CN113635445A

CN113635445A - Material stirring device and caulking robot

Info

Publication number: CN113635445A
Application number: CN202010391209.0A
Authority: CN
Inventors: 魏愷含; 邢万庆; 胡鹏程; 莫爱珠
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-05-11
Filing date: 2020-05-11
Publication date: 2021-11-12

Abstract

The invention relates to a material stirring device and a caulking robot, comprising a stirring material barrel; and the stirring execution mechanism is used for automatically and uniformly stirring the materials in the stirring material barrel, the stirring execution mechanism comprises a stirring execution component, a stirring shaft, a driving shaft and a power component, the stirring execution component is rotatably arranged in the stirring material barrel, the stirring shaft is connected with the stirring execution component, the driving shaft is connected with the driving shaft, the power component is connected with the driving shaft, a clamping body is arranged on one of the stirring shaft and the driving shaft, a clamping position is arranged on the other of the stirring shaft and the driving shaft, and the clamping body is detachably connected with the clamping position in a clamping manner. The stirring actuating mechanism is started to automatically and uniformly stir the mixed material, the manual participation is not needed, and the gap filler preparation effect is high. After the joint mixture in the feed cylinder has taken, can directly upwards carry and draw the stirring feed cylinder, the card body and screens direct separation can realize stirring feed cylinder and power component split to the operation is washd to the stirring feed cylinder to the convenience, labour saving and time saving can reduce the operation by a wide margin consuming time, improves the operating efficiency of caulking.

Description

Material stirring device and caulking robot

Technical Field

The invention relates to the technical field of construction robots, in particular to a material stirring device and a caulking robot.

Background

Traditionally, when finishing tile paving is completed, gap fillers are required to be filled in brick joints to improve the appearance. The used gap filler is usually formed by mixing a hydraulic cementing material and water or other liquid in a stirring device according to a certain proportion, workers are required to continuously stir manually for a long time for ensuring uniform texture, and the stirring device is required to be cleaned for avoiding the influence of the residual gap filler in the previous time on the quality of the gap filler prepared in the next time, but the cleaning operation is inconvenient, time and labor are wasted, the efficiency is low, and the gap filling operation efficiency is greatly influenced.

Disclosure of Invention

Based on this, it is necessary to provide a material stirring device and a caulking robot, and the problem that the caulking operation efficiency is low, and time and labor are wasted in the prior art is solved.

In one aspect, the present application provides a material mixing device, which includes:

stirring the charging barrel; and

stirring actuating mechanism, stirring actuating mechanism be used for with the automatic stirring of material in the stirring feed cylinder, stirring actuating mechanism including rotate set up in stirring actuating component in the stirring feed cylinder, with stirring shaft, drive shaft that stirring actuating component connects and with drive shaft connected's power component, the (mixing) shaft with one of them of drive shaft is equipped with the card body, the (mixing) shaft with wherein another of drive shaft is equipped with the screens, the card body with the block connection can be dismantled to the screens.

The material stirring device is applied to a gap filling robot and is mainly used for preparing gap filler and supplying the gap filler for a gap filling executive part, so that the manpower participation degree in the gap filling operation process is reduced, and the purposes of quality improvement and efficiency improvement are achieved. Specifically, before the caulking operation is carried out, a hydraulic cementing material (namely, solid powder of the caulking agent) and water (or other types of liquid) are filled in the stirring charging barrel in a quantitative ratio, and then the stirring executing mechanism is started to automatically and uniformly stir the mixed material. When the joint mixture in the charging barrel is used up and the stirring charging barrel needs to be cleaned, the stirring charging barrel can be directly lifted upwards, the clamping body and the clamping position can be quickly and directly separated, the stirring charging barrel and the power assembly can be detached, the stirring charging barrel is conveniently cleaned independently, time and labor are saved, the operation time can be greatly reduced, and the joint filling operation efficiency is improved.

The technical solution of the present application is further described below:

in one embodiment, the stirring executing assembly comprises a carrying rod connected with the stirring shaft, and a first stirring rod and a second stirring rod which are arranged at two opposite ends of the carrying rod at intervals, wherein the first stirring rod and the second stirring rod are abutted to or in clearance fit with the inner cylinder wall of the stirring cylinder.

In one embodiment, the length of the first stirring rod is greater than the length of the second stirring rod; or the length of the second stirring rod is greater than that of the first stirring rod.

In one embodiment, the stirring execution assembly further includes a first soft scraper and a second soft scraper, the first soft scraper is disposed on the first stirring rod, the second soft scraper is disposed on the second stirring rod, and both the first soft scraper and the second soft scraper abut against the inner wall of the stirring cylinder.

In one embodiment, the stirring actuating mechanism further comprises a stirring bracket, and the stirring barrel and the power assembly are respectively arranged on the stirring bracket; the stirring material cylinder is detachably connected with the stirring support through a locking assembly.

In one embodiment, the locking assembly includes a quick release hook disposed on one of the stirring bracket and the stirring barrel, and a quick release seat disposed on the other of the stirring bracket and the stirring barrel, and the quick release hook is detachably fastened to the quick release seat.

In one embodiment, the power assembly comprises a first mounting frame arranged on the stirring support, a driving member arranged on the first mounting frame, a transmission assembly in driving connection with the driving member, a second mounting frame arranged on the stirring support, and a supporting seat arranged on the second mounting frame, wherein the driving shaft is rotatably arranged on the supporting seat and connected with the transmission assembly.

In one embodiment, the transmission assembly is provided as a synchronous pulley set, the power assembly further comprises a tensioning adjusting assembly provided on the first mounting frame, and the tensioning adjusting assembly is used for adjusting the tightness of the synchronous pulley set.

In one embodiment, the material stirring device further comprises a cover opening and closing mechanism, the cover opening and closing mechanism comprises a third mounting frame, a driver which is arranged on the third mounting frame and is provided with a power shaft, a driving arm which is rotatably connected with the power shaft, and a cover plate which is connected with the driving arm, and the driving arm is further rotatably connected with the third mounting frame.

In addition, the application also provides a caulking robot, which comprises the material stirring device.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural diagram (closed state) of a material stirring apparatus according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram (an open state) of a material stirring apparatus according to another embodiment of the present invention;

FIG. 3 is an exploded view of the stir actuator assembly of FIG. 1;

FIG. 4 is a schematic structural diagram of a power assembly according to an embodiment of the present invention;

FIG. 5 is a schematic view of the structure of FIG. 4 from another perspective;

FIG. 6 is a schematic structural diagram of a cleaning apparatus according to an embodiment of the present invention;

FIG. 7 is a schematic view of an internal structure of a cleaning apparatus according to an embodiment of the present invention;

fig. 8 is an exploded view of the showerhead of fig. 6.

Description of reference numerals:

10. a material stirring device; 11. stirring the charging barrel; 12. a stirring actuator; 121. a stirring execution component; 121a, a carrying rod; 121b, a first stirring rod; 121c, a second stirring rod; 121d, a first soft squeegee; 121e, a second soft squeegee; 122. a stirring shaft; 122a, a card body; 123. a drive shaft; 123a and clamping positions; 124. a power assembly; 124a, a first mounting frame; 124b, a driving member; 124c, a transmission component; 124d, a second mounting bracket; 124e, a supporting seat; 124f, a tension adjustment assembly; 125. stirring the bracket; 13. a cover opening and closing mechanism; 131. a third mounting bracket; 132. a driver; 133. a drive arm; 134. a cover plate; 135. a seal member; 20. a cleaning device; 21. cleaning the water tank; 211. a water tank body; 212. a water tank cover; 212a, access holes; 22. cleaning the actuating mechanism; 221. washing the workpiece; 222. spraying and washing the head; 222a, a filter element; 222b, a pressurizing piece; 222c, connecting joints; 222d, a control valve; 222e, a conversion joint; 222f, a hose; 222g, fixing blocks; 222h, a spray head body; 222i, spray rinsing holes; 223. a filter; 224. driving the pump; 225. cleaning the water pipe; 23. a water baffle; 24. a mounting seat; 25. a first locking mechanism; 26. a second locking mechanism; 30. a locking assembly; 31. a quick-release hook; 32. a quick-release clamping seat.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

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 device or element must have a particular orientation, be constructed and operated in a particular orientation, and are 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 present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

The embodiment of the application provides a caulking robot, which can replace the construction mode of completely depending on the manpower work of workers in the traditional caulking operation, and realize the full-automatic unmanned high-efficiency caulking operation. The caulking robot mainly comprises a mobile chassis, an electric cabinet, a material storage device, a manipulator, a caulking executive component (namely an end executive component; of course, when the caulking executive component is a robot of other types, the end executive component corresponds to an executive device of other types, such as when the caulking robot is a grinding robot, the end executive component corresponds to a grinding executive component), and a stirring and cleaning system, wherein the stirring and cleaning system comprises a material stirring device 10, a cleaning device 20 and some auxiliary devices.

The movable chassis is used for providing walking power, so that the caulking robot has maneuvering operation capability, and is convenient for replacing different construction operation places. The movable chassis is also provided with a vibration damping system to improve the trafficability of the caulking robot and ensure the caulking precision and flatness during in-place work. In addition, the moving chassis is also provided with traveling parts such as universal wheels, idle wheels and the like, so that the moving chassis has the capabilities of omnidirectional movement and zero turning radius traveling, and meets various complex space and terrain working requirements.

The material storage device is used for storing various materials required by the preparation of the joint mixture, such as joint mixture raw material powder, water and the like. The joint mixture mentioned in the scheme is also called joint pointing agent, joint beautifying agent, joint filling material, joint beautifying paste and the like. For example, materials suitable for filling joints between ceramic tiles are collectively referred to as ceramic tile caulk. Most of the caulking agents currently used in the market are mainly cement-based caulking agents, and the cement-based caulking agents are prepared by mixing hydraulic cementing materials, such as cement, mineral aggregates, and organic and/or inorganic materials, in a certain proportion to form a uniform powder mixture, and the uniform powder mixture is mixed with water or other liquids to be used when preparing finished products of the caulking agents. It is noted that such caulks react to form a solid mass upon contact with water, and thus the finished caulk product is typically required to be used within 1 hour to avoid deterioration and loss of caulk properties.

The sealing executing piece is an executing mechanism for directly executing the sealing operation, obtains higher degree of freedom by being connected with the manipulator, can execute the track movement such as straight line and curve, and meets the sealing requirements of brick joints with various shapes, angles and the like. In the present embodiment, the caulking actuator is formed as a piston-cylinder structure, i.e. comprising a cylinder, a piston, a nozzle, a drawing power mechanism, etc. The cylinder barrel is used for containing the caulking agent, and the drawing power mechanism pushes the piston to move, so that the caulking agent in the cylinder barrel can be extruded and discharged from the nozzle to a brick joint, and the caulking operation is completed. When the gap filler is used up after a period of operation, the manipulator moves the gap filling executing piece to stretch into the material stirring device 10, the drawing power mechanism pulls the piston, suction force is generated in the cylinder barrel, the gap filler prepared in the material stirring device 10 is sucked into the cylinder barrel, material supplementing is achieved, and the gap filling executing piece has continuous working capacity. Just because the joint filling executing piece needs to be stretched into the joint filling agent of the material stirring device 10 to reliably complete reliable material filling, the outer cylinder wall of the cylinder barrel is directly infected with the joint filling agent, if the joint filling agent infected from the outside is not cleaned, the part of the joint filling agent is easy to drop accidentally during joint filling operation, so that the quality problems of uneven joint filling or uneven joint filling occur or the construction environment is polluted. Therefore, before the completion of the filling and the formal filling operation, the cleaning device 20 is needed to clean the excess filling agent stained on the outer cylinder wall.

Referring to fig. 1 and 6, an agitation cleaning system according to an embodiment of the present application includes: a material stirring device 10 and a cleaning device 20. The material stirring device 10 comprises a stirring cylinder 11 and a stirring executing mechanism 12 connected with the stirring cylinder 11, wherein the stirring executing mechanism 12 is used for automatically and uniformly stirring the material in the stirring cylinder 11; the cleaning device 20 comprises a cleaning water tank 21 and a cleaning executing mechanism 22 arranged on the cleaning water tank 21, wherein the cleaning executing mechanism 22 is used for cleaning and removing materials stained on the gap filling executing piece.

In summary, the implementation of the technical solution of the present embodiment has the following beneficial effects: the stirring and cleaning system is applied to a gap filling robot and is mainly used for preparing gap filler, supplying the gap filler and cleaning redundant gap filler for a gap filling executive part, so that the manpower participation degree in the gap filling operation process is reduced, and the purposes of quality improvement and efficiency improvement are achieved. Specifically, before the caulking operation is performed, the mixing cylinder 11 is first filled with a certain amount of hydraulic binder (i.e., solid powder of caulking agent) and water (or other liquid), and the mixing actuator 12 is then activated to automatically mix the mixture uniformly, without human intervention. Then, the mechanical arm drives the gap filling execution member to move into the stirring material cylinder 11 to fill the gap filling agent in a suction mode, then the mechanical arm drives the gap filling execution member to extend into the cleaning water tank 21, and the cleaning execution mechanism 22 can clean and remove the residual gap filling agent stained on the gap filling execution member in the extending process so as to avoid the phenomenon that the residual gap filling agent drips in the gap filling operation process to influence the gap filling quality. Therefore, in the three links of gap filler preparation, gap filler supply and redundant gap filler cleaning, the whole process does not need the intervention of workers, the increase of labor cost caused by high labor intensity can be greatly reduced, meanwhile, the automation degree of each mechanical structure is high, the coordination degree is high, the time consumed by operation can be greatly reduced, and the gap filling operation efficiency is improved.

Referring to fig. 1, 3-5, as mentioned above, the caulking compound has a hydraulic gelling property, so that after a certain period of operation, the inner wall of the mixing cylinder 11 is inevitably scaled by the caulking compound, and the mixing cylinder 11 needs to be cleaned periodically to avoid contamination of the caulking compound prepared later and interference with the operation of the mixing actuator 12. Based on this, in some embodiments, the stirring actuator 12 includes a stirring actuator 121 rotatably disposed in the stirring barrel 11, a stirring shaft 122 connected to the stirring actuator 121, a driving shaft 123, and a power assembly 124 connected to the driving shaft 123, one of the stirring shaft 122 and the driving shaft 123 is provided with a locking portion 122a, the other of the stirring shaft 122 and the driving shaft 123 is provided with a locking portion 123a, and the locking portion 122a is detachably engaged with the locking portion 123 a. When the gap filler is prepared, the power assembly 124 drives the driving shaft 123 to rotate, the driving shaft 123 limits the rotation freedom degree of the stirring shaft 122 in the Z-axis direction through the clamping of the clamping body 122a and the clamping position 123a, so that the driving shaft 123 can synchronously drive the stirring shaft 122 to rotate, and the stirring shaft 122 finally drives the stirring execution assembly 121 to rotate to complete the uniform stirring of the mixed raw materials in the stirring barrel 11. However, the engaging structure of the engaging body 122a and the engaging position 123a does not limit the freedom of movement in the Z-axis direction of the driving shaft 123, so that when the stirring cylinder 11 needs to be cleaned, the stirring rod can be directly pulled out and separated from the driving shaft 123, and the stirring cylinder 11 can be detached separately, thereby facilitating cleaning. The structure is simple, the connection reliability is high, and the assembly and disassembly are convenient.

Specifically, in the above embodiment, the block 122a is a flat block formed at the end of the stirring shaft 122, and the block 123a is a slot formed at the top end of the driving shaft 123, and the flat block can be inserted and fixed in the slot. In order to avoid assembly interference, the depth of the clamping groove needs to be slightly larger than the height of the flat block, namely, a gap can be formed between the clamping groove and the flat block after the clamping groove and the flat block are assembled.

The stirring cylinder 11 is formed into a cylindrical cylinder with an open upper end, and a through hole is formed in the middle of the bottom wall of the stirring cylinder 11 so that the stirring shaft 122 can penetrate out and can be inserted into the driving shaft 123. Particularly, a bearing seat and a sealing element are arranged between the stirring shaft 122 and the through hole, so that the sealing capability of the assembly part can be improved while the stirring shaft 122 is ensured to rotate reliably, and the gap filler in the stirring barrel 11 is prevented from leaking out of the through hole.

Referring to fig. 3, in some embodiments, the stirring executing assembly 121 includes a carrying rod 121a connected to the stirring shaft 122, and a first stirring rod 121b and a second stirring rod 121c disposed at opposite ends of the carrying rod 121a at intervals, wherein both the first stirring rod 121b and the second stirring rod 121c are abutted against or in clearance fit with the inner wall of the stirring cylinder 11. So, (mixing) shaft 122 is rotatory can drive and carry pole 121a synchronous rotation, carries pole 121a and then can drive first puddler 121b and second puddler 121c rotatory, because first puddler 121b and second stirring are arranged along the axial extension of stirring feed cylinder 11, therefore the mixed material in the stirring feed cylinder 11 that can be fine, realizes the purpose that the even stirring of gap filler was made. And the first stirring rod 121b and the second stirring rod 121c can be abutted against the inner wall of the stirring cylinder 11 according to the working requirement, so that the inner wall can be scraped, and the gap filler can be prevented from being condensed on the wall surface and remaining to cause the waste of the gap filler.

In order to ensure the service life, the first stirring rod 121b, the second stirring rod 121c and the stirring cylinder 11 are made of metal materials under normal conditions, so that the service life is reduced and noise is generated to influence the use experience of the caulking robot in order to avoid friction and abrasion generated when the first stirring rod 121b and the second stirring rod 121c rotate relative to the stirring cylinder 11. In some embodiments, the stirring implement assembly 121 further includes a first soft scraper 121d and a second soft scraper 121e, the first soft scraper 121d is disposed on the first stirring rod 121b, the second soft scraper 121e is disposed on the second stirring rod 121c, and both the first soft scraper 121d and the second soft scraper 121e are abutted against the inner wall of the stirring cylinder 11. Through the soft scraper blade 121d of the first soft scraper blade 121d of installation and the soft scraper blade 121e of second, can make the automatic inner wall that closely laminates stirring feed cylinder 11 of stirring executive component 121 rotate, fully hang down the joint mixture of gluing on avoiding but do not harm the inner wall of stirring feed cylinder 11 simultaneously again, noise abatement produces, can be fine compromise scrape material, life and use experience the tripartite demand, further promote joint filling robot's performance and reliability.

It is understood that the material used for the first soft scraper 121d and the second soft scraper 121e can be, but is not limited to, rubber, plastic, etc.

Generally, in order to ensure the efficiency and quality of the gap filler preparation, the rotation speed of the first stirring rod 121b and the second stirring rod 121c is high, and since the first stirring rod 121b and the second stirring rod 121c are arranged close to the cylinder wall away from the center of the stirring cylinder 11, the mixture in the stirring cylinder 11 is very likely to generate a vortex phenomenon under the condition of high-speed rotation, which is not favorable for the sufficient and uniform mixing of the mixture. In contrast, in some embodiments, the length of the first stirring rod 121b is greater than the length of the second stirring rod 121 c; or the length of the second agitating shaft 121c is greater than the length of the first agitating shaft 121 b. That is, the rod lengths of the first stirring rod 121b and the second stirring rod 121c are designed to have a difference, so that even when the first stirring rod 121b and the second stirring rod 121c rotate at a high speed, since the stirring forces generated to the mixture are different, no vortex is generated, the flow capability of the mixture can be ensured, and the stirring effect is good. In particular, the effective working time of the caulking agent which has high viscosity and density and is easy to solidify can be prolonged, and the phenomenon that the caulking agent is easy to generate agglomeration due to uneven distribution in the stirring charging barrel 11 can be prevented.

With continuing reference to fig. 2 and fig. 3, in some embodiments, the stirring actuator 12 further includes a stirring bracket 125, and the stirring barrel 11 and the power assembly 124 are respectively disposed on the stirring bracket 125; the mixing barrel 11 is detachably connected with the mixing support 125 through a locking assembly 30. Specifically, the stirring bracket 125 is installed at the bottom of the stirring cylinder 11, and plays a good role in bearing and fixing the stirring cylinder 11 by virtue of the locking force of the locking assembly 30, so as to ensure that the stirring cylinder 11 is kept stable during stirring operation; in addition, power component 124 is installed on stirring support 125, makes each functional component integrated level high, and power component 124 is short to the power take off route of (mixing) shaft 122, does benefit to and improves drive power utilization efficiency, reduces material mixing device 10's whole volume, does benefit to miniaturized design.

Referring to fig. 1, in some embodiments, the locking assembly 30 includes a quick release hook 31 disposed on one of the stirring bracket 125 and the stirring barrel 11, and a quick release seat 32 disposed on the other of the stirring bracket 125 and the stirring barrel 11, and the quick release hook 31 is detachably fastened to the quick release seat 32. The locking structure of the quick-release clamping hook 31 and the quick-release clamping seat 32 is adopted, so that the stirring material barrel 11 is convenient and labor-saving to assemble and disassemble, and the stirring material barrel 11 is convenient to disassemble and clean regularly. Of course, in other embodiments, the lock joint assembly 30 may also adopt other lock structure assemblies in the prior art, such as an electromagnetic lock assembly, a spring lock assembly, etc.

Preferably, in the above embodiment, the locking assembly 30 is two and is arranged on two opposite sides of the mixing barrel 11 in a symmetrical structure, so as to further ensure that the mixing barrel 11 is stably installed.

Referring to fig. 3 to fig. 5, in some embodiments, the power assembly 124 includes a first mounting bracket 124a disposed on the stirring bracket 125, a driving member 124b disposed on the first mounting bracket 124a, a transmission assembly 124c drivingly connected to the driving member 124b, a second mounting bracket 124d disposed on the stirring bracket 125, and a supporting base 124e disposed on the second mounting bracket 124d, and the driving shaft 123 is rotatably disposed on the supporting base 124e and connected to the transmission assembly 124 c. Thus, the first mounting bracket 124a and the second mounting bracket 124d can integrate the driving member 124b, the transmission assembly 124c, the supporting seat 124e and the driving shaft 123 into the cartridge holder, so that the overall structure of the stirring executing mechanism 12 is more compact, the miniaturization design is facilitated, and the integration of the material stirring device 10 into the mobile chassis is facilitated. The rotary power output by the driving member 124b can be effectively transmitted to the driving shaft 123 through the transmission assembly 124c, and the driving shaft 123 can reliably rotate under the supporting and positioning of the supporting seat 124e, so as to drive the stirring shaft 122 and the stirring execution assembly 121 to rotate, thereby achieving the purpose of uniformly stirring the mixed materials to prepare the gap filler. Optionally, the first mounting frame 124a and the second mounting frame 124d are formed by integrally bending a metal plate, so that the structural strength is high and the durability is good.

In addition, power component 124 still includes reduction gear and mount pad 24, and driving piece 124b is the motor, is connected with the motor through the reduction gear to according to the instruction control of electric cabinet, can turn up in a flexible way or turn down the rotational speed size of output to (mixing) shaft 122, reach the requirement of the different materials of adaptation to stirring speed. In addition, the power assembly 124 further includes a protective cover, which is bolted to the bottom of the first and second mounting

frames

124a and 124d, and covers the transmission assembly 124c, etc., so as to play a role of safety protection.

In some embodiments, the transmission assembly 124c is configured as a synchronous pulley set, that is, the synchronous pulley set includes a driving synchronous pulley, a synchronous belt and a driven synchronous pulley, the driving synchronous pulley is connected to the output shaft of the speed reducer, and the driven synchronous pulley is connected to the driving shaft 123, so as to avoid the occurrence of a slip phenomenon and ensure the transmission efficiency of the motor power. In addition, power component 124 still including set up in tensioning adjusting part 124f on the first mounting bracket 124a, tensioning adjusting part 124f is used for adjusting hold-in range wheelset's rate of tension to long-term work, hold-in range atress take place deformation in time adjust after relaxing and resume the tensioning, guarantee hold-in range and the assembly reliability of driving, driven synchronizing wheel. Specifically, in this embodiment, the tensioning adjustment assembly 124f is an adjustment bolt and a nut, and by screwing the adjustment bolt, the axial distance between the driving synchronous wheel and the driven synchronous wheel can be adjusted, so as to achieve the purpose of tensioning the synchronous belt. Alternatively, in some other embodiments, the tensioning adjustment assembly 124f can be other tensioning mechanisms or devices known in the art that can achieve the effect of tensioning a timing belt.

In addition to the above-mentioned synchronous pulley set, the transmission assembly 124c may also adopt a sprocket set, a pulley set, or the like according to actual needs.

Referring to fig. 1 and fig. 2, in some embodiments, the material stirring apparatus 10 further includes a cover opening and closing mechanism 13, where the cover opening and closing mechanism 13 includes a third mounting bracket 131, a driver 132 disposed on the third mounting bracket 131 and having a power shaft, a driving arm 133 rotatably connected to the power shaft, and a cover 134 connected to the driving arm 133, and the driving arm 133 is further rotatably connected to the third mounting bracket 131. Specifically, the actuator 132 may be an air cylinder, an electric push rod, a linear motor, or the like capable of outputting power in the linear direction of extension and contraction. The rotary connection part of the driving arm 133 and the third mounting frame 131 forms a rotary fulcrum, when the power shaft of the driver 132 extends out, the driving arm 133 can push the cover plate 134 to rotate downwards to cover the upper end opening of the stirring material barrel 11, so that the phenomenon that the gap filler in the barrel is contacted with air for a long time in a waiting stage to cause the activity loss of the gap filler to influence the quality can be avoided. And when the joint filling executive part needs to suck and supplement materials, the electric cabinet controls the driver 132 to withdraw the power shaft, at the moment, the driving arm 133 drives the cover plate 134 to turn upwards and open, the opening at the upper end of the stirring material barrel 11 is opened, and the joint filling executive part can conveniently stretch into the barrel to supplement materials.

In particular, in order to improve the sealing performance between the cover plate 134 and the stirring cylinder 11 after being covered, and avoid spilling of the gap filler during stirring or influence on the activity of the gap filler due to the entrance of the external air into the cylinder, the cover opening and closing mechanism 13 further includes a sealing member 135, and the sealing member 135 is disposed on one of the cover plate 134 and the stirring cylinder 11, so that the cover plate 134 and the stirring cylinder 11 can be sealed and covered. Specifically, the sealing member 135 is a rubber packing, and is installed at the inner edge of the upper opening of the agitating cylinder 11.

Referring to fig. 6, as mentioned above, in order to avoid affecting the quality of the sealing operation of the sealing executing member, the excess sealing agent adhered to the outer wall of the cylinder needs to be cleaned, and at this time, the sealing executing member needs to be first inserted into the cleaning water tank 21 for cleaning. In some embodiments, the washing water tank 21 includes a tank body 211 and a tank cover 212 covering an upper port of the tank body 211. The water tank body 211 is formed into a rectangular cubic structure with an open upper end, water for cleaning is pre-filled in the water tank body, the water amount should comprehensively consider factors such as loss, volatilization and working period, and generally speaking, the water amount in the embodiment should be generally not less than 15L. And the split type design of the water tank body 211 and the water tank cover 212 is adopted, and the aim is to take the water tank cover 212 out after a period of working time, to dump dirty water in the water tank body 211 completely and clean the tank wall.

In addition, in some embodiments, the washing water tank 21 further includes a mounting seat 24, a first locking mechanism 25 and a second locking mechanism 26, the water tank body 211 is detachably connected to the mounting seat 24 through the first locking mechanism 25, and the water tank cover 212 is detachably connected to the water tank body 211 through the second locking mechanism 26. Thus, the water tank body 211 can be reliably and integrally mounted on the movable chassis through the mounting seat 24, and the mounting structure is simple. Adopt first locking mechanism 25 to connect water tank body 211 and mount pad 24, convenient and fast dismantlement when can conveniently rinsing water tank 21 body. Similarly, the second locking mechanism 26 can be used to facilitate the assembly or disassembly of the water tank body 211 and the water tank cover 212. Specifically, the first locking mechanism 25 may be, but is not limited to, a latch mechanism; the second locking mechanism 26 may be, but is not limited to, a thumb-bolt spindle mechanism.

The water tank cover 212 is provided with an access hole 212a for the caulking executive member to extend into the water tank body 211 and then be pulled out from the water tank body 211. The cleaning actuator 22 further comprises a spray head 222 arranged on the wall of the access hole 212a, and the spray head 222 is used for spraying the caulking actuator. During the process of extending and withdrawing, the spray washing head 222 can spray high-pressure water beams to the outer wall of the joint filling execution member, the high-pressure water beams have strong impact force, and contaminated excessive joint filling agents can be washed off from the outer wall surface, so that the cleaning purpose is achieved.

With continued reference to fig. 1 and 2, in some embodiments, the cleaning actuator 22 includes a cleaning element 221 disposed on the wall of the access hole 212a, and the cleaning element 221 is configured to scrub the caulking actuator. During the process of extending and withdrawing, the washing member 221 can simultaneously wipe the outer wall of the joint filling execution member to clean the contaminated excessive joint filling agent. Alternatively, the brush member 221 may be, but is not limited to, bristles, and preferably, the bristles are made of a material having superior hardness and elasticity, such as a hard plastic, a steel wire, or the like, so as to enhance the removal capability of the joint compound.

It will be appreciated that the cooperation of the spray cleaning head 222 and the scrubbing member 221 can provide a combined cleaning action (i.e., a combination of bristle scrubbing and high pressure water jet flushing) on the joint sealing implement, which is more effective and complete in removing the contaminated joint sealing agent from the outer wall.

Further, in some embodiments, the cleaning actuator 22 includes at least two of the cleaning members 221 and at least two of the spray heads 222, at least one of the cleaning members 221 and at least one of the spray heads 222 form a set of cleaning assemblies, and the cleaning assemblies are sequentially arranged along the hole depth direction of the access hole 212 a. Therefore, no matter in the process that the gap filling executive part extends into the water tank body 211 from the inlet and the outlet or is pulled out of the water tank body 211, the gap filling executive part can be subjected to one cleaning operation of each group of cleaning components at different height positions, so that more times of cleaning can be performed in a unit cleaning period, and the cleaning effect can be greatly improved.

Specifically, the cleaning assembly set in each floor height position comprises two cleaning parts 221 arranged at intervals oppositely and two spraying heads 222 arranged at intervals oppositely, the two cleaning parts 221 and the two spraying heads 222 are connected in a plane in an alternating mode in an end-to-end mode and form a rectangular distribution mode, and a rectangular cavity is formed to be longitudinally overlapped with the access hole 212a and used for the access of the gap filling execution part. Therefore, the outer peripheral surface of the joint filling execution part can be completely cleaned, and the problem that cleaning quality is affected by cleaning a vacuum area is avoided.

In addition, in order to enhance the cleaning efficiency of the gap-filling execution member, in other embodiments, the cleaning execution mechanism 22 further includes a driving source for outputting a rotational power and a rotating frame connected to the driving source, the cleaning member 221 and the spray head 222 are respectively disposed on the rotating frame, and the rotating frame can drive the cleaning member 221 and the spray head 222 to rotate around the gap-filling execution member in a circumferential direction in a fixed plane. That is, in the process of inserting or removing the joint filling execution member into or from the access hole 212a, the driving source drives the rotating frame to drive the washing member 221 and the spray washing head 222 to rotate around the joint filling execution member in the circumferential direction in the horizontal plane where the joint filling execution member is located, at the moment, the rotating direction is vertically staggered with the moving direction of the joint filling execution member, the washing member 221 and the spray washing head 222 can apply the cleaning force of the redundant joint filling agent on the outer wall of the joint filling execution member in the axial direction and the circumferential direction, the purpose of strengthening the removal effect can be achieved, thorough and complete cleaning is ensured, and residues are avoided.

Alternatively, the driving source may be, but is not limited to, a rotary cylinder, a rotary motor, or the like.

Referring to fig. 7, in still other embodiments, the cleaning actuator 22 further includes a filter 223 disposed on an inner wall of the tank body 211, a driving pump 224 connected to the filter 223, and a cleaning water pipe 225 connected to the driving pump 224, wherein the cleaning water pipe 225 is connected to the spray head 222. Compared with the prior art, the difference is that the water for cleaning the caulking executive part in the cleaning water tank 21 in the application is circulating water, and the circulating water is water with a certain volume which is filled at the bottom of the water tank body 211 in advance. Compared with a flowing water washing mode, the waste water amount and the water consumption amount of circulating water washing are greatly reduced, the economy is greatly improved, and the working condition characteristic that the caulking robot is far away from a water supply source for a long time is better met. However, after the cleaning water tank 21 works for a period of time, the circulating cleaning water will contain a lot of impurities of the gap filler, which easily causes the blockage of the spray head 222 and causes the abnormal work of the spray head 222. In view of the above, the filter 223 is installed at the water inlet end of the spray head 222, so that impurities in the gap filler can be filtered and removed before entering the spray head 222, thereby avoiding the above problems, increasing the recycling frequency of the cleaning water to a certain extent, saving resources, and improving the sustainable working capacity of the gap filling robot.

It is understood that the filter 223 may be any type or structure of filtering device in the prior art, such as but not limited to physical filtration (e.g. membrane filtration, screen filtration), chemical filtration, physical and chemical composite filtration, etc., and may be selected according to actual needs.

With continued reference to fig. 8, in some embodiments, the spray head 222 includes a filter element 222a, a pressurizing element 222b disposed on the filter element 222a, a connection joint 222c connected to the filter element 222a, a control valve 222d connected to the connection joint 222c, a switching joint 222e connected to the control valve 222d, a hose 222f connected to the switching joint 222e, a fixed block 222g connected to the hose 222f, and a spray head body 222h disposed on the fixed block 222g and connected to the hose 222f, wherein the spray head body 222h defines at least two spray holes 222i disposed side by side at intervals. The filter 222a is located downstream of the filter 223, and can perform secondary filtration of the cleaning water entering the head body 222h, thereby further filtering out impurities. The pressurizing member 222b is used for pressurizing the cleaning water entering the nozzle body 222h so as to form a high-pressure water beam, thereby ensuring the cleaning efficiency of the gap filler. The control valve 222d can control the water flow rate of the water which is started, stopped or ejected from the nozzle body 222h, so that the switching requirements of different working states are met, and the economical efficiency is improved. The fixing block 222g is used to fix the nozzle body 222h and other components to the inner wall of the tank body 211. In addition, because at least two spraying holes 222i which are arranged side by side at intervals are formed in the spray head body 222h, a multi-point synchronous output high-pressure water beam can be formed, and the multi-point gap filler on the outer wall of the gap filling execution piece can be covered and flushed (namely, a larger area is flushed), so that the cleaning efficiency is higher and more thorough.

In order to avoid the splashing of the cleaning water and the resulting waste of water resources due to the high pressure of the cleaning water beam sprayed onto the gap-filling executing member, in an embodiment, the cleaning executing mechanism 22 further includes a water baffle 23, and the water baffle 23 is disposed on the tank cover 212 and shields one side of the access hole 212 a.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A material mixing device, characterized in that, material mixing device includes:

stirring the charging barrel; and

2. The material stirring device according to claim 1, wherein the stirring executing assembly comprises a carrying rod connected with the stirring shaft, and a first stirring rod and a second stirring rod which are arranged at two opposite ends of the carrying rod at intervals, and the first stirring rod and the second stirring rod are both abutted against or in clearance fit with the inner cylinder wall of the stirring cylinder.

3. The material mixing device of claim 2, wherein the length of the first mixing rod is greater than the length of the second mixing rod; or the length of the second stirring rod is greater than that of the first stirring rod.

4. The material mixing device according to claim 3, wherein the mixing implement assembly further comprises a first soft scraper and a second soft scraper, the first soft scraper is disposed on the first mixing rod, the second soft scraper is disposed on the second mixing rod, and both the first soft scraper and the second soft scraper abut against the inner wall of the mixing barrel.

5. The material stirring device of claim 1, wherein the stirring actuator further comprises a stirring bracket, and the stirring barrel and the power assembly are respectively disposed on the stirring bracket; the stirring material cylinder is detachably connected with the stirring support through a locking assembly.

6. The material mixing device according to claim 5, wherein the locking assembly comprises a quick release hook disposed on one of the mixing bracket and the mixing barrel, and a quick release socket disposed on the other of the mixing bracket and the mixing barrel, and the quick release hook is detachably fastened to the quick release socket.

7. The material mixing device according to claim 6, wherein the power assembly comprises a first mounting bracket disposed on the mixing bracket, a driving member disposed on the first mounting bracket, a transmission assembly drivingly connected to the driving member, a second mounting bracket disposed on the mixing bracket, and a support base disposed on the second mounting bracket, and the driving shaft is rotatably disposed on the support base and connected to the transmission assembly.

8. The material mixing device of claim 7, wherein the transmission assembly is configured as a synchronous pulley set, the power assembly further comprises a tension adjusting assembly disposed on the first mounting frame, and the tension adjusting assembly is configured to adjust a tension of the synchronous pulley set.

9. The material stirring device according to any one of claims 1 to 8, further comprising a cover opening and closing mechanism, wherein the cover opening and closing mechanism comprises a third mounting frame, a driver which is arranged on the third mounting frame and is provided with a power shaft, a driving arm which is rotatably connected with the power shaft, and a cover plate which is connected with the driving arm, and the driving arm is further rotatably connected with the third mounting frame.

10. A caulking robot comprising the material agitating apparatus as set forth in any one of claims 1 to 9.