WO2021047335A1

WO2021047335A1 - Smoothing mechanism for wallpaper installation robot, and wallpaper installation robot

Info

Publication number: WO2021047335A1
Application number: PCT/CN2020/107500
Authority: WO
Inventors: 朱晓; 陈威霖
Original assignee: 广东博智林机器人有限公司
Priority date: 2019-09-12
Filing date: 2020-08-06
Publication date: 2021-03-18
Also published as: CN110654160B; CN110654160A

Abstract

A smoothing mechanism for a wallpaper installation robot, and a wallpaper installation robot. The smoothing mechanism (100) comprises: a fixing frame (10); a translation mechanism (20) provided on the fixing frame (10) and reciprocatingly movable in a first direction (a) toward or away from a base surface (70) awaiting installation; a rotating mechanism (30) rotatably provided on the translation mechanism (20); and an installation roller (40) used to roll and press a wallpaper onto the base surface (70) awaiting installation, wherein the installation roller (40) is rotatably provided on the rotating mechanism (30) about a second direction (b) where an axis thereof is located, the installation roller (40) is rotatable about a third direction (c) when driven by the rotating mechanism (30), and the first direction (a), the second direction (b), and the third direction (c) are mutually perpendicular.

Description

Attaching mechanism of wallpaper paving robot and wallpaper paving robot

Cross-references to related applications

This application is based on the Chinese patent application "Fixing mechanism of wallpaper paving robot and wallpaper paving robot" with the application number 201910865598.3 and the application date of September 12, 2019, and claims the priority of the above-mentioned Chinese patent application, the above-mentioned Chinese patent The entire content of the application is hereby incorporated into this application as a reference.

Technical field

The invention relates to the technical field of construction equipment, in particular to a clinging mechanism of a wallpaper paving robot and a wallpaper paving robot.

Background technique

At present, the paving of wallpaper is done manually by workers, which is labor intensive, low in efficiency, and high in labor costs. The use of robots to pave and paste wallpaper is the future development trend.

When the wallpaper paving robot is working, it navigates to the working position, and relies on the sensor to detect the parallelism between the robot and the wall, and adjusts it to the parallel position through the electric rotating platform. The wallpaper paving robot paves the wallpaper from bottom to top. During the ascending process, the wallpapering roller must always be parallel to the wall and have a certain pressure on the wall. Due to the influence of the detection accuracy of the sensor and the accuracy of the electric rotating platform, the feedback adjustment position is not the ideal parallel position. , The guide rail that makes the wallpaper paving robot rise is not parallel to the wall, and the wall itself is not an absolute plane.

Therefore, when the paving roller rises to pave the wallpaper, the parallel relationship with the wall is fluctuating, and one side is tight and the other side is loose. The wallpaper may have wrinkles and bubbles, resulting in a better paving effect. Poor, not up to the wallpaper paving requirements.

Summary of the invention

The present invention aims to solve at least one of the technical problems existing in the prior art. For this reason, the present invention proposes a clinging mechanism of a wallpaper paving robot to solve the problem that the paving rollers in the wallpaper paving robot are not parallel to the wall surface, resulting in poor wallpaper paving effect.

The present invention also aims to provide a wallpaper paving robot to apply the above-mentioned clinging mechanism of the wallpaper paving robot.

A clinging mechanism for a wallpaper paving robot according to an embodiment of the present invention includes: a fixed frame; a translation mechanism, the translation mechanism is provided on the fixed frame, and the translation mechanism can be positioned on the fixed frame It moves back and forth in the first direction close to and away from the base surface to be laid; a rotating mechanism, wherein the rotating mechanism is rotatably arranged on the translation mechanism; a laying roller, the laying roller is used to apply the wallpaper roller Rolled to the base surface to be laid, the laying roller is rotatably arranged on the rotating mechanism about the second direction in which its axis is located, and the laying roller can be driven by the rotating mechanism Rotatable around a third direction; wherein the first direction, the second direction and the third direction are perpendicular to each other.

According to the clinging mechanism of the wallpaper paving robot according to the embodiment of the present invention, by providing a translation mechanism and a rotating mechanism, the position of the paving roller can be adaptively adjusted, thereby ensuring that the paving roller is always in contact with the paving roller during the wallpaper paving process. The base surface is parallel to avoid wrinkles and bubbles in the wallpaper paving process, and improve the wallpaper paving effect. The whole mechanism is simple and reliable, and easy to operate, which is beneficial to reduce the labor intensity.

In some embodiments, the fixing frame includes: a vertically extending side plate and a horizontally extending mounting plate, the mounting plate is connected to the side plate, and a plurality of spaced apart guide rails are provided on the mounting plate The translation mechanism includes: a translation bottom plate, a side of the translation bottom plate close to the mounting plate is provided with a plurality of sliding blocks, and the plurality of the sliding blocks are slidably fitted on the plurality of the guide rails.

Preferably, the rotating mechanism includes: a rotating bottom plate, the paving roller is connected to the rotating bottom plate; a rotating shaft module, one end of the rotating shaft module is set on the translation bottom plate and the other end is set on the On the top of the rotating bottom plate, the rotation axis module can drive the rotating bottom plate to rotate on the translation bottom plate.

Preferably, a support structure is provided between the rotating base plate and the translation base plate, and the support structure includes: a plurality of sliding plates, a plurality of the sliding plates are arranged on the translation base plate at intervals; a plurality of bushes, a plurality of The bushings are arranged in a one-to-one correspondence with a plurality of the sliding plates, and the plurality of bushings are all covered with a pressing cover, the pressing covers are all arranged on the rotating bottom plate, and the pressing cover and the bushing There is a compression spring between.

Preferably, a limit hole is provided on the rotating bottom plate; a limit post is provided on the translation bottom plate, and the limit post is cooperatingly arranged in the limit hole to limit the rotational freedom of the rotating mechanism.

In some embodiments, the rotating shaft module includes: a bearing seat, the bearing seat is connected to the translation base plate; a rotating shaft, the rotating shaft is connected to the rotating base plate; a first bearing, the first bearing A bearing is sleeved on the bearing seat and sleeved on the rotating shaft; a second bearing, the second bearing sleeved on the end of the rotating shaft away from the rotating bottom plate, the second bearing A locking ring is provided between one side and the bearing seat, and a locking nut is provided on the other side of the second bearing, and the locking nut cooperates with the second bearing to adjust the rotation of the rotating shaft resistance.

In some embodiments, at least one elastic pressing module is provided between the fixing frame and the rotating mechanism to press the laying roller on the base surface to be laid.

Preferably, the elastic compression module includes: a first mounting seat, the first mounting seat is connected to the side plate and having a first mounting groove; a second mounting seat, the second mounting seat is connected to the The rotating bottom plate is provided with a second installation groove; a spring, one end of the spring is arranged in the first installation groove and the other end is arranged in the second installation groove.

Preferably, the elastic compression module further includes: an adjusting screw, the adjusting screw is provided on the first mounting seat, and one end of the adjusting screw passing through the first mounting seat is connected with a gasket, the The washer is located in the first installation groove and abuts against the spring; a guide shaft, one end of the guide shaft is arranged in the second installation groove and the other end extends out of the second installation groove, so The spring is sleeved on the guide shaft.

A wall paper paving robot according to an embodiment of the present invention includes: a frame; a walking device arranged below the frame to drive the frame to walk; a clinging mechanism, the clinging device The mechanism is the clinging mechanism of the wallpaper paving robot according to any one of the preceding paragraphs.

According to the wallpaper paving robot according to the embodiment of the present invention, by setting the clinging mechanism, the robot can automatically adjust the paving rollers to be tightly attached to the base surface to be laid during the wallpaper paving operation, eliminating the need for manual adjustment process, which is beneficial to Simplify the operation process, improve work efficiency, and enhance the effect of wallpaper paving.

The additional aspects and advantages of the present invention will be partly given in the following description, and partly will become obvious from the following description, or be understood through the practice of the present invention.

Description of the drawings

The above and/or additional aspects and advantages of the present invention will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, in which:

FIG. 1 is a schematic diagram of a three-dimensional structure of a clinging mechanism according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of the exploded structure of the clinging mechanism according to the embodiment of the present invention;

Fig. 3 is a top view of the clinging mechanism according to the embodiment of the present invention;

FIG. 4 is a schematic diagram 1 of the three-dimensional structure of the fixing frame according to the embodiment of the present invention;

Fig. 5 is a second schematic diagram of the three-dimensional structure of the fixing frame according to the embodiment of the present invention;

6 is a schematic diagram 1 of the three-dimensional structure of the translation mechanism according to the embodiment of the present invention;

FIG. 7 is a second schematic diagram of the three-dimensional structure of the translation mechanism according to the embodiment of the present invention;

FIG. 8 is a schematic diagram of an exploded structure of a rotating axis module according to an embodiment of the present invention;

FIG. 9 is a schematic diagram of the internal structure of a rotating axis module according to an embodiment of the present invention;

10 is a schematic diagram of the structural composition of an elastic compression module according to an embodiment of the present invention;

11 is a schematic diagram of the structure of the rotating bottom plate according to the embodiment of the present invention;

Fig. 12 is a schematic diagram of the assembly structure of the bushing, the gland and the compression spring in the embodiment of the present invention.

detailed description

The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary, and are only used to explain the present invention, but should not be understood as limiting the present invention.

In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", The orientation or positional relationship indicated by "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for ease of description The present invention and simplified description do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

In addition, the features defined with "first" and "second" may explicitly or implicitly include one or more of these features, which are used to distinguish and describe the features, without ordering, and without distinction.

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

In the description of the present invention, it should be noted that the terms "installed", "connected", and "connected" should be understood in a broad sense unless otherwise clearly specified and limited. For example, they can be fixed or detachable. Connected or integrally connected; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in the present invention can be understood under specific circumstances.

The following describes the clinging mechanism 100 of the wallpaper paving robot according to the embodiment of the present invention with reference to the accompanying drawings.

As shown in FIG. 1, a clinging mechanism 100 of a wallpaper paving robot according to an embodiment of the present invention includes: a fixed frame 10, a translation mechanism 20, a rotating mechanism 30, and a paving roller 40.

The translation mechanism 20 is provided on the fixed frame 10, and the translation mechanism 20 on the fixed frame 10 can reciprocate in a first direction a that is close to and away from the base surface 70 to be laid. The rotation mechanism 30 is rotatably provided on the translation mechanism 20. The paving roller 40 is used to roll the wallpaper onto the base surface 70 to be laid. The paving roller 40 is rotatably arranged on the rotating mechanism 30 about the second direction b where its axis is located, and the paving roller 40 is in the rotating mechanism. Driven by 30, it can rotate around a third direction c; wherein, the first direction a, the second direction b, and the third direction c are perpendicular to each other.

It should be noted that, in order to better understand this solution, as shown in FIG. 1, the first direction a may specifically be a front-rear direction, the second direction b may specifically be a left-right direction, and the third direction c may specifically be a vertical direction. As shown in Figure 3, when the robot approaches the wall at a certain angle, one end of the paving roller 40 must first contact the base surface 70 to be laid. For example, the right end of the paving roller 40 contacts the base surface 70 to be laid. As an example, at this time, the contact point provides reverse thrust, and the rotating mechanism 30 can make a slight counterclockwise rotation around the third direction c as the axis, so that the laying roller 40 is parallel to the base surface 70 to be laid. In the same way, when the left end of the paving roller 40 first contacts the base surface 70 to be laid, the rotating mechanism 30 can generate a slight clockwise rotation movement, and also make the paving roller 40 parallel to the base surface 70 to be laid through the above-mentioned Ways to improve the effect of wallpaper paving.

Since one end of the paving roller 40 first contacts the base surface 70 to be laid, the paving roller 40 can also be regarded as rotating around the contact point during the rotation of the rotating mechanism 30. At this time, as the robot advances, the paving roller One end of the 40 bears a large force, and it is easy to damage the wall surface and the paving roller 40. By adding the translation mechanism 20, in the process that the robot continues to approach the wall, the components formed by the rotation mechanism 30 and the paving roller 40 can rotate and translate. The rotation mechanism 30 can be moved backward on the fixed frame 10 through the translation mechanism 20 Move to relieve the stress on the contact point of the paving roller 40, and avoid excessive force on the contact point, so that the rotating mechanism 30 first rotates on the translation mechanism 20, and the position of the paving roller 40 is adjusted to the base surface to be laid. 70 contacts to improve work safety.

According to the clinging mechanism 100 of the wallpaper paving robot according to the embodiment of the present invention, by providing the translation mechanism 20 and the rotating mechanism 30, the position of the paving roller 40 can be adaptively adjusted, thereby ensuring the paving roller 40 during the wallpaper paving process. It is always parallel to the base surface 70 to be paved, avoiding wrinkles and bubbles during the wallpaper paving process, and improving the wallpaper paving effect. The whole mechanism is simple and reliable, and easy to operate, which is beneficial to reduce the labor intensity.

In some embodiments, as shown in FIG. 4, the fixing frame 10 includes: a vertically extending side plate 11 and a horizontally extending mounting plate 12, the mounting plate 12 is connected to the side plate 11, and the mounting plate 12 is provided with a plurality of The spaced apart guide rails 121 and the side panels 11 can be installed on the lifting mechanism of the robot and vertically lifted along the wall, so that the paving roller 40 can perform wallpaper paving operation on the base surface 70 to be paving. As shown in FIG. 7, the translation mechanism 20 includes a translation bottom plate 21, a side of the translation bottom plate 21 close to the mounting plate 12 is provided with a plurality of sliding blocks 211, and the plurality of sliding blocks 211 are slidably fitted on the plurality of guide rails 121. Through the cooperation of the sliding block 211 and the guide rail 121, the translational bottom plate 21 can realize the back and forth movement on the mounting plate 12. This structure is simple and reliable, and has strong stability.

In some embodiments, as shown in FIGS. 4 and 7, there are two guide rails 121 and four sliders 211, and the four sliders 211 are divided into two groups. Among them, one group of sliders 211 is correspondingly fitted to one guide rail. 121, which can bring a better sliding effect. Of course, the matching manner of the guide rail 121 and the slider 211 is not limited to this, and will not be described in detail here.

In some embodiments, as shown in FIG. 4, an end of the guide rail 121 far away from the side plate 11 is provided with a slider limit seat 124 to prevent the slider 211 from sliding out of the guide rail 121 during translation. A buffer pad 125 is provided on the slider limit seat 124 to avoid direct collision between the slider 211 and the slider limit seat 124, provide a cushioning effect during limit, and improve safety.

In some embodiments, as shown in FIG. 5, both ends of the mounting plate 12 in the length direction are provided with side reinforcement ribs 122 connected to the side plate 11, and a bottom reinforcement rib connected to the side plate 11 is provided under the mounting plate 12 123. By providing the side reinforcement ribs 122 and the bottom reinforcement ribs 123, the connection strength between the mounting plate 12 and the side plate 11 can be improved, and the fixing frame 10 can be guaranteed to have sufficient support strength, and the installation of the translation mechanism 20 can be more secure.

Preferably, as shown in FIG. 2, the rotating mechanism 30 includes: a rotating bottom plate 31 and a rotating shaft module 32. The paving roller 40 is connected to the rotating bottom plate 31; one end of the rotating shaft module 32 is set on the translation bottom plate 21 and the other end is set on the rotating bottom plate 31. The rotation axis module 32 can drive the rotating bottom plate 31 to rotate on the translation bottom plate 21. For example, the rotation axis module 32 is set at the center of the translational bottom plate 21, and the top of the rotation axis module 32 is connected to the rotation bottom plate 31. Therefore, when the paving roller 40 contacts the base surface 70 to be laid, the rotation bottom plate 31 follows the rotation axis module 32. The translation bottom plate 21 realizes rotation.

In some embodiments, as shown in FIGS. 2 and 4, the mounting plate 12 is provided with a plurality of leveling buffer blocks 126, and the leveling buffer blocks 126 make the two ends of the rotating mechanism 30 abut against it, so that each work At this time, the positions of the paving roller 40 and the fixing frame 10 are the same.

Preferably, as shown in FIG. 2, a supporting structure 50 is provided between the rotating bottom plate 31 and the translation bottom plate 21, and the supporting structure 50 includes a plurality of sliding plates 51 and a plurality of bushes 52. As shown in FIG. 6, a plurality of sliding plates 51 are arranged on the translation base plate 21 at intervals; a plurality of bushings 52 and a plurality of sliding plates 51 are arranged in one-to-one correspondence, as shown in FIGS. 11 and 12, the plurality of bushings 52 are all covered with The pressing cover 53 and the pressing cover 53 are both arranged on the rotating bottom plate 31, and a compression spring 54 is arranged between the pressing cover 53 and the bushing 52. Because only the intermediate position of the entire rotating mechanism 30 is fixedly connected to the translational bottom plate 21 through the rotation axis module 32, the rigidity and strength of the rotating bottom plate 31 are insufficient. By adding a plurality of sliding plates 51 and a plurality of bushings 52 on the periphery, in addition to the connection function of the rotating shaft module 32 during the rotation of the rotating base plate 31, the bottom of the rotating base plate 31 can also be in sliding contact with the sliding plate 51 through the bushing 52. The rotation of the rotating bottom plate 31 is supported, thereby improving the stability during rotation and enhancing the rigidity and strength of the rotating mechanism 30. In addition, the bushing 52 can float up and down in the gland 53 through the compression spring 54 and has good adaptability.

In some embodiments, the sliding plate 51 is an oil-free linear sliding plate, the bushing 52 is an oil-free bushing, the oil-free linear sliding plate is made of brass, and the sliding plate is inlaid with graphite, which can play a lubricating effect and ensure the sliding plate 51 and the bushing 52 The good contact of the rotating bottom plate 31 ensures that the resistance of the rotating bottom plate 31 is reduced during the rotation process, and the rotation process is smooth.

Preferably, as shown in FIG. 2, a limit hole 311 is provided on the rotating bottom plate 31; a limit post 212 is provided on the translation bottom plate 21, and the limit post 212 is cooperatingly arranged in the limit hole 311 to limit the rotation freedom of the rotating mechanism 30 degree. Through the cooperation of the limiting post 212 and the limiting hole 311, the rotation angle of the entire rotating mechanism 30 can be limited, and the limiting effect can be achieved.

In some embodiments, the limiting hole 311 may be a fan-shaped hole (not shown in the figure), so that the limiting post 212 is in the fan-shaped hole, and after rotating a certain angle, it will contact with the rounded position of the fan-shaped hole edge, thereby achieving Limiting function to realize rotation in a small range.

In some embodiments, as shown in FIG. 8, the rotating shaft module 32 includes: a bearing seat 321, a rotating shaft 322, a first bearing 323, and a second bearing 324. The bearing seat 321 can be connected to the translation base plate 21 by a third screw 329; the rotating shaft 322 is connected to the rotating base plate 31; the first bearing 323 is sleeved on the bearing seat 321 and sleeved on the rotating shaft 322. The rotating shaft 322 rotates in the first bearing 323 so that the rotating base plate 31 rotates on the translation base plate 21. The second bearing 324 is sleeved on an end of the rotating shaft 322 away from the rotating bottom plate 31, and a locking ring 325 is provided between one side of the second bearing 324 and the bearing seat 321. One side of the locking ring 325 can be fixed to the bearing seat 321 by the first screw 327, and the other side of the locking ring 325 can support the second bearing 324. The other side of the second bearing 324 is provided with a lock nut 326, and the lock nut 326 cooperates with the second bearing 324 to adjust the rotation resistance of the rotating shaft 322. For example, the second bearing 324 may be a thrust ball bearing. The shaft ring on the side of the thrust ball bearing close to the lock nut 326 rotates with the lock nut 326 and the rotating shaft 322, and the locking force of the lock nut 326 can be adjusted. The clearance of the balls in the thrust ball bearing indirectly adjusts the resistance when the rotating shaft 322 rotates, and finally the lock nut 326 is fixed by the second screw 328 to prevent it from loosening.

In some embodiments, the first bearing 323 may be a needle roller thrust ball bearing. The needle roller thrust ball bearing has needle rollers in the axial direction and balls on the end surface. Combined with the needle roller bearing and the thrust ball bearing, it can bear axial and radial directions. Load, and the outer ring can also be fixed by the second screw 328.

In some embodiments, the first screw 327 and the third screw 329 are both hexagon socket head screws, and the second screw 328 may be a set screw, which is easy to install and use.

In some embodiments, the translation base plate 21 is provided with a middle circular hole (not shown in the figure) and six small holes (not shown in the figure) distributed in the middle of the circular hole for fixing the fixed end of the rotating mechanism 30.

In some embodiments, as shown in FIG. 1, at least one elastic pressing module 60 is provided between the fixing frame 10 and the rotating mechanism 30, so as to press the paving roller 40 on the base surface 70 to be laid to provide wallpaper The pressing force of the base surface 70 to be applied during the paving process. For example, there may be one elastic compression module 60 and set in the middle of the fixing frame 10, or, as shown in FIG. 3, there are two elastic compression modules 60, which are respectively arranged at both ends of the fixing frame 10 and the rotating mechanism 30. In this way, the two elastic pressing modules 60 provide a balanced elastic force, so that the laying roller 40 is tightly attached to the base surface 70 to be laid.

Preferably, as shown in FIG. 10, FIG. 4, and FIG. 11, the elastic compression module 60 includes: a first mounting seat 61, a second mounting seat 62, and a spring 63. The first mounting seat 61 is connected to the side plate 11 and has a first mounting slot 611; the second mounting seat 62 is connected to the rotating bottom plate 31 and has a second mounting slot 621; one end of the spring 63 is set in the first mounting slot 611 And the other end is set in the second installation groove 621. The first installation groove 611 and the second installation groove 621 enable the spring 63 to be firmly arranged between the side plate 11 and the rotating bottom plate 31. When one end of the paving roller 40 contacts the base surface 70 to be laid, the rotating mechanism 30 rotates and drives translation. The mechanism 20 moves backward, the spring 63 is compressed to generate a forward thrust, and the paving roller 40 is tightly pressed against the wall to be paving.

In some embodiments, as shown in FIG. 10, an end of the first mounting seat 61 close to the second mounting seat 62 is provided with a mounting seat cushion 66, and the mounting seat cushion 66 serves as a buffer to avoid the first mounting seat 61 And the collision between the second mounting seat 62.

Preferably, as shown in FIG. 10, the elastic compression module 60 further includes: an adjustment screw 64 and a guide shaft 65. The adjusting screw 64 is disposed on the first mounting seat 61, and one end of the adjusting screw 64 passing through the first mounting seat 61 is connected with a washer 67, and the washer 67 is located in the first mounting groove 611 and abuts against the spring 63. Since the adjusting screw 64 is threadedly connected to the first mounting seat 61, the position of the adjusting screw 64 is adjustable. Rotating the adjusting screw 64 can change the position of the washer 67 in the first mounting groove 611 to achieve compression of the adjusting spring 63. The role of the amount of elasticity to reach the right position, get the right compression force. One end of the guide shaft 65 is arranged in the second installation groove 621 and the other end extends out of the second installation groove 621. The spring 63 is sleeved on the guide shaft 65. The guide shaft 65 can improve the guide and support for the expansion and contraction process of the spring 63 to avoid The spring 63 is bent to one side at the second mounting seat 62 to ensure the reliability of the operation of the spring 63.

In summary, the entire pressing mechanism 100 is simple and reliable, and does not require an electric rotating platform to adjust the position and posture of the wallpaper paving robot. During the wallpaper paving process, the paving roller 40 always presses the wall surface.

In the following, a specific embodiment of the clinging mechanism 100 of the wallpaper paving robot of the present invention will be described with reference to the accompanying drawings.

As shown in FIGS. 1 to 12, a clinging mechanism 100 of a wallpaper paving robot includes: a fixed frame 10, a translation mechanism 20, a rotating mechanism 30, and a paving roller 40.

The fixing frame 10 includes a vertically extending side plate 11 and a horizontally extending mounting plate 12. The mounting plate 12 is connected to the side plate 11. The mounting plate 12 is provided with two spaced guide rails 121. The entire fixing frame 10 is of symmetrical design, and the parts and structures on both sides are the same.

The translation mechanism 20 includes: a translation base plate 21. The side of the translation base plate 21 close to the mounting plate 12 is provided with four sliders 211. The four sliders 211 are divided into two groups, and each group of sliders 211 is correspondingly slidably fitted in One rail 121.

The end of the guide rail 121 away from the side plate 11 is provided with a slider stopper 124 to prevent the slider 211 from sliding out of the guide rail 121 during translation. The slider stopper 124 is provided with a cushion 125 to avoid the slider The direct collision between 211 and the sliding block limit seat 124 provides a buffering effect during limit. Both the left and right ends of the mounting plate 12 are provided with side reinforcement ribs 122 connected to the side plate 11, and a bottom reinforcement rib 123 connected to the side plate 11 is provided under the mounting plate 12.

The rotating mechanism 30 includes a rotating bottom plate 31 and a rotating shaft module 32. The paving roller 40 is connected to the rotating bottom plate 31; one end of the rotating shaft module 32 is set on the translation bottom plate 21 and the other end is set on the rotating bottom plate 31. The rotation axis module 32 can drive the rotating bottom plate 31 to rotate on the translation bottom plate 21. Wherein, the mounting plate 12 is provided with two spaced-apart leveling buffer blocks 126, and the leveling buffer blocks 126 make the two ends of the rotating mechanism 30 abut against it.

A supporting structure 50 is provided between the rotating bottom plate 31 and the translation bottom plate 21. The supporting structure 50 includes six sliding plates 51 and six bushings 52. The six sliding plates 51 are arranged on the translational bottom plate 21 at intervals, and can be distributed along the circumferential direction on the translational bottom plate 21; the six bushings 52 are arranged in a one-to-one correspondence with the plurality of sliding plates 51, and the six bushings 52 are all covered with a gland 53 , The pressing cover 53 is arranged on the rotating bottom plate 31, and a compression spring 54 is arranged between the pressing cover 53 and the bushing 52. Among them, the sliding plate 51 is an oil-free linear sliding plate, the bushing 52 is an oil-free bushing, the oil-free linear sliding plate is made of brass, and the sliding plate is inlaid with graphite, which can play a lubricating effect.

A limiting hole 311 is provided on the rotating bottom plate 31, and the limiting hole 311 may be a fan-shaped hole. A limit post 212 is provided on the translation base plate 21, and the limit post 212 is matched in the limit hole 311, so that the limit post 212 is in the fan-shaped hole and will contact the rounded position of the fan-shaped hole after rotating for a certain angle. Play a limiting role and realize rotation in a small range.

The rotating shaft module 32 includes a bearing seat 321, a rotating shaft 322, a first bearing 323, and a second bearing 324. The bearing seat 321 can be connected to the translation base plate 21 by a third screw 329; the rotating shaft 322 is connected to the rotating base plate 31; the first bearing 323 is sleeved on the bearing seat 321 and is sleeved on the rotating shaft 322, and the second bearing 324 sets It is arranged at the end of the rotating shaft 322 away from the rotating bottom plate 31, a locking ring 325 is arranged between one side of the second bearing 324 and the bearing seat 321, and a locking nut 326 is arranged on the other side of the second bearing 324 to lock The nut 326 cooperates with the second bearing 324 to adjust the rotation resistance of the rotating shaft 322. Among them, the first bearing 323 may specifically be a needle roller thrust ball bearing, and the second bearing 324 may specifically be a thrust ball bearing.

Two elastic compression modules 60 are provided between the fixing frame 10 and the rotating mechanism 30, and the two elastic compression modules 60 are arranged on the left and right sides of the fixing frame 10 and the rotating mechanism 30. The elastic compression module 60 includes: a first mounting seat 61, a second mounting seat 62, a spring 63, an adjusting screw 64, a washer 67, a guide shaft 65, and a mounting seat cushion 66. The first mounting seat 61 is connected to the side plate 11 and has a first mounting slot 611; the second mounting seat 62 is connected to the rotating bottom plate 31 and has a second mounting slot 621; one end of the spring 63 is set in the first mounting slot 611 And the other end is set in the second installation groove 621. The adjusting screw 64 is disposed on the first mounting seat 61, and one end of the adjusting screw 64 passing through the first mounting seat 61 is connected with a washer 67, and the washer 67 is located in the first mounting groove 611 and abuts against the spring 63. One end of the guide shaft 65 is arranged in the second installation groove 621 and the other end extends out of the second installation groove 621, and the spring 63 is sleeved on the guide shaft 65. An end of the first mounting seat 61 close to the second mounting seat 62 is provided with a mounting seat cushion 66.

A wallpaper paving robot according to an embodiment of the present invention includes a frame, a walking device, and a clinging mechanism.

The walking device is arranged under the frame to drive the frame to walk. The clinging mechanism 100 is the clinging mechanism 100 of the wallpaper paving robot according to any one of the foregoing, and is used for clinging to the wall to perform wallpaper paving operations.

According to the wallpaper paving robot according to the embodiment of the present invention, the clinging mechanism 100 is provided, so that the robot can automatically adjust the paving roller 40 to be tightly attached to the base surface 70 to be laid during the wallpaper paving operation, eliminating the need for manual adjustment. , Which is conducive to simplifying the operation process, improving work efficiency, and improving the effect of wallpaper paving.

Other components and operations of the wallpaper paving robot according to the embodiment of the present invention, such as a walking device and a lifting mechanism, etc., are known to those of ordinary skill in the art, and will not be described in detail here.

In the description of this specification, the description with reference to the terms "embodiment", "example", etc. means that the specific feature, structure, material or characteristic described in conjunction with the embodiment or example is included in at least one embodiment or example of the present invention . In this specification, the schematic representation of the above-mentioned terms does not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner.

Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and modifications can be made to these embodiments without departing from the principle and purpose of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

A clinging mechanism of a wallpaper paving robot, which is characterized in that it comprises:

Fixed frame

A translation mechanism, the translation mechanism is arranged on the fixed frame, and the translation mechanism on the fixed frame can move back and forth in a first direction close to and away from the base surface to be laid;

A rotating mechanism, the rotating mechanism is rotatably arranged on the translation mechanism;

A paving roller, the paving roller is used to roll the wallpaper onto the base surface to be laid, and the paving roller is rotatably arranged on the rotating mechanism about the second direction where its axis is located , And the paving roller is rotatable around a third direction under the driving of the rotating mechanism; wherein, the first direction, the second direction and the third direction are perpendicular to each other.
The clinging mechanism of the wallpaper paving robot according to claim 1, wherein:

The fixing frame includes: a vertically extending side plate and a horizontally extending mounting plate, the mounting plate is connected to the side plate, and a plurality of spaced apart guide rails are provided on the mounting plate;

The translation mechanism includes a translation bottom plate, a side of the translation bottom plate close to the mounting plate is provided with a plurality of sliding blocks, and the plurality of sliding blocks are slidably fitted on the plurality of guide rails.
The clinging mechanism of the wallpaper paving robot according to claim 2, wherein the rotating mechanism comprises:

Rotating the bottom plate, the paving roller is connected to the rotating bottom plate;

Rotation axis module, one end of the rotation axis module is arranged on the translation base plate and the other end is arranged on the rotation base plate, and the rotation axis module can drive the rotation base plate to rotate on the translation base plate.
The clinging mechanism of the wallpaper paving robot according to claim 3, wherein a supporting structure is provided between the rotating base plate and the translational base plate, and the supporting structure comprises:

A plurality of slide plates, a plurality of the slide plates are arranged on the translation base plate at intervals;

A plurality of bushings, a plurality of the bushes and a plurality of the sliding plates are arranged in a one-to-one correspondence, a plurality of the bushes are covered with a gland, the glands are all arranged on the rotating bottom plate, and the pressure A compression spring is arranged between the cover and the bushing.
The clinging mechanism of the wallpaper paving robot according to claim 4, wherein:

A limit hole is provided on the rotating bottom plate;

A limit post is arranged on the translation base plate, and the limit post is cooperatingly arranged in the limit hole to limit the rotational freedom of the rotating mechanism.
The clinging mechanism of the wallpaper paving robot according to claim 3, wherein the rotation axis module comprises:

A bearing seat, the bearing seat is connected to the translation base plate;

A rotating shaft, the rotating shaft is connected to the rotating bottom plate;

A first bearing, the first bearing is sleeved on the bearing seat and sleeved on the rotating shaft;

A second bearing, the second bearing is sleeved on an end of the rotating shaft far away from the rotating bottom plate, a locking ring is provided between one side of the second bearing and the bearing seat, the second A lock nut is provided on the other side of the bearing, and the lock nut cooperates with the second bearing to adjust the rotation resistance of the rotating shaft.
The clinging mechanism of the wallpaper paving robot according to claim 3, wherein at least one elastic pressing module is provided between the fixed frame and the rotating mechanism to press the paving roller against To be laid on the base surface.
The clinging mechanism of the wallpaper paving robot according to claim 7, wherein the elastic pressing module comprises:

A first mounting seat, which is connected to the side plate and has a first mounting groove;

A second mounting base, the second mounting base is connected to the rotating base plate and has a second mounting groove;

A spring, one end of the spring is arranged in the first installation groove and the other end is arranged in the second installation groove.
The clinging mechanism of the wallpaper paving robot according to claim 8, further comprising:

An adjusting screw, the adjusting screw is arranged on the first mounting seat, one end of the adjusting screw passing through the first mounting seat is connected with a gasket, and the gasket is located in the first installation groove and stops Against the spring;

A guide shaft, one end of the guide shaft is arranged in the second installation groove and the other end extends out of the second installation groove, and the spring is sleeved on the guide shaft.
A wallpaper paving robot, which is characterized in that it comprises:

frame;

Walking device, the walking device is arranged below the frame to drive the frame to walk;

A clinging mechanism, which is the clinging mechanism of the wallpaper paving robot according to any one of claims 1 to 9.