向不同的顶升方向上运动。
本申请实施例公开的顶升装置可以用于将任何待被顶升的物体从较低位置顶升到较高位置以及使该物体从较高位置返回到较低位置。所述物体例如可以是电池包、汽车或其零部件或者其它任何需要被顶升的部件。
以下实施例为了方便说明，以本申请一实施例的一种载物车顶升系统1000为例进行说明。
请参照图1至图3。图1为本申请的一实施例的载物车顶升系统1000的示意性结构图。图2和图3分别示出了载物车200的实施例的侧视示意图和俯视示意图。载物车顶升系统1000包括顶升装置100和载物车200。顶升装置100是用于使待被顶升的物体升高的装置。所述载物车200是用于装载待被顶升的物体的运输工具。虽然图1和图3示出了载物车可以具有轮子，但是作为替代，载物车也可以不具有轮子。载物车200可以是送料车、自动引导车(AGV)或任何其它能够运载物体的运输工具。
载物车200可以具有基板201。待被举升的物体可以被装载在所述基板201
上。所述基板201可以单独地升降。也就是说，在载物车200在顶升装置100中就位的情况下，顶升装置100可以仅顶升基板201而使载物小车保持不动。这样可以减少顶升负荷，方便顶升和定位。作为替代，顶升装置100也可以直接顶升待被举升的物体或者顶升载物车200。
下面结合图1以及图4至图6描述根据本申请的一些实施例的顶升装置100。图4是本申请一些实施例的顶升装置的结构示意图。图5A和图5B分别是本申请一些实施例的顶升装置的一部分从底面和侧面观察的结构示意图。顶升装置100可以包括第一致动器10、可移动部件20和顶升部件30。所述第一致动器10包括第一致动杆11。所述第一致动杆11被配置为能够沿第一方向运动。可移动部件20与所述第一致动杆11相连并且被配置为能够随第一致动杆11的运动而移动。所述顶升部件30被配置成用于顶升待被顶升的物体。所述顶升部件被配置成能够接收由所述可移动部件施加的作用力而在第二方向上运动。其中，所述第二方向与所述第一方向不同。图4中示出了作为示例的第一方向X以及作为示例的第二方向Z。
第一致动器10是顶升运动的驱动源。第一致动器可以是任何能够驱动可移动部件运动的设备。在一些实施例中，第一致动器可以是输出直线运动的驱动源。在一 些实施例中，第一致动器10可以是气缸。作为替代，第一致动器10还可以是液压缸、电机等其它类型的动力驱动源。第一致动杆11是第一致动器的动力输出部件。其中，能够沿第一方向运动可以是能够在第一直线方向上往复运动。在一些实施例中，所述第一方向可以是第一致动杆11的长度方向，例如图4中的直线X所沿的方向。在第二方向上运动可以是在第二直线方向上往复运动。所述第二方向是顶升部件30顶升物体以及使物体缩回所沿的方向，例如图4中的直线Z所沿的方向。所述第二方向与所述第一方向不同是指第一方向与第二方向彼此交叉。在一些实施例中，第一方向可以垂直于第二方向。在一些实施例中，第一方向可以是水平方向，第二方向可以是竖直方向。
根据本申请的实施例的顶升装置，由于第一致动器10的第一致动杆11的运动方向可以与顶升部件30的顶升方向不同，因此即使顶升部件30承受过大的压力，也不容易导致第一致动器10的第一致动杆11在受压下发生移动，因而实现了顶升自锁，可以防止被顶升的物体出现移位和歪斜，提高了顶升的稳定性和定位的准确性。
可移动部件20作为运动传递部件，可以将第一致动器10的第一致动杆11在所述第一方向上的运动转换为顶升部件30在所述第二方向上的运动。可移动部件20可以是能够随第一致动杆11的运动而移动并且在移动时能够对顶升部件30施加具有沿第二方向的分量的作用力的任何运动传递部件。例如，这样的运动传递部件可以包括但不限于传动杆、滑块、凸轮、棘轮、齿轮中的一者或多者。
在一些实施例中，所述可移动部件被配置为能够随第一致动杆11的运动而沿所述第一方向移动。所述可移动部件20可以具有倾斜表面22。所述倾斜表面22被设置成在所述可移动部件移动时对所述顶升部件施加作用力以使得所述顶升部件在所述第二方向上运动。
在一些实施例中，“可移动部件20具有倾斜表面”可以是指可移动部件的与顶升部件30发生相互作用的表面的至少一部分相对于所述第一方向是倾斜的。换言之，可移动部件的与顶升部件30发生相互作用的表面的至少一部分与所述第一方向不平行。
由于可移动部件20具有倾斜表面22，在可移动部件20移动时，所述倾斜表面可以对顶升部件30施加作用力。该作用力可以具有在所述第二方向上的分量，从而使顶升部件30能够在所述第二方向上运动。这样可以通过简单的结构实现顶升自锁，从而提高顶升的稳定性和定位的准确性。
在一些实施例中，所述倾斜表面22相对于所述第一方向的倾斜角度可以是10°至45°。在一些实施例中，所述倾斜表面22相对于所述第一方向的倾斜角度可以是15°至30°。在一些实施例中，所述倾斜表面22相对于所述第一方向的倾斜角度可以是20°至25°。所述倾斜表面22相对于所述第一方向的倾斜角度可以是12°、17°、22°、27°、35°或40°。
通过适当地选择倾斜角度，可以更好地防止第一致动器10的第一致动杆11在受压下发生移动，从而更好地提高顶升的稳定性和定位的准确性
进一步参见图5A和图5B。在一些实施例中，第一致动杆11可以通过第一连接机构40连接到所述可移动部件20。所述第一连接机构40可以被配置成使第一致动杆11的运动被传递到所述可移动部件20，并且第一连接机构40被配置成使得所述第一致动杆11和所述可移动部件20之间在所述第一方向上存在移动裕量。
所述第一致动杆11和所述可移动部件20之间在所述第一方向上存在移动裕量是指第一致动杆11和所述可移动部件20之间在所述第一方向上不是完全刚性地连接而是可以存在微小的相对位移。所述移动裕量例如可以是0.5mm至1.5mm，可以为0.6mm、0.8mm、1.0mm、1.2mm或1.4mm。当然，在部件的尺寸增加的情况下，移动裕量也可以被设置得更大。
由于第一致动杆11通过第一连接机构40以存在一定移动裕量的方式与所述可移动部件20连接，降低了对零件加工精度的要求，进而降低了制造成本。
在参照图5A和图5B的同时进一步参照图7A至图7C。图7A是本申请一些实施例的第一连接机构的装配在一起的连接杆和连接座的侧视和主视示意图。图7B是本申请一些实施例的第一连接机构的连接杆的侧视和主视示意图。图7C是本申请一些实施例的第一连接机构的连接座的侧视和主视示意图。在一些实施例中，所述第一连接机构40可以包括连接杆41和连接座42。所述连接杆41可以与所述第一致动杆11连接(例如通过图5A和图5B中所示的螺母43连接)。所述连接座42可以与所述可移动部件20连接。通过分别设置连接杆41和连接座42，可以减少主要零部件的磨损并且可以便于装配。
在一些实施例中，所述连接杆41可以具有第一限位部分411、第二限位部分412和位于所述第一限位部分411和所述第二限位部分412之间的第三部分413。所述第一限位部分411和所述第二限位部分可以是直径增大的限位部分。所述连接座可以具有槽口421。所述第一限位部分411和所述第二限位部分412分别在相反的两侧位于所述槽口421的外侧并且被配置成用于限制所述连接杆41在所述第一方向上的运动。所述第三部分413被容纳在所述槽口421中。通过这样的结构，可以提高机构稳定性并且便于装配。
在一些实施例中，所述槽口421具有在所述第一方向上的长度L2(参见图7A和图7C)。所述第三部分413的长度L1(参见图7B)可以略大于所述槽口421的所述长度L2，使得所述连接杆41相对于所述连接座42在所述第一方向上存在所述移动裕量。
直径增大的限位部分是指该限位部分的直径比连接杆41的其它部分的直径更大。“所述第三部分413的长度L1略大于所述槽口421的所述长度L2，使得所述连接杆41相对于所述连接座42在所述第一方向上存在所述移动裕量”意味着连接杆41与连接座42之间在所述第一方向上可以存在微小的相对位移。与前面所述类似地，所述游隙可以是0.5mm至1.5mm，可以为0.6mm、0.8mm、1.0mm、1.2mm或1.4mm。在部件 的尺寸增加的情况下，所述游隙可以被设置得更大。
通过如上所述的连接杆41和连接座42，可以提高机构稳定性，减少零部件的磨损。此外，可以降低对零件加工精度的要求，进而降低制造成本。此外，这样的结构容易装配，降低了对装配人员技术水平的要求。
在一些实施例中，如图7A和7C所示，所述槽口421是U形槽。如图5A所示，U形槽的设计可以方便连接杆41和连接座42的装配。
在一些实施例中，如图7A所示，所述连接座42可以具有台阶部422。所述台阶部422可以包括彼此垂直的第一表面4221和第二表面4222，所述可移动部件20被坐放在所述第一表面4221上并通过设置在所述第二表面4222上的紧固件44与所述可移动部件20固定连接。所述紧固件44可以是螺栓或类似部件。
所述第一表面4221的延伸方向可以被设置成与所述可移动部件30的底面的延伸方向相同，使得所述可移动部件20的底面可以被坐放在所述第一表面上。在一种实施例中，所述第一表面4221的延伸方向可以与所述第一方向相同。例如，所述第一表面可以沿水平方向设置。所述第二表面4222可以与所述第一表面4221垂直，例如可以沿竖直方向设置。
如上所述的台阶部422确保连接座42可以更可靠地固定在所述可移动部件20上。
在一些实施例中，如图4至图6所示，所述可移动部件20包括至少一个斜楔，所述斜楔具有倾斜表面22，所述倾斜表面22被设置成在所述可移动部件20移动时对所述顶升部件30施加作用力使得所述顶升部件30在所述第二方向上运动。
斜楔可以是具有倾斜表面的滑块。在一些实施例中，“斜楔具有倾斜表面22”可以指斜楔的与顶升部件30发生相互作用的表面(例如上表面)的至少一部分相对于与该表面相对的表面(例如下表面)或者相对于斜楔移动所沿的方向(例如所述第一方向)倾斜。换言之，斜楔的与顶升部件30发生相互作用的表面(例如上表面)的至少一部分不平行于与该表面相对的表面(例如下表面)或者不平行于斜楔移动所沿的方向(例如所述第一方向)。“斜楔具有倾斜表面22”并不排除斜楔的与顶升部件30发生相互作用的表面可以具有非倾斜表面。在一些实施例中，非倾斜表面与倾斜表面相连，并且相连的部分作为顶升形成的起点和/或终点。
斜楔作为可移动部件，用于使第一致动杆11在所述第一方向上的运动转换为顶升部件30在所述第二方向上的运动，所述斜楔在承受较大的作用力的情况下也不会下降，因此可以提高顶升稳定性并防止顶升歪斜。
如前面所述，对于斜楔，在一些实施例中，如图6所示，所述倾斜表面22相对于所述第一方向的倾斜角度θ可以是10°至45°。在一些实施例中，所述倾斜表面22相对于所述第一方向的倾斜角度θ可以是15°至30°。在一些实施例中，所述倾斜表面22相对于所述第一方向的倾斜角度θ可以是20°至25°。所述倾斜表面22相 对于所述第一方向的倾斜角度θ可以是12°、17°、22°、27°、35°或40°。
在一些实施例中，所述顶升装置100包括至少两个可移动部件20，所述至少两个可移动部件20之间通过连杆23相连。在图5A和图5B所示的实施例中，所述顶升装置100包括两个可移动部件20。其中一个可移动部件20与第一致动器10的第一致动杆11相连。两个可移动部件20之间通过连杆23相连。
可移动部件20之间通过连杆23相连，因此它们可以一体地运动。由于设置了多个可移动部件，因此可以相对均匀地对顶升部件30施加作用力，避免应力集中，并且可以使顶升更加平稳。
在一些实施例中，所述可移动部件20上设置有滑轨24和滑块25中的一者，所述顶升装置20的机架21上设置有滑轨24和滑块25中另一者，所述滑轨24与所述滑块25彼此配合使得所述可移动部件20能够在所述第一方向上移动。
在图4至图6所示的实施例中，所述可移动部件20上设置有滑轨24。滑轨24可以与可移动部件20连接为一体。所述顶升装置20的机架21上设置有滑块25。滑块25在机架21上固定不动。可移动部件20通过滑轨24在滑块25上的移动而在所述第一方向(图4中的X方向)上运动。
通过设置滑轨和滑块，可以使可移动部件20平稳且顺畅地在所述第一方向上移动，从而可以进一步提高顶升的稳定性。此外，在可移动部件20上设置滑轨因为可以减少空间占用，对于可移动部件行程较长的情况尤为有利。
在一些实施例中，如图4所示，所述顶升部件30的用于顶升物体的顶升面31上可以设有多个固定座32。每个固定座上设有多个万向球33。在一些实施例中，多个固定座32可以在顶升部件30上等间隔地排列。
万向球是能够围绕球心在各个方向上滚动的球体。因此，被顶升的物体可以在由各万向球形成的面上移动，从而方便对被顶升的物体进行调整和定位。设置多个固定座并且在每个固定座上设置多个万向球，便于模块化地设置和调整万向球，从而增加灵活度并降低成本。此外，设置多个万向球还有利于增大接触面和便于承重。多个固定座30等间隔地排列可以以更少的万向球实现更好的压力分散的效果。
在一些实施例中，所述多个固定座32可以包括第一固定座321，其中，所述第一固定座321上的万向球33沿直线排列，如图4所示。在一些实施例中，所述直线可以沿着顶升部件的长度方向延伸。
沿直线排列的万向球可以很好地支撑和调整被顶升的物体，并且可以增大接触面和提高承载能力。
在一些实施例中，附加地或作为替代，如图4所示，所述多个固定座32可以包括多个第二固定座322。所述多个第二固定座322上的万向球33呈三角形排列。
万向球33呈三角形排列是指万向球构成了三角形的各个顶点。呈三角形排列 的万向球能够更好地增大接触面并且更好地分散压力。
在一些实施例中，如图4所示，所述多个第二固定座322上的万向球33的三角形排列具有至少两种不同的取向。
三角形排列具有相同的取向是指三角形的对应边所沿的方向相同。对应地，三角形排列具有不同的取向是指三角形的对应边所沿的方向不同。换言之，两个三角形排列具有不同的取向是指两个三角形相对于彼此旋转了预定角度。
第二固定座322上的万向球33以具有不同取向的三角形排列可以更进一步地增大接触面积、分散压力和提高承载能力。
在一些实施例中，如图4所示，顶升部件30的顶升面31上设置有多个具有沿直线排列的万向球33的第一固定座321和多个具有三角形排列的万向球33的第二固定座322。在一些实施例中，所述第一固定座321可以设置在顶升部件30的顶升面31的两个端部部分上。所述第二固定座322可以设置在第一固定座321之间。在一些实施例中，每个具有三角形排列的万向球33的第二固定座322可以具有相同的构造。在布置时，至少一个第二固定座相对于相邻的第二固定座旋转预定角度(例如旋转180度)布置。这样便于进行模块化生产从而以较低的成本更好地增大接触面积、分散压力和提高承载能力。
在一些实施例中，如图1和图4所示，所述顶升装置100还包括第二致动器50和夹持机构51。所述第二致动器50被配置成驱动夹持机构51在夹紧位置(参见图1和图4中由实线示出的夹持机构51)和松开位置(参见图1和图4中由虚线示出的夹持机构51)之间运动。
夹持机构51可以是任何类型的夹具。夹紧位置是夹持机构51夹持待被顶升的物体或承载该物体的载物车以限制其移动的位置。松开位置是夹持机构51不再夹持待被顶升的物体或承载该物体的载物车的位置。在一些实施例中，如图1所示，在所述夹紧位置，夹持机构51可以在载物车200在所述第一方向(载物车的行驶方向或图4中的X方向)上的两端夹住载物车200，以限制其在所述第一方向上的移动。通过设置夹持机构51，待被顶升的物体或载物车可以在顶升之前被初步定位。
下面进一步参见图4以及图8至图10。在一些实施例中，顶升装置100还包括定位机构60。所述定位机构60可以被固定在所述顶升部件30上。所述定位机构60包括第三致动器61和定位销62。所述第三致动器61被配置成能够驱动所述定位销62沿着所述第二方向在伸出位置和缩回位置之间移动。
定位机构60是用于使被顶升的物体在顶升平面(垂直于所述第二方向的平面)上定位的装置。伸出位置是这样的位置，在该位置，定位销62在第二方向上伸出使得定位销62能够插入并适配在被顶升的物体中的定位孔202中。缩回位置是定位销62在第二方向上回缩使得定位销62从所述定位孔202中退出的位置。其中，所述被顶升的物体例如可以是载物车200的基板201、载物车200和/或装载在载物车200的基 板201上的物体。
设置定位机构60可以使得被顶升的物体相对于顶升装置100更加精确地定位。
在一些实施例中，所述定位销62被构造成用于与定位孔202适配。参见图11和图12，图11是本申请一些实施例的顶升装置的定位机构的俯视示意图。图12是本申请一些实施例的定位机构的定位销的横截面放大图。如图12所示，所述定位销62中的至少一个定位销的横截面的外轮廓具有接触区段621以及非接触区段622。所述接触区段621与定位孔202的内表面接触配合，所述非接触区段622与该定位孔的内表面不接触。
定位销的如上所述的横截面外轮廓可以减少一个定位自由度，防止过度定位，在定位精准的同时利于活动及安装调试。
在一些实施例中，所述定位销62被构造成适于与圆形的定位孔202适配。如图12所示，所述接触区段621包括相对的两段圆弧。所述非接触区段622包括分别与所述两段圆弧的四个端点相连的四个直线段，相邻的直线段之间彼此连接。所述四个直线段的长度可以彼此相等。由此，可以形成横截面为类菱形形状的定位销。所述类菱形形状可以被视作两个相对的角部被适于与圆形定位孔的内表面接触配合的圆弧代替的菱形。
这样构造的定位销便于加工，同时可以防止过度定位，在定位精准的同时利于活动及安装调试。
在一种实施例中，所述定位机构60还包括滑槽63，所述定位销62能够在所述滑槽63内移动。
滑槽63是供定位销在其中滑动的通道。所述滑槽63能够限制定位销的活动范围。
在一种实施例中，参见图9和图10，所述第三致动器61包括第三致动杆611。所述第三致动杆611可以通过联接器64与所述定位销62联接。参见图8和图9，所述定位机构60可以通过固定板65与所述顶升部件30固定。
使所述第三致动杆611可以通过联接器64与所述定位销62联接可以降低零部件加工精度的要求并且可以方便装配和拆卸。定位机构通过固定板与所述顶升部件固定有利于在顶升部件顶升到位后实现准确的定位。
下面结合图1和图4描述顶升装置100的第一检测设备和第二检测设备。在一种实施例中，所述顶升装置100包括第一检测设备70，所述第一检测设备70被构造成用于检测待被顶升的物体是否已被装载。
通过设置用于检测待被顶升的物体是否已被装载的第一检测设备，可以确定待被顶升的物体是否已经被装载，从而可以避免无效顶升。
所述第一检测设备70可以是任何能够检测物体是否存在的传感器。作为非限制性的实施例，所述第一检测设备可以包括光学传感器。所述光学传感器是利用光学原理对物体进行检测的传感器。作为非限制性的实施例，所述光学传感器可以包括对射传感器。对射传感器是一种可以通过对比发射和接收的光线状态来判断物体是否存在的传感器。在光学传感器发出的光被待被顶升的物体遮挡的情况下，光学传感器可以接收到信号从而确定待被顶升的物体存在。
采用诸如对射传感器的光学传感器可以以简单且成本较低的方式准确地检测物体是否存在。
在一种实施例中，所述顶升装置包括第二检测设备71。所述第二检测设备被构造成用于检测待被顶升的物体是否存在偏斜。
所述第二检测设备71可以是任何能够检测待被顶升的物体是否存在偏斜的传感器。作为非限制性的实施例，所述第一检测设备可以包括光学传感器。作为非限制性的实施例，所述光学传感器可以包括对射传感器。
采用诸如对射传感器的光学传感器可以以简单且成本较低的方式准确地检测物体是否存在偏斜。
在一种实施例中，所述第一检测设备70设置在待被顶升的物体的至少一侧的中部。
待被顶升的物体的至少一侧可以是待被顶升的物体的任意一侧或者多侧，只要从该侧能感测到待被顶升的物体是否已被装载即可。所述第一检测设备70设置在待被顶升的物体的至少一侧的中部使得对于各种尺寸的物体都能够检测到其是否已被装载。
在一种实施例中，所述第二检测设备71设置在待被顶升的物体的四个角部中的至少一个角部附近。
通过将第二检测设备71设置在待被顶升的物体的四个角部中的至少一个角部附近，在该角部的高度偏离预定范围的情况下，第二检测设备71(例如光学传感器)可以检测到该角部的位置偏离，从而可以准确地确定该被顶升的物体是否存在偏斜。
在一种实施例中，如图4所示，所述顶升部件30包括横梁34。所述横梁34的底部设有滚轮35。所述滚轮35被构造成在所述可移动部件20移动时能够在所述倾斜表面22上运动以使得所述横梁34在所述第二方向上运动。
为此，所述横梁34可以通过设置在横梁34上的滑轨和滑块中的一者与设置在顶升装置的机架上的滑轨和滑块中的另一者的相互配合而在所述第二方向上运动。
通过设置如上所述的滚轮35，可以减少第一致动器所需的推力并顺畅地完成顶升。
在一种实施例中，如图1和图4所示，所述顶升装置100还可以具有导向机构 80，所述导向机构80被构造成用于引导物体进入所述顶升装置100。
导向机构可以是任何可以引导进入顶升装置的机构，例如导向辊、导向轮、导向壁等。导向机构可以防止进入顶升装置100的物体(例如载物车)行走歪斜。
在一种实施例中，如图4所示，所述第一致动器10可以具有至少一个位置检测传感器12。所述位置检测传感器12被配置成用于检测所述第一致动杆11在第一方向上的运动是否到达预定位置。
位置传感器12可以是任何能感受被测物的位置并将感测结果转换成输出信号的传感器。位置传感器12例如可以包括接触式位置传感器(例如行程开关等)或非接触式位置传感器(例如接近式传感器等)。设置位置传感器可以更精确地控制顶升装置的顶升，防止过顶升或欠顶升等情况的发生。
在一些实施例中，所述第一致动器10、所述第二致动器50和/或所述第三致动器61是气缸。
气缸可以稳定地提供驱动力。此外，在第一致动器10为气缸的情况下，由于作为顶升方向的所述第二方向与作为气缸伸缩方向的所述第一方向不同，因此即使在受压过程中气缸的气量供应不足，气缸的第一致动杆也难以被下压压力推动伸缩，从而可以实现顶升面的自锁。
在另一方面，如图1所示，本申请的一些实施例还提供了一种载物车顶升系统1000。载物车顶升系统可以包括根据前面任意实施例所述的顶升装置100以及载物车200。所述载物车200包括基板201。所述基板201被构造成能够在所述第二方向上被所述顶升装置100顶升。
由于载物车包括可以单独被顶升的用于载物的基板201，因此无需顶升载物车，可以提高顶升能力，适应各种顶升需要。
在一些实施例中，如图3所示，所述基板201上具有至少一个定位孔202。
所述定位孔202用于与顶升装置100上的定位销62适配。定位孔可以使载物车的基板201相对于顶升装置100精确地定位。定位孔201可以以任何数量设置在基板201的任何位置上。在一些实施例中，定位孔201可以设置在基板的相对的角部附近。这样可以实现更好的定位效果。
在一些实施例中，所述载物车200是自动引导车(AGV)。这有助于实现自动地进行输送、顶升和其它作业。
在一些实施例中，所述载物车200用于装载电池包。这有助于在电池的制造、装配和/或维护过程中实现稳定的顶升。
根据本申请的一些实施例，参见图1至图6，本申请提供了一种载物车顶升系统1000。顶升系统1000包括顶升装置100和载物车200。载物车200包括用于承载物体的基板201。顶升装置100用于顶升基板201。顶升系统1000可以具有至少一个顶 升装置。在图1所示的实施例中，在基板201的两侧各设置有一个顶升装置100。每个顶升装置100的构造如下。顶升装置100包括一个气缸10。气缸10具有第一致动杆11。第一致动杆11能够在水平方向上运动。第一致动杆11通过第一连接机构40连接到一个斜楔20，使该斜楔20能够随第一致动杆11的运动而沿水平方向运动。斜楔20可以通过连杆23连接到位于气缸10的另一侧的另一个斜楔，使得两个斜楔20可以一体地沿水平方向运动。两个斜楔均具有倾斜表面22。所述倾斜表面22被设置成在斜楔沿水平方向移动时对作为顶升部件30的横梁34施加作用力以使得横梁34在竖直方向上运动。由此，气缸的第一致动杆11在水平方向上的运动被转换成横梁34在竖直方向上的顶升运动，提高了顶升的稳定性。
根据本申请的一些实施例的载物车顶升系统1000的工作原理如下。载物车200被带到顶升装置100中的预定位置。在载物车200到位以后，第二致动器50驱动夹持机构51夹持载物车200。顶升装置100的第一致动器10的第一致动杆11在第一方向上运动驱动顶升部件30在第二方向上运动，从而顶升载物车200的基板201脱离载物车。在基板201被顶升到位后，第三致动器61驱动定位销62伸出并与基板201中的定位孔202适配，从而将所述基板201定位。在完成所需作业后，所述定位销62脱离定位孔202缩回。在定位销62缩回后，第一致动器10驱动基板201在第二方向上反向运动而下降到载物车200上。第二致动器50驱动夹持机构51松开载物车200。载物车200离开顶升装置100。
最后应说明的是：以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围，其均应涵盖在本申请的权利要求和说明书的范围当中。尤其是，只要不存在结构冲突，各个实施例中所提到的各项技术特征均可以任意方式组合起来。本申请并不局限于文中公开的特定实施例，而是包括落入权利要求的范围内的所有技术方案。

Claims (34)

  1. 一种顶升装置，其特征在于，所述顶升装置包括：
    第一致动器，所述第一致动器包括第一致动杆，所述第一致动杆被配置为能够沿第一方向运动；
    可移动部件，所述可移动部件与所述第一致动杆相连并且被配置为能够随第一致动杆的运动而移动；以及
    顶升部件，所述顶升部件被配置成用于顶升待被顶升的物体，其中，所述顶升部件被配置成能够接收所述可移动部件施加的作用力而在第二方向上运动，并且所述第二方向与所述第一方向不同。
  2. 根据权利要求1所述的顶升装置，其特征在于，所述可移动部件被配置为能够随第一致动杆的运动而沿所述第一方向移动，所述可移动部件具有倾斜表面，所述倾斜表面被设置成在所述可移动部件移动时对所述顶升部件施加作用力以使得所述顶升部件在所述第二方向上运动。
  3. 根据权利要求2所述的顶升装置，其特征在于，所述倾斜表面相对于所述第一方向的倾斜角度是10°至45°。
  4. 根据权利要求3所述的顶升装置，其特征在于，所述倾斜表面相对于所述第一方向的倾斜角度可以是15°至30°。
  5. 根据权利要求4所述的顶升装置，其特征在于，所述倾斜表面相对于所述第一方向的倾斜角度可以是20°至25°。
  6. 根据权利要求1-5中任一项所述的顶升装置，其特征在于，所述第一致动杆通过第一连接机构连接到所述可移动部件，所述第一连接机构被配置成使第一致动杆的运动被传递到所述可移动部件，并且第一连接机构被配置成使得所述第一致动杆和所述可移动部件之间在所述第一方向上存在移动裕量。
  7. 根据权利要求6所述的顶升装置，其特征在于，所述第一连接机构包括连接杆和连接座，所述连接杆与所述第一致动杆连接，所述连接座与所述可移动部件连接。
  8. 根据权利要求7所述的顶升装置，其特征在于，所述连接杆具有直径增大的第一限位部分、直径增大的第二限位部分和位于所述第一限位部分和所述第二限位部分之间的第三部分，所述连接座具有槽口，所述第一限位部分和所述第二限位部分分别在相反的两侧位于所述槽口的外侧并且被配置成用于限制所述连接杆在所述第一方向上的运动，所述第三部分被容纳在所述槽口中。
  9. 根据权利要求8所述的顶升装置，其特征在于，所述槽口具有在所述第一方向上的长度，所述第三部分的长度略大于所述槽口的所述长度使得所述连接杆相对于所述连接座在所述第一方向上存在所述移动裕量。
  10. 根据权利要求8或9所述的顶升装置，其特征在于，所述槽口是U形槽。
  11. 根据权利要求7至10中任一项所述的顶升装置，其特征在于，所述连接座具有台阶部，所述台阶部包括彼此垂直的第一表面和第二表面，所述可移动部件被坐放 在所述第一表面上并通过设置在所述第二表面上的紧固件与所述可移动部件固定连接。
  12. 根据权利要求2-11中任一项所述的顶升装置，其特征在于，所述可移动部件包括至少一个斜楔，所述斜楔具有所述倾斜表面，所述倾斜表面被设置成在所述可移动部件移动时对所述顶升部件施加作用力使得所述顶升部件在所述第二方向上运动。
  13. 根据权利要求1-12中任一项所述的顶升装置，其特征在于，所述顶升装置包括至少两个可移动部件，所述至少两个可移动部件之间通过连杆相连。
  14. 根据权利要求1-13中任一项所述的顶升装置，其特征在于，所述可移动部件上设置有滑轨和滑块中的一者，所述顶升装置的机架上设置有滑轨和滑块中另一者，所述滑轨与所述滑块彼此配合使得所述可移动部件能够在所述第一方向上移动。
  15. 根据权利要求1-14中任一项所述的顶升装置，其特征在于，所述顶升部件的用于顶升物体的顶升面上设有多个固定座，每个固定座上设有多个万向球。
  16. 根据权利要求15所述的顶升装置，其特征在于，所述多个固定座包括多个第一固定座，其中，所述第一固定座上的万向球沿直线排列。
  17. 根据权利要求15或16所述的顶升装置，其特征在于，所述多个固定座包括多个第二固定座，其中，所述多个第二固定座上的万向球呈三角形排列。
  18. 根据权利要求17所述的顶升装置，其特征在于，所述多个第二固定座上的万向球的三角形排列具有至少两种不同的取向。
  19. 根据权利要求1-18中任一项所述的顶升装置，其特征在于，所述顶升装置还包括第二致动器和夹持机构，所述第二致动器被配置成驱动夹持机构在夹紧位置和松开位置之间运动。
  20. 根据权利要求1-19中任一项所述的顶升装置，其特征在于，所述顶升装置还包括定位机构，所述定位机构固定在所述顶升部件上，所述定位机构包括第三致动器和定位销，所述第三致动器被配置成能够驱动所述定位销沿着所述第二方向在伸出位置和缩回位置之间移动。
  21. 根据权利要求20所述的顶升装置，其特征在于，所述定位销被构造成用于与定位孔适配，并且所述定位销中的至少一个定位销的横截面的外轮廓包括接触区段以及非接触区段，其中所述接触区段与该定位孔的内表面接触配合，所述非接触区段与该定位孔的内表面不接触。
  22. 根据权利要求21所述的顶升装置，其特征在于，所述定位销被构造成用于与圆形的定位孔适配，所述接触区段包括相对的两段圆弧，所述非接触区段包括分别与所述两段圆弧的四个端点相连的四个直线段，相邻的直线段之间彼此连接，所述四个直线段的长度彼此相等。
  23. 根据权利要求20-22中任一项所述的顶升装置，其特征在于，所述定位机构还包括滑槽，所述定位销能够在所述滑槽内移动。
  24. 根据权利要求20-23中任一项所述的顶升装置，其特征在于，所述第三致动器包括第三致动杆，所述第三致动杆通过联接器与所述定位销联接，所述定位机构通过固定板与所述顶升部件固定。
  25. 根据权利要求1-24中任一项所述的顶升装置，其特征在于，所述顶升装置包括第一检测设备，所述第一检测设备被构造成用于检测待被顶升的物体是否已被装载。
  26. 根据权利要求1-25中任一项所述的顶升装置，其特征在于，所述顶升装置包括第二检测设备，所述第二检测设备被构造成用于检测待被顶升的物体是否存在偏斜。
  27. 根据权利要求25或26所述的顶升装置，其特征在于，所述第一检测设备和/或所述第二检测设备包括光学检测器。
  28. 根据权利要求27所述的顶升装置，其特征在于，所述光学检测器包括对射检测器。
  29. 根据权利要求25-28中任一项所述的顶升装置，其特征在于，所述第一检测设备设置在待被顶升的物体的至少一侧的中部。
  30. 根据权利要求26-29中任一项所述的顶升装置，其特征在于，所述第二检测设备设置在待被顶升的物体的四个角部中的至少一个角部附近。
  31. 根据权利要求2-30中任一项所述的顶升装置，其特征在于，所述顶升部件包括横梁，所述横梁的底部设有滚轮，所述滚轮被构造成在所述可移动部件移动时能够在所述倾斜表面上运动以使得所述横梁在所述第二方向上运动。
  32. 根据权利要求1-31中任一项所述的顶升装置，其特征在于，所述顶升装置还具有导向机构，所述导向机构被构造成用于引导物体进入所述顶升装置。
  33. 根据权利要求1-32中任一项所述的顶升装置，其特征在于，所述第一致动器具有至少一个位置检测传感器，所述位置检测传感器被配置成用于检测所述第一致动杆在第一方向上的运动是否到达预定位置。
  34. 一种载物车顶升系统，其特征在于，所述载物车顶升系统包括:
    根据权利要求1-33中任一项所述的顶升装置，以及
    载物车，所述载物车包括基板，所述基板被构造成能够在所述第二方向上被所述顶升装置顶升。
PCT/CN2023/101868 2023-06-21 2023-06-21 顶升装置和载物车顶升系统 Ceased WO2024259663A1 (zh)

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