CN113605645A

CN113605645A - Putty executor and putty coating robot

Info

Publication number: CN113605645A
Application number: CN202110980733.6A
Authority: CN
Inventors: 曾盼华; 李雪成; 韩少雄; 蔡川; 田士川
Original assignee: Guangdong Boding Construction Technology Co ltd
Current assignee: Guangdong Boding Construction Technology Co ltd
Priority date: 2021-08-25
Filing date: 2021-08-25
Publication date: 2021-11-05

Abstract

The invention discloses a putty executor and a putty coating robot with the same, wherein the putty executor comprises: the scraper blade mounting device comprises a mounting seat, a sliding seat, a rotating seat, a resetting piece and a scraper blade, wherein the sliding seat is slidably arranged on the mounting seat; the rotating seat is rotatably connected with the sliding seat; the reset piece is respectively connected with the rotating seat and the rotating seat, and is configured to position the rotating seat and provide elastic support for the rotating seat; the scraper is connected with the rotating seat. By applying the technical scheme, the attaching degree of the scraper and the wall surface can be improved, and the coating effect and the stability of the operation quality are improved.

Description

Putty executor and putty coating robot

Technical Field

The invention relates to the technical field of construction equipment, in particular to a putty actuator and a putty coating robot with the same.

Background

The putty is a decorative setting material for leveling the surface of a wall body, is thick paste paint and is an essential product before painting. Putty scraping is one of the methods for decorating inner and outer walls, and is used for scraping putty on the wall to ensure the smoothness of the wall surface. The existing putty scraper in the market is basically completed manually, needs manual adjustment to improve the fitting degree between the scraper and the wall surface, is not suitable for automatic operation, and needs to be operated by workers with rich experience.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, an object of the present invention is to provide a putty actuator, which can improve the adhesion between a scraper and a wall surface, and improve the stability of coating effect and operation quality.

Another object of the present invention is to provide a putty applying robot.

A putty actuator according to an embodiment of the present invention includes: the scraper blade mounting device comprises a mounting seat, a sliding seat, a rotating seat, a resetting piece and a scraper blade, wherein the sliding seat is slidably arranged on the mounting seat; the rotating seat is rotatably connected with the sliding seat; the reset piece is respectively connected with the sliding seat and the rotating seat, and is configured to position the rotating seat and provide elastic support for the rotating seat; the scraper is connected with the rotating seat.

According to the putty actuator disclosed by the embodiment of the invention, the sliding seat and the rotating seat are arranged, so that the scraping plates can be adapted to different shapes of the wall surface, the reset piece provides elastic support for the sliding seat, and when the scraping plates meet structures such as bulges in the process of moving the wall surface, the attaching degree of the scraping plates and the wall surface can be improved under the elastic support action of the reset piece; through setting up the piece that resets, can improve the stability of putty executor work to improve the stability of coating effect and operation quality.

In addition, the putty executor according to the embodiment of the invention can also have the following additional technical characteristics:

in some embodiments, the mounting seat is provided with a slide rail, and the slide seat includes a slide block slidably engaged with the slide rail.

In some embodiments, the slide mount further comprises: the sliding block seat is fixedly connected with the sliding block, a gap is formed between the sliding block seat and the sliding block, the rotating shaft is connected with the sliding block seat and extends into the gap, and the rotating seat extends into the gap and is connected with the rotating shaft so as to be suitable for the rotating seat to be rotatably connected with the sliding block seat.

In some embodiments, the reset member includes a first elastic member and a second elastic member, the first elastic member and the second elastic member are disposed such that two ends of the first elastic member and the second elastic member abut against the mounting seat and the rotating seat, and the first elastic member and the second elastic member are respectively disposed on two opposite sides of a rotation center axis of the rotating seat.

In some embodiments, a first positioning portion and a second positioning portion are arranged on the mounting seat, a third positioning portion and a fourth positioning portion are arranged on the rotating seat, the third positioning portion is opposite to the first positioning portion, and the fourth positioning portion is opposite to the second positioning portion; the first elastic part is a spring supported between the third positioning part and the first positioning part, two ends of the first elastic part are respectively sleeved on the third positioning part and the first positioning part, the second elastic part is a spring supported between the fourth positioning part and the second positioning part, and two ends of the second elastic part are respectively sleeved on the fourth positioning part and the second positioning part.

In some embodiments, a work sensor and a limit sensor are provided on one of the mount and the slide, and a sensor for opposing the work sensor and the limit sensor is provided on the other of the mount and the slide, the sensor being adapted to communicate with a robotic arm to maintain the position of the slide relative to the mount during operation of the putty actuator.

In some embodiments, the putty actuator further comprises: the device comprises a joint, a first feeding pipe and a second feeding pipe, wherein the joint is provided with an inlet, a first outlet and a second outlet which are communicated with each other; one end of the first feeding pipe is communicated with the first outlet; one end of the second feed pipe with the second export intercommunication, wherein, the other end of first feed pipe with the other end of second feed pipe extends in opposite directions and extends to the intermediate position top of scraper blade and towards the upper surface slope of scraper blade.

According to the embodiment of the invention, the putty coating robot comprises: the device comprises a track system, a climbing system, a mechanical arm and a putty actuator, wherein the climbing system is connected with the track system and is arranged along the vertical direction; the mechanical arm is connected with the climbing system and can be lifted; the putty executor is connected with the mechanical arm, and the putty executor is the putty executor.

According to the putty coating robot provided by the embodiment of the invention, full-automatic operation can be realized, the putty coating effect is improved, and the stability of the operation quality is improved, so that the effects of improving the efficiency and reducing the labor intensity are achieved.

In some embodiments, the putty application robot further comprises: a slurry system coupled to the putty actuator to provide putty.

In some embodiments, the slurry system includes a slurry change vat comprising: the slurry feeding device comprises a charging basket and a pressing plate, wherein the bottom of the charging basket is provided with a slurry outlet; the pressing plate is arranged in the charging bucket and movably arranged in the charging bucket along the vertical direction, and a cavity is formed between the pressing plate and the charging bucket.

In some embodiments, the pressing plate is connected with a scraping disc, and the scraping disc extends out of the peripheral edge of the pressing plate and is in interference fit with the inner peripheral surface of the charging barrel.

In some embodiments, a quick-change connector is connected to the slurry outlet of the charging bucket.

In some embodiments, the pressure plate is connected with an upward extending handle, and the surface of the handle is knurled.

In some embodiments, the slurry system further comprises: the feeding pump is arranged below the slurry changing barrel, a suction port of the feeding pump is communicated with a slurry outlet of the slurry barrel, and the suction port of the feeding pump is coaxial with the slurry outlet of the slurry barrel.

In some embodiments, the climbing system includes a primary vehicle and a secondary vehicle, both of which are movable in an up-down direction, the robotic arm is coupled to the primary vehicle, and the slurry system is coupled to the secondary vehicle.

In some embodiments, the track system includes a sky track and a ground track, the sky track and the ground track both extending in a horizontal direction, the sky track being disposed above the ground track, and the climbing system being connected between and movable along the sky track and the ground track.

Drawings

Fig. 1 is a schematic structural view of a putty applying robot according to an embodiment of the present invention.

Fig. 2 is a schematic structural view of a sub-vehicle according to an embodiment of the present invention.

Figure 3 is a schematic diagram of a robotic arm according to one embodiment of the present invention.

Fig. 4 is a schematic structural diagram of a pulp changing barrel according to an embodiment of the invention.

Figure 5 is a schematic diagram of the construction of a putty actuator according to one embodiment of the present invention.

Figure 6 is a cross-sectional view of a putty actuator according to one embodiment of the present invention.

Figure 7 is a schematic diagram of the construction of a putty actuator according to one embodiment of the present invention.

Figure 8 is a schematic diagram of the construction of a putty actuator according to one embodiment of the present invention.

Fig. 9 is an exploded view of a partial structure of a sliding seat according to an embodiment of the present invention, which includes the sliding seat, a rotary seat, and a restoring member.

Figure 10 is a schematic diagram of the construction of a putty actuator according to one embodiment of the present invention.

Reference numerals:

the putty coating robot 100, the main vehicle 21, the auxiliary vehicle 22, the mechanical arm 3, the first connecting part 31, the second connecting part 32, the slurry changing barrel 4, the charging basket 41, the slurry outlet 40, the pressing plate 42, the grab handle 421, the scraping disc 422, the feeding pump 43, the suction port 430, the feeding pipe 431, the hose 432, the electric cabinet 44, the top rail 51, the ground rail 52, the putty actuator 1, the mounting seat 11, the first positioning part 111, the second positioning part 112, the sliding rail 113, the sliding seat 12, the slider 122, the slider seat 123, the rotating shaft 124, the rotating seat 13, the third positioning part 131, the fourth positioning part 132, the reset part 14, the first elastic part 141, the second elastic part 142, the scraping plate 15, the scraping plate mounting seat 151, the joint 16, the inlet 160, the first outlet 161, the second outlet 162, the first feeding pipe 171, the second feeding pipe 172, the limit sheet metal 173, the guide sheet 174, the sensor 181, the working sensing part 182, the limit sensing part 183 and the protective cover 19.

Detailed Description

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

With reference to fig. 1 to 10, a putty actuator 1 according to an embodiment of the present invention includes: a mounting seat 11, a sliding seat 12, a rotating seat 13, a reset piece 14 and a scraper 15.

Specifically, the sliding seat 12 is slidably disposed on the mounting seat 11, and the rotating seat 13 is rotatably connected to the sliding seat 12, so that the scraper 15 can slide and rotate, and the flexibility of the scraper 15 is improved. A scraper 15 is connected to the rotary base 13, and the scraper 15 is used for contacting with the wall surface to be coated and the surface of the object so as to fill and scrape the wall surface or the surface of the object. The reset piece 14 is connected with the sliding seat 12 and the rotating seat 13 respectively, the reset piece 14 is configured to position the rotating seat 13, and the reset piece 14 can provide elastic support for the rotating seat 13, thereby the rotating seat 13 and the sliding seat 12 can keep stable activity and a balance state. The sliding seat 12 is slidable on the mounting seat 11, the rotating seat 13 is rotatably connected with the sliding seat 12, the scraping plate 15 is connected with the rotating seat 13, and the resetting piece 14 can provide elastic support for the rotating seat 13. Wherein, mount pad 11 can play the supporting role, and when scraper blade 15 and wall direct contact, the wall had unevenness at ordinary times, scraper blade 15 can rotate and remove in order to laminate the wall, and piece 14 that resets can provide the damping to keep the stability of scraper blade 15 and wall laminating, wherein, the elastic support that piece 14 that resets provided can also do benefit to scraper blade 15 and wall butt, in order to do benefit to the better laminating wall of scraper blade 15.

According to the putty actuator 1 provided by the embodiment of the invention, the sliding seat 12 and the rotating seat 13 are arranged, so that the scraper 15 can adapt to different shapes of the wall surface, and the joint degree of the scraper 15 and the wall surface can be improved; through setting up the piece 14 that resets, can improve the stability of putty executor 1 work, improve the coating effect, and then improve the stability of operation quality.

In the actual work process, scraper blade 15 is direct and the wall contact, coat putty in the wall, receive the influence of wall unevenness, scraper blade 15 probably takes place to rotate in order to adapt to the wall deformation under the effect of power, make scraper blade 15 can laminate the wall, receive behind the scraper blade 15 laminating wall that the wall promotes sliding seat 12 and slides on mount pad 11 to the reaction force of scraper blade 15, reset 14 and link to each other in order to provide elastic support with sliding seat 12 and roating seat 13 respectively, make scraper blade 15 can keep the laminating degree with the wall constantly, therefore, use putty executor 1 to coat putty in the wall, can improve the laminating effect of scraper blade 15 and wall, and then improve the coating effect.

With reference to fig. 6 and 8, under the combined action of the reset piece 14, the mounting seat 11, the rotating seat 13 and the sliding seat 12, the scraping blade 15 can slide along the X axis and rotate along the direction around the Y axis.

With reference to fig. 6, optionally, the putty actuator may further include a scraper mounting seat 151, where the scraper mounting seat 151 is disposed between the scraper 15 and the rotary seat 13, where the scraper mounting seat 151 may be fixedly connected to the rotary seat 13, and the scraper 15 is mounted on the scraper mounting seat 151, which may facilitate replacement of the scraper 15.

Optionally, a sliding rail 113 is arranged on the mounting seat 11, and the sliding rail 113 defines a sliding range to improve stability during sliding and improve uniformity and stability of a putty coating effect. Specifically, the sliding seat 12 includes a sliding block 122, and the sliding block 122 is slidably engaged with the sliding rail 113. Therefore, after the scraper 15 is attached to the wall surface, the scraper 15 is pushed by the acting force of the wall surface to change the state of the slider 122, and moves in the slide rail 113, so that the attaching effect is improved.

With reference to fig. 9, optionally, the sliding seat 12 further comprises: the slider seat 123 is fixedly connected with the slider 122, a gap is formed between the slider seat 123 and the slider 122, the rotating shaft 124 is connected with the slider seat 123 and extends into the gap, and the rotating seat 13 extends into the gap and is connected with the rotating shaft 124 so as to be suitable for the rotating seat 13 to be rotatably connected with the slider seat 123. Specifically, the rotary base 13 is rotatably connected to the sliding base 12 through the rotating shaft 124, and the rotating shaft 124 is disposed in the gap between the slider base 123 and the slider 122, whereby the pushing force can be transmitted from the rotary base 13 to the slider 122 through the rotating shaft 124 and the slider base 123 to push the slider 122 to move in the slide rail 113.

Referring to fig. 8, the reset element 14 includes a first elastic element 141 and a second elastic element 142 to improve the supporting effect, and the first elastic element 141 and the second elastic element 142 are disposed to abut against the mounting seat 11 and the rotating seat 13 at two ends, and provide elastic support between the rotating seat 13 and the mounting seat 11. Further, the first elastic element 141 and the second elastic element 142 are respectively arranged on two opposite sides of the rotation center shaft of the rotary base 13, so that the rotation of the rotary base 13 to two sides is buffered and reset by the first elastic element 141 and the second elastic element 142 respectively, so as to improve the balance of the putty actuator 1, and the putty actuator can play a role in elastic support when the scraper 15 rotates and slides, so as to prevent the scraper 15 from floating, and provide buffering for the scraper 15, so as to keep the scraper 15 attached to the wall surface. Wherein, the elastic member can be a spring or an elastic bellows.

Further, the mounting seat 11 is provided with a first positioning portion 111 and a second positioning portion 112, the rotating seat 13 is provided with a third positioning portion 131 and a fourth positioning portion 132, the third positioning portion 131 is opposite to the first positioning portion 111, the fourth positioning portion 132 is opposite to the second positioning portion 112, the first elastic member 141 may be a spring supported between the third positioning portion 131 and the first positioning portion 111, two ends of the first elastic member 141 are respectively sleeved on the third positioning portion 131 and the first positioning portion 111, the second elastic member 142 may be a spring supported between the fourth positioning portion 132 and the second positioning portion 112, and two ends of the second elastic member 142 are respectively sleeved on the fourth positioning portion 132 and the second positioning portion 112. Specifically, the third positioning portion 131 and the first positioning portion 111 are spaced apart from each other and are disposed opposite to each other, and the fourth positioning portion 132 and the second positioning portion 112 are spaced apart from each other and are disposed opposite to each other, so that the structure can be simplified, and the putty actuator 1 can be more lightweight. The first elastic member 141 is nested on the third positioning portion 131 and the first positioning portion 111, and the second elastic member 142 is nested on the fourth positioning portion 132 and the second positioning portion 112, so as to provide damping for the movement of the rotary base 13 relative to the mounting base 11, and improve the leveling effect of the scraper 15.

With reference to fig. 5 and 6, according to the putty actuator 1 of the embodiment of the invention, one end of the rotating base 13 is connected to the scraping plate 15, and the other end forms a cantilever extending towards the sliding base 12 so as to be suitable for being connected to the rotating shaft 124, specifically, the cross section of the rotating shaft 124 may be in a "convex" shape, that is, the gap between the slider base 123 and the slider 122 is concave-convex, so that the rotating shaft 124 extends into the gap to play a role in limiting, and the stability of the actuator is improved.

With reference to fig. 5 and 6, optionally, the putty actuator 1 may further include a work sensor 182, a limit sensor 183, and a sensor 181, where the work sensor 182 and the limit sensor 183 may be disposed on one of the mounting seat 11 and the sliding seat 12, the sensor 181 is disposed on the other of the mounting seat 11 and the sliding seat 12, and the sensor 181 is opposite to the work sensor 182 and the limit sensor 183, and the positions of the work sensor 182 and the limit sensor 183 may be obtained through the sensor 181, so as to determine the phase positions of the sliding seat 12 and the mounting seat 11. Additionally, the sensor 181 may communicate with the robotic arm 3 to maintain the position of the slide block 12 relative to the mount 11 and thus the reaction force of the squeegee 15 during operation of the putty actuator 1. So as to ensure the attaching state of the scraper 15 and the wall surface, improve the coating effect and improve the stability of operation.

Specifically, in the working process of the putty coating robot 100, the mechanical arm 3 drives the putty executor 1 to press against a wall surface, in the driving process of the mechanical arm 3, the sliding seat 12 will slide on the installation seat 11, and when the sliding seat 12 slides to a working position relative to the installation seat 11, the sensor 181 senses the position of the working sensing piece 182, so that the putty coating robot is controlled to start coating operation; when the sliding seat 12 slides to the limit position relative to the mounting seat 11 for some reason, the sensor 181 senses the position of the limit sensing member 183, thereby controlling the mechanical arm 3 to move backward. By this arrangement, the position of the slide holder 12 with respect to the mount holder 11 can be maintained within a certain range. The elastic support of the reset piece 14 to the sliding seat 12 is substantially consistent with the reaction force of the scraper 15, so that the relative position of the sliding seat 12 and the mounting seat 11 is maintained within a certain range, the elastic support force of the reset piece 14 can be maintained, and the pressure of the scraper 15 to the wall surface is further maintained. Improving the effect of putty coating.

Optionally, the putty actuator 1 further comprises: a coupling 16, a first feed tube 171 and a second feed tube 172, wherein the coupling 16 is in communication with the first feed tube 171 and the second feed tube 172 for delivering putty through the coupling 16, and specifically, the coupling 16 has an inlet 160, a first outlet 161 and a second outlet 162 in communication with each other. Specifically, one end of the first feed pipe 171 communicates with the first outlet 161, one end of the second feed pipe 172 communicates with the second outlet 162, wherein the other end of the first feed pipe 171 and the other end of the second feed pipe 172 extend towards each other and above the middle of the scraper 15 and are inclined towards the upper surface of the scraper 15, and the inlet of the joint 16 is adapted to be connected to a slurry system.

For example, the putty can be delivered into the first feeding pipe 171 and the second feeding pipe 172 through the joint 16, the joint 16 has an inlet 160, a first outlet 161 and a second outlet 162, that is, the joint 16 can be a three-way joint 16, the first outlet 161 and the second outlet 162 are respectively communicated with one end of the first feeding pipe 171 and one end of the second feeding pipe 172, and the other end of the first feeding pipe 171 and the other end of the second feeding pipe 172 extend upward toward the middle position of the scraper 15, so that the putty in the first feeding pipe 171 and the second feeding pipe 172 is merged at the upper middle position of the scraper 15, the flow rate of the putty can be increased, the putty delivered from the first feeding pipe 171 and the second feeding pipe 172 can be further mixed when being merged, and the coating effect can be improved. Wherein, the other ends of the two feeding pipes extend to the upper part of the middle position of the scraper 15, so that the putty can be prevented from flowing out of the scraper 15 when sliding downwards.

Optionally, the putty actuator 1 may also be provided with a protective cover 19 to protect the mounting base 11 of the slide base 12 and the sensor 181 from damage to components such as the slide rail 113 and the sensor 181 in harsh environments such as a construction site.

Referring to fig. 1 and 2, a putty applying robot 100 according to an embodiment of the present invention includes: the putty mechanical arm comprises a track system, a climbing system, a mechanical arm 3 and a putty executor 1, wherein the climbing system is connected with the track system and is arranged along the up-down direction; the mechanical arm 3 is connected with the climbing system and can be lifted; the putty executor 1 is connected with the mechanical arm 3, the putty executor 1 is the putty executor 1, wherein, a mounting seat 11 of the putty executor 1 is connected with the mechanical arm 3 (see fig. 2 and 6). From this, putty coating robot 100 can carry out the coating of large tracts of land to the wall, and arm 3 can be in certain extent to the operation area of putty executor 1 adjust to improve robot flexibility and work efficiency.

According to the putty coating robot 100 provided by the embodiment of the invention, full-automatic operation can be realized, the putty coating effect is improved, and the stability of the operation quality is improved, so that the effects of improving the efficiency and reducing the labor intensity are achieved.

The mechanical arm 3 of the present invention may be a mechanical arm 3 in the related art, and only needs to be able to drive the putty actuator 1, wherein the mechanical arm 3 may have a first connecting portion 31 and a second connecting portion 32, wherein the first connecting portion 31 is connected to the climbing system, and the second connecting portion 32 is connected to the putty actuator 1, that is, the mounting base 11 is connected to the second connecting portion 32.

In addition, the putty applying robot 100 of the present invention may further include a paste system connected to the putty actuator 1 to provide putty. During the use, arm 3 links to each other with the system of climbing, and putty executor 1 links to each other with arm 3, and the thick liquids system links to each other with putty executor 1 to provide putty for the executor.

With reference to fig. 4, further, the pulp system includes a pulp changing barrel 4, and the pulp changing barrel 4 includes: the bottom of the charging basket 41 is provided with a slurry outlet 40, so that slurry can flow to the bottom of the charging basket 41 based on the gravity of the slurry, and the slurry can be discharged. The pressing plate 42 is arranged in the charging bucket 41, and the pressing plate 42 is movably arranged in the charging bucket 41 along the up-down direction and can be used for sealing the charging bucket 41, a cavity is formed between the pressing plate 42 and the charging bucket 41, and in the using process, along with the continuous reduction of slurry in the charging bucket 41, the pressing plate 42 can also descend due to the self weight so as to form a relatively sealed cavity and avoid the excessive air in the charging bucket 41. In addition, the pressure plate 42 is lowered in the using process, so that an operator can observe the residual material amount in the charging basket 41 conveniently, and the material can be added in time conveniently; the pressure plate 42 structure is used for replacing the traditional heavy and complicated stirring frame assembly, so that the cost is greatly reduced, and the weight of the equipment is reduced.

Alternatively, the charging basket 41 may be a straight barrel, or the charging basket 41 may be set in a form that the diameter of the barrel gradually decreases from top to bottom to form an inclined surface on the wall of the barrel, so as to facilitate the slurry to flow downward, and in addition, the top diameter of the charging basket 41 is larger, so as to facilitate the addition of the slurry, and the slurry is not easy to overflow.

Optionally, the pressing plate 42 is connected with a scraping disc 422, the scraping disc 422 extends out of the periphery of the pressing plate 42 and is in interference fit with the inner circumferential surface of the charging basket 41, the scraping disc 422 can be in close contact with the basket wall, so that when the pressing plate 42 is lowered downwards, the scraping disc 422 can scrape the materials on the basket wall, the residual materials in the charging basket 41 are filled with the lower portion of the charging basket 41 all the time, slurry discharging is facilitated, slurry loss is reduced, a negative pressure cavity is formed, air cannot be mixed into the slurry, stability of discharging flow and discharging quality are improved, the slurry can be saved, and cleaning of the charging basket 41 is facilitated.

Optionally, the slurry outlet 40 of the bucket 41 is connected with the quick-change connector 16, and in combination with the above, the slurry outlet 40 of the bucket 41 is connected with the quick-change connector 16, so that the slurry is directly conveyed from the bucket 41 to the putty actuator 1, and the putty actuator is simple in structure and easy to maintain and clean.

Optionally, a handle 421 extending upward is connected to the pressure plate 42 for taking up and putting in the pressure plate 42, and further, the surface of the handle 421 may be configured with a knurling process to improve friction, facilitate quick taking up, and facilitate adding slurry into the bucket 41. The surface of the lying handle can be frosted, and the surface of the lying handle can be provided with a shape suitable for being held by a human hand, so that the convenience in use is improved.

Optionally, trade and also can set up thick liquids on thick liquids bucket 4 and detect the piece, set up the weight inductor for example in storage bucket 41 bottom or set up the inductor that responds to the thick liquids position in storage bucket 41, from this, when thick liquids are less in storage bucket 41 or reach the minimum of guaranteeing normal work, signals to the suggestion administrator in time adds thick liquids, in order to avoid feeding pump 43 to inhale empty or intermittent working and influence the coating effect, improve the work efficiency and the intellectuality of robot.

With reference to fig. 2, optionally, the slurry system further comprises: the feeding pump 43 and the feeding pump 43 are arranged below the pulp changing barrel 4, the pulp sucking port 430 of the feeding pump 43 is communicated with the pulp outlet 40 of the material barrel 41, for example, the pulp outlet 40 and the pulp sucking port 430 are connected through a hose 432, the pulp sucking port 430 of the feeding pump 43 is coaxial with the pulp outlet 40 of the material barrel 41, and the arrangement can enable the suction distance to be shortest and improve the working efficiency. The feeding pump 43 can also be provided with a feeding pipe 431, and the feeding pipe 431 is communicated with the structure 16 of the putty actuator 1 so as to suck the slurry in the charging bucket 41 from the suction port 430 and send the slurry to the putty actuator 1 through the feeding pipe 431.

With reference to fig. 1, optionally, the climbing system includes a main vehicle 21 and an auxiliary vehicle 22, the main vehicle 21 and the auxiliary vehicle 22 are both movable in the vertical direction to perform large-area processing on the wall surface, so as to implement the automatic operation of the robot, autonomously plan the path, and improve the practicability of the robot, the mechanical arm 3 is connected to the main vehicle 21, and the slurry system is connected to the auxiliary vehicle 22.

Optionally, the track system comprises a top rail 51 and a ground rail 52, the top rail 51 and the ground rail 52 both extend in the horizontal direction, the top rail 51 is arranged above the ground rail 52, and the climbing system is connected between the top rail 51 and the ground rail 52 and is movable along the top rail 51 and the ground rail 52, so that the movement of the putty coating robot 100 in the horizontal direction and the vertical direction can be realized, the flexibility and the practicability are improved, and the putty coating robot 100 can be suitable for various coating situations.

A putty executor 1 and a putty applying robot 100 according to an embodiment of the present invention will be described below with reference to the accompanying drawings.

Referring to fig. 1 to 10, a putty applying robot 100 includes: the system comprises a track system, a climbing system, a mechanical arm 3, a slurry system and a putty executor 1. The track system comprises a sky rail 51 and a ground rail 52, the sky rail 51 is arranged above the ground rail 52, the sky rail 51 and the ground rail 52 extend along the horizontal direction, the climbing system is connected between the sky rail 51 and the ground rail 52 and can move along the sky rail 51 and the ground rail 52, the climbing system comprises a main vehicle 21 and an auxiliary vehicle 22, the mechanical arm 3 is connected to the main vehicle 21, and the slurry system is connected to the auxiliary vehicle 22, wherein the auxiliary vehicle is divided into an upper area and a lower area by a structural frame. Slurry system is including trading thick liquid bucket 4 and feeding pump 43, trades thick liquid bucket 4 and comprises storage bucket 41 and clamp plate 42, and storage bucket 41 is used for holding thick liquids, and the bottom is equipped with out thick liquid mouth 40, and clamp plate 42 is along upper and lower direction movably locating in storage bucket 41, and is connected with the handle of crouching on the clamp plate 42, and clamp plate 42's week is along being equipped with scraping plate 422, can construct comparatively inclosed play cavity from this between clamp plate 42 and the storage bucket 41. The feeding pump 43 is arranged below the pulp changing barrel 4, and the suction port 430 of the feeding pump 43 is communicated with the pulp outlet 40 at the bottom of the charging barrel 41 and is coaxially arranged to shorten the suction distance.

The putty actuator 1 includes: the mounting seat 11, the sliding seat 12, the rotating seat 13, the reset piece 14 and the scraping plate 15, wherein the scraping plate 15 is connected with the rotating seat 13, a sliding rail 113 is arranged on the mounting seat 11, the sliding seat 12 comprises a sliding block 122, a sliding block seat 123 and a rotating shaft 124, the sliding seat 12 is fixedly connected with the sliding block 122, a gap is formed between the sliding seat 12 and the sliding block 122, the rotating shaft 124 is connected with the sliding block seat 123 and extends into the gap, so that the rotating seat 13 can be rotatably connected with the sliding block seat 123, and the sliding block 122 can slide in the sliding rail 113. The rotating base 13 is provided with a third positioning portion 131 and a fourth positioning portion 132, the mounting base 11 is provided with a first positioning portion 111 and a second positioning portion 112, the reset element 14 is a first elastic element 141 and a second elastic element 142, specifically, the first elastic element 141 is nested on the third positioning portion 131 and the first positioning portion 111, the second elastic element 142 is nested on the fourth positioning portion 132 and the second positioning portion 112, a quadrilateral structure is constructed, and the first elastic element 141 and the second elastic element 142 are respectively disposed on two opposite sides of a spindle of the rotating shaft 124 of the rotating base 13, so as to improve balance. The putty actuator 1 also includes a connector 16, a first feed tube 171 and a second feed tube 172, where the connector 16 may be a three-way connector 16, i.e., having an inlet 160, a first outlet 161 and a second outlet 162 that communicate with each other, where the first outlet 161 and the second outlet 162 communicate with one end of the first feed tube 171 and the second feed tube 172, and where the other end of the first feed tube 171 and the second feed tube 172 extend toward and above the middle of the scraper 15 and slope toward the upper surface of the scraper 15.

Specifically, a top rail 51 and a ground rail 52 of the track system are laid on the walkway plates of the climbing system, respectively, and the primary vehicle 21 and the secondary vehicle 22 are connected between the top rail 51 and the ground rail 52. The mechanical arm 3 and the putty executor 1 are loaded on the main vehicle 21, the up-and-down movement operation is realized through a lifting mechanism, the slurry system is loaded on the auxiliary vehicle 22, and the putty executor 1 is supplied with the slurry through a pipeline.

With reference to fig. 2 and 4, furthermore, the vat 4 is placed in the upper region of the structural frame, fixed to the vertical beams of the structural frame. The feed pump 43 is arranged in the middle of the structural frame and is screwed down and fixed by screws. The material suction port 430 of the feeding pump 43 is installed and then is coaxial with the bottom slurry outlet 40 of the slurry changing barrel 41, the material suction port 430 of the feeding pump 43 and the bottom slurry outlet 40 of the slurry changing barrel 4 can be connected through a hose 432 to form a material suction end of a slurry system, the coaxial arrangement enables the material suction distance of the feeding pump 43 to be shortest, a pipeline is simple and convenient, the material suction loss of a pump body is minimum, and the corresponding discharge flow is increased. A feeding pipe 431 is connected to an outlet at the left end of the feeding pump 43, the feeding pipe 431 is communicated with the joint 16 to form a feeding end of the slurry system, wherein a servo motor is installed on the feeding pump 43 to serve as a power source to provide power for the feeding pump 43. Electric cabinet 44 has been arranged to structural framework lower part region, and electric cabinet 44 passes through the bottom fix with screw on structural framework's crossbeam, and electric cabinet 44 passes through cable plug and links to each other with servo motor, realizes controlling servo motor's rotational speed direction etc. through program instruction to realize the accurate control of slurry system ejection of compact flow size.

Further, with reference to fig. 2 and 4, a slurry outlet 40 is provided at the bottom of the charging basket 41 of the slurry changing basket 4, a hose 432 is installed at the slurry outlet 40, and the hose 432 is in butt joint with the suction port 430 of the feeding pump 43. The pressing plate 42 is arranged in the charging basket 41, the scraping disc 422 of the pressing plate 42 is screwed and fixed below the pressing plate 42 through screws, the outer ring of the scraping disc 422 is in interference fit with the inner wall of the charging basket 41, and the handle is welded on the pressing plate 42 and fixedly connected with the same. The material barrel 41 can be a common plastic barrel 41, and the pressing plate 42 structure is used to replace a traditional heavy and complicated stirring rack assembly, so that the cost is greatly reduced, and the weight of the equipment is reduced.

In the actual working process, the pressing plate 42 is always attached to the upper surface of the slurry and slowly descends under the action of gravity, in the descending process, the scraping disc 422 is attached to the inner wall of the charging basket 41 and scrapes the slurry attached to the inner wall of the charging basket 41, the residual slurry in the charging basket 41 is always in the effective pumping range of the feeding pump 43, the full utilization of the slurry is guaranteed, the slurry loss is reduced, air cannot be mixed into the slurry, the discharging flow is guaranteed to be stable and uninterrupted, meanwhile, the residual slurry in the subsequent cleaning process is less, the workload of engineering personnel is greatly reduced, and the labor hour is reduced.

In the prior art, a putty actuator is generally fed by a single pipeline, a pipeline outlet is arranged in the middle, putty slurry reaches two sides of a scraper plate under the action of pressure and flows in a diffusion mode, the distribution of the flowing putty on the working surface of the scraper plate conforms to a normal distribution rule, the slurry is concentrated in the middle, the two sides are short of the slurry or are lack of the slurry, and the putty coating effect is poor. In the embodiment of the present invention, with reference to fig. 5 to 8, a three-way joint 16 is disposed at the rear end of the putty actuator 1, that is, an inlet 160, a first outlet 161, and a second outlet 162 which are communicated with each other are respectively connected to the main feed pipe, the first feed pipe 171, and the second feed pipe 172, and the first feed pipe 171 and the second feed pipe 172 are symmetrically disposed at two sides of the putty actuator 1 through the guide metal plate 174 and the limiting metal plate 173. The first outlet 161 and the second outlet 162 of the first feeding pipe 171 and the second feeding pipe 172 form a certain angle with the scraper 15, so that the discharging is uniform, the flowing direction is concentrated in a working area, and redundant slurry is prevented from overflowing towards two sides and falling off in the working process; the spacing metal plate 173 can realize real-time adjustment of the distance between the outlets of the left feeding pipe and the right feeding pipe through adjustment of the mounting position, the length of a corresponding operation area is changed in real time, and the adaptability of the operation area under different working conditions is improved.

The middle of the putty executor 1 is provided with a sliding seat 12 which is beneficial to the front and back floating of the scraper 15 and a rotating seat 13 which is beneficial to the left and right floating, and the putty is coated on the contact with the wall surface in the working process and belongs to line-surface contact, so that the freedom degree setting of the front and back floating and the left and right floating is enough to ensure the close attachment of the scraper 15 to any uneven wall surface. A slide rail 113 and a slide block 122 are arranged above the mounting seat 11 of the mechanical arm 3, the slide block 122 moves back and forth, the mounting seat 11 of the slide block 122 is fixedly connected with the slide block 122 through a screw, and the mounting seat 11 of the slide block 122 is connected with the rotating seat 13 through a rotating shaft 124 which can rotate left and right around the rotating shaft 124; two compression springs are arranged between the rotating base 13 and the mounting surface of the sliding rail 113, the compression amount of the first elastic part 141 and the second elastic part 142 is changed in the process that the sliding block 122 moves forwards and backwards, the side surface of the sliding block 122 is provided with a proximity sensor 181, and when the first elastic part 141 and the second elastic part 142 are compressed to working positions, the sensor 181 lights up to send out signals. The sliding seat 12 and the rotary seat 13 are externally provided with a protective cover 19, so that the sliding rail 113 and the sensor 181 can be effectively protected from being damaged in severe environments such as a construction site. Wherein, the first elastic member 141 and the second elastic member 142 may be springs.

When the putty executor 1 is driven by the mechanical arm 3 to be close to a wall surface and affected by the unevenness of the wall surface, the scraper 15 starts to rotate left and right under the action of force to adapt to the deformation of the wall surface until the scraper 15 is completely attached to the wall surface; after the scraper 15 is completely attached to the wall surface, the slider 122 is pushed to move backwards by the counterforce F1 of the wall body on the scraper 15, at the moment, the reset part 14 gradually compresses, the pressure is increased, after a period of time, the sensor 181 is lighted to send a signal when the slider 122 moves to the working position, the mechanical arm 3 stops moving forwards, the slurry system receives the signal and then starts the feeding pump 43 to feed, when the slurry is sufficient, the putty actuator 1 and the mechanical arm 3 start moving upwards under the driving of the lifting mechanism of the main vehicle 21, and putty is uniformly coated on the wall surface. As shown in fig. 8, fig. 8 shows the matching manner between the sliding seat 1133 and the rotating seat 13, when the scraper 15 contacts the wall surface, the rotating seat 13 rotates in the Y-axis and Z-axis directions to make the scraper 15 adhere to the wall surface, and the sliding seat 12 moves in the X-axis direction to improve the adhesion degree of the scraper 15 to the wall surface, wherein the X-axis, the Y-axis and the Z-axis are perpendicular to each other. In the process, the mechanical arm 3 can compensate and adjust the pressure of the putty scraper 15 on the wall surface in real time according to the signal of the sensor 181 of the putty executor 1, so that the consistency of the coating force and the survival thickness of the putty at each part is ensured, and the operation effect at each part is uniform.

Referring to fig. 10, the interaction force between the scraper 15 and the wall surface is F, which determines the force and the survival thickness of the putty application, when the putty application operation starts, the mechanical arm 3 drives the putty actuator 1 to start moving in the wall direction (-X direction), the scraper 15 presses the wall to generate a reaction force F1, the reaction force F1 pushes the slider 122 to move backward along the guide rail, at this time, the spring is gradually compressed, when the work sensor 182 on the slider 122 enters the sensing range of the proximity sensor 181, the proximity switch lights up to send a signal, the mechanical arm 3 stops moving in the wall direction (-X direction), at this time, the pressure of the scraper 15 is equal to the spring force, that is, F1 is 2F2 — 2N L1(N is a spring constant). When the wall surface deforms and protrudes, the scraper 15 is pressed further and retreats, the limit sensing part 183 enters the sensing range of the sensor, the proximity switch is lightened to send a signal, the mechanical arm 3 moves backwards (X direction), the mechanical arm 3 is prompted to perform distance compensation in real time through the signal, and the pressure of the scraper 15 is guaranteed to float nearby F1. In the process of the upward coating (+ Y direction) operation, no matter how the wall surface is deformed, the robot arm 3 performs motion compensation in the forward (-X direction) or backward (+ X direction) direction according to the signal of the proximity sensor 181, thereby ensuring that the coating effect is consistent at each position.

In addition, the working induction part 182 and the limit induction part 183 of the present invention may be both in the shape of a sheet or other shapes. The sensor 181 in the present invention may be a proximity sensor, a micro switch, or the like.

Thus, by using the putty applying robot 100 of the present invention, it is possible to perform a full automatic operation of applying putty to a wall surface. The improved design of the slurry system realizes uniform putty discharging, and realizes the reduction of equipment cost and light weight; the convenience of feeding and cleaning of engineering personnel is improved, and the labor hour is reduced; optimizing the pipeline layout and increasing the discharge flow; the structure of the pressing plate 42 is added in the quick-change charging basket 41, so that the discharging stability is improved. Wherein, the scraper blade 15 of putty executor 1 is with arbitrary wall laminating well, through set up sliding seat 12 and roating seat 13 in the executor, makes the operation in-process can ensure to realize the putty coating operation with the laminating of scraper blade 15 on the wall, guarantees that the operation can mend wall unevenness punishment, accomplishes the putty operation of making level. Through set up sensor 181 in putty executor 1, can control putty coating dynamics and putty thickness of surviving, guarantee that the operation effect is even unanimous everywhere, and the effect is better. In addition, by designing a symmetrical double-pipeline structure (namely the first feeding pipe 171 and the second feeding pipe 172) on the putty actuator 1, the problems that in the related technology, a plurality of materials are arranged in the middle of a single outlet, two sides of the materials are short, and putty is not uniformly coated are solved; the scraping width is expanded, and the efficiency is improved; saves the putty transfer structure, directly realizes the putty ejection of compact above the scraper, and the structure is simplified, and it is convenient to wash, and the test effect is splendid.

The putty coating machine can improve the putty scraping operation efficiency, improve the construction effect of putty coating operation, reduce the labor requirement in decoration engineering, lighten the working strength of workers, and solve the pain point problems of labor shortage and high labor cost in the current building construction.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A putty actuator, comprising:

a mounting seat;

the sliding seat is slidably arranged on the mounting seat;

the rotating seat is rotatably connected with the sliding seat;

a reset member respectively connected to the sliding seat and the rotating seat, the reset member being configured to position the rotating seat and provide elastic support to the rotating seat;

the scraper blade, the scraper blade with the roating seat links to each other.

2. The putty actuator of claim 1, wherein the mounting block includes a slide rail and the slide block includes a slide block that slidably engages the slide rail.

3. The putty actuator of claim 2, wherein the slide block further includes:

the sliding block seat is fixedly connected with the sliding block, and a gap is formed between the sliding block seat and the sliding block;

the rotating shaft is connected with the sliding block seat and extends into the gap, and the rotating seat extends into the gap and is connected with the rotating shaft so as to be suitable for the rotating seat to be rotatably connected with the sliding block seat.

4. The putty actuator of claim 3, wherein the restoring element includes a first elastic element and a second elastic element, the first elastic element and the second elastic element are disposed such that both ends thereof abut against the mounting base and the swivel base, and the first elastic element and the second elastic element are disposed on opposite sides of a center axis of rotation of the swivel base, respectively.

5. The putty actuator of claim 4, wherein the mounting base is provided with a first positioning portion and a second positioning portion, the rotating base is provided with a third positioning portion and a fourth positioning portion, the third positioning portion is opposite to the first positioning portion, and the fourth positioning portion is opposite to the second positioning portion;

the first elastic part is a spring supported between the third positioning part and the first positioning part, two ends of the first elastic part are respectively sleeved on the third positioning part and the first positioning part, the second elastic part is a spring supported between the fourth positioning part and the second positioning part, and two ends of the second elastic part are respectively sleeved on the fourth positioning part and the second positioning part.

6. The putty actuator of any one of claims 1-5, characterized in that one of the mounting block and the slide block is provided with a work sensor and a limit sensor, and the other of the mounting block and the slide block is provided with a sensor for opposing the work sensor and the limit sensor, the sensor being adapted and configured to communicate with a robotic arm to maintain the position of the slide block relative to the mounting block while the putty actuator is in operation.

7. The putty actuator of any one of claims 1-5 further comprising:

a fitting having an inlet, a first outlet, and a second outlet in communication with one another;

a first feed pipe, one end of which is communicated with the first outlet;

a second feed pipe, one end of which is communicated with the second outlet,

the other end of the first feeding pipe and the other end of the second feeding pipe extend towards each other and extend to the position above the middle position of the scraper and incline towards the upper surface of the scraper.

8. A putty application robot, comprising:

a rail system;

a climbing system connected with the rail system and arranged along the up-down direction;

the mechanical arm is connected with the climbing system and can be lifted;

a putty actuator connected to the robotic arm, the putty actuator being a putty actuator according to any one of claims 1-7.

9. The putty application robot of claim 8, further comprising:

a slurry system coupled to the putty actuator to provide putty.

10. The putty application robot of claim 9, wherein the slurry system includes a slurry changing bucket that includes:

the bottom of the charging basket is provided with a slurry outlet; and

the pressing plate is arranged in the charging bucket and movably arranged in the charging bucket along the vertical direction, and a cavity is formed between the pressing plate and the charging bucket.

11. The putty application robot of claim 10,

the pressing plate is connected with a scraping disc, and the scraping disc extends out of the peripheral edge of the pressing plate and is in interference fit with the inner peripheral surface of the charging bucket; and/or

A slurry outlet of the charging basket is connected with a quick-change connector; and/or

The pressing plate is connected with a grab handle extending upwards, and the surface of the grab handle is subjected to knurling treatment.

12. The putty application robot of claim 10, further comprising:

the feeding pump is arranged below the slurry changing barrel, a suction port of the feeding pump is communicated with a slurry outlet of the slurry barrel, and the suction port of the feeding pump is coaxial with the slurry outlet of the slurry barrel.

13. The putty coating robot of claim 9, wherein the climbing system includes a primary vehicle and a secondary vehicle, both of which are movable in an up-down direction, the mechanical arm is coupled to the primary vehicle, and the slurry system is coupled to the secondary vehicle.

14. The putty-applying robot of claim 8, wherein the rail system includes a top rail and a bottom rail, the top rail and the bottom rail each extending in a horizontal direction, the top rail being disposed above the bottom rail, the climbing system being coupled between and movable along the top rail and the bottom rail.