CN111891990A

CN111891990A - Lifting device and plastering equipment

Info

Publication number: CN111891990A
Application number: CN202010524256.8A
Authority: CN
Inventors: 李铁芳; 杨金; 谢军; 周小帆; 江伟汉; 韩雪峤
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-06-10
Filing date: 2020-06-10
Publication date: 2020-11-06
Anticipated expiration: 2040-06-10
Also published as: WO2021249389A1; CN111891990B; CN114275716B; GB202217484D0; CN114275716A; GB2610951A

Abstract

The invention discloses a lifting device and plastering equipment, wherein the lifting device comprises: the first-stage lifting mechanism comprises at least two lifting frames, the next lifting frame is connected to the previous lifting frame, the previous lifting frame can independently drive the next lifting frame to lift, and the side part of each lifting frame is provided with a first guide piece; the secondary lifting mechanism comprises a bracket and a mounting seat arranged on the bracket in a lifting manner, the mounting seat is used for connecting an actuator, and at least two first matching pieces are arranged on the side part of the bracket; the driving mechanism can drive the bracket to sequentially lift up and down along the at least two lifting frames; wherein, the first guide piece and two at least first fittings of support on two at least crane in the lift process cooperate in proper order. The invention can improve the coverage of the whole device and realize the complete coverage of the actuator on the lifting height.

Description

Lifting device and plastering equipment

Technical Field

The invention relates to the technical field of lifting equipment, in particular to a lifting device and plastering equipment.

Background

At present, the robot for indoor wall construction of a standard floor has the following characteristics: the layer height needing to be adapted is generally 2850 and 3150 mm; the height of the door opening is generally 2050mm, and the lowest height of a common construction elevator is about 1850 mm; therefore, in order to achieve a construction surface of 3150mm and to pass through a door conveniently, a two-stage or multi-stage lifting mechanism is required for an end effector.

However, the coverage of the multi-stage lifting mechanism on the market is limited, the multi-stage lifting mechanism cannot be better adapted to the treatment of inner vertical surfaces with different heights, and the construction of different vertical surfaces needs to be provided with a plurality of lifting mechanisms, so that the cost is greatly increased. Simultaneously, change different elevating system and also lead to work efficiency greatly reduced. In addition, multistage elevating system is mostly many drive transmission modes, and the whole size is retrencied inadequately, and when the executor goes up and down on multistage elevating system, because structural design problem, the executor can not realize moving to the top from elevating system's bottom and accomplish whole covering to whole facade.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a lifting device to solve the problems that the lifting height of the existing lifting mechanism is limited, the adaptability is poor, and an actuator cannot realize complete coverage from bottom to top in the process of facade treatment.

The invention also aims to provide plastering equipment to apply the lifting device.

According to an embodiment of the present invention, a lifting device includes: the first-stage lifting mechanism comprises at least two lifting frames, the next lifting frame is connected to the previous lifting frame, the previous lifting frame can independently drive the next lifting frame to lift, and a first guide piece is arranged on the side part of each lifting frame; the secondary lifting mechanism comprises a support and a mounting seat arranged on the support in a lifting manner, the mounting seat is used for connecting an actuator, and at least two first matching pieces are arranged on the side part of the support; the driving mechanism can drive the bracket to sequentially lift up and down along the at least two lifting frames; the first guide pieces of the bracket on the at least two lifting frames are sequentially matched with the at least two first matching pieces in the lifting process.

According to the lifting device provided by the embodiment of the invention, the primary lifting mechanism consisting of at least two lifting units can realize multi-section lifting and enlarge the whole coverage range, the first guide piece is arranged on each lifting frame, the first guide piece is matched with the first guide piece, the secondary lifting mechanism can move from the bottom to the top of the whole lifting device, and meanwhile, the secondary lifting mechanism has an independent lifting stroke, so that the complete coverage of an actuator on the lifting height can be realized. Because a plurality of erects all have independent drive, can upwards expand also can withdraw for elevating gear integrated level is higher, and the size is less, adaptable various space operations.

In some embodiments, the first guide member is a guide rod mounted at a side of the lifting frame, the first mating member is a guide seat mounted at a side of the support frame, and each guide seat is provided with a guide hole matched with the guide rod.

In some embodiments, the first guide member is a guide rail installed at a side of the crane, the guide rail has a guide groove, and the first mating member is a rolling body installed at a side of the bracket, the rolling body being fitted in the guide groove.

In some embodiments, a top seat is arranged on the last section of the lifting frame, the lifting device further comprises a supporting mechanism arranged on the top seat, the supporting mechanism comprises a supporting piece and a three-stage lifting mechanism for driving the supporting piece to lift, and when a contact surface is arranged above the lifting device, the three-stage lifting mechanism drives the supporting piece to lift so as to abut against the contact surface.

Optionally, the three-stage lifting mechanism includes: the rack bars penetrate through the top seat and are vertically and slidably connected with the top seat, and the supporting piece is connected with the rack bars; the gears are meshed with the racks in a one-to-one correspondence manner; and the third driving motor is arranged on the top seat and is connected with the plurality of gears in a moving way so as to drive the plurality of gears to rotate.

Optionally, a plurality of racks are connected to the same connecting seat, the supporting member is vertically slidably disposed on the connecting seat, and a first elastic member is disposed between the supporting member and the connecting seat.

In some embodiments, a top seat is provided on the last section of the lifting frame, and the driving mechanism includes: the two groups of guide wheels are arranged below the top seat at intervals; the lifting wheel is pivotally arranged on the bracket; the two groups of winding drums are connected and can rotate; the rope body, the middle part contact cooperation of rope body is in on the hoisting pulley, the both ends contact cooperation of rope body are in on two sets of the guide pulley and respectively around adorning on two sets of the reel.

Optionally, it is two sets of the below of reel all is equipped with elasticity and presses rope mechanism, elasticity is pressed rope mechanism and is included: a base; the bearing seat can be movably arranged on the base up and down; the rope pressing roller is pivotally arranged on the bearing seat; the second elastic piece is arranged between the bearing seat and the base and used for enabling the rope pressing roller to press the rope body on the winding drum.

In some embodiments, the lifting wheel is provided with a protection mechanism for locking the rope body, and the protection mechanism comprises a plurality of pressing blocks, and the plurality of pressing blocks are arranged at intervals along the circumferential direction of the lifting wheel so as to press the rope body in the rope groove of the lifting wheel.

A plastering apparatus according to an embodiment of the present invention comprises: a chassis: the lifting device is the lifting device according to any one of the preceding paragraphs, and the first section of the lifting frame is arranged on the chassis; and the plastering mechanism is arranged on the mounting seat.

According to the plastering equipment provided by the embodiment of the invention, the plastering mechanism is arranged on the lifting device, and the lifting device is used for realizing multi-section lifting, so that the plastering mechanism is favorable for having a larger coverage area when working on an indoor wall surface, can move from the bottom to the top of the equipment, realizes complete coverage in the plastering operation process, and is simple to operate and high in operation efficiency.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a schematic structural diagram of a lifting device according to an embodiment of the present invention;

FIG. 2 is an exploded perspective view of a portion of a lifting device according to an embodiment of the present invention;

FIG. 3 is an exploded perspective view of a primary lifting mechanism according to an embodiment of the present invention;

FIG. 4 is an exploded perspective view of a support mechanism according to an embodiment of the present invention;

FIG. 5 is a schematic exploded perspective view of a secondary lifting mechanism according to an embodiment of the present invention;

FIG. 6 is a first exploded perspective view of a drive mechanism according to an embodiment of the present invention;

FIG. 7 is a schematic diagram of an exploded perspective view of a second embodiment of the driving mechanism of the present invention;

FIG. 8 is a schematic diagram of an exploded perspective view of a lifting wheel according to an embodiment of the present invention;

FIG. 9 is a first schematic view of the lifting device operating in an indoor environment according to the embodiment of the present invention;

FIG. 10 is a second schematic view of the lifting device operating in an indoor environment according to the embodiment of the present invention;

fig. 11 is a third schematic view illustrating the operation of the lifting device in an indoor environment according to the embodiment of the present invention.

Reference numerals:

100. a lifting device;

10. a chassis;

20. a primary lifting mechanism;

21. a lifting frame; 211. a second guide member; 212. a second mating member; 213. a first drive motor; 214. a first synchronous belt mechanism; 215. a first lead screw; 216. a top seat;

30. a first guide member;

40. a secondary lifting mechanism;

41. a support; 411. a third guide member; 412. a tail end mounting plate; 4121. a limiting block; 42. a mounting seat; 421. a third mating member; 43. a second drive motor; 44. a second synchronous belt mechanism; 45. a second lead screw;

50. a first mating member;

60. a drive mechanism;

61. a guide wheel; 63. a reel; 64. a rope body; 66. a fourth drive motor; 67. a gear set; 68. mounting a support;

62. a lifting wheel; 621. a wheel body; 6211. mounting grooves; 622. a rotating shaft; 624. a bearing; 625. briquetting;

65. an elastic rope pressing mechanism; 651. a base; 6511. an ear mount; 6512. a chute; 652. a bearing seat; 653. a rope pressing roller; 654. a second elastic member;

70. a support mechanism;

71. a support member; 73. a connecting seat; 74. a first elastic member; 75. a third guide bar; 751. a connecting plate; 76. a guide sleeve; 77. a sliding sleeve;

72. a three-stage lifting mechanism; 721. a rack; 722. a gear; 723. a third drive motor; 724. a double output shaft speed reducer; 725. and a bearing seat.

200. A contact surface.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features for distinguishing between descriptive features, non-sequential, non-trivial and non-trivial.

In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The following describes the lifting device 100 according to the embodiment of the present invention with reference to fig. 1 to 11.

As shown in fig. 1, a lifting device 100 according to an embodiment of the present invention includes: the lifting mechanism comprises a primary lifting mechanism 20, a first guide piece 30, a secondary lifting mechanism 40, a first matching piece 50 and a driving mechanism 60.

The one-level elevating system 20 comprises at least two lifting frames 21, the next lifting frame 21 is connected to the previous lifting frame 21, the previous lifting frame 21 can independently drive the next lifting frame 21 to lift, and the side part of each lifting frame 21 is provided with a first guide part 30. That is to say, when the lifting operation is performed, the former lifting frame 21 drives the latter lifting frame 21 to ascend, so that at least two lifting frames 21 are lifted, and the lifting height is large.

The two-stage lifting mechanism 40 comprises a bracket 41 and a mounting seat 42 arranged on the bracket 41 in a lifting manner, wherein the mounting seat 42 is used for connecting an actuator, and at least two first matching pieces 50 are arranged on the side part of the bracket 41. That is, the mounting seat 42 can be lifted on the bracket 41, so as to drive the actuator thereon to operate, thereby realizing the operation of the corresponding function.

At least two first fitting pieces 50 are connected to the support 41, the first fitting pieces 50 are arranged in one-to-one correspondence with the first guide pieces 30, each first fitting piece 50 is used for being matched with the corresponding first guide piece 30 in a sliding or rolling mode, that is, as shown in fig. 9 to 11, the support 41 is connected with the lifting frame 21 through the matching of the first fitting pieces 50 and the first guide pieces 30, after the first-level lifting mechanism 20 is lifted and unfolded, the support 41 of the second-level lifting mechanism 40 is matched with the first guide pieces 30 of the lifting frame 21 at different height positions through the first fitting pieces 50, and the first-level lifting mechanism 20 after being unfolded is moved from bottom to top to realize complete coverage. The unfolded primary lifting mechanism 20 forms a main body frame of the whole lifting device 100, and the first fitting piece 50 and the first guide piece 30 are combined to form a guide mechanism, so that the secondary lifting mechanism 40 can stably lift on the main body frame, and the whole movement is reliable.

The driving mechanism 60 can drive the support 41 to sequentially ascend and descend along the at least two lifting frames 21, wherein the first guide elements 30 on the at least two lifting frames 21 are sequentially matched with the at least two first matching pieces 50 in the ascending and descending process of the support 41. That is, the driving mechanism 60 provides the power for moving the bracket 41 from the bottom to the top of the primary lifting mechanism 20, and the secondary lifting mechanism 40 has a lifting stroke, so that the operable height of the actuator on the mounting seat 42 can be expanded to the maximum range, and the complete coverage of the treatment vertical surface from bottom to top is realized.

According to the lifting device 100 of the embodiment of the invention, the primary lifting mechanism 20 consisting of at least two lifting frames 21 can realize multi-stage lifting and can expand the whole coverage range, and each lifting frame 21 is provided with the first guide piece 30, the first matching piece 50 can realize that the secondary lifting mechanism 40 moves from the bottom to the top of the whole lifting device 100 by matching with the first guide piece 30, and simultaneously, the complete coverage of the actuator on the lifting height can be realized because the secondary lifting mechanism 40 has an independent lifting stroke. In addition, the plurality of lifting frames 21 are driven independently and can be unfolded upwards or retracted, so that the lifting device 100 is high in integration level and small in size and can adapt to various space operations.

In some embodiments, the first guiding element 30 is a guide rod (not shown) installed at the side of the lifting frame 21, and the first fitting element 50 is a guide seat (not shown) installed at the side of the support 41, and each guide seat is provided with a guide hole (not shown) matched with the guide rod, so that the support 41 and the lifting frame 21 are in guiding sliding fit, and the structure is simple and the guiding effect is good.

In some embodiments, as shown in fig. 2 and 3, the first guide 30 is a guide rail installed at a side of the crane 21, and the first engaging member 50 is a slider installed at a side of the bracket 41, and the slider is engaged with the guide rail.

In some embodiments, the first guide 30 is a guide rail installed at a side of the crane 21, the guide rail having a guide groove (not shown), and the first fitting member 50 is a rolling body (not shown) installed at a side of the bracket 41, the rolling body fitting in the guide groove. In the lifting process of the support 41, the rolling bodies roll along the guide grooves of the guide rails, so that the guide function is achieved, the friction force is reduced, and the guide effect is good. For example, the first guide member 30 is a dual-axis linear guide, and the first engaging member 50 is a V-shaped groove roller, so that the first engaging member 50 can be conveniently and freely inserted into the dual-axis linear guide, and the dual-axis linear guide also has a self-dust-removing effect.

In some embodiments, as shown in fig. 2, 3, and 4, the last lifting frame 21 is provided with a top seat 216, the lifting device 100 further includes a supporting mechanism 70 provided on the top seat 216, the supporting mechanism 70 includes a supporting member 71 and a three-stage lifting mechanism 72 for driving the supporting member 71 to lift, as shown in fig. 9 and 11, when a contact surface 200 is located above the lifting device 100, the three-stage lifting mechanism 72 drives the supporting member 71 to lift to abut against the contact surface 200. For example, the lifting device 100 can be used for indoor environment operation, the contact surface 200 is a ceiling of a wall top, when the lifting device 100 is lifted to the maximum height, the supporting piece 71 can abut against the ceiling of the wall top, so that the bottom and the top of the lifting device 100 are both supported, the lifting device 100 after lifting is changed into a double-point supporting structure from a cantilever beam structure, the overall rigidity is greatly improved, the stability is improved, the problem that the lifting device shakes due to cantilevers and unbalance loading, and further has great size deviation can be solved, the structural rigidity requirement required by high-precision processing of the vertical surface can be met, and the lifting device is suitable for processing inner vertical surfaces with different heights. Of course, the lifting device 100 is not limited to indoor operation, but may be used in conjunction with a fixed frame or a surrounding support, and in this case, the contact surface 200 is formed on the fixed frame or the support, and may also serve as a top support for the lifting device 100.

Alternatively, as shown in fig. 2 and 4, the three-stage lifting mechanism 72 includes: a plurality of racks 721, the plurality of racks 721 pass through the top base 216 and are vertically and slidably connected with the top base 216, and the supporting member 71 is connected with the plurality of racks 721; a plurality of gears 722, the plurality of gears 722 are meshed with the plurality of racks 721 in a one-to-one correspondence; and the third driving motor 723 is arranged on the top seat 216, and the third driving motor 723 is movably connected with the plurality of gears 722 to drive the plurality of gears 722 to rotate. That is, the third driving motor 723 drives the plurality of gears 722 to rotate, and the gears 722 engage with the racks 721, so that the racks 721 move upward or downward to lift the supporting member 71. Because the three-stage lifting mechanism 72 is arranged between the support 71 and the top seat 216, the support 71 can independently lift, and the lifting can automatically abut against the upper contact surface 200, so that the adaptive height of the whole device is further improved, and the adaptability is improved.

Alternatively, as shown in fig. 4, the rack 721 is a circular rack, and the gear 722 engages the rack 721, so that the force between the support 71 and the contact surface 200 is controlled by the torque of the third driving motor 723.

Optionally, as shown in fig. 4, there are two racks 721, there are also two gears 722, the third driving motor 723 is connected to a dual output shaft reducer 724 to form a dual output shaft motor, two output shafts of the dual output shaft motor are mounted on the top base 216 through a bearing block 725, and the two output shafts of the dual output shaft motor are respectively connected to the two gears 722 to drive the two racks 721 to move up and down. By adopting the mode, the number of the driving motors can be reduced, the structure is simplified, and the cost is reduced. Of course, the number of the racks 721 and the gears 722 is not limited thereto and will not be described herein. Alternatively, the plurality of racks 721 are connected to the same connecting seat 73, the supporting member 71 is vertically slidably disposed on the connecting seat 73, and the first elastic member 74 is disposed between the supporting member 71 and the connecting seat 73. The first elastic member 74 forms an elastic mechanism on the supporting member 71, and can play a role of buffering when the supporting member 71 and the contact surface 200 are pressed too much, thereby improving safety.

Optionally, as shown in fig. 4, a plurality of the supporting members 71 are spaced apart from each other on the connecting seat 73, a first elastic member 74 is disposed between each supporting member 71 and the connecting seat 73, and when the upper contact surface 200 is not flat, the first elastic members 74 at different positions contract adaptively, so that the problem of unbalanced force caused by the uneven upper contact surface 200 can be solved.

Optionally, the first elastic element 74 is a spring, so that the cost is low and the damping and buffering effects are good.

In some embodiments, as shown in fig. 4, the three-stage lifting mechanism 72 further includes a plurality of third guide rods 75 and a plurality of sliding sleeves 77, the sliding sleeves 77 are disposed on the top seat 216, the plurality of third guide rods 75 are vertically slidably fitted on the corresponding sliding sleeves 77, and the plurality of third guide rods 75 are connected to the connecting seat 73. That is, the third guide bar 75 can provide a guiding function for the lifting of the rack 721 and the connecting seat 73, so as to improve the overall stability of the three-stage lifting mechanism 72.

Alternatively, as shown in fig. 4, when the rack 721 is a circular rack, the circular rack may be vertically slidably fitted on the corresponding sliding sleeve 77. For example, two circular racks, two third guide rods 75, and four sliding sleeves 77 are provided, such that two circular racks are correspondingly engaged with the two sliding sleeves 77, and two third guide rods 75 are correspondingly engaged with the other two sliding sleeves 77. That is, the sliding sleeve 77 provides load bearing and guiding for the movement of the third guide bar 75 and the rack 721.

Alternatively, the sliding sleeve 77 may be a linear bearing.

Optionally, as shown in fig. 4, the plurality of third guide rods 75 are arranged in one-to-one correspondence with the plurality of racks 721, a connecting plate 751 is arranged at the bottom of the third guide rod 75, and the other end of the connecting plate 751 is connected with the rack 721, so that both ends of the rack 721 are connected with the third guide rods 75, and the stability and reliability of the movement of the rack 721 and the connecting seat 73 are further improved.

Alternatively, as shown in fig. 4, the coupling holder 73 is formed as an arcuate plate with a middle portion recessed downward, by which the structural strength of the coupling holder 73 can be improved. The middle of the arched plate is provided with a guide 76, and the support 71 is fitted in the guide 76, thereby achieving vertical sliding of the support 71 on the connection holder 73.

In some embodiments, as shown in fig. 2, the crane 21 is provided with the first guide member 30 on both sides in the lifting direction, and the bracket 41 is provided with the first engaging member 50 on both sides in the lifting direction. It can be understood that both sides of the support 41 and both sides of the lifting frame 21 are connected to the first guide member 30 through the first fitting member 50, so that both sides of the support 41 are guided in a balanced manner, thereby improving the stability of the lifting process, and the first guide member 30 is provided at the side of the lifting frame 21 to provide a guide for the lifting of the secondary lifting mechanism 40.

In some embodiments, as shown in fig. 3, the primary lifting mechanism 20 further includes a first independent drive provided on the previous lifting frame 21, the first independent drive includes a first driving motor 213, a first synchronous belt mechanism 214, and a first lead screw 215, the first lead screw 215 is pivotably provided on the lifting frame 21, the next lifting frame 21 is installed on the first lead screw 215, one pulley of the first synchronous belt mechanism 214 is connected to the first lead screw 215, and the other pulley is connected to the first driving motor 213, so that the first driving motor 213 drives the lifting frame 21 to lift after being started.

In some embodiments, as shown in fig. 3, a second guide 211 is disposed on the previous section of crane 21, and a second fitting part 212 is disposed on the next section of crane 21, wherein the second guide 211 is a slide rail, and the second fitting part 212 is a slide block, and the slide rail fits on the slide block to realize stable lifting of the previous section of crane 21 on the next section of crane 21, so as to increase reliability of the lifting process.

In some embodiments, as shown in fig. 5, the secondary lifting mechanism 40 further includes a second independent drive on the mounting base 42, the second independent drive includes a second driving motor 43, a second synchronous belt mechanism 44, and a second lead screw 45, the second lead screw 45 is pivotally disposed on the bracket 41, the mounting base 42 is mounted on the second lead screw 45, one pulley of the second synchronous belt mechanism 44 is connected to the second lead screw 45, and the other pulley is connected to the second driving motor 43. The second driving motor 43 is started to drive the mounting base 42 to lift. Optionally, as shown in fig. 5, a third guide 411 is disposed on the bracket 41, and a third fitting part 421 is disposed on the mounting seat 42, where the third guide 411 is a sliding rail, the third fitting part 421 is a sliding block, and the mounting seat 42 is slidably fitted on the sliding rail through the sliding block, so that the mounting seat 42 can be conveniently lifted and lowered on the bracket 41.

In some embodiments, as shown in fig. 2, 6 and 7, the last lifting frame 21 is provided with a top seat 216, and the driving mechanism 60 includes: the two groups of guide wheels 61 are arranged below the top seat 216 at intervals; the lifting wheel 62, the lifting wheel 62 is pivotally arranged on the bracket 41; two groups of winding drums 63, wherein the two groups of winding drums 63 are connected and can rotate; the middle part of the rope body 64 is in contact fit with the lifting wheel 62, and the two ends of the rope body 64 are in contact fit with the two groups of guide wheels 61 and are respectively wound on the two groups of winding drums 63. It can be understood that two sets of winding drums 63 rotate, the two ends of the rope body 64 are wound, the direction of the rope body 64 can be adjusted by the two sets of guide wheels 61, the matching of the rope body 64 and the lifting wheel 62 is conveniently realized, the lifting wheel 62 can be driven to move upwards along with the reduction of the length of the rope body 64 outside the winding drum 63, and therefore the lifting support 41 can be lifted on the plurality of lifting frames 21, and the lifting support 41 can also be lowered. The drive mechanism 60 constitutes a double rope hoist mechanism that provides power for the lifting of the bracket 41.

It should be noted that, as shown in fig. 6 and 8, since the middle portion of the rope 64 is engaged with the lifting wheel 62, and the lifting wheel 62 can rotate at a certain angle on the bracket 41, the lifting wheel 62 can perform a leveling function. For example, when the driving mechanism 60 works, the rope bodies 64 on both sides of the lifting wheel 62 can adaptively adjust the pulling force of the rope bodies 64 on both sides, so as to ensure the stress balance on both sides of the rope bodies 64, further increase the stress balance of the driving mechanism 60, and prolong the service life.

In some embodiments, as shown in fig. 6 and 7, the driving mechanism 60 further includes a mounting bracket 68 and a fourth driving motor 66, the two sets of rollers 63 are pivotally disposed on the mounting bracket 68, and the fourth driving motor 66 is disposed on the mounting bracket 68 and is movably connected to the rollers 63 through a gear set 67 to drive the rollers 63 to rotate.

Optionally, as shown in fig. 6 and 7, an elastic rope pressing mechanism 65 is disposed below each of the two groups of winding drums 63, and the elastic rope pressing mechanism 65 includes: a base 651; the bearing seat 652 is arranged on the base 651 in a vertically movable manner; the rope pressing roller 653 is pivotally arranged on the bearing seat 652; a second elastic member 654, the second elastic member 654 is disposed between the carrying seat 652 and the base 651, and the second elastic member 654 is used for making the rope pressing roller 653 press the rope body 64 on the winding drum 63. That is, under the elastic action of the second elastic member 654, for example, when the second elastic member 654 is in a compressed state, the second elastic member 654 drives the bearing seat 652 to move upward, so that the rope pressing roller 653 presses the rope 64 onto the winding drum 63, thereby playing the role of rope arrangement and preventing the rope 64 from being misplaced on the winding drum 63.

Optionally, as shown in fig. 7, two ear seats 6511 are provided on the base 651 at intervals, sliding grooves 6512 are provided on the two ear seats 6511, the two ends of the cord pressing roller 653 are both pivotally connected with the carrying seats 652, the two carrying seats 652 are respectively fitted on the two sliding grooves 6512, and two ends of the second elastic member 654 respectively abut against the carrying seats 652 and the base 651. In this way, the sliding groove 6512 provides a guiding function for the up-and-down movement of the bearing seat 652, and the two ends of the rope pressing roller 653 are in sliding fit with the two ear seats 6511 of the base 651, so that the stress is balanced, and the stability of the rope pressing roller 653 can be improved.

Optionally, both ends of the rope pressing roller 653 are pivotally disposed on the bearing base 652, the bearing base 652 is vertically slidably mounted on the base 651 through a guide post, the second elastic member 654 is sleeved on the guide post, one end of the second elastic member 654 is supported on the bearing base 652, and the other end is supported on the base 651, so that the rope pressing roller 653 has better stability during up-and-down movement.

Optionally, the second elastic member 654 is a spring, so that the cost is low and the damping and buffering effects are good.

In some embodiments, as shown in fig. 6, the lifting wheel 62 is provided with a protection mechanism for locking the rope 64, and the protection mechanism includes a plurality of pressing blocks 625, and the plurality of pressing blocks 625 are spaced along the circumference of the lifting wheel 62 to press the rope 64 into the rope groove of the lifting wheel 62. It can be understood that the locking pressing block 625 can fix the rope 64 on the lifting wheel 62, and at this time, even if the rope 64 on one side is broken, the rope 64 on the other side is still fixed on the lifting wheel 62 and cannot be separated, that is, it is ensured that the driving mechanism 60 forms the double-rope winding mechanism and cannot be immediately disabled, the lifting power can be continuously provided, and the potential safety hazard caused by the failure or breakage of the rope 64 is greatly reduced.

Optionally, as shown in fig. 8, the bracket 41 is provided with a terminal mounting plate 412, the terminal mounting plate 412 is provided with two limit blocks 4121 at intervals, the lifting wheel 62 is formed as a semicircular wheel, and the two limit blocks 4121 are located above the lifting wheel 62. That is to say, because two stopper 4121, half round wheel's lifting wheel 62 can only rotate in the small-angle scope, when arbitrary side of lifting wheel 62 surpassed predetermined turned angle, stopper 4121 can backstop lifting wheel 62 to play the leveling effect.

In some embodiments, the end mounting plate 412 is provided with a detecting element for detecting whether the rope 64 is broken or not, and the machine can be stopped to alarm immediately when an abnormal breakage occurs, and specifically, the detecting element can be a pass-through sensor.

Optionally, as shown in fig. 8, the lifting wheel 62 includes a wheel body 621 and a rotating shaft 622. The shaft 622 is mounted to the end mounting plate 412 and the wheel 621 is mounted to the shaft 622 by a bearing 624 to effect rotation of the wheel 621 relative to the end mounting plate 412.

Optionally, as shown in fig. 8, a mounting groove 6211 corresponding to the pressing block 625 is provided on the wheel body 621, the mounting groove 6211 is communicated with the rope groove on the wheel body 621, and the pressing block 625 is fitted on the mounting groove 6211 and can be locked by a fastener. In this way, the rope 64 is pressed into the rope groove of the wheel 621.

A plastering apparatus according to an embodiment of the present invention comprises: chassis 10, lifting device 100, plastering mechanism (not shown). The lifting device 100 is the lifting device 100 in any one of the above, the first section lifting frame 21 is arranged on the chassis 10; the plastering mechanism is arranged on the mounting seat 42.

According to the plastering equipment provided by the embodiment of the invention, the plastering mechanism is arranged on the lifting device 100, and the lifting device 100 is used for realizing multi-section lifting, so that the plastering mechanism is favorable for having a larger coverage area when working on an indoor wall surface, and can move from the bottom to the top of the equipment, thereby realizing complete coverage in the plastering process, facilitating the plastering operation and having high operation efficiency.

In some embodiments, as shown in fig. 1, the chassis 10 is an independently drivable walking chassis, for example, the walking chassis is an automatically navigable sports car, the sports car may have a leveling capability, or other mechanisms for adjusting the plumb of the multi-stage lifting device 100 are added, so as to ensure that the lifting action of the multi-stage lifting device 100 is parallel to the working surface, thereby improving the adaptability.

In the following, a concrete embodiment of the plastering apparatus of the present invention will be described with reference to fig. 1 to 11.

As shown in fig. 1, a plastering apparatus comprises: chassis 10, elevating gear 100, plastering unit, wherein elevating gear 100 includes: the lifting mechanism comprises a primary lifting mechanism 20, a first guide member 30, a secondary lifting mechanism 40, a first fitting member 50, a driving mechanism 60 and a supporting mechanism 70.

As shown in fig. 3, the primary lifting mechanism 20 includes two lifting frames 21 to form two lifting structures, the next lifting frame 21 is connected to the previous lifting frame 21, the previous lifting frame 21 can independently drive the next lifting frame 21 to lift, and the side of each lifting frame 21 is provided with a first guide member 30. The first-stage lifting mechanism 20 further comprises a first independent drive arranged on the previous lifting frame 21, the first independent drive comprises a first drive motor 213, a first synchronous belt mechanism 214 and a first lead screw 215, the first lead screw 215 is pivotally arranged on the lifting frame 21, the next lifting frame 21 is arranged on the first lead screw 215, one belt wheel of the first synchronous belt mechanism 214 is connected with the first lead screw 215, and the other belt wheel is connected with the first drive motor 213. As shown in fig. 3, a second guide piece 211 is arranged on the front section of the lifting frame 21, and a second matching piece 212 is arranged on the rear section of the lifting frame 21, wherein the second guide piece 211 is a slide rail, the second matching piece 212 is a slide block, and the front section of the lifting frame 21 is stably lifted on the rear section of the lifting frame 21 by matching the slide rail, so that the movement reliability is improved.

As shown in fig. 5, the two-stage lifting mechanism 40 includes a bracket 41 and a mounting seat 42 arranged on the bracket 41 in a liftable manner, the mounting seat 42 is used for connecting an actuator, and two first engaging members 50 are arranged on the side of the bracket 41. The second-stage lifting mechanism 40 further comprises a second independent drive on the mounting base 42, the second independent drive comprises a second drive motor 43, a second synchronous belt mechanism 44 and a second lead screw 45, the second lead screw 45 is pivotally arranged on the support 41, the mounting base 42 is mounted on the second lead screw 45, one belt wheel of the second synchronous belt mechanism 44 is connected with the second lead screw 45, and the other belt wheel is connected with the second drive motor 43.

As shown in fig. 5, a third guide 411 is disposed on the bracket 41, and a third mating member 421 is disposed on the mounting seat 42, wherein the third guide 411 is a sliding rail, the third mating member 421 is a sliding block, and the mounting seat 42 is slidably mated on the sliding rail through the sliding block, so that the mounting seat 42 can be conveniently lifted and lowered on the bracket 41. As shown in fig. 1, the first engaging elements 50 are connected to the bracket 41, the first engaging elements 50 are disposed on two sides of the bracket 41 perpendicular to the lifting direction, the first engaging elements 50 are disposed in one-to-one correspondence with the first guiding elements 30, and each first engaging element 50 is configured to be slidably engaged with the corresponding first guiding element 30. Wherein, the first guiding element 30 is a biaxial linear guide rail, and the first mating member 50 is a V-groove roller.

The driving mechanism 60 can drive the support 41 to sequentially ascend and descend along the two lifting frames 21, wherein the first guide pieces 30 on the two lifting frames 21 are sequentially matched with the two first matching pieces 50 in the ascending and descending process of the support 41. As shown in fig. 1, 2 and 4, the last lifting frame 21 is provided with a top seat 216, the supporting mechanism 70 is provided on the top seat 216, the supporting mechanism 70 includes a supporting member 71 and a three-stage lifting mechanism 72 for driving the supporting member 71 to lift, and when a contact surface 200 is provided above the lifting device 100, the three-stage lifting mechanism 72 drives the supporting member 71 to lift to abut against the contact surface 200.

As shown in fig. 4, the three-stage elevating mechanism 72 includes: two racks 721, the two racks 721 pass through the top seat 216 and are vertically and slidably connected with the top seat 216, and the support 71 is connected with the two racks 721; two gears 722, the two gears 722 are meshed with the two racks 721 in a one-to-one correspondence manner; and the third driving motor 723 is arranged on the top seat 216, and the third driving motor 723 is movably connected with the two gears 722 to drive the two gears 722 to rotate.

As shown in fig. 4, the rack 721 is a circular rack, the third driving motor 723 is connected to a dual output shaft reducer 724 to form a dual output shaft motor, two output shafts of the dual output shaft motor are mounted on the top base 216 through a bearing block 725, and the two output shafts of the dual output shaft motor are respectively connected to two gears 722 to drive the two racks 721 to ascend and descend.

As shown in fig. 4, the two racks 721 are connected to the same connecting seat 73, the supporting member 71 is vertically slidably disposed on the connecting seat 73, and the first elastic member 74 is disposed between the supporting member 71 and the connecting seat 73. The two supporting pieces 71 are spaced apart from each other on the connecting base 73, a first elastic piece 74 is disposed between each supporting piece 71 and the connecting base 73, and the first elastic piece 74 is a spring.

As shown in fig. 4, the three-stage lifting mechanism 72 further includes two third guide rods 75 and two sliding sleeves 77, where the number of the sliding sleeves 77 is four, the sliding sleeves 77 are disposed on the top seat 216, the two third guide rods 75 are vertically and slidably fitted on the corresponding sliding sleeves 77, the two third guide rods 75 are connected to the connecting seat 73, the two circular racks are vertically and slidably fitted on the corresponding sliding sleeves 77, and the sliding sleeves 77 are linear bearings. The bottom of the third guide bar 75 is provided with a connection plate 751, and the other end of the connection plate 751 is connected with the rack 721.

As shown in fig. 4, the coupling holder 73 is formed as an arcuate plate with a central portion recessed downward, by which the structural strength of the coupling holder 73 can be improved. A guide 76 is provided in the middle of the bow plate, and the support 71 is fitted in the guide 76.

As shown in fig. 2, 6 and 7, the last lifting frame 21 is provided with a top seat 216, and the driving mechanism 60 includes: the two groups of guide wheels 61 are arranged below the top seat 216 at intervals; the lifting wheel 62, the lifting wheel 62 is pivotally arranged on the bracket 41; two groups of winding drums 63, wherein the two groups of winding drums 63 are connected and can be rotatably arranged on the chassis 10; the middle part of the rope body 64 is in contact fit with the lifting wheel 62, and the two ends of the rope body 64 are in contact fit with the two groups of guide wheels 61 and are respectively wound on the two groups of winding drums 63.

As shown in fig. 6 and 7, the driving mechanism 60 further includes a mounting base 68 and a fourth driving motor 66, wherein the two sets of winding drums 63 are pivotally disposed on the mounting base 68, and the fourth driving motor 66 is disposed on the mounting base 68 and is movably connected with the winding drums 63 through a gear set 67 to drive the winding drums 63 to rotate.

As shown in fig. 7, an elastic rope pressing mechanism 65 is provided below each of the two groups of winding drums 63, and the elastic rope pressing mechanism 65 includes: a base 651, the base 651 is arranged on the chassis 10; the bearing seat 652 is arranged on the base 651 in a vertically movable manner; the rope pressing roller 653 is pivotally arranged on the bearing seat 652; a second elastic member 654, the second elastic member 654 is disposed between the carrying seat 652 and the base 651, and the second elastic member 654 is used for making the rope pressing roller 653 press the rope body 64 on the winding drum 63.

As shown in fig. 7, two ear seats 6511 are provided on the base 651 at intervals, sliding slots 6512 are provided on both ear seats 6511, both ends of the cord pressing roller 653 are pivotally connected with the carrying seats 652, both carrying seats 652 are respectively fitted on both sliding slots 6512, both ends of the second elastic member 654 are respectively abutted against the carrying seats 652 and the base 651.

As shown in fig. 6, the lifting wheel 62 is provided with a protection mechanism for locking the rope 64, the protection mechanism includes three pressing blocks 625, and the three pressing blocks 625 are arranged at intervals along the circumferential direction of the lifting wheel 62 to press the rope 64 in the rope groove of the lifting wheel 62.

As shown in fig. 8, the bracket 41 is provided with a terminal mounting plate 412, the terminal mounting plate 412 is provided with two stoppers 4121 at intervals, the lifting wheel 62 is formed as a semicircular wheel, and the two stoppers 4121 are located above the lifting wheel 62.

As shown in fig. 8, the lifting wheel 62 includes a wheel body 621 and a rotating shaft 622. The shaft 622 is mounted to the end mounting plate 412 and the wheel 621 is mounted to the shaft 622 by a bearing 624.

As shown in fig. 8, the wheel body 621 is provided with a mounting groove 6211 corresponding to the pressing block 625, the mounting groove 6211 is communicated with the rope groove on the wheel body 621, and the pressing block 625 is fitted on the mounting groove 6211 and can be locked by a fastening member.

As shown in fig. 1, the chassis 10 is an independently drivable walking chassis, and the walking chassis is an automatically navigable sports car, which has a leveling capability, so as to ensure that the lifting action of the lifting device 100 is parallel to the working surface.

As shown in fig. 9, 10 and 11, when the lifting device 100 works, the chassis 10 is positioned and leveled, the lifting frame 21 of the primary lifting mechanism 20 is lifted, so that the support member 71 of the support mechanism 70 is upwards abutted against the contact surface 200, the double-rope winding mechanism of the driving mechanism 60 drives the secondary lifting mechanism 40 to lift on the primary lifting mechanism 20, and the secondary lifting mechanism 40 has an independent lifting stroke, so that the end effector can perform corresponding operation.

In summary, the lifting device 100 can achieve a self-adaptive layer height range of 2850 and 3150mm through the independently lifted supporting mechanism 70; the lifting is carried out by a screw rod of the secondary lifting mechanism 40, and the lifting is integrally driven by a winding system formed by a driving mechanism 60; the full coverage (30-3120 mm above the ground) of the actuator from bottom to top at the tail end can be realized, and the processing range of a vertical surface (wall surface) is greatly expanded; if the end effector is properly sized, full coverage of the entire wall dimension (0-3150mm) can be achieved; the tail end of the mechanism can be directly connected with actuators of different types to realize different operation functions, and the mechanism can be widely applied to automatic operation of polishing, spraying (paint, putty, mortar and the like), plastering and the like of inner wall surfaces.

Other configurations and operations of the lifting device 100 according to the embodiment of the present invention are known to those skilled in the art and will not be described in detail herein.

In the description herein, references to the description of the terms "embodiment," "example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A lifting device, comprising:

the first-stage lifting mechanism comprises at least two lifting frames, the next lifting frame is connected to the previous lifting frame, the previous lifting frame can independently drive the next lifting frame to lift, and a first guide piece is arranged on the side part of each lifting frame;

the secondary lifting mechanism comprises a support and a mounting seat arranged on the support in a lifting manner, the mounting seat is used for connecting an actuator, and at least two first matching pieces are arranged on the side part of the support;

the driving mechanism can drive the bracket to sequentially lift up and down along the at least two lifting frames; the first guide pieces on the at least two lifting frames of the support are sequentially matched with the at least two first matching pieces in the lifting process.

2. Lifting device according to claim 1,

the first guide piece is a guide rod arranged on the side part of the lifting frame, the first fitting piece is a guide seat arranged on the side part of the support, and each guide seat is provided with a guide hole matched with the guide rod.

3. Lifting device according to claim 1,

the first guide piece is a guide rail arranged on the side part of the lifting frame, the guide rail is provided with a guide groove, the first matching piece is a rolling body arranged on the side part of the bracket, and the rolling body is matched in the guide groove.

4. The lifting device as claimed in claim 1, wherein a top seat is provided on the last section of the lifting frame, the lifting device further comprises a support mechanism provided on the top seat, the support mechanism comprises a support member and a third-stage lifting mechanism for driving the support member to lift, and when a contact surface is provided above the lifting device, the third-stage lifting mechanism drives the support member to lift to abut against the contact surface.

5. The lift device of claim 4, wherein the tertiary lift mechanism comprises:

the rack bars penetrate through the top seat and are vertically and slidably connected with the top seat, and the supporting piece is connected with the rack bars;

the gears are meshed with the racks in a one-to-one correspondence manner;

and the third driving motor is arranged on the top seat and is connected with the plurality of gears in a moving way so as to drive the plurality of gears to rotate.

6. The lifting device as claimed in claim 5, wherein a plurality of racks are connected to a same connecting seat, the supporting member is vertically slidably disposed on the connecting seat, and a first elastic member is disposed between the supporting member and the connecting seat.

7. The lifting device as claimed in claim 1, wherein a top seat is provided on the last section of the lifting frame, and the driving mechanism comprises:

the two groups of guide wheels are arranged below the top seat at intervals;

the lifting wheel is pivotally arranged on the bracket;

the two groups of winding drums are connected and can rotate;

the rope body, the middle part contact cooperation of rope body is in on the hoisting pulley, the both ends contact cooperation of rope body are in on two sets of the guide pulley and respectively around adorning on two sets of the reel.

8. The lifting device as claimed in claim 7, wherein an elastic rope pressing mechanism is provided below each of the two groups of winding drums, and the elastic rope pressing mechanism comprises:

a base;

the bearing seat can be movably arranged on the base up and down;

the rope pressing roller is pivotally arranged on the bearing seat;

the second elastic piece is arranged between the bearing seat and the base and used for enabling the rope pressing roller to press the rope body on the winding drum.

9. The lifting device as claimed in claim 7, wherein the lifting wheel is provided with a protection mechanism for locking the rope, the protection mechanism comprising a plurality of pressure blocks, the pressure blocks being arranged at intervals along the circumference of the lifting wheel to press the rope against the rope groove of the lifting wheel.

10. A plastering apparatus, comprising:

a chassis:

the lifting device according to any one of claims 1 to 9, wherein the first section of the lifting frame is arranged on the chassis;

and the plastering mechanism is arranged on the mounting seat.