CN114439196A

CN114439196A - Liftable single-upright-column system and wall surface processing robot

Info

Publication number: CN114439196A
Application number: CN202210216600.6A
Authority: CN
Inventors: 刘昭; 杨金; 袁渊; 丁伶俐; 宋涛; 谭晓勤
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2022-03-07
Filing date: 2022-03-07
Publication date: 2022-05-06

Abstract

The application provides single-upright-column system and wall surface processing robot capable of ascending and descending, and relates to the technical field of building robots. Liftable single-column system includes: the lifting mechanism comprises a plurality of stages of lifting mechanisms, each stage of lifting mechanism comprises an upright post and a linear rack, the linear racks are arranged on the upright posts, the upright posts of the adjacent two stages of lifting mechanisms can stretch out and draw back along the length direction, the linear racks of the adjacent two stages of lifting mechanisms are provided with overlapped parts, and the lifting mechanisms are used for lifting the actuating mechanism; the driving mechanism is used for driving the upright post of the lifting mechanism to lift relative to the upright post of the adjacent lifting mechanism; and the correcting mechanism is used for adjusting the relative position of the upright columns of the two adjacent stages of lifting mechanisms in the length direction so as to align the tooth parts of the overlapped parts of the two adjacent linear racks. The liftable single-upright-column system can be used as a lifting foundation of an actuating mechanism of the wall surface processing robot, and can avoid the phenomenon that the actuating mechanism shakes during transition on different upright columns to avoid influencing the operation quality.

Description

Liftable single-upright-column system and wall surface processing robot

Technical Field

The application relates to the technical field of construction robots, in particular to a liftable single-column system and a wall surface processing robot.

Background

The plastering robot is constructed on the site, when one room is to be transferred to another room after plastering, the plastering robot needs to pass through a shorter place such as a door, the height of the plastering robot is limited to be below 1.75 meters (the height of the door cannot be exceeded), otherwise, the plastering robot cannot pass through the shorter place such as the door, but the plastering robot needs to cover the whole wall when plastering, the wall height is about 3.2 meters, different house type floor heights are different, and the upright posts need to prop against a ceiling to fix the position of the plastering robot when plastering each row of plaster is plastered by the plastering robot, so that the upright post height of the plastering robot can be changed for ensuring the trafficability when the plastering robot is transferred and the coverage rate when plastering. Some plastering machines on the market at present adjust the stand height through folding the stand (plastering robot enters into the room and then manually connects two sections of short stands into a long stand, and the machine will be transferred to other rooms and when in construction, the upper section of the stand is detached, so that the machine can pass through the lower places such as doors and the like and then again install the upper section of the stand after entering into other rooms), and the method has two disadvantages: 1. the height of the whole upright post is fixed after the two short upright posts are connected, the height adjustment is difficult, and the height adjustment cannot adapt to different floor heights. 2. The upright posts are required to be manually disassembled and assembled once when the upright posts are transferred to other rooms every time, so that the time and labor are wasted, and the upright posts are not flexible enough.

In order to overcome the problems, the upright column used by some existing robots is designed to be lifted and lowered by a single-upright-column lifting structure, but the single-upright-column structure is still formed by combining multiple stages of lifting mechanisms, and the lifting process of an actuating mechanism on the upright column is not stable, so that the operation of the actuating mechanism is influenced.

Disclosure of Invention

The application aims to provide a liftable single-column system which can be used for solving the problem that operation is influenced because an executing mechanism of an existing robot does not stably descend on a column.

Another object of the present application is to provide a wall surface treating robot including the above-mentioned liftable single-column system, which has all the characteristics of the liftable single-column system.

The embodiment of the application is realized as follows:

an embodiment of the application provides a liftable single-column system, includes:

the lifting mechanism comprises a plurality of stages of lifting mechanisms, each stage of lifting mechanism comprises an upright post and a linear rack, the linear racks are arranged on the upright posts, the upright posts of the adjacent two stages of lifting mechanisms can stretch out and draw back along the length direction, the linear racks of the adjacent two stages of lifting mechanisms are provided with overlapped parts, and the lifting mechanisms are used for lifting an actuating mechanism;

the driving mechanism is used for driving the upright of the lifting mechanism to lift relative to the upright of the adjacent lifting mechanism; and

the correcting mechanism is used for adjusting the relative position of the upright columns of the two adjacent stages of lifting mechanisms in the length direction so as to align the tooth parts of the overlapped parts of the two adjacent linear racks.

Through the telescopic cooperation of the stand columns of the multistage lifting mechanism, the stand columns of the whole liftable single-stand-column system can work in a combined manner, the driving effect of the driving mechanism is combined, the lifting mechanism can achieve the mutual lifting function, and due to the fact that the correcting mechanism corrects the adjacent lifting mechanism, the tooth parts of the overlapped parts can be aligned, the executing mechanism can not shake in the transition process of different lifting mechanisms, the stability of operation is guaranteed, and the reliability of operation is guaranteed.

In addition, the liftable single-column system provided by the embodiment of the application can also have the following additional technical characteristics:

in an optional embodiment of the present application, the number of the lifting mechanisms is two, wherein one of the lifting mechanisms includes a first upright column and a first linear rack, and the other of the lifting mechanisms includes a second upright column and a second linear rack;

the outer wall of the first upright post is provided with the first linear rack, and the first linear rack is used for connecting an actuating mechanism;

the second upright column is telescopically arranged inside the first upright column, the outer wall of the second upright column is provided with the second linear rack, the second linear rack is used for being connected with the actuating mechanism, the second linear rack is arranged in parallel with the first linear rack, and the correcting mechanism can enable a part of tooth part of the first linear rack to be aligned with a part of tooth part of the second linear rack.

The two-stage lifting mechanism can basically meet the requirement of the height range of the wall surface in indoor operation, and the correcting mechanism can enable the actuating mechanism to keep stable when the actuating mechanism moves on the first linear rack and the second linear rack by aligning part of the tooth part of the first linear rack with part of the tooth part of the second linear rack.

In an alternative embodiment of the present application, the calibration mechanism is a pawl locking mechanism comprising a first seat, a second seat, an adjuster, a pawl, a ratchet bar and an unlocking assembly;

the first seat and the second seat are both arranged on the first upright post, the adjusting piece is used for adjusting the relative position of the first seat and the second seat in the length direction of the first upright post, the pawl is arranged on the first seat, the ratchet bar is arranged on the second upright post, a part of tooth part of the first linear rack is aligned with a part of tooth part of the second linear rack when the pawl can be matched and matched with the ratchet bar, and the unlocking assembly is used for releasing the matching of the pawl and the ratchet bar.

The cooperation of the pawl and the ratchet bar can ensure that the second upright post is locked after being lifted in place, the supporting stability is improved, the stable lifting of the actuating mechanism is facilitated to be ensured, the distance between the first seat and the second seat can be adjusted through the adjusting piece, and therefore after the pawl is matched with the ratchet bar, partial tooth parts of the first linear rack and partial tooth parts of the second linear rack are still aligned.

In an alternative embodiment of the present application, the pitch of the teeth of the ratchet bar is H, the pitch of the linear rack is G, H ═ nG, and n is a positive integer.

By further designing the tooth pitch of the ratchet bar and the tooth pitch of the linear rack, the correction mechanism can be ensured to be adjusted once, and the overlapped parts of the second rack and the first rack can be kept aligned in the lifting process of the second upright post.

In an optional embodiment of the present application, the first upright column is provided with a waist-shaped hole, the first seat is fixed at the position of the waist-shaped hole, the length direction of the waist-shaped hole is the same as the length direction of the first upright column, the adjusting member is an adjusting screw, and the adjusting screw penetrates through the second seat and is connected with the first seat;

when the adjusting screw is screwed, the first seat can move in the length direction of the kidney-shaped hole, so that the second linear rack moves relative to the first linear rack and the first linear rack is aligned with the overlapped tooth part of the second linear rack.

The kidney-shaped hole can be used as an adjusting track, so that the first seat can have a moving space, the adjusting screw can convert screwing into linear motion, the adjusting precision of the first seat is high, and the fine adjustment effect can be achieved.

In an optional embodiment of the present application, the driving mechanism includes a driving component and a transmission component, the transmission component includes a transmission gear and a transmission rack, the transmission gear is disposed at an output end of the driving component, and the transmission rack is disposed at the first upright.

The driving assembly can drive the second stand column to lift relative to the first stand column in a mode of a transmission gear and a transmission rack, the lifting stability is good, the lifting adjusting precision is high, the height of the whole liftable single-stand-column system can be accurately changed, and the lifting single-stand-column system can be better adapted to wall construction at different heights.

In an optional embodiment of the present application, the liftable single-column system further includes a sliding mechanism, the sliding mechanism includes a sliding base and a plurality of lifting gears, the plurality of lifting gears are rotatably disposed on the sliding base, and each stage of the lifting mechanism is provided with the linear rack which can be matched with the corresponding lifting gear.

The carriage can be raised and lowered along the multi-stage lifting mechanism by providing the linear rack of each lifting mechanism with a corresponding lifting gear.

In an optional embodiment of the present application, the number of the lifting gears is two, two of the lifting gears have the same structure and are coaxially arranged, and the teeth of the two lifting gears are aligned.

Because two lifting gear structures are the same and coaxial setting to further design into the form that the teeth of a cogwheel were aimed at, make two lifting gear can synchronous revolution, the design that the tooth portion of the overlap portion of cooperation sharp rack aligns can ensure that the actuating mechanism who installs on the slide can keep steady along with the in-process that the slide goes up and down, can not appear shaking in the linking part between the stand of difference, ensures the normal implementation of operation.

In an optional embodiment of the present application, the lifting mechanism further includes a V-shaped guide rail, the sliding mechanism further includes a V-shaped guide wheel, the V-shaped guide wheel is rotatably disposed on the sliding seat, and the V-shaped guide wheel is engaged with the V-shaped guide rail.

The V-arrangement guide pulley can roll along V type guide rail to make the direction of motion of slide stable, and the cooperation of V type guide pulley and V type guide rail has certain dustproof effect, can reduce the influence of operation environment's dust to the direction function.

In an optional embodiment of the present application, the liftable single-column system further includes a supporting mechanism, the supporting mechanism is connected to the lifting mechanism and can lift along with the column of the lifting mechanism, and the supporting mechanism is used for supporting a ceiling.

The top supporting mechanism can be used for supporting a ceiling, so that the liftable single-column system can be stably arranged in a queue, and the stability of the executing mechanism during lifting movement and operation is improved.

An embodiment of the present application provides a wall surface processing robot, including:

a chassis;

an actuator; and

the liftable single-column system comprises a base plate, a lifting mechanism, an execution mechanism and a lifting mechanism, wherein the lifting mechanism is arranged on the base plate, the execution mechanism is arranged on the lifting mechanism of the liftable single-column system and can lift along a column of the lifting mechanism, and therefore wall operation can be carried out.

The wall surface processing robot uses a lifting single-upright-column system, and when a chassis of the wall surface processing robot moves, the multi-stage lifting mechanism can be retracted, so that the whole wall surface processing robot can conveniently transition to different operation environments; when the operation is needed, the telescopic amount of the upright post of the multi-stage lifting mechanism can be adjusted according to the height of the environment so as to adapt to the height of the environment, the execution mechanism can operate on the wall surfaces with different heights, and the tooth parts of the overlapped parts of the linear racks of the adjacent lifting mechanisms are aligned through the correction of the correction mechanism, so that the execution mechanism can be stably lifted in the process of operation with different heights, the shake does not occur, and the operation quality is prevented from being influenced.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic view of a wall treatment robot provided in an embodiment of the present application;

FIG. 2 is a schematic view of a liftable single column system;

FIG. 3 is a schematic view of FIG. 1 from a perspective with the cabinet removed;

FIG. 4 is a schematic view of FIG. 3 at a rotated angle;

fig. 5 is a partial enlarged view of a portion a of fig. 4;

fig. 6 is a partial enlarged view of a portion B of fig. 4;

FIG. 7 is an exploded view of the first stage lift mechanism;

FIG. 8 is a schematic view of the side plate of the calibration mechanism of FIG. 7 with a cut-away portion;

fig. 9 is a partial enlarged view of a portion C of fig. 8;

FIG. 10 is a schematic view of the alignment mechanism with the ratchet bar concealed;

FIG. 11 is a schematic view of the pawl engaging the ratchet bar;

fig. 12 is a partial enlarged view of a portion D of fig. 11;

FIG. 13 is a schematic view of a jacking mechanism.

Icon: 1000-a wall treatment robot; 100-a chassis; 200-an actuator; 300-a single upright column system capable of ascending and descending; 400-an electric box; 1101-a first upright; 11011-waist-shaped holes; 1102-a second upright; 1201-a first linear rack; 1202-a second linear rack; 20-a drive mechanism; 21-a drive assembly; 212-a chain; 221-drive gear; 222-a drive rack; 30-a correction mechanism; 31-a first seat; 32-a second seat; 33-an adjustment member; 34-a pawl; 35-a ratchet bar; 361-electric push rod; 362-steel wire rope; 40-a sliding mechanism; 41-a slide seat; 42-lifting gear; a 51-V shaped guide rail; a 52-V-shaped guide wheel; 61-a slide rail; 70-a top bracing mechanism.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present application, it should be noted that the terms "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the product conventionally places when used, and are only used for convenience of description and simplification of description, but do not indicate or imply that the device or element to which the reference is made must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; 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 meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

Examples

Referring to fig. 1 and 2, an embodiment of the present application provides a wall surface processing robot 1000, including:

a chassis 100;

an actuator 200; and a liftable single-upright-column system 300, wherein the liftable single-upright-column system 300 is arranged on the chassis 100, and the actuating mechanism 200 is arranged on the lifting mechanism of the liftable single-upright-column system 300 and can lift along the upright of the lifting mechanism so as to operate on the wall.

The chassis 100 can refer to a mobile chassis of a general construction robot, and the chassis 100 can be provided with an electric box 400 to control the operation of various mechanisms. The actuator 200 may be a conventional actuator such as a plastering mechanism used in a construction robot, and will not be described in detail below. The movement of the actuator 200 on the liftable single-upright-column system 300 can be driven by a special driving device, for example, a corresponding driving device can be arranged on the sliding mechanism 40 hereinafter, and can also be arranged on the chassis 100, as long as the lifting gear 42 can be driven to rotate and meshed with the linear rack for transmission, so as to realize the lifting of the actuator 200.

In brief, by using the single-upright-column system 300 capable of ascending and descending, when the chassis 100 of the wall surface treatment robot 1000 moves, the multi-stage lifting mechanism can be retracted, so that the whole wall surface treatment robot 1000 can be conveniently transferred in different operation environments; when the operation is needed, the stretching amount of the upright post of the multi-stage lifting mechanism can be adjusted according to the height of the environment so as to adapt to the height of the environment, so that the execution mechanism 200 can operate on wall surfaces with different heights, and because the tooth parts of the overlapped parts of the linear racks of the adjacent lifting mechanisms are aligned through the correction of the correction mechanism 30, the execution mechanism 200 can be stably lifted and lowered in the process of the operation with different heights, the shaking is avoided, and the influence on the operation quality is avoided.

Specifically, referring to fig. 2 to 4, the liftable single-upright-column system 300 of the present application includes:

the lifting mechanism comprises a plurality of stages, each stage of lifting mechanism comprises an upright post and a linear rack, the linear racks are arranged on the upright posts, the upright posts of the adjacent two stages of lifting mechanisms can stretch out and draw back along the length direction, the linear racks of the adjacent two stages of lifting mechanisms are provided with overlapped parts, and the lifting mechanisms are used for lifting the executing mechanism 200;

the driving mechanism 20 is used for driving the upright of the lifting mechanism to lift relative to the upright of the adjacent lifting mechanism; and

and the correcting mechanism 30 is used for adjusting the relative position of the upright columns of the two adjacent stages of lifting mechanisms in the length direction so as to align the tooth parts of the overlapped parts of the two adjacent linear racks.

In this embodiment, please refer to fig. 3 and 4, the number of the lifting mechanisms is two, wherein one lifting mechanism includes a first upright 1101 and a first linear rack 1201, and the other lifting mechanism includes a second upright 1102 and a second linear rack 1202;

the outer wall of the first upright 1101 is provided with a first linear rack 1201, and the first linear rack 1201 is used for connecting the actuating mechanism 200;

the second upright column 1102 is telescopically arranged inside the first upright column 1101, the outer wall of the second upright column 1102 is provided with a second linear rack 1202, the second linear rack 1202 is used for connecting the actuating mechanism 200, the second linear rack 1202 is arranged in parallel with the first linear rack 1201, and the correcting mechanism 30 can enable partial tooth parts of the first linear rack 1201 to be aligned with partial tooth parts of the second linear rack 1202.

Simply speaking, through the telescopic cooperation of the columns of the multi-stage lifting mechanism, the columns of the whole liftable single-column system 300 can work together, and the lifting mechanism can realize the mutual lifting function by combining the driving action of the driving mechanism 20, and because the correction mechanism 30 corrects the adjacent lifting mechanism, the tooth parts of the overlapped parts can be aligned, so that the executing mechanism 200 can not shake during transition on different lifting mechanisms, thereby ensuring the stability of operation and the reliability of operation.

With reference to fig. 5, a part of the teeth of the first linear rack 1201 and a part of the teeth of the second linear rack 1202 are overlapped in the left-right direction shown in fig. 5, that is, during the process of lifting the second linear rack 1202, a part of the teeth of the first linear rack 1201 and a part of the teeth of the second linear rack 1202 are overlapped with each other in the transverse direction, the overlapping does not mean that the two linear racks are overlapped, but the two linear racks are staggered as shown in fig. 5, but no fault occurs in the lifting direction, so that the lifting gear 42 (shown in fig. 6) can be in fit transmission with the linear racks all the time.

The two-stage lifting mechanism can basically meet the requirement of the height range of the wall surface for indoor operation, and the correcting mechanism 30 can enable the actuating mechanism 200 to keep stable when moving on the first linear rack 1201 and the second linear rack 1202 by aligning part of the tooth parts of the first linear rack 1201 with part of the tooth parts of the second linear rack 1202. It can be understood that when the working height has higher requirements, more stages of lifting mechanisms can be arranged, and the linear racks of two adjacent lifting mechanisms can have overlapping parts in the lifting stroke, so as to ensure the smooth transition of the lifting process of the executing mechanism 200. The corresponding lifting gear 42 may be one lifting gear 42 corresponding to each linear rack, or the lifting gear 42 may be made wider, so that one lifting gear 42 may correspond to a greater number of linear racks. For example, as shown in fig. 3, the first linear rack 1201 and the second linear rack 1202 are arranged in a staggered manner from left to right, and if the number of stages of the lifting mechanism is larger and the number of linear racks is larger, the linear racks above the second linear rack 1202 may still be staggered from left to right, so long as when the multi-stage lifting mechanism is folded, interference between the plurality of linear racks does not occur in the lateral direction. After the tooth width of the corresponding lifting gear 42 is widened, one lifting gear 42 can be meshed with different linear racks at different transverse positions, so that the use requirements of different heights are met, and the structural redundancy is avoided.

In detail, referring to fig. 3, fig. 4 and fig. 6, the liftable single-column system 300 of the present embodiment further includes a sliding mechanism 40, the sliding mechanism 40 includes a sliding base 41 and a plurality of lifting gears 42, the plurality of lifting gears 42 are rotatably disposed on the sliding base 41, and the linear rack of each stage of lifting mechanism can be matched with the corresponding lifting gear 42. The carriage 41 can be lifted and lowered along the multi-stage lifting mechanism by providing the linear rack of each lifting mechanism with a corresponding lifting gear 42.

In this embodiment, the number of the lifting gears 42 is two, the two lifting gears 42 have the same structure and are coaxially disposed, and the gear teeth of the two lifting gears 42 are aligned. Because two lifting gears 42 are the same in structure and are coaxially arranged, and are further designed into a form that the gear teeth are aligned, two lifting gears 42 can synchronously rotate, and the design that the tooth parts of the overlapped parts of the linear racks are aligned can ensure that the actuating mechanism 200 arranged on the sliding base 41 can keep stable in the process of lifting along with the sliding base 41, the shaking of the connected parts between different stand columns can not occur, and the normal implementation of the operation is ensured. In the non-overlapped portion of the linear racks, as shown in fig. 6, only one lifting gear 42 is required to be engaged with the corresponding linear rack, and the other lifting gear 42 idles until the sliding mechanism 40 passes through the region where the two linear racks have the overlapped portion as shown in fig. 5 in the lifting process, the two lifting gears 42 are simultaneously engaged with the respective corresponding linear racks for transmission.

Referring to fig. 6, the lifting mechanism further includes a V-shaped guide rail 51, the sliding mechanism 40 further includes a V-shaped guide wheel 52, the V-shaped guide wheel 52 is rotatably disposed on the sliding base 41, and the V-shaped guide wheel 52 is engaged with the V-shaped guide rail 51. The V-shaped guide wheel 52 can roll along the V-shaped guide rail 51, so that the moving direction of the sliding seat 41 is stable, and the V-shaped guide wheel 52 and the V-shaped guide rail 51 are matched to have a certain dustproof function, so that the influence of dust in the working environment on the guiding function can be reduced. Similar to the corresponding relationship between the lifting gear 42 and the linear rack, the respective V-shaped guide rails 51 of the lifting mechanism of the present application are also staggered from left to right, and then have corresponding V-shaped guide wheels 52 to be matched and guided with the guide rails. Alternatively, the V-shaped guide wheels 52 and the V-shaped guide rails 51 are both distributed on the back side of the single-column system 300 that can be lifted and lowered, and in order to make the lifting and lowering of the slide base 41 smoother, a guide rail may be provided on the front side (i.e., the side close to the actuator 200) of the single-column system 300 that can be lifted and lowered shown in fig. 2, and guide wheels may be disposed on the slide base 41, and a specific guide mechanism such as the V-shaped guide wheels 52 and the V-shaped guide rails 51 may be used.

Referring to fig. 2, regarding the driving mechanism 20, the driving mechanism 20 of the present embodiment includes a driving assembly 21 and a transmission assembly, the transmission assembly includes a transmission gear 221 and a transmission rack 222, the transmission gear 221 is disposed at an output end of the driving assembly 21, and the transmission rack 222 is disposed on the first upright 1101. The driving assembly 21 can drive the second upright column 1102 to ascend and descend relative to the first upright column 1101 in the mode of the transmission gear 221 and the transmission rack 222, the ascending and descending stability is good, the ascending and descending adjusting precision is high, the height of the whole liftable single upright column system 300 can be changed more accurately, and the liftable single upright column system can be better suitable for wall construction at different heights. As shown in fig. 13, the driving assembly 21 of the present embodiment is a driving structure composed of a motor and a speed reducer, and is in transmission connection with a transmission gear 221 through a chain 212.

Referring to fig. 7, the sliding rails 61 are disposed on two sides of the driving rack 222, the sliding block configured to the sliding rail 61 is fixed to the second upright column 1102, and the driving gear 221 is driven by the reduction motor to engage with the driving rack 222 for transmission, so that the second upright column 1102 can be lifted along the sliding rail 61. When the number of stages of the elevating mechanism is larger, the elevating mechanism of one stage may be raised and lowered with respect to the elevating mechanism of the other stage by providing the elevating mechanism of two adjacent stages with a structure similar to the driving mechanism 20 shown in the embodiment of the present application.

In fig. 7, an additional slide rail 61 is provided on one side plate of the first upright 1101, so as to further improve the stability of the second upright 1102 in lifting and lowering, and prevent the second upright 1102 from shaking. Furthermore, a partial assembly of the correcting mechanism 30 is mounted on the side plate, and the position of the correcting mechanism 30 is shown by the reference numeral in fig. 7.

Referring to fig. 8 and 9, the side plate is provided with a mounting slot for receiving the calibration mechanism 30, and the portion of the calibration mechanism 30 to be connected with the side plate is connected by screws.

Referring to fig. 10 to 12, the calibration mechanism 30 of the present application is a pawl 34 locking mechanism, and the pawl 34 locking mechanism includes a first seat 31, a second seat 32, an adjuster 33, a pawl 34, a ratchet bar 35 and an unlocking assembly;

the first seat 31 and the second seat 32 are both arranged on the first upright 1101, the adjusting piece 33 is used for adjusting the relative position of the first seat 31 and the second seat 32 in the length direction of the first upright 1101, the pawl 34 is arranged on the first seat 31, the ratchet bar 35 is arranged on the second upright 1102, when the pawl 34 can be matched and matched with the ratchet bar 35, a part of tooth parts of the first linear rack 1201 are aligned with a part of tooth parts of the second linear rack 1202, and the unlocking assembly is used for releasing the matching of the pawl 34 and the ratchet bar 35. The pawl 34 and the ratchet bar 35 cooperate to lock the second upright 1102 after the second upright 1102 is lifted to a proper position, so as to improve the stability of the support and help to ensure the smooth lifting of the actuator 200, and the first seat 31 can adjust the distance from the second seat 32 through the adjusting member 33, so that part of the teeth of the first linear rack 1201 and part of the teeth of the second linear rack 1202 can still be aligned after the pawl 34 cooperates with the ratchet bar 35.

The pitch of the teeth of the ratchet bar 35 is H, the pitch of the linear rack is G, H ═ nG, and n is a positive integer. By further designing the pitch of the ratchet 35 and the pitch of the linear rack, it can be ensured that after one adjustment of the correcting mechanism 30, the overlapped portion of the second rack and the first rack can be kept aligned during the lifting process of the second column 1102.

Wherein, the pawl 34 of the present embodiment is installed on the first seat 31 through two oilless bushings and a rotating shaft, the unlocking assembly includes an electric push rod 361 and a wire rope 362, an output end of the electric push rod 361 is connected with the pawl 34 through the wire rope 362, and the pawl 34 can be rotated and the ratchet 35 can be unlocked by pulling the wire rope 362.

As shown in fig. 9, the first upright 1101 is provided with a waist-shaped hole 11011, the first seat 31 is fixed at the position of the waist-shaped hole 11011, the length direction of the waist-shaped hole 11011 is the same as the length direction of the first upright 1101, the adjusting piece 33 is an adjusting screw, and the adjusting screw penetrates through the second seat 32 and is connected with the first seat 31; when the adjusting screw is screwed, the first holder 31 can move in the length direction of the kidney-shaped hole 11011, so that the second linear rack 1202 moves relative to the first linear rack 1201 and the first linear rack 1201 is aligned with the tooth part where the second linear rack 1202 overlaps.

The waist-shaped hole 11011 can be used as an adjusting track, so that the first seat 31 can have a moving space, the adjusting screw can convert screwing into linear motion, the adjusting precision of the first seat 31 is high, and the fine adjustment effect can be achieved. When the liftable single-upright-post system 300 is assembled, the pawl 34 can be clamped on the ratchet bar 35, when the first seat 31 and the first upright post 1101 are not completely locked, the adjusting screw rod is screwed to lift the first seat 31 so as to push the ratchet bar 35 through the pawl 34 and drive the second upright post 1102 to lift, the adjusting screw rod can also be reversely screwed to lower the pawl 34 so as to lower the second upright post 1102 under the action of gravity, and finally, the tooth part of the second linear rack 1202 on the second upright post 1102 is transversely aligned with the tooth part of the first linear rack 1201 on the first upright post 1101, whether the alignment is measured through a laser line or a ruler and other tools, so that after one adjustment, the first seat 31 and the first upright post 1101 are fixed, so that in the subsequent use process, when the pawl 34 is clamped between the tooth parts of the ratchet bar 35, the tooth parts of the parts, where the first linear rack 1201 and the second linear rack 1202 are overlapped, can be aligned, smooth lifting of the sliding base 41 is guaranteed, and finally the actuating mechanism 200 can keep stable when moving on different lifting mechanisms, so that the operation quality is guaranteed. Of course, after a certain period of use, the position of the first seat 31 in the kidney-shaped hole 11011 can be adjusted again in the process of maintenance, so that the influence on the accuracy of the alignment of the teeth of the overlapped part of the first linear rack 1201 and the second linear rack 1202 caused by the looseness of the first seat 31 is avoided.

It can be understood that the correcting mechanism 30 of the present application may align and correct the tooth portions of the overlapping portions of the first linear rack 1201 and the second linear rack 1202, or lock the second column 1102 after the second column 1102 ascends, so as to avoid the situation that the tooth portions of the overlapping portions of the first linear rack 1201 and the second linear rack 1202 cannot align due to the descending or loosening of the second column 1102, and effectively improve the problem that the existing column cannot meet the requirement of the stable ascending and descending of the executing mechanism 200.

It can be understood that, if the wall height of the construction site is designed to have several fixed heights, the pitches of the first linear rack 1201 and the second linear rack 1202 may be designed to be fixed values, and the pitches of the corresponding ratchet racks 35 maintain the same pitch or a multiple of the pitch. Thus, when the second upright 1102 is lifted to abut against the ceiling during construction in these places with fixed height, the pawl 34 can be just locked on the ratchet bar 35, so that the second upright 1102 cannot be settled. For example, when the construction site is a fixed floor height such as 3 m floor height, 4.5 m floor height and 5.2 m floor height, the pawl 34 is just caught between two teeth of the ratchet bar 35 at the corresponding position when the second column 1102 is just supported to the ceiling, and there is no fear that the pawl 34 is not just caught between the teeth of the ratchet bar 35 when the second column 1102 is lifted to the ceiling due to the difference in height.

Of course, considering that the second upright 1102 may be lowered due to the engagement clearance when the pawl 34 engages with the ratchet 35, it is conceivable to provide a spring or a pad with certain elasticity on the top of the second upright 1102 to make the second upright 1102 keep the ceiling by its compressible characteristic. Further, it is also conceivable to provide the second column 1102 with the jack mechanism 70 shown in fig. 13 to make the adaptability to the height better.

Referring to fig. 13, in detail, the liftable single-upright-column system 300 further includes a supporting mechanism 70, the supporting mechanism 70 is connected to the lifting mechanism and can lift along with the upright column of the lifting mechanism, and the supporting mechanism 70 is used for supporting the ceiling. The top supporting mechanism 70 can be used to support the ceiling, so that the liftable single-upright-column system 300 can be stably stood up, thereby improving the stability of the lifting movement and operation of the executing mechanism 200.

Further, since there may be a greater likelihood that the construction site will be at a height, the pawl 34 may not engage the ratchet bar 35 at exactly that height when the second upright 1102 is raised into position. Then at this point it is contemplated that instead of driving the second upright 1102 fully up against the ceiling, at a position close to the ceiling, the second upright 1102 will cease to be driven up as soon as the pawl 34 is able to catch in the tooth of the nearest ratchet bar 35, at which point the top of the second upright 1102 may be some distance from the ceiling, but at which point the teeth of the overlapping portion of the first rectilinear rack 1201 and the second rectilinear rack 1202 must be in alignment. Then, the supporting mechanism 70 installed on the second column 1102 can be used to support the ceiling upwards to compensate for the distance, so that the whole liftable single-column system 300 can be used for supporting the floor of the wall processing robot 1000, and can be pressed downwards against the chassis 100 to support the ceiling upwards, so that the chassis 100 and the ground are kept in a fixed relative position, and the executing mechanism 200 cannot shake during up-and-down operation. The structure of the top bracing mechanism 70 itself can refer to a general top-ceiling mechanism, and is not described in detail here.

The principle of the embodiment is as follows:

the liftable single-upright-column system 300 provided by the application has multiple stages of lifting mechanisms, and can be extended on the chassis 100, so that the upright columns of the lifting mechanisms are mutually extended, and the actuating mechanism 200 can be driven to ascend and descend by virtue of the engagement of the lifting gear 42 on the sliding seat 41 and the linear rack. Between two adjacent lifting mechanisms, taking the first linear rack 1201 and the second linear rack 1202 as an example, the first linear rack 1201 and the second linear rack 1202 have an overlapping portion, and when two lifting gears 42 coaxially arranged move to the overlapping portion, it can be ensured that when the actuator 200 is lifted, the engagement between the lifting gears 42 and the linear racks is smoothly and stably transited from the first upright 1101 to the second upright 1102, and no bumping occurs. The reason why the bumping and shaking do not occur is that the teeth of the overlapping portions of the first linear rack 1201 and the second linear rack 1202 are in an alignment relationship, and the pawl 34 locking mechanism is adopted in the present application to keep the teeth aligned, and when the pawl 34 is matched with any tooth of the ratchet bar 35, the teeth of the overlapping portions of the first linear rack 1201 and the second linear rack 1202 are in an alignment relationship, so that when two lifting gears 42 which are coaxial and have the same specification are simultaneously matched with the first linear rack 1201 and the second linear rack 1202, the relay is smooth, and the lifting of the actuator 200 is effectively ensured to be smooth.

To sum up, the liftable single-upright-column system 300 of the present application realizes the effect that one set of upright column can be used as the lifting foundation of the executing mechanism 200 of the wall surface processing robot 1000 through the multi-stage lifting mechanism, and does not need to be provided with a plurality of sets of upright-column systems to lift the executing mechanism 200. And the tooth parts of the overlapped parts of the two adjacent linear racks are adjusted to be in an aligned state through the correcting mechanism 30, so that the shaking of the executing mechanism 200 during transition on different columns can be avoided, the normal operation of the executing mechanism 200 is ensured, and the influence on the operation quality is avoided.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A liftable single-column system, comprising:

2. The liftable single column system according to claim 1, wherein the number of the lifting mechanisms is two, wherein one of the lifting mechanisms comprises a first column and a first linear rack, and the other lifting mechanism comprises a second column and a second linear rack;

the outer wall of the first upright post is provided with the first linear rack, and the first linear rack is used for connecting the actuating mechanism;

3. The liftable single column system of claim 2, wherein the calibration mechanism is a pawl locking mechanism comprising a first seat, a second seat, an adjuster, a pawl, a ratchet bar, and an unlocking assembly;

4. The liftable single column system according to claim 3, wherein the pitch of the teeth of the ratchet bar is H, the pitch of the linear rack is G, H-nG is satisfied, and n is a positive integer.

5. The liftable single-upright-column system according to claim 3, wherein the first upright column is provided with a waist-shaped hole, the first seat is fixed at the position of the waist-shaped hole, the length direction of the waist-shaped hole is the same as the length direction of the first upright column, the adjusting piece is an adjusting screw rod, and the adjusting screw rod penetrates through the second seat and is connected with the first seat;

6. The liftable single column system according to claim 2, wherein the driving mechanism comprises a driving component and a transmission component, the transmission component comprises a transmission gear and a transmission rack, the transmission gear is arranged at the output end of the driving component, and the transmission rack is arranged on the first column.

7. The liftable single-column system according to claim 1, further comprising a sliding mechanism, wherein the sliding mechanism comprises a sliding base and a plurality of lifting gears, the plurality of lifting gears are rotatably disposed on the sliding base, and the linear rack of each stage of the lifting mechanism can be engaged with the corresponding lifting gear.

8. The liftable single column system according to claim 7, wherein the number of the lifting gears is two, the two lifting gears are identical in structure and are coaxially arranged, and the teeth of the two lifting gears are aligned.

9. The liftable single column system of claim 7, wherein the lifting mechanism further comprises a V-shaped guide rail, the sliding mechanism further comprises a V-shaped guide wheel rotatably disposed on the sliding base, and the V-shaped guide wheel is engaged with the V-shaped guide rail.

10. The liftable single-column system according to claim 1, further comprising a jacking mechanism, the jacking mechanism being connected to the lifting mechanism and being capable of lifting with the column of the lifting mechanism, the jacking mechanism being configured to abut against a ceiling.

11. A wall surface processing robot, comprising:

a chassis;

an actuator; and

the liftable single column system according to any one of claims 1 to 10, wherein the liftable single column system is disposed on the chassis, and the actuator is disposed on the lifting mechanism of the liftable single column system and can lift along the column of the lifting mechanism to perform wall operation.