WO2021249389A1

WO2021249389A1 - Lifting device and plastering apparatus

Info

Publication number: WO2021249389A1
Application number: PCT/CN2021/098884
Authority: WO
Inventors: 李铁芳; 杨金; 谢军; 周小帆; 江伟汉; 韩雪峤
Original assignee: 广东博智林机器人有限公司
Priority date: 2020-06-10
Filing date: 2021-06-08
Publication date: 2021-12-16
Also published as: CN111891990A; CN114275716A; CN111891990B; GB202217484D0; CN114275716B; GB2610951A

Abstract

Disclosed is a lifting device (100). The lifting device comprises a first-stage lifting mechanism (20), a second-stage lifting mechanism (40) and a driving mechanism (60). The first-stage lifting mechanism comprises at least two lifting frames (21), wherein a rear lifting frame is connected to a front lifting frame, the front lifting frame can independently drive the rear lifting frame to ascend and descend, a first guide member (30) is arranged on a side portion of each lifting frame, the second-stage lifting mechanism comprises a support (41) and a mounting base (42) vertically movably arranged on the support, the mounting base is used for being connected to an actuator, at least two first matching members (50) are arranged on a side portion of the support, and the driving mechanism can drive the support to sequentially ascend and descend along the at least two lifting frames. Further disclosed is a plastering apparatus, comprising the lifting device (100). The lifting device and the plastering apparatus can improve the coverage range for plastering.

Description

升降装置及抹灰设备Lifting device and plastering equipment

技术领域Technical field

本申请涉及升降设备技术领域，尤其涉及一种升降装置及抹灰设备。This application relates to the technical field of lifting equipment, in particular to a lifting device and plastering equipment.

背景技术Background technique

目前针对标准层室内墙面施工的机器人，有以下几个特点：需要适应的层高一般为2850-3150mm；门洞高度一般为2050mm，考虑到一般施工电梯最低高度约1850mm；所以为了达到3150mm的施工面，同时能够方便的穿门过户，一般末端的执行器都需要两级或者多级升降机构。The current robots for standard floor indoor wall construction have the following characteristics: the floor height that needs to be adapted is generally 2850-3150mm; the height of the door opening is generally 2050mm, considering that the minimum height of the general construction elevator is about 1850mm; so in order to achieve 3150mm construction At the same time, it is convenient to pass through the door and transfer the house. Generally, the end actuator requires a two-stage or multi-stage lifting mechanism.

但是，目前市面上多级升降机构的覆盖范围有限，无法更好地适应不同高度的内立面处理，不同立面的施工需配备多种升降机构，成本大大增加。同时，更换不同的升降机构也导致工作效率大大下降。此外，多级升降机构多为多驱动传动模式，整体尺寸不够精简，执行器在多级升降机构上升降时，由于结构设计问题，执行器不能实现从升降机构的底部运动到顶部完成对整个立面的全部覆盖。However, the current coverage of multi-level lifting mechanisms on the market is limited and cannot be better adapted to the treatment of interior facades of different heights. The construction of different facades needs to be equipped with multiple lifting mechanisms, which greatly increases the cost. At the same time, changing different lifting mechanisms also leads to a significant drop in work efficiency. In addition, the multi-stage lifting mechanism is mostly multi-drive transmission mode, and the overall size is not simple enough. When the actuator is raised and lowered on the multi-stage lifting mechanism, due to structural design problems, the actuator cannot achieve the complete vertical movement from the bottom of the lifting mechanism to the top. Full coverage of the surface.

发明内容Summary of the invention

根据本申请的各种实施例，提供一种升降装置及抹灰设备，该抹灰设备应用于上述的升降装置。According to various embodiments of the present application, a lifting device and plastering equipment are provided, and the plastering equipment is applied to the aforementioned lifting device.

一种升降装置，包括：A lifting device, including:

一级升降机构，包括至少两个升降架，后一节所述升降架连接在前一节所述升降架上，且前一节所述升降架可独立驱动后一节所述升降架升降，每个所述升降架的侧部均设有第一导向件；The first-level lifting mechanism includes at least two lifting frames, the lifting frame of the latter section is connected to the lifting frame of the previous section, and the lifting frame of the previous section can independently drive the lifting frame of the latter section to lift, Each side of the lifting frame is provided with a first guide;

二级升降机构，包括支架和可升降地设在所述支架上的安装座，所述安装座用于连接执行器，所述支架的侧部设有至少两个第一配合件；The secondary lifting mechanism includes a bracket and a mounting seat that can be raised and lowered on the bracket, the mounting seat is used to connect the actuator, and the side of the bracket is provided with at least two first matching pieces;

驱动机构，能驱动所述支架依次沿着所述至少两个升降架上下升降；其中，所述支架在升降过程中，至少两个所述升降架上的所述第一导向件与至少两个所述第一配合件依次配合。The driving mechanism can drive the bracket to move up and down along the at least two lifting frames in sequence; wherein, during the lifting process of the bracket, the first guides on the at least two lifting frames and at least two The first fitting pieces are matched in sequence.

在其中一个实施例中，所述第一导向件为安装在所述升降架侧部的导杆，所述第一配合件为安装在所述支架侧部的导座，每个所述导座上设有与所述导杆配合的导孔。In one of the embodiments, the first guide member is a guide rod installed on the side of the lifting frame, the first matching member is a guide seat installed on the side of the bracket, and each guide seat A guide hole matched with the guide rod is provided on the upper part.

在其中一个实施例中，所述第一导向件为安装在所述升降架侧部的导轨，所述导轨具有导槽，所述第一配合件为安装在所述支架侧部的滚动体，所述滚动体配合在所述导槽内。In one of the embodiments, the first guide member is a guide rail installed on the side of the lifting frame, the guide rail has a guide groove, and the first matching member is a rolling element installed on the side of the bracket, The rolling body is fitted in the guide groove.

在其中一个实施例中，前一节所述升降架上设有第二导向件，后一节所述升降架上设有与所述第二导向件相配合的第二配合件，所述第二配合件能沿着所述第二导向件滑动。In one of the embodiments, the lifting frame in the previous section is provided with a second guide member, and the lifting frame in the latter section is provided with a second matching member that cooperates with the second guide member. The two matching parts can slide along the second guide part.

在其中一个实施例中，所述一级升降机构还包括设于前一节所述升降架的第一独立驱动，所述第一独立驱动包括第一驱动电机、第一同步带机构和第一丝杠，所述第一丝杠可枢转地设在所述升降架上，后一节所述升降架安装在所述第一丝杠上，所述第一同步带机构的一个带轮连接所述第一丝杠且另一个带轮连接所述第一驱动电机，则所述第一驱动电机启动后带动所述升降架升降。In one of the embodiments, the first-level lifting mechanism further includes a first independent drive provided in the lifting frame of the previous section, and the first independent drive includes a first drive motor, a first timing belt mechanism, and a first independent drive. A lead screw, the first lead screw is pivotally arranged on the lifting frame, the lifting frame of the latter section is mounted on the first lead screw, and a pulley of the first timing belt mechanism is connected The first lead screw and the other pulley are connected to the first driving motor, and then the first driving motor is activated to drive the lifting frame up and down.

在其中一个实施例中，所述支架上设有第三导向件，所述安装座上设有第三配合件，所述第三配合件能沿着所述第三导向件滑动。In one of the embodiments, a third guide member is provided on the bracket, a third matching member is provided on the mounting seat, and the third matching member can slide along the third guide member.

在其中一个实施例中，所述二级升降机构还包括设于所述安装座上的第二独立驱动，所述第二独立驱动包括第二驱动电机、第二同步带机构和第二丝杠，所述第二丝杠可枢转地设在所述支架上，所述安装座安装在所述第二丝杠上，所述第二同步带机构的一个带轮与所述第二丝杠驱动连接且另一个带轮与所述第二驱动电机的输出端驱动连接。In one of the embodiments, the secondary lifting mechanism further includes a second independent drive provided on the mounting seat, and the second independent drive includes a second drive motor, a second timing belt mechanism, and a second lead screw , The second lead screw is pivotally arranged on the bracket, the mounting seat is installed on the second lead screw, a pulley of the second timing belt mechanism and the second lead screw And the other pulley is drivingly connected with the output end of the second driving motor.

在其中一个实施例中，最后一节所述升降架上设有顶座，所述升降装置还包括设在所述顶座上的支撑机构，所述支撑机构包括支撑件和驱动所述支撑件升降的三级升降机构，当所述升降装置的上方有接触面时，所述三级升降机构带动所述支撑件上升以抵靠在所述接触面上。In one of the embodiments, the lifting frame is provided with a top seat in the last section, and the lifting device further includes a supporting mechanism provided on the top seat, and the supporting mechanism includes a supporting member and driving the supporting member When there is a contact surface above the lifting device, the three-stage lifting mechanism for lifting, drives the support member to rise so as to abut against the contact surface.

在其中一个实施例中，所述三级升降机构包括：In one of the embodiments, the three-stage lifting mechanism includes:

多个齿条，多个所述齿条穿过所述顶座且与所述顶座竖直滑动相连，所述支撑件与多个所述齿条相连；A plurality of racks, the plurality of racks pass through the top seat and are vertically slidably connected with the top seat, and the support member is connected with the plurality of racks;

多个齿轮，多个所述齿轮与多个所述齿条一一对应相啮合；A plurality of gears, a plurality of the gears meshing with a plurality of the racks in a one-to-one correspondence;

第三驱动电机，设在所述顶座上，所述第三驱动电机与多个所述齿轮驱动连接。The third driving motor is arranged on the top seat, and the third driving motor is drivingly connected with a plurality of the gears.

在其中一个实施例中，多个所述齿条连接有同一连接座，所述支撑件竖直滑动地设置在所述连接座上，且所述支撑件与所述连接座之间设有第一弹性件。In one of the embodiments, a plurality of the racks are connected to the same connecting seat, the supporting member is vertically slidably arranged on the connecting seat, and a second connecting seat is provided between the supporting member and the connecting seat. An elastic piece.

在其中一个实施例中，最后一节所述升降架上设有顶座，所述驱动机构包括：In one of the embodiments, the lifting frame described in the last section is provided with a top seat, and the driving mechanism includes:

两组导轮，两组所述导轮间隔开地设在所述顶座的下方；Two sets of guide wheels, the two sets of guide wheels are spaced apart below the top seat;

提升轮，可枢转地设在所述支架上；The lifting wheel is pivotally arranged on the bracket;

两组卷筒，两组所述卷筒相连且可转动；Two sets of reels, the two sets of reels are connected and rotatable;

绳体，所述绳体的中部接触配合在所述提升轮上，所述绳体的两端接触配合在两组所述导轮上且分别绕装在两组所述卷筒上。A rope body, the middle part of the rope body is contact-fitted on the lifting wheel, and both ends of the rope body are contact-fitted on the two sets of the guide wheels and are respectively wound on the two sets of the reel.

在其中一个实施例中，两组所述卷筒的下方均设有弹性压绳机构，所述弹性压绳机构包括：In one of the embodiments, an elastic rope pressing mechanism is provided under the two sets of reels, and the elastic rope pressing mechanism includes:

底座；Base

承载座，可上下活动地设在所述底座上；The bearing seat can be movably arranged on the base;

压绳滚筒，可枢转地设在所述承载座上；The rope pressing roller is pivotally arranged on the bearing seat;

第二弹性件，设在所述承载座和所述底座之间，所述第二弹性件用于使所述压绳滚筒将所述绳体压紧在所述卷筒上。The second elastic member is arranged between the bearing seat and the base, and the second elastic member is used to allow the rope pressing roller to press the rope body on the reel.

在其中一个实施例中，所述提升轮设有用于容纳所述绳体的绳槽，所述提升轮上设有锁止所述绳体的保护机构，所述保护机构包括多个压块，多个所述压块沿所述提升轮的周向间隔开地设置，以将所述绳体压紧在所述绳槽内。In one of the embodiments, the lifting wheel is provided with a rope groove for accommodating the rope body, and the lifting wheel is provided with a protection mechanism for locking the rope body, and the protection mechanism includes a plurality of pressure blocks, A plurality of the pressure blocks are arranged at intervals along the circumferential direction of the lifting wheel to compress the rope body in the rope groove.

在其中一个实施例中，所述支架上设有末端安装板，所述末端安装板上间隔开地设有两个限位块，所述提升轮形成为半圆轮，两个所述限位块位于所述提升轮的上方。In one of the embodiments, the bracket is provided with an end mounting plate, the end mounting plate is provided with two limiting blocks spaced apart, the lifting wheel is formed as a semicircular wheel, and the two limiting blocks Located above the lifting wheel.

在其中一个实施例中，所述提升轮包括轮体和转轴，所述转轴安装在所述末端安装板上，所述轮体安装在所述转轴上，所述绳槽设于所述轮体上，所述轮体上设有对应所述压块设置的安装槽，所述安装槽与所述绳槽相连通，所述压块与所述安装槽锁紧配合。In one of the embodiments, the lifting wheel includes a wheel body and a rotating shaft, the rotating shaft is mounted on the end mounting plate, the wheel body is mounted on the rotating shaft, and the rope groove is provided on the wheel body Above, the wheel body is provided with an installation groove corresponding to the pressure block, the installation groove is communicated with the rope groove, and the pressure block is in a locking fit with the installation groove.

在其中一个实施例中，所述驱动机构还包括安装支座和第四驱动电机，两组所述卷筒可枢转地设在所述安装支座上，所述第四驱动电机设于所述安装支座上且与所述卷筒驱动连接。In one of the embodiments, the driving mechanism further includes a mounting support and a fourth driving motor, the two groups of the reels are pivotally arranged on the mounting support, and the fourth driving motor is arranged on the mounting support. On the mounting support and drivingly connected with the reel.

一种抹灰设备，包括：A plastering equipment, including:

底盘：Chassis:

升降装置，所述升降装置为上述的升降装置，第一节所述升降架设在所述底盘上；Lifting device, the lifting device is the above-mentioned lifting device, and the lifting device of the first section is erected on the chassis;

抹灰机构，设在所述安装座上。The plastering mechanism is arranged on the mounting seat.

本申请的一个或多个实施例的细节在下面的附图和描述中提出。本申请的其他特征、目的和优点将从说明书、附图以及权利要求书变得明显。The details of one or more embodiments of the present application are set forth in the following drawings and description. Other features, purposes and advantages of this application will become apparent from the description, drawings and claims.

附图说明Description of the drawings

为了更好地描述和说明这里公开的那些申请的实施例和/或示例，可以参考一幅或多幅附图。用于描述附图的附加细节或示例不应当被认为是对所公开的申请、目前描述的实施例和/或示例以及目前理解的那些申请的最佳模式中的任何一者的范围的限制。In order to better describe and illustrate the embodiments and/or examples of those applications disclosed herein, one or more drawings may be referred to. The additional details or examples used to describe the drawings should not be considered as limiting the scope of any of the disclosed applications, the currently described embodiments and/or examples, and the best mode of those applications currently understood.

图1为本申请实施例升降装置的结构示意图；Figure 1 is a schematic structural diagram of a lifting device according to an embodiment of the application;

图2为本申请实施例升降装置的部分结构***立体结构示意图；2 is an exploded three-dimensional schematic diagram of a part of the structure of the lifting device according to the embodiment of the application;

图3为本申请实施例一级升降机构的***立体结构示意图；3 is a schematic diagram of an exploded three-dimensional structure of a first-level lifting mechanism in an embodiment of the application;

图4为本申请实施例支撑机构的***立体结构示意图；4 is a schematic diagram of an exploded three-dimensional structure of a supporting mechanism according to an embodiment of the application;

图5为本申请实施例二级升降机构的***立体结构示意图；FIG. 5 is a schematic diagram of an exploded three-dimensional structure of a secondary lifting mechanism according to an embodiment of the application;

图6为本申请实施例驱动机构的***立体结构示意图一；FIG. 6 is a schematic diagram 1 of an exploded three-dimensional structure of a driving mechanism according to an embodiment of the application;

图7为本申请实施例驱动机构的***立体结构示意图二；FIG. 7 is a second schematic diagram of the exploded three-dimensional structure of the driving mechanism according to the embodiment of the application;

图8为本申请实施例提升轮的***立体结构示意图二；FIG. 8 is a second schematic diagram of the exploded three-dimensional structure of the lifting wheel according to the embodiment of the application;

图9为本申请实施例升降装置在室内环境下作业的示意图一；FIG. 9 is a schematic diagram 1 of the operation of the lifting device in an indoor environment according to the embodiment of the application;

图10为本申请实施例升降装置在室内环境下作业的示意图二；Figure 10 is a schematic diagram of the second embodiment of the lifting device operating in an indoor environment according to the embodiment of the application;

图11为本申请实施例升降装置在室内环境下作业的示意图三。FIG. 11 is a third schematic diagram of the lifting device operating in an indoor environment according to the embodiment of the application.

附图标记Reference number

100、升降装置；10、底盘；20、一级升降机构；21、升降架；211、第二导向件；212、第二配合件；213、第一驱动电机；214、第一同步带机构；215、第一丝杠；216、顶座；30、第一导向件；40、二级升降机构；41、支架；411、第三导向件；412、末端安装板；4121、限位块；42、安装座；421、第三配合件；43、第二驱动电机；44、第二同步带机构；45、第二丝杠；50、第一配合件；60、驱动机构；61、导轮；63、卷筒；64、绳体；66、第四驱动电机；67、齿轮组；68、安装支座；62、提升轮；621、轮体；6211、安装槽；622、转轴；624、轴承；625、压块；65、弹性压绳机构；651、底座；652、承载座；653、压绳滚筒；654、第二弹性件；70、支撑机构；71、支撑件；73、连接座；74、第一弹性件；75、第三导杆；751、连接板；76、导套；77、滑套；72、三级升降机构；721、齿条；722、齿轮；723、第三驱动电机；724、双输出轴减速机；725、轴承座；200、接触面。100. Lifting device; 10. Chassis; 20. Primary lifting mechanism; 21. Lifting frame; 211. Second guide; 212. Second matching part; 213. First drive motor; 214. First timing belt mechanism; 215. First screw; 216, top seat; 30, first guide; 40, secondary lifting mechanism; 41, bracket; 411, third guide; 412, end mounting plate; 4121, limit block; 42 , Mounting seat; 421, the third matching piece; 43, the second drive motor; 44, the second timing belt mechanism; 45, the second screw; 50, the first matching piece; 60, the drive mechanism; 61, the guide wheel; 63. Reel; 64. Rope body; 66. Fourth drive motor; 67. Gear set; 68. Mounting support; 62. Lifting wheel; 621. Wheel body; 6211. Mounting groove; 622. Rotating shaft; 624. Bearing 625, pressure block; 65, elastic rope pressing mechanism; 651, base; 652, bearing seat; 653, rope pressing roller; 654, second elastic member; 70, supporting mechanism; 71, supporting member; 73, connecting seat; 74. First elastic member; 75. Third guide rod; 751. Connecting plate; 76. Guide sleeve; 77. Slide sleeve; 72. Three-stage lifting mechanism; 721. Rack; 722. Gear; 723. Third drive Motor; 724, double output shaft reducer; 725, bearing seat; 200, contact surface.

具体实施方式detailed description

下面详细描述本申请的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，仅用于解释本申请，而不能理解为对本申请的限制。The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the drawings are exemplary, and are only used to explain the present application, and cannot be understood as a limitation to the present application.

在本申请的描述中，需要理解的是，术语“中心”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征，用于区别描述特征，无顺序之分，无轻重之分。In the description of this application, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", The orientation or positional relationship indicated by "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the application and simplifying the description, rather than indicating or implying The referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present application. In addition, the features defined with "first" and "second" may explicitly or implicitly include one or more of these features, which are used to distinguish and describe the features, without ordering, and without distinction.

在本申请的描述中，除非另有说明，“多个”的含义是两个或两个以上。In the description of this application, unless otherwise specified, "plurality" means two or more.

在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected or integrally connected; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in this application can be understood under specific circumstances.

下面结合图1至图11，描述本申请实施例的升降装置100。The following describes the lifting device 100 of the embodiment of the present application with reference to FIGS. 1 to 11.

如图1所示，根据本申请实施例的一种升降装置100，包括：一级升降机构20、第一导向件30、二级升降机构40、第一配合件50、驱动机构60。As shown in FIG. 1, a lifting device 100 according to an embodiment of the present application includes: a primary lifting mechanism 20, a first guide 30, a secondary lifting mechanism 40, a first matching member 50, and a driving mechanism 60.

一级升降机构20包括至少两个升降架21，后一节升降架21连接在前一节升降架21上，且前一节升降架21可独立驱动后一节升降架21升降，每个升降架21的侧部均设有第一导向件30。也就是说，当升降作业时，前一节升降架21驱动后一节升降架21上升，实现至少两个升降架21升降，具有较大的升降高度。The first-level lifting mechanism 20 includes at least two lifting frames 21. The rear lifting frame 21 is connected to the front lifting frame 21, and the front lifting frame 21 can independently drive the rear lifting frame 21 to lift. Each side of the frame 21 is provided with a first guide 30. That is to say, when the lifting operation is performed, the previous lifting frame 21 drives the rear lifting frame 21 to rise, so that at least two lifting frames 21 are raised and lowered and have a relatively large lifting height.

二级升降机构40包括支架41和可升降地设在支架41上的安装座42，安装座42用于连接执行器，支架41的侧部设有至少两个第一配合件50。也就是说，安装座42可在支架41上升降，从而带动其上的执行器作业，以实现相应功能的作业。The secondary lifting mechanism 40 includes a bracket 41 and a mounting seat 42 that can be raised and lowered on the bracket 41. The mounting seat 42 is used for connecting an actuator. At least two first fitting members 50 are provided on the side of the bracket 41. In other words, the mounting base 42 can be raised and lowered on the bracket 41, thereby driving the actuators thereon to work, so as to realize the corresponding functions.

至少两个第一配合件50均连接在支架41上，第一配合件50与第一导向件30一一对应设置，每个第一配合件50用于滑动或滚动配合在对应的第一导向件30上，也就是说，如图9至图11所示，通过第一配合件50与第一导向件30配合，实现支架41与升降架21的连接，在一级升降机构20升降展开后，二级升降机构40的支架41通过第一配合件50与不同高度位置上升降架21的第一导向件30配合，在展开后的一级升降机构20上由底部运动到顶部实现完全覆盖。展开后的一级升降机构20构成整个升降装置100的主体框架，第一配合件50与第一导向件30组合构成导向机构，使得二级升降机构40在主体框架上能够实现稳定升降，整体运动可靠。At least two first mating parts 50 are both connected to the bracket 41, the first mating parts 50 and the first guide parts 30 are arranged in a one-to-one correspondence, and each first mating part 50 is used for sliding or rolling to fit in the corresponding first guide On the member 30, that is, as shown in FIGS. 9 to 11, the first matching member 50 cooperates with the first guide member 30 to realize the connection between the bracket 41 and the lifting frame 21. After the first-level lifting mechanism 20 is lifted and unfolded , The bracket 41 of the secondary lifting mechanism 40 cooperates with the first guide member 30 of the lifting frame 21 at different height positions through the first matching member 50, and moves from the bottom to the top on the primary lifting mechanism 20 after unfolding to achieve complete coverage. The unfolded primary lifting mechanism 20 constitutes the main frame of the entire lifting device 100, and the first matching member 50 and the first guide 30 are combined to form a guiding mechanism, so that the secondary lifting mechanism 40 can achieve stable lifting on the main frame and overall movement reliable.

驱动机构60能驱动支架41依次沿着至少两个升降架21上下升降，其中，在支架41的升降过程中，至少两个升降架21上的第一导向件30与至少两个第一配合件50依次配合。即驱动机构60提供支架41在一级升降机构20的底部运动到顶部的动力，而且由于二级升降机构40本身具有升降行程，因此安装座42上执行器可作业的高度能够扩展到最大范围，实现对处理立面的自下而上的完全覆盖。The driving mechanism 60 can drive the bracket 41 to move up and down along at least two lifting frames 21 in sequence, wherein, during the lifting process of the bracket 41, the first guide 30 on the at least two lifting frames 21 and the at least two first matching parts 50 cooperate in sequence. That is, the driving mechanism 60 provides the power for the bracket 41 to move from the bottom to the top of the primary lifting mechanism 20, and because the secondary lifting mechanism 40 itself has a lifting stroke, the workable height of the actuator on the mounting seat 42 can be extended to the maximum range. Achieve complete bottom-up coverage of the processing facade.

根据本申请实施例的升降装置100，至少两个升降架21构成的一级升降机构20可实现多节升降，扩大整体覆盖范围，而且每个升降架21上均设置第一导向件30，第一配合件50通过与第一导向件30配合可实现二级升降机构40由整个升降装置100的底部运动到顶部，同时由于二级升降机构40具有独立的升降行程，因此可实现执行器在升降高度上的完全覆盖。此外由于多个升降架21均具有独立的驱动，可向上展开也可收回，使得升降装置100集成度较高，尺寸较小，可适应各种空间作业。According to the lifting device 100 of the embodiment of the present application, the first-level lifting mechanism 20 composed of at least two lifting frames 21 can achieve multi-section lifting, expanding the overall coverage, and each lifting frame 21 is provided with a first guide 30. A matching piece 50 can realize the movement of the secondary lifting mechanism 40 from the bottom to the top of the whole lifting device 100 by cooperating with the first guide piece 30. At the same time, since the secondary lifting mechanism 40 has an independent lifting stroke, the actuator can be lifted and lowered. Full coverage in height. In addition, since the multiple lifting frames 21 have independent drives, they can be expanded upwards and retracted, so that the lifting device 100 has a high integration degree, a small size, and can be adapted to various space operations.

一些实施例中，第一导向件30为安装在升降架21侧部的导杆(图未示出)，第一配合件50为安装在支架41侧部的导座(图未示出)，每个导座上设有与导杆配合的导孔(图未示出)，通过这种方式实现支架41和升降架21的导向滑动配合，结构简单，导向效果较好。In some embodiments, the first guide member 30 is a guide rod (not shown in the figure) installed on the side of the lifting frame 21, and the first matching member 50 is a guide seat (not shown in the figure) installed on the side of the bracket 41, Each guide seat is provided with a guide hole (not shown in the figure) that is matched with a guide rod. In this way, the guide sliding cooperation of the bracket 41 and the lifting frame 21 is realized, the structure is simple, and the guide effect is better.

一些实施例中，如图2和图3所示，第一导向件30为安装在升降架21侧部的导轨，第一配合件50为安装在支架41侧部的滑块，滑块配合在导轨上。In some embodiments, as shown in FIGS. 2 and 3, the first guide 30 is a guide rail installed on the side of the lifting frame 21, and the first matching member 50 is a slider installed on the side of the bracket 41. The slider fits in On the rails.

一些实施例中，第一导向件30为安装在升降架21侧部的导轨，导轨具有导槽(图未示出)，第一配合件50为安装在支架41侧部的滚动体(图未示出)，滚动体配合在导槽内。支架41在升降的过程中，滚动体沿导轨的导槽滚动，既能起到导向作用，又能减小摩擦力，导向效果较好。例如，第一导向件30为双轴直线导轨，第一配合件50为V型槽滚轮，采用该方式方便第一配合件50自由脱出及***双轴直线导轨，同时该双轴直线导轨也具备自除尘效果。In some embodiments, the first guide 30 is a guide rail installed on the side of the lifting frame 21, the guide rail has a guide groove (not shown in the figure), and the first matching member 50 is a rolling element installed on the side of the bracket 41 (not shown in the figure). (Shown), the rolling elements fit in the guide grooves. During the raising and lowering process of the bracket 41, the rolling elements roll along the guide groove of the guide rail, which can play a guiding role and reduce friction, and the guiding effect is better. For example, the first guide 30 is a dual-axis linear guide rail, and the first matching member 50 is a V-groove roller. This method is used to facilitate the free removal and insertion of the first matching member 50 into the dual-axis linear guide. At the same time, the dual-axis linear guide also has Self-cleaning effect.

一些实施例中，如图2、图3、图4所示，最后一节升降架21上设有顶座216，升降装置100还包括设在顶座216上的支撑机构70，支撑机构70包括支撑件71和驱动支撑件71升降的三级升降机构72，如图9和图11所示，当升降装置100的上方有接触面200时，三级升降机构72带动支撑件71上升以抵靠在接触面200上。例如，升降装置100可用于室内环境作业，接触面200为墙顶的天花板，此时升降装置100上升到最大高度时，支撑件71可抵靠在墙顶的天花板上，使升降装置100的底部和顶部均得到支撑，升降后的升降装置100由悬臂梁结构变成双点支撑的结构，大大提高了整体刚度，提高稳定性，可解决因为悬臂及偏载的原因导致晃动，进而存在很大的尺寸偏差的问题，也就能满足立面的高精度处理所需的结构刚性要求，适应不同高度的内立面处理。当然，升降装置100不限于在室内作业，还可以是配合固定架或周围的支撑物使用，此时接触面200形成在固定架或支撑物上，同样可以起到对升降装置100的顶部支撑作用。In some embodiments, as shown in Figures 2, 3, and 4, the last section of the lifting frame 21 is provided with a top seat 216, and the lifting device 100 further includes a supporting mechanism 70 provided on the top seat 216, and the supporting mechanism 70 includes The support 71 and the three-stage lifting mechanism 72 that drives the support 71 up and down, as shown in FIGS. 9 and 11, when there is a contact surface 200 above the lifting device 100, the three-stage lifting mechanism 72 drives the support 71 to rise to abut against On the contact surface 200. For example, the lifting device 100 can be used for indoor operations, and the contact surface 200 is the ceiling on the top of the wall. At this time, when the lifting device 100 rises to the maximum height, the support 71 can abut against the ceiling on the top of the wall to make the bottom of the lifting device 100 The lifting device 100 is changed from a cantilever beam structure to a two-point support structure, which greatly improves the overall rigidity and stability, and can solve the shaking caused by the cantilever and the eccentric load. The problem of size deviation can also meet the structural rigidity requirements for high-precision processing of the facade, and adapt to the processing of interior facades of different heights. Of course, the lifting device 100 is not limited to working indoors, but can also be used in conjunction with a fixing frame or surrounding supports. At this time, the contact surface 200 is formed on the fixing frame or the support, and can also play a role in supporting the top of the lifting device 100. .

可选的，如图2和图4所示，三级升降机构72包括多个齿条721、多个齿轮722和第三驱动电机723。多个齿条721穿过顶座216且与顶座216竖直滑动相连，支撑件71与多个齿条721相连。多个齿轮722与多个齿条721一一对应相啮合。第三驱动电机723设在顶座216上，第三驱动电机723与多个齿轮722驱动连接，以驱动多个齿轮722转动。也就是说，第三驱动电机723带动多个齿轮722转动，齿轮722啮合齿条721，从而使齿条721向上运动或向下运动，实现支撑件71的升降。由于支撑件71和顶座216之间设置三级升降机构72，因此支撑件71可独立升降，具有升降实现自动抵靠在上方的接触面200上，进一步提高整个装置的适应高度，提高适应性。Optionally, as shown in FIGS. 2 and 4, the three-stage lifting mechanism 72 includes a plurality of racks 721, a plurality of gears 722 and a third driving motor 723. The plurality of racks 721 pass through the top seat 216 and are vertically slidably connected with the top seat 216, and the support 71 is connected with the plurality of racks 721. The plurality of gears 722 mesh with the plurality of racks 721 in a one-to-one correspondence. The third driving motor 723 is arranged on the top base 216, and the third driving motor 723 is drivingly connected with the plurality of gears 722 to drive the plurality of gears 722 to rotate. That is to say, the third driving motor 723 drives a plurality of gears 722 to rotate, and the gears 722 mesh with the rack 721, so that the rack 721 moves up or down, so as to realize the lifting of the support 71. Since the three-stage lifting mechanism 72 is arranged between the support 71 and the top seat 216, the support 71 can be lifted and lowered independently, and can be lifted to automatically abut on the upper contact surface 200, which further improves the adaptability of the entire device and improves the adaptability .

可选的，如图4所示，齿条721为圆齿条，齿轮722啮合齿条721，使支撑件71与接触面200的之间的力由第三驱动电机723的扭矩控制。Optionally, as shown in FIG. 4, the rack 721 is a round rack, and the gear 722 meshes with the rack 721 so that the force between the support 71 and the contact surface 200 is controlled by the torque of the third drive motor 723.

可选的，如图4所示，齿条721设有两个，齿轮722也为两个，第三驱动电机723连接有双输出轴减速机724，构成双输出轴电机，双输出轴电机的两个输出轴通过轴承座725安装在顶座216上，双输出轴电机的两个输出轴分别连接两个齿轮722，从而驱动两个齿条721升降。采用该方式，可减少驱动电机的数量，简化结构，降低成本。当然，齿条721和齿轮 722的数量不限于此，这里不再赘述。可选的，多个齿条721连接有同一连接座73，支撑件71竖直滑动地设置在连接座73上，且支撑件71与连接座73之间设有第一弹性件74。第一弹性件74形成了支撑件71上的弹性机构，可在支撑件71与接触面200压力过大时起到缓冲作用，提高安全性。Optionally, as shown in Figure 4, there are two racks 721 and two gears 722. The third drive motor 723 is connected to a dual output shaft reducer 724 to form a dual output shaft motor. The two output shafts are mounted on the top seat 216 through the bearing seat 725, and the two output shafts of the dual output shaft motor are respectively connected to two gears 722, thereby driving the two racks 721 up and down. In this way, the number of driving motors can be reduced, the structure can be simplified, and the cost can be reduced. Of course, the number of racks 721 and gears 722 is not limited to this, and will not be repeated here. Optionally, a 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 a first elastic member 74 is provided between the supporting member 71 and the connecting seat 73. The first elastic member 74 forms an elastic mechanism on the supporting member 71, which can play a buffering effect when the supporting member 71 and the contact surface 200 are under excessive pressure, thereby improving safety.

可选的，如图4所示，支撑件71在连接座73上间隔开地设有多个，每个支撑件71与连接座73之间均设有第一弹性件74，当上方的接触面200不平时，不同位置处的第一弹性件74适应性地收缩，可解决因上方的接触面200不平而产生受力不平衡的问题。Optionally, as shown in FIG. 4, a plurality of supporting members 71 are provided on the connecting seat 73 at intervals, and a first elastic member 74 is provided between each supporting member 71 and the connecting seat 73. When the upper contact When the surface 200 is uneven, the first elastic members 74 at different positions shrink adaptively, which can solve the problem of unbalanced forces caused by the uneven upper contact surface 200.

可选的，第一弹性件74为弹簧，成本低，减震缓冲效果较好。Optionally, the first elastic member 74 is a spring, which has low cost and good shock absorption and buffering effect.

.一些实施例中，如图4所示，三级升降机构72还包括第三导杆75和滑套77，第三导杆75和滑套77均为多个，滑套77设在顶座216上，多个第三导杆75竖直滑动配合在对应的滑套77上，多个第三导杆75连接在连接座73上。也就是说，第三导杆75可为齿条721和连接座73的升降提供导向作用，提高三级升降机构72整体的稳定性。In some embodiments, as shown in Figure 4, the three-stage lifting mechanism 72 further includes a third guide rod 75 and a sliding sleeve 77, the third guide rod 75 and the sliding sleeve 77 are multiple, the sliding sleeve 77 is provided on the top seat At 216, a plurality of third guide rods 75 are vertically slidably fitted on the corresponding sliding sleeve 77, and a plurality of third guide rods 75 are connected to the connecting seat 73. In other words, the third guide rod 75 can provide a guiding function for the lifting of the rack 721 and the connecting seat 73, and improve the overall stability of the three-stage lifting mechanism 72.

可选的，如图4所示，当齿条721为圆齿条时，圆齿条可竖直滑动配合在对应的滑套77上。例如，圆齿条为两个，第三导杆75为两个，滑套77为四个，则两个圆齿条对应配合在两个滑套77上，两个第三导杆75则对应配合在其余两个滑套77上。也就是说，滑套77为第三导杆75和齿条721的运动提供承载和导向。Optionally, as shown in FIG. 4, when the rack 721 is a round rack, the round rack can be vertically slidably fitted on the corresponding sliding sleeve 77. For example, if there are two round racks, two third guide rods 75, and four sliding sleeves 77, the two round racks correspond to the two sliding sleeves 77, and the two third guide rods 75 correspond to each other. Fits on the other two sliding sleeves 77. In other words, the sliding sleeve 77 provides bearing and guidance for the movement of the third guide rod 75 and the rack 721.

可选的，滑套77可以是直线轴承。Optionally, the sliding sleeve 77 may be a linear bearing.

可选的，如图4所示，多个第三导杆75与多个齿条721一一对应设置，第三导杆75的底部设有连接板751，连接板751的另一端连接齿条721，这样就是齿条721的两端均与第三导杆75相连，进一步提高齿条721和连接座73运动的稳定性和可靠性。Optionally, as shown in FIG. 4, a plurality of third guide rods 75 and a plurality of racks 721 are arranged in one-to-one correspondence, a connecting plate 751 is provided at the bottom of the third guide rod 75, and the other end of the connecting plate 751 is connected to the rack 721. In this way, both ends of the rack 721 are connected to the third guide rod 75, which further improves the stability and reliability of the movement of the rack 721 and the connecting seat 73.

可选的，如图4所示，连接座73形成为中部向下凹入的弓形板，通过该方式可提高连接座73的结构强度。弓形板的中部设有导套76，支撑件71配合在导套76，从而实现支撑件71在连接座73上的竖直滑动。Optionally, as shown in FIG. 4, the connecting seat 73 is formed as an arcuate plate with the middle portion recessed downwards. In this way, the structural strength of the connecting seat 73 can be improved. A guide sleeve 76 is provided in the middle of the arcuate plate, and the support 71 is fitted to the guide sleeve 76 so as to realize the vertical sliding of the support 71 on the connecting seat 73.

一些实施例中，如图2所示，升降架21的沿升降方向的两侧均设有第一导向件30，支架41的沿升降方向的两侧均设有第一配合件50。可以理解为，支架41的两侧和升降架21的两侧通过第一配合件50和第一导向件30相连，使得支架41的两侧得到均衡的导向，提高升降过程中的平稳性，而且第一导向件30设在升降架21的侧面，为二级升降机构40的升降提供导向。In some embodiments, as shown in FIG. 2, both sides of the lifting frame 21 along the lifting direction are provided with first guide members 30, and both sides of the bracket 41 along the lifting direction are provided with first matching members 50. It can be understood that the two sides of the bracket 41 and the two sides of the lifting frame 21 are connected by the first matching member 50 and the first guiding member 30, so that the two sides of the bracket 41 are evenly guided, improving the stability during the lifting process, and The first guide 30 is arranged on the side of the lifting frame 21 to provide a guide for the lifting of the secondary lifting mechanism 40.

一些实施例中，如图3所示，一级升降机构20还包括设在前一节升降架21的第一独立驱动，第一独立驱动包括第一驱动电机213、第一同步带机构214、第一丝杠215，第一丝杠215可枢转地设在升降架21上，后一节升降架21安装在第一丝杠215上，第一同步带机构214的一个带轮连接第一丝杠215且另一个带轮连接第一驱动电机213，则第一驱动电机213启动后带动升降架21升降。In some embodiments, as shown in FIG. 3, the primary lifting mechanism 20 further includes a first independent drive provided in the previous section of the lifting frame 21. The first independent drive includes a first drive motor 213, a first timing belt mechanism 214, The first screw 215, the first screw 215 is pivotally arranged on the lifting frame 21, the rear section of the lifting frame 21 is installed on the first screw 215, a pulley of the first timing belt mechanism 214 is connected to the first The lead screw 215 and the other pulley are connected to the first driving motor 213, and then the first driving motor 213 is activated to drive the lifting frame 21 to go up and down.

一些实施例中，如图3所示，前一节升降架21上设有第二导向件211，后一节升降架21上设有第二配合件212，其中第二导向件211为滑轨，第二配合件212为滑块，通过滑轨配合在滑块上实现前一节升降架21在后一节升降架21上的稳定升降，增加升降过程的可靠性。In some embodiments, as shown in FIG. 3, a second guide member 211 is provided on the front section of the lifting frame 21, and a second matching member 212 is provided on the rear section of the lifting frame 21, wherein the second guide member 211 is a sliding rail. , The second matching member 212 is a sliding block, and the sliding rail is matched with the sliding block to realize the stable lifting of the front section of the lifting frame 21 on the rear section of the lifting frame 21, thereby increasing the reliability of the lifting process.

一些实施例中，如图5所示，二级升降机构40还包括安装座42上的第二独立驱动，第二独立驱动包括第二驱动电机43、第二同步带机构44、第二丝杠45，第二丝杠45可枢转地设在支架41上，安装座42安装在第二丝杠45上，第二同步带机构44的一个带轮与第二丝杠45驱动连接且另一个带轮与第二驱动电机43的输出端驱动连接。则第二驱动电机43启动后带动安装座42升降。可选的，如图5所示，支架41上设有第三导向件411，安装座42上设有第三配合件421，其中第三导向件411为滑轨，第三配合件421为滑块，安装座42通过滑块滑动配合在滑轨上，方便安装座42在支架41上稳定升降。In some embodiments, as shown in FIG. 5, the secondary lifting mechanism 40 further includes a second independent drive on the mounting base 42, and the second independent drive includes a second drive motor 43, a second timing belt mechanism 44, and a second lead screw. 45. The second screw 45 is pivotally arranged on the bracket 41, the mounting seat 42 is installed on the second screw 45, one pulley of the second timing belt mechanism 44 is drivingly connected to the second screw 45 and the other The pulley is drivingly connected to the output end of the second driving motor 43. Then, after the second driving motor 43 is started, the mounting base 42 is driven to rise and fall. Optionally, as shown in FIG. 5, a third guide member 411 is provided on the bracket 41, and a third matching member 421 is provided on the mounting seat 42. The third guide member 411 is a sliding rail and the third matching member 421 is a sliding rail. Block, the mounting seat 42 is slidably fitted on the slide rail via a sliding block, so that the mounting seat 42 can be stably raised and lowered on the bracket 41.

一些实施例中，如图2、图6、图7所示，最后一节升降架21上设有顶座216，驱动机构60包括两组导轮61、提升轮62、两组卷筒63和绳体64。两组导轮61间隔开地设在顶座216的下方。提升轮62可枢转地设在支架41上。两组卷筒63相连且可转动。绳体64的中部接触配合在提升轮62上，绳体64的两端接触配合在两组导轮61上且分别绕装在两组卷筒63上。可以理解为，两组卷筒63转动，收卷绳体64的两端，两组导轮61可调整绳体64的方向，方便实现绳体64与提升轮62的配合，随着绳体64位于卷筒63外的长度减小，可带动提升轮62向上运动，从而提升支架41，实现支架41在多个升降架21上的上升，同样的也可实现支架41的下降。驱动机构60构成双绳卷扬机构，为支架41的提升提供动力。In some embodiments, as shown in Figures 2, 6, and 7, the last section of the lifting frame 21 is provided with a top seat 216, and the driving mechanism 60 includes two sets of guide wheels 61, a lifting wheel 62, two sets of reels 63 and绳体64. The two sets of guide wheels 61 are spaced apart and arranged below the top seat 216. The lifting wheel 62 is pivotally provided on the bracket 41. The two sets of reels 63 are connected and rotatable. The middle part of the rope body 64 is contact-fitted on the lifting wheel 62, and both ends of the rope body 64 are contact-fitted on the two sets of guide wheels 61 and are wound on the two sets of reels 63 respectively. It can be understood that the two sets of reels 63 rotate to wind up the two ends of the rope body 64. The two sets of guide wheels 61 can adjust the direction of the rope body 64, which facilitates the coordination of the rope body 64 and the lifting wheel 62. The length of the outside of the reel 63 is reduced, and the lifting wheel 62 can be driven to move upwards, thereby lifting the bracket 41 and realizing the raising of the bracket 41 on the multiple lifting frames 21, and the lowering of the bracket 41 can also be realized. The driving mechanism 60 constitutes a double-rope hoisting mechanism and provides power for the lifting of the bracket 41.

值得说明的是，如图6和图8所示，由于绳体64的中部配合在提升轮62上，而提升轮62在支架41上能够转动一定的角度，提升轮62能够起到调平作用。例如，当驱动机构60工作时，提升轮62两侧的绳体64能自适应的调整两侧绳体64的拉力，保证绳体64的两侧受力平衡，进而增大驱动机构60的受力平衡，延长使用寿命。It is worth noting that, as shown in Figures 6 and 8, since the middle of the rope body 64 is fitted on the lifting wheel 62, and the lifting wheel 62 can rotate at a certain angle on the bracket 41, the lifting wheel 62 can play a leveling effect. . For example, when the driving mechanism 60 is working, the rope bodies 64 on both sides of the lifting wheel 62 can adaptively adjust the tension of the rope bodies 64 on both sides to ensure that the forces on both sides of the rope body 64 are balanced, thereby increasing the load on the driving mechanism 60. Force balance, prolong service life.

一些实施例中，如图6和图7所示，驱动机构60还包括安装支座68和第四驱动电机66，两组卷筒63可枢转地设在安装支座68上，第四驱动电机66设在安装支座68上且通过齿轮组67与卷筒63驱动连接，以驱动卷筒63转动。In some embodiments, as shown in FIGS. 6 and 7, the driving mechanism 60 further includes a mounting support 68 and a fourth driving motor 66. The two sets of reels 63 are pivotally arranged on the mounting support 68, and the fourth driving The motor 66 is arranged on the mounting support 68 and is drivingly connected to the reel 63 through the gear set 67 to drive the reel 63 to rotate.

可选的，如图6和图7所示，两组卷筒63的下方均设有弹性压绳机构65，弹性压绳机构65包括底座651、承载座652、压绳滚筒653和第二弹性件654。承载座652可上下活动地设在底座651上。压绳滚筒653可枢转地设在承载座652上。第二弹性件654设在承载座652和底座651之间，第二弹性件654用于使压绳滚筒653将绳体64压紧在卷筒63上。也就是说，通过第二弹性件654的弹性作用，例如第二弹性件654为受压缩状态，则第二弹性件654带动承载座652向上运动，从而使压绳滚筒653将绳体64压紧在卷筒63上，可起到排绳及防止绳体64在卷筒63上错槽的作用。Optionally, as shown in FIGS. 6 and 7, an elastic rope pressing mechanism 65 is provided below the two sets of reels 63. The elastic rope pressing mechanism 65 includes a base 651, a bearing seat 652, a rope pressing roller 653, and a second elastic rope. Pieces 654. The supporting base 652 is movably arranged on the base 651 up and down. The rope pressing drum 653 is pivotally arranged on the bearing seat 652. The second elastic member 654 is provided between the supporting base 652 and the base 651, and the second elastic member 654 is used for the rope pressing roller 653 to press the rope body 64 on the reel 63. That is, through the elastic action of the second elastic member 654, for example, 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 compresses the rope body 64 The reel 63 can play a role in arranging the rope and preventing the rope body 64 from being mis-groove on the reel 63.

可选的，如图7所示，底座651上间隔开地设有两个耳座，两个耳座上均设有滑槽，压绳滚筒653的两端均可枢转地连接有承载座652，两个承载座652分别配合在两个滑槽上，第二弹性件654的两端分别止抵在承载座652和底座651上。通过该方式滑槽为承载座652的上下活动提供导向作用，而压绳滚筒653的两端与底座651的两个耳座滑动配合，受力平衡，可提高压绳滚筒653的稳定性。Optionally, as shown in Figure 7, the base 651 is provided with two ear seats spaced apart, and both ear seats are provided with sliding grooves, and both ends of the rope pressing roller 653 can be pivotally connected with a bearing seat 652, the two bearing seats 652 are respectively fitted on the two sliding grooves, and the two ends of the second elastic member 654 are respectively stopped on the bearing seat 652 and the base 651. In this way, the sliding groove 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 slidably fitted with the two ear seats of the base 651, the force is balanced, and the stability of the rope pressing roller 653 can be improved.

可选的，压绳滚筒653的两端可枢转地设在承载座652上，承载座652通过导柱竖直滑动安装在底座651上，第二弹性件654套设在导柱上，第二弹性件654的一端支撑在承载座652上且另一端支撑在底座651上，同样可使压绳滚筒653在上下活动时具有较好的稳定性。Optionally, both ends of the rope pressing roller 653 are pivotally arranged on the supporting base 652, the supporting base 652 is vertically slidably mounted on the base 651 through the guide post, the second elastic member 654 is sleeved on the guide post, One end of the two elastic members 654 is supported on the bearing seat 652 and the other end is supported on the base 651, which also enables the rope pressing roller 653 to have better stability when moving up and down.

可选的，第二弹性件654为弹簧，成本低，减震缓冲效果较好。Optionally, the second elastic member 654 is a spring, which has low cost and good shock absorption and buffering effect.

一些实施例中，如图6所示，提升轮62上设有锁止绳体64的保护机构，保护机构包括多个压块625，多个压块625沿提升轮62的周向间隔开地设置，以将绳体64压紧在提升轮62的绳槽内。可以理解为，锁紧压块625能够将绳体64固定在提升轮62上，此时即使一侧的绳体64断裂，另一侧的绳体64仍被固定在提升轮62上不会脱离，即保证驱动机构60构成双绳卷扬机构不会立即失效，可继续提供升降动力，大大降低因绳体64失效或者断裂而造成的安全隐患。In some embodiments, as shown in FIG. 6, the lifting wheel 62 is provided with a protection mechanism for locking the rope body 64. The protection mechanism includes a plurality of pressure blocks 625, and the plurality of pressure blocks 625 are spaced apart along the circumference of the lifting wheel 62. It is provided to compress the rope body 64 in the rope groove of the lifting wheel 62. It can be understood that the locking pressing block 625 can fix the rope body 64 on the lifting wheel 62. At this time, even if the rope body 64 on one side is broken, the rope body 64 on the other side is still fixed on the lifting wheel 62 and will not fall off. That is, it is ensured that the double-rope hoisting mechanism formed by the driving mechanism 60 will not fail immediately, and can continue to provide lifting power, which greatly reduces the potential safety hazards caused by the failure or breakage of the rope body 64.

可选的，如图8所示，支架41上设有末端安装板412，末端安装板412上间隔开地设有两个限位块4121，提升轮62形成为半圆轮，两个限位块4121位于提升轮62的上方。也就是说，由于两个限位块4121，半圆轮的提升轮62只能在小角度范围内转动，当提升轮62的任一侧超出预设的转动角度时，限位块4121可止挡提升轮62，从而起到调平作用。Optionally, as shown in Fig. 8, the bracket 41 is provided with an end mounting plate 412, and the end mounting plate 412 is provided with two limiting blocks 4121 spaced apart, the lifting wheel 62 is formed as a semicircular wheel, and the two limiting blocks 4121 is located above the lifting wheel 62. In other words, due to the two limit blocks 4121, the lifting wheel 62 of the semicircular wheel can only rotate within a small angle range. When either side of the lifting wheel 62 exceeds the preset rotation angle, the limit block 4121 can stop Lift the wheel 62, thereby playing a leveling effect.

一些实施例中，末端安装板412上设有检测件，用于检测绳体64是否断裂，一旦出现断裂异常可以立即停机报警，具体地，检测件可以是通过式传感器。In some embodiments, a detection element is provided on the end mounting plate 412 to detect whether the rope body 64 is broken. Once a break abnormality occurs, it can be shut down and alarm immediately. Specifically, the detection element may be a pass-through sensor.

可选的，如图8所示，提升轮62包括轮体621和转轴622。转轴622安装在末端安装板412上，轮体621通过轴承624安装在转轴622上，以实现轮体621相对末端安装板412转动。Optionally, as shown in FIG. 8, the lifting wheel 62 includes a wheel body 621 and a rotating shaft 622. The rotating shaft 622 is mounted on the end mounting plate 412, and the wheel body 621 is mounted on the rotating shaft 622 through the bearing 624, so that the wheel body 621 rotates relative to the end mounting plate 412.

可选的，如图8所示，轮体621上设有对应压块625设置的安装槽6211，安装槽6211与轮体621上的绳槽相连通，压块625配合在安装槽6211上且可通过紧固件锁紧。通过该方式，以使绳体64被压紧在轮体621的绳槽内。Optionally, as shown in Figure 8, the wheel body 621 is provided with a mounting groove 6211 corresponding to the pressure block 625, the mounting groove 6211 is communicated with the rope groove on the wheel body 621, and the pressure block 625 is fitted on the mounting groove 6211 and Can be locked by fasteners. In this way, the rope body 64 is compressed in the rope groove of the wheel body 621.

根据本申请实施例的一种抹灰设备，包括底盘10、升降装置100和抹灰机构(图未示出)。升降装置100为上述的升降装置100，第一节升降架21设在底盘10上。抹灰机构设在安装座42上。A plastering equipment according to an embodiment of the present application includes a chassis 10, a lifting device 100 and a plastering mechanism (not shown in the figure). The lifting device 100 is the aforementioned lifting device 100, and the first section of the lifting frame 21 is provided on the chassis 10. The plastering mechanism is arranged on the mounting seat 42.

根据本申请实施例的抹灰设备，抹灰机构设在升降装置100上，通过升降装置100实现多节升降，有利于抹灰机构在室内墙面作业时具有较大的覆盖范围，并能够由设备的底部运动到顶部，实现抹灰作业过程中的完全覆盖，方便抹灰作业，且作业效率高。According to the plastering equipment of the embodiment of the present application, the plastering mechanism is arranged on the lifting device 100, and the lifting device 100 realizes multi-section lifting, which is beneficial for the plastering mechanism to have a larger coverage area when working on indoor walls, and can be operated by The bottom of the equipment moves to the top to achieve complete coverage during the plastering operation, which is convenient for the plastering operation and has high operating efficiency.

一些实施例中，如图1所示，底盘10为可独立驱动的行走底盘，例如，行走底盘为可自动导航的运动车，运动车可具有调水平的能力，或是增加将多级升降装置100的调铅锤的其他机构，从而保证多级升降装置100的升降动作平行于工作面，提高适应性。In some embodiments, as shown in FIG. 1, the chassis 10 is a walking chassis that can be driven independently. For example, the walking chassis is a sports car that can be automatically navigated. 100 other mechanisms for adjusting the plumb weight, so as to ensure that the lifting action of the multi-stage lifting device 100 is parallel to the working surface, and the adaptability is improved.

下面结合图1至图11，描述本申请抹灰设备的一个具体实施例。In the following, a specific embodiment of the plastering device of the present application will be described with reference to FIGS. 1 to 11.

如图1所示，一种抹灰设备，包括底盘10、升降装置100和抹灰机构，其中升降装置100包括一级升降机构20、第一导向件30、二级升降机构40、第一配合件50、驱动机构60和支撑机构70。As shown in Figure 1, a plastering equipment includes a chassis 10, a lifting device 100, and a plastering mechanism. The lifting device 100 includes a primary lifting mechanism 20, a first guide 30, a secondary lifting mechanism 40, and a first matching mechanism. Piece 50, drive mechanism 60 and support mechanism 70.

如图3所示，一级升降机构20包括两个升降架21，形成两节升降结构，后一节升降架21连接在前一节升降架21上，且前一节升降架21可独立驱动后一节升降架21升降，每个升降架21的侧部均设有第一导向件30。一级升降机构20还包括设在前一节升降架21上的第一独立驱动，第一独立驱动包括第一驱动电机213、第一同步带机构214和第一丝杠215，第一丝杠215可枢转地设在升降架21上，后一节升降架21安装在第一丝杠215上，第一同步带机构214的一个带轮连接第一丝杠215且另一个带轮连接第一驱动电机213。如图3所示，前一节升降架21上设有第二导向件211，后一节升降架21上设有第二配合件212，其中第二导向件211为滑轨，第二配合件212为滑块，通过滑轨配合在滑块上实现前一节升降架21在后一节升降架21上稳定升降，增加运动可靠性。As shown in Figure 3, the first-level lifting mechanism 20 includes two lifting frames 21 forming a two-section lifting structure. The rear lifting frame 21 is connected to the previous lifting frame 21, and the previous lifting frame 21 can be independently driven The rear section of the lifting frame 21 is raised and lowered, and the side of each lifting frame 21 is provided with a first guide 30. The first-level lifting mechanism 20 also includes a first independent drive provided on the previous section of the lifting frame 21. The first independent drive includes a first drive motor 213, a first timing belt mechanism 214, and a first screw 215. 215 is pivotally arranged on the lifting frame 21, the rear section of the lifting frame 21 is installed on the first screw 215, one pulley of the first timing belt mechanism 214 is connected to the first screw 215 and the other pulley is connected to the first screw 215. A driving motor 213. As shown in Figure 3, a second guide member 211 is provided on the front section of the lifting frame 21, and a second matching member 212 is provided on the rear section of the lifting frame 21. The second guide member 211 is a sliding rail, and the second matching member 212 is a sliding block. The front section of the lifting frame 21 is stably raised and lowered on the rear section of the lifting frame 21 through the cooperation of the sliding rail on the sliding block, thereby increasing the movement reliability.

如图5所示，二级升降机构40包括支架41和可升降地设在支架41上的安装座42，安装座42用于连接执行器，支架41的侧部设有两个第一配合件50。二级升降机构40还包括安装座42上的第二独立驱动，第二独立驱动包括第二驱动电机43、第二同步带机构44、第二丝杠45，第二丝杠45可枢转地设在支架41上，安装座42安装在第二丝杠45上，第二同步带机构44的一个带轮连接第二丝杠45且另一个带轮连接第二驱动电机43。As shown in Figure 5, the secondary lifting mechanism 40 includes a bracket 41 and a mounting seat 42 that can be raised and lowered on the bracket 41. The mounting seat 42 is used to connect the actuator. The side of the bracket 41 is provided with two first fitting parts. 50. The secondary lifting mechanism 40 also includes a second independent drive on the mounting base 42. The second independent drive includes a second drive motor 43, a second timing belt mechanism 44, and a second screw 45. The second screw 45 is pivotally Set on the bracket 41, the mounting seat 42 is installed on the second screw 45, one pulley of the second timing belt mechanism 44 is connected to the second screw 45 and the other pulley is connected to the second drive motor 43.

如图5所示，支架41上设有第三导向件411，安装座42上设有第三配合件421，其中第三导向件411为滑轨，第三配合件421为滑块，安装座42通过滑块滑动配合在滑轨上，方便安装座42在支架41上稳定升降。如图1所示，第一配合件50连接在支架41上，支架41的垂直于升降方向的两侧均设有第一配合件50，第一配合件50与第一导向件30一一对应设置，每个第一配合件50用于滑动配合在对应的第一导向件30上。其中，第一导向件30为双轴直线导轨，第一配合件50为V型槽滚轮。As shown in Figure 5, the bracket 41 is provided with a third guide 411, and the mounting seat 42 is provided with a third matching member 421. The third guide 411 is a sliding rail, and the third matching member 421 is a sliding block. 42 is slidably fitted on the slide rail by a sliding block, so that the mounting seat 42 can be stably raised and lowered on the bracket 41. As shown in FIG. 1, the first matching member 50 is connected to the bracket 41, and both sides of the bracket 41 perpendicular to the lifting direction are provided with first matching members 50, and the first matching members 50 correspond to the first guide members 30 one by one. It is provided that each first fitting member 50 is used for slidingly fitting on the corresponding first guide member 30. Among them, the first guiding member 30 is a dual-axis linear guide rail, and the first matching member 50 is a V-groove roller.

驱动机构60能驱动支架41依次沿着两个升降架21上下升降，其中，支架41在升降过程中两个升降架21上的第一导向件30与两个第一配合件50依次配合。如图1、图2和图4所示，最后一节升降架21上设有顶座216，支撑机构70设在顶座216，支撑机构70包括支撑件71和驱动支撑件71升降的三级升降机构72，当升降装置100的上方有接触面200时，三级升降机构72带动支撑件71上升以抵靠在接触面200上。The driving mechanism 60 can drive the bracket 41 to move up and down along the two lifting brackets 21 in sequence, wherein the first guide 30 on the two lifting brackets 21 and the two first matching members 50 are sequentially matched during the lifting process of the bracket 41. As shown in Figure 1, Figure 2 and Figure 4, the last section of the lifting frame 21 is provided with a top seat 216, and a supporting mechanism 70 is provided on the top seat 216. The supporting mechanism 70 includes a supporting member 71 and a three-stage driving support member 71 to lift. When the lifting mechanism 72 has a contact surface 200 above the lifting device 100, the three-stage lifting mechanism 72 drives the support 71 to rise to abut on the contact surface 200.

如图4所示，三级升降机构72包括两个齿条721、两个齿轮722和第三驱动电机723。两个齿条721穿过顶座216且与顶座216竖直滑动相连，支撑件71与两个齿条721相连。两个齿轮722与两个齿条721一一对应相啮合。第三驱动电机723设在顶座216上，第三驱动电机723与两个齿轮722驱动连接，以驱动两个齿轮722转动。As shown in FIG. 4, the three-stage lifting mechanism 72 includes two racks 721, two gears 722 and a third driving motor 723. The two racks 721 pass through the top seat 216 and are vertically slidably connected with the top seat 216, and the support 71 is connected with the two racks 721. The two gears 722 mesh with the two racks 721 in a one-to-one correspondence. The third driving motor 723 is arranged on the top base 216, and the third driving motor 723 is drivingly connected with the two gears 722 to drive the two gears 722 to rotate.

如图4所示，齿条721为圆齿条，第三驱动电机723连接有双输出轴减速机724，构成双输出轴电机，双输出轴电机的两个输出轴通过轴承座725安装在顶座216上，双输出轴电机的两个输出轴分别连接两个齿轮722，从而驱动两个齿条721升降。As shown in Figure 4, the rack 721 is a round rack, and the third drive motor 723 is connected with a dual output shaft reducer 724 to form a dual output shaft motor. The two output shafts of the dual output shaft motor are mounted on the top through a bearing seat 725. On the seat 216, the two output shafts of the dual output shaft motor are respectively connected to two gears 722, thereby driving the two racks 721 to rise and fall.

如图4所示，两个齿条721连接有同一连接座73，支撑件71竖直滑动地设置在连接座73上，且支撑件71与连接座73之间设有第一弹性件74。支撑件71在连接座73上间隔开地设有两个，每个支撑件71与连接座73之间均设有第一弹性件74。第一弹性件74为弹簧。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 a first elastic member 74 is provided between the supporting member 71 and the connecting seat 73. Two supporting members 71 are provided on the connecting seat 73 at intervals, and a first elastic member 74 is provided between each supporting member 71 and the connecting seat 73. The first elastic member 74 is a spring.

如图4所示，三级升降机构72还包括第三导杆75和滑套77，第三导杆75为两个，滑套77均为四个，滑套77设在顶座216上，两个第三导杆75竖直滑动配合在对应的滑套77上，两个第三导杆75连接在连接座73上，两个圆齿条可竖直滑动配合在对应的滑套77上，滑套77为直线轴承。第三导杆75的底部设有连接板751，连接板751的另一端连接齿条721。As shown in FIG. 4, the three-stage lifting mechanism 72 also includes a third guide rod 75 and a sliding sleeve 77. There are two third guide rods 75 and four sliding sleeves 77. The sliding sleeve 77 is provided on the top seat 216, The two third guide rods 75 are vertically slidably fitted on the corresponding sliding sleeve 77, the two third guide rods 75 are connected to the connecting seat 73, and the two round racks can be vertically slidably fitted on the corresponding sliding sleeve 77 , The sliding sleeve 77 is a linear bearing. A connecting plate 751 is provided at the bottom of the third guide rod 75, and the other end of the connecting plate 751 is connected to the rack 721.

如图4所示，连接座73形成为中部向下凹入的弓形板，通过该方式可提高连接座73的结构强度。弓形板的中部设有导套76，支撑件71配合在导套76。As shown in FIG. 4, the connecting seat 73 is formed as an arcuate plate with the middle portion recessed downward. In this way, the structural strength of the connecting seat 73 can be improved. A guide sleeve 76 is provided in the middle of the arcuate plate, and the support 71 is fitted to the guide sleeve 76.

如图2、图6、图7所示，最后一节升降架21上设有顶座216，驱动机构60包括两组导轮61、提升轮62、两组卷筒63和绳体64。两组导轮61间隔开地设在顶座216的下方。提升轮62可枢转地设在支架41上。两组卷筒63相连且可转动地设在底盘10上。绳体64的中部接触配合在提升轮62上，绳体64的两端接触配合在两组导轮61上且分别绕装在两组卷筒63上。As shown in FIGS. 2, 6 and 7, a top seat 216 is provided on the last section of the lifting frame 21, and the driving mechanism 60 includes two sets of guide wheels 61, a lifting wheel 62, two sets of drums 63 and a rope body 64. The two sets of guide wheels 61 are spaced apart and arranged below the top seat 216. The lifting wheel 62 is pivotally provided on the bracket 41. The two sets of reels 63 are connected and rotatably arranged on the chassis 10. The middle part of the rope body 64 is contact-fitted on the lifting wheel 62, and both ends of the rope body 64 are contact-fitted on the two sets of guide wheels 61 and are respectively wound on the two sets of reels 63.

如图6和图7所示，驱动机构60还包括安装支座68和第四驱动电机66，两组卷筒63可枢转地设在安装支座68上，第四驱动电机66设在安装支座68上且通过齿轮组67与卷筒63驱动连接，以驱动卷筒63转动。As shown in Figures 6 and 7, the drive mechanism 60 also includes a mounting support 68 and a fourth drive motor 66. The two sets of reels 63 are pivotably mounted on the mounting support 68, and the fourth drive motor 66 is mounted on the mounting support 68. The support 68 is drivingly connected to the reel 63 through the gear set 67 to drive the reel 63 to rotate.

如图7所示，两组卷筒63的下方均设有弹性压绳机构65，弹性压绳机构65包括底座651、承载座652、压绳滚筒653和第二弹性件654。底座651设在底盘10上。承载座652可上下活动地设在底座651上。压绳滚筒653可枢转地设在承载座652上。第二弹性件654设在承载座652和底座651之间，第二弹性件654用于使压绳滚筒653将绳体64压紧在卷筒63上。As shown in FIG. 7, an elastic rope pressing mechanism 65 is provided under the two sets of reels 63. The elastic rope pressing mechanism 65 includes a base 651, a bearing seat 652, a rope pressing roller 653 and a second elastic member 654. The base 651 is provided on the chassis 10. The supporting base 652 is movably arranged on the base 651 up and down. The rope pressing drum 653 is pivotally arranged on the bearing seat 652. The second elastic member 654 is disposed between the supporting base 652 and the base 651, and the second elastic member 654 is used for pressing the rope body 64 on the reel 63 by the rope pressing roller 653.

如图7所示，底座651上间隔开地设有两个耳座，两个耳座上均设有滑槽，压绳滚筒653的两端均可枢转地连接有承载座652，两个承载座652分别配合在两个滑槽上，第二弹性件654的两端分别止抵在承载座652和底座651上。As shown in Figure 7, the base 651 is provided with two ear seats spaced apart, and both ear seats are provided with sliding grooves. Both ends of the rope pressing roller 653 can be pivotally connected with a bearing seat 652. The bearing seat 652 is respectively fitted on the two sliding grooves, and the two ends of the second elastic member 654 are respectively stopped on the bearing seat 652 and the base 651.

如图6所示，提升轮62上设有锁止绳体64的保护机构，保护机构包括三个压块625，三个压块625沿提升轮62周向间隔开地设置，以将绳体64压紧在提升轮62的绳槽内。As shown in Figure 6, the lifting wheel 62 is provided with a protection mechanism that locks the rope body 64. The protection mechanism includes three pressure blocks 625. 64 is compressed in the rope groove of the lifting wheel 62.

如图8所示，支架41上设有末端安装板412，末端安装板412上间隔开地设有两个限位块4121，提升轮62形成为半圆轮，两个限位块4121位于提升轮62的上方。As shown in Figure 8, the bracket 41 is provided with an end mounting plate 412, and the end mounting plate 412 is provided with two limiting blocks 4121 spaced apart. The lifting wheel 62 is formed as a semicircular wheel, and the two limiting blocks 4121 are located on the lifting wheel. 62 above.

如图8所示，提升轮62包括轮体621和转轴622。转轴622安装在末端安装板412上，轮体621通过轴承624安装在转轴622上。As shown in FIG. 8, the lifting wheel 62 includes a wheel body 621 and a rotating shaft 622. The rotating shaft 622 is mounted on the end mounting plate 412, and the wheel body 621 is mounted on the rotating shaft 622 via a bearing 624.

如图8所示，轮体621上设有对应压块625设置的安装槽6211，安装槽6211与轮体621上的绳槽相连通，压块625配合在安装槽6211上且可通过紧固件锁紧。As shown in Figure 8, the wheel body 621 is provided with a mounting groove 6211 corresponding to the pressure block 625. The mounting groove 6211 communicates with the rope groove on the wheel body 621. The pressure block 625 is fitted on the mounting groove 6211 and can be tightened. Pieces are locked.

如图1所示，底盘10为可独立驱动的行走底盘，行走底盘为可自动导航的运动车，运动车具有调水平的能力，从而保证升降装置100的升降动作平行于工作面。As shown in FIG. 1, the chassis 10 is a walking chassis that can be independently driven, and the walking chassis is a sports car with automatic navigation. The sports car has the ability to adjust the level, so as to ensure that the lifting action of the lifting device 100 is parallel to the working surface.

如图9、图10、图11所示，升降装置100在工作时，底盘10完成定位，调水平，一级升降机构20的升降架21上升，使支撑机构70的支撑件71向上抵靠在接触面200上，驱动机构60的双绳卷扬机构带动二级升降机构40在一级升降机构20上上升，由于二级升降机构40具有独立的升降行程，使得末端的执行器可进行相应的作业。As shown in Figure 9, Figure 10, Figure 11, when the lifting device 100 is working, the chassis 10 is positioned and leveled. On the contact surface 200, the double-rope hoisting mechanism of the driving mechanism 60 drives the secondary lifting mechanism 40 to rise on the primary lifting mechanism 20. Since the secondary lifting mechanism 40 has an independent lifting stroke, the end actuator can perform corresponding operations .

综上所述，升降装置100通过独立升降的的支撑机构70可以实现自适应2850-3150mm的层高范围；通过二级升降机构40自身的丝杆提升，加上驱动机构60构成的卷扬***带动的整体提升；可以实现末端的执行器从底到顶的全覆盖(离地30-3120mm)，极大的扩展了立面(墙面)的处理范围；如果末端的执行器做适当的尺寸配合，可以实现整个墙面尺寸(0-3150mm)的全覆盖；该机构的末端可以直接连接不同类型的执行器来实现不同的作业功能，可以广泛应用于内墙面的打磨、喷涂(油漆、腻子、砂浆等)、抹灰等的自动化作业。In summary, the lifting device 100 can be adapted to the 2850-3150mm floor height range through the independent lifting support mechanism 70; it is lifted by the screw rod of the secondary lifting mechanism 40 and the hoisting system formed by the driving mechanism 60 Drive the overall lift; can realize the full coverage of the end actuator from bottom to top (30-3120mm above the ground), which greatly expands the processing range of the facade (wall); if the end actuator is appropriately sized , Can achieve full coverage of the entire wall size (0-3150mm); the end of the mechanism can be directly connected to different types of actuators to achieve different operating functions, and can be widely used in the polishing and spraying of interior walls (paint, putty) , Mortar, etc.), plastering and other automated operations.

根据本申请实施例的升降装置100的其他构成等以及操作对于本领域普通技术人员而言都是已知的，这里不再详细描述。Other components and operations of the lifting device 100 according to the embodiment of the present application are known to those of ordinary skill in the art, and will not be described in detail here.

在本说明书的描述中，参考术语“实施例”、“示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。In the description of this specification, the description with reference to the terms "embodiment", "example", etc. means that the specific feature, structure, material or feature described in conjunction with the embodiment or example is included in at least one embodiment or example of the present application . In this specification, the schematic representations of the above-mentioned terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

尽管已经示出和描述了本申请的实施例，本领域的普通技术人员可以理解：在不脱离本申请的原理和宗旨的情况下可以对这些实施例进行多种变化、修改、替换和变型，本申请的范围由权利要求及其等同物限定。Although the embodiments of the present application have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and modifications can be made to these embodiments without departing from the principle and purpose of the present application. The scope of the application is defined by the claims and their equivalents.

Claims

一种升降装置，其特征在于，包括：A lifting device, characterized in that it comprises:

一级升降机构，包括至少两个升降架，后一节所述升降架连接在前一节所述升降架上，且前一节所述升降架可独立驱动后一节所述升降架升降，每个所述升降架的侧部均设有第一导向件；The first-level lifting mechanism includes at least two lifting frames, the lifting frame of the latter section is connected to the lifting frame of the previous section, and the lifting frame of the previous section can independently drive the lifting frame of the latter section to lift, Each side of the lifting frame is provided with a first guide;

二级升降机构，包括支架和可升降地设在所述支架上的安装座，所述安装座用于连接执行器，所述支架的侧部设有至少两个第一配合件；The secondary lifting mechanism includes a bracket and a mounting seat that can be raised and lowered on the bracket, the mounting seat is used to connect the actuator, and the side of the bracket is provided with at least two first matching pieces;

驱动机构，能驱动所述支架依次沿着所述至少两个升降架上下升降；其中，所述支架在升降过程中，至少两个所述升降架上的所述第一导向件与至少两个所述第一配合件依次配合。The driving mechanism can drive the bracket to move up and down along the at least two lifting frames in sequence; wherein, during the lifting process of the bracket, the first guides on the at least two lifting frames and at least two The first fitting pieces are matched in sequence.
根据权利要求1所述的升降装置，其特征在于，所述第一导向件为安装在所述升降架侧部的导杆，所述第一配合件为安装在所述支架侧部的导座，每个所述导座上设有与所述导杆配合的导孔。The lifting device according to claim 1, wherein the first guide member is a guide rod installed on the side of the lifting frame, and the first matching member is a guide seat installed on the side of the bracket , Each of the guide seats is provided with a guide hole matched with the guide rod.
根据权利要求1所述的升降装置，其特征在于，所述第一导向件为安装在所述升降架侧部的导轨，所述导轨具有导槽，所述第一配合件为安装在所述支架侧部的滚动体，所述滚动体配合在所述导槽内。The lifting device according to claim 1, wherein the first guide member is a guide rail installed on the side of the lifting frame, the guide rail has a guide groove, and the first matching member is installed on the The rolling body on the side of the bracket is fitted in the guide groove.
根据权利要求1所述的升降装置，其特征在于，前一节所述升降架上设有第二导向件，后一节所述升降架上设有与所述第二导向件相配合的第二配合件，所述第二配合件能沿着所述第二导向件滑动。The lifting device according to claim 1, wherein the lifting frame in the previous section is provided with a second guide member, and the lifting frame in the latter section is provided with a first guide member that cooperates with the second guide member. Two mating parts, the second mating part can slide along the second guide part.
根据权利要求1所述的升降装置，其特征在于，所述一级升降机构还包括设于前一节所述升降架的第一独立驱动，所述第一独立驱动包括第一驱动电机、第一同步带机构和第一丝杠，所述第一丝杠可枢转地设在所述升降架上，后一节所述升降架安装在所述第一丝杠上，所述第一同步带机构的一个带轮连接所述第一丝杠且另一个带轮连接所述第一驱动电机，则所述第一驱动电机启动后带动所述升降架升降。The lifting device according to claim 1, wherein the first-level lifting mechanism further comprises a first independent drive provided in the lifting frame in the previous section, and the first independent drive comprises a first drive motor, a second A timing belt mechanism and a first screw, the first screw is pivotally arranged on the lifting frame, the lifting frame is installed on the first screw in the latter section, and the first synchronization One pulley of the belt mechanism is connected to the first lead screw and the other pulley is connected to the first driving motor, then the first driving motor is activated to drive the lifting frame up and down.
根据权利要求1所述的升降装置，其特征在于，所述支架上设有第三导向件，所述安装座上设有第三配合件，所述第三配合件能沿着所述第三导向件滑动。The lifting device according to claim 1, wherein a third guide member is provided on the bracket, a third matching member is provided on the mounting seat, and the third matching member can follow the third The guide slides.
根据权利要求1所述的升降装置，其特征在于，所述二级升降机构还包括设于所述安装座上的第二独立驱动，所述第二独立驱动包括第二驱动电机、第二同步带机构和第二丝杠，所述第二丝杠可枢转地设在所述支架上，所述安装座安装在所述第二丝杠上，所述第二同步带机构的一个带轮与所述第二丝杠驱动连接且另一个带轮与所述第二驱动电机的输出端驱动连接。The lifting device according to claim 1, wherein the secondary lifting mechanism further comprises a second independent drive provided on the mounting seat, and the second independent drive comprises a second drive motor, a second synchronous drive A belt mechanism and a second lead screw, the second lead screw is pivotally arranged on the bracket, the mounting seat is mounted on the second lead screw, and a pulley of the second timing belt mechanism It is drivingly connected to the second lead screw and another pulley is drivingly connected to the output end of the second driving motor.
根据权利要求1所述的升降装置，其特征在于，最后一节所述升降架上设有顶座，所述升降装置还包括设在所述顶座上的支撑机构，所述支撑机构包括支撑件和驱动所述支撑件升降的三级升降机构，当所述升降装置的上方有接触面时，所述三级升降机构带动所述支撑件上升以抵靠在所述接触面上。The lifting device according to claim 1, wherein the lifting frame is provided with a top seat in the last section, and the lifting device further includes a support mechanism provided on the top seat, and the support mechanism includes a support When there is a contact surface above the lifting device, the three-stage lifting mechanism drives the support member to rise so as to abut against the contact surface.
根据权利要求8所述的升降装置，其特征在于，所述三级升降机构包括：The lifting device according to claim 8, wherein the three-stage lifting mechanism comprises:

多个齿条，多个所述齿条穿过所述顶座且与所述顶座竖直滑动相连，所述支撑件与多个所述齿条相连；A plurality of racks, the plurality of racks pass through the top seat and are vertically slidably connected with the top seat, and the support member is connected with the plurality of racks;

多个齿轮，多个所述齿轮与多个所述齿条一一对应相啮合；A plurality of gears, a plurality of the gears meshing with a plurality of the racks in a one-to-one correspondence;

第三驱动电机，设在所述顶座上，所述第三驱动电机与多个所述齿轮驱动连接。The third driving motor is arranged on the top seat, and the third driving motor is drivingly connected with a plurality of the gears.
根据权利要求9所述的升降装置，其特征在于，多个所述齿条连接有同一连接座，所述支撑件竖直滑动地设置在所述连接座上，且所述支撑件与所述连接座之间设有第一弹性件。The lifting device according to claim 9, wherein a plurality of the racks are connected to the same connecting seat, the support member is vertically slidably arranged on the connecting seat, and the support member and the A first elastic member is arranged between the connecting seats.
根据权利要求1所述的升降装置，其特征在于，最后一节所述升降架上设有顶座，所述驱动机构包括：The lifting device according to claim 1, wherein the lifting frame is provided with a top seat in the last section, and the driving mechanism comprises:

两组导轮，两组所述导轮间隔开地设在所述顶座的下方；Two sets of guide wheels, the two sets of guide wheels are spaced apart below the top seat;

提升轮，可枢转地设在所述支架上；The lifting wheel is pivotally arranged on the bracket;

两组卷筒，两组所述卷筒相连且可转动；Two sets of reels, the two sets of reels are connected and rotatable;

绳体，所述绳体的中部接触配合在所述提升轮上，所述绳体的两端接触配合在两组所述导轮上且分别绕装在两组所述卷筒上。A rope body, the middle part of the rope body is contact-fitted on the lifting wheel, and both ends of the rope body are contact-fitted on the two sets of the guide wheels and are respectively wound on the two sets of the reel.
根据权利要求11所述的升降装置，其特征在于，两组所述卷筒的下方均设有弹性压绳机构，所述弹性压绳机构包括：The lifting device according to claim 11, wherein an elastic rope pressing mechanism is provided below the two sets of reels, and the elastic rope pressing mechanism comprises:

底座；Base

承载座，可上下活动地设在所述底座上；The bearing seat can be movably arranged on the base;

压绳滚筒，可枢转地设在所述承载座上；The rope pressing roller is pivotally arranged on the bearing seat;

第二弹性件，设在所述承载座和所述底座之间，所述第二弹性件用于使所述压绳滚筒将所述绳体压紧在所述卷筒上。The second elastic member is arranged between the bearing seat and the base, and the second elastic member is used to enable the rope pressing roller to press the rope body on the reel.
根据权利要求11所述的升降装置，其特征在于，所述提升轮设有用于容纳所述绳体的绳槽，所述提升轮上设有锁止所述绳体的保护机构，所述保护机构包括多个压块，多个所述压块沿所述提升轮的周向间隔开地设置，以将所述绳体压紧在所述绳槽内。The lifting device according to claim 11, wherein the lifting wheel is provided with a rope groove for accommodating the rope body, and the lifting wheel is provided with a protection mechanism for locking the rope body, and the protection The mechanism includes a plurality of pressure blocks, and the plurality of pressure blocks are arranged at intervals along the circumferential direction of the lifting wheel to compress the rope body in the rope groove.
根据权利要求13所述的升降装置，其特征在于，所述支架上设有末端安装板，所述末端安装板上间隔开地设有两个限位块，所述提升轮形成为半圆轮，两个所述限位块位于所述提升轮的上方。The lifting device according to claim 13, wherein the bracket is provided with an end mounting plate, the end mounting plate is provided with two limiting blocks spaced apart, and the lifting wheel is formed as a semicircular wheel, The two limit blocks are located above the lifting wheel.
根据权利要求14所述的升降装置，其特征在于，所述提升轮包括轮体和转轴，所述转轴安装在所述末端安装板上，所述轮体安装在所述转轴上，所述绳槽设于所述轮体上，所述轮体上设有对应所述压块设置的安装槽，所述安装槽与所述绳槽相连通，所述压块与所述安装槽锁紧配合。The lifting device according to claim 14, wherein the lifting wheel comprises a wheel body and a rotating shaft, the rotating shaft is mounted on the end mounting plate, the wheel body is mounted on the rotating shaft, and the rope The groove is provided on the wheel body, and the wheel body is provided with an installation groove corresponding to the pressure block, the installation groove is communicated with the rope groove, and the pressure block is in a locking fit with the installation groove .
根据权利要求11所述的升降装置，其特征在于，所述驱动机构还包括安装支座和第四驱动电机，两组所述卷筒可枢转地设在所述安装支座上，所述第四驱动电机设于所述安装支座上且与所述卷筒驱动连接。The lifting device according to claim 11, wherein the driving mechanism further comprises a mounting support and a fourth driving motor, the two groups of the reels are pivotably arranged on the mounting support, and the The fourth driving motor is arranged on the mounting support and is drivingly connected with the reel.
一种抹灰设备，其特征在于，包括：A plastering equipment, which is characterized in that it comprises:

底盘：Chassis:

升降装置，所述升降装置为根据权利要求1至16中任一项所述的升降装置，第一节所述升降架设在所述底盘上；Lifting device, the lifting device is the lifting device according to any one of claims 1 to 16, the first section of the lifting device is erected on the chassis;

抹灰机构，设在所述安装座上。The plastering mechanism is arranged on the mounting seat.