Spatula actuator and puttying robot

Abstract

The present application relates to a spatula actuator and a puttying robot, and belongs to the technical field of building construction. The present application proposes a spatula actuator, comprising: a first bracket; a spatula mounting frame, rotatably mounted on the first bracket around a first axis; two parallelism detection components are mounted on the spatula mounting frame, the connection line between the two parallelism detection components is configured as a first straight line, the first straight line is parallel to the trowel plane, and each parallelism detection component is used to detect the distance from it to the wall to be constructed; a parallelism adjustment mechanism, which can respond to the detection result of the parallelism detection mechanism and drive the spatula mounting frame to rotate so that the two distances are the same. The present application also proposes a puttying robot, including the spatula actuator. The spatula actuator and the puttying robot have a simple structure, and can adjust the trowel plane to be parallel to the wall to be constructed before construction, thereby making the verticality of the wall after construction smaller, so as to meet the acceptance requirements.

Description

Technical Field

[0001] The present application relates to the technical field of building construction, and in particular to a spatula actuator and a putty scraping robot. Background Art

[0002] Existing puttying robots use a spatula to move back and forth or slide up and down close to the wall during operation. If the spatula is not parallel to the wall to be constructed, the verticality of the wall after puttying construction will exceed the acceptance standard, resulting in failure of acceptance. Summary of the invention

[0003] To this end, the present application proposes a trowel execution device and a puttying robot, which can detect whether the trowel's trowel surface is parallel to the wall to be constructed, and adjust the trowel surface to be parallel to the wall to be constructed, so that the verticality of the wall after puttying construction is smaller, thereby meeting the acceptance requirements.

[0004] The first aspect of the present application provides a spatula actuator, comprising: a first bracket; a spatula mounting frame for mounting a spatula, the spatula mounting frame being rotatably mounted on the first bracket around a first axis, the spatula comprising a spatula surface; a parallelism detection mechanism, comprising two parallelism detection components, the two parallelism detection components being mounted on the spatula mounting frame, the connecting line between the two parallelism detection components forming a first straight line, the first straight line being parallel to the spatula surface, each parallelism detection component being used to detect the distance from the spatula to the wall to be constructed; a parallelism adjustment mechanism being mounted on the first bracket, the parallelism adjustment mechanism being capable of responding to the detection result of the parallelism detection mechanism and driving the spatula mounting frame to rotate so that the two distances detected by the two parallelism detection components are the same.

[0005] The spatula actuator in the embodiment of the present application has a simple structure, and utilizes a first straight line parallel to the spatula surface. When the first straight line and the spatula actuator to be used are used for puttying operations, the spatula surface can be adjusted to be parallel to the wall to be constructed before construction, thereby making the verticality of the wall after construction smaller, thereby meeting the acceptance requirements.

[0006] In addition, the spatula execution device according to the first aspect of the present application also has the following additional technical features:

[0007] According to some embodiments of the present application, the parallelism detection mechanism includes: a first connecting member installed on the spatula mounting frame; the two parallelism detection components can be movably installed on the first connecting member, and the two parallelism detection components can approach or move away from each other along the extension direction of the first straight line.

[0008] According to some embodiments of the present application, the two parallelism detection components have a first working position and a second working position; when the two parallelism detection components are in the first working position, the two parallelism detection components are respectively located at both ends of the extension direction of the first straight line; when the two parallelism detection components are in the second working position, there is a minimum distance between the two parallelism detection components.

[0009] According to some embodiments of the present application, the parallelism detection assembly includes: a second bracket, slidably installed on the first connecting member along a first straight line; a first displacement sensor, installed on the second bracket, for detecting the distance between the second bracket and the wall to be constructed; a driving member, installed on the first connecting member, for driving the second bracket to move along the first straight line; when the two parallelism detection assemblies are in the first working position, the two first displacement sensors are located at both ends of the trowel surface in the extension direction of the first straight line.

[0010] According to some embodiments of the present application, the parallelism detection component also includes: a detection position, which is arranged on the first connecting member; a second displacement sensor, which is installed on the second bracket and is used to detect the distance of the second bracket along the first straight line relative to the detection position, and the driving member is used to work or stop in response to the distance of the second bracket along the first straight line relative to the detection position detected by the second displacement sensor.

[0011] According to some embodiments of the present application, the spatula actuator further includes: a rotation-stopping mechanism, which is used to selectively allow the spatula mounting frame to rotate relative to the first bracket.

[0012] According to some embodiments of the present application, the anti-rotation mechanism is an electromagnetic clutch.

[0013] According to some embodiments of the present application, the spatula actuator further includes: a first mounting plate, which slides with the first bracket in a vertical direction; and a spatula lifting drive mechanism, which is installed on the first mounting plate and is used to drive the first bracket to lift and lower in a vertical direction.

[0014] According to some embodiments of the present application, the spatula actuator also includes: a second mounting plate, which slides with the first bracket in the front-to-back direction; and a spatula telescopic drive mechanism, which is installed on the second mounting plate and is used to drive the first bracket in the front-to-back direction to approach or move away from the wall to be constructed.

[0015] The second aspect of the present application provides a putty scraping robot, comprising: a walking chassis; a lifting device installed on the walking chassis; the above-mentioned spatula actuator, the lifting device can drive the spatula actuator to rise and fall.

[0016] According to some embodiments of the present application, the putty scraping robot further includes: a verticality adjustment mechanism, installed on the walking chassis, for adjusting the verticality of the lifting device.

[0017] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A schematic structural diagram of a spatula execution device from a first perspective provided in an embodiment of the first aspect of the present application;

[0020] Figure 2 A schematic structural diagram of a spatula execution device from a second viewing angle provided in an embodiment of the first aspect of the present application;

[0021] Figure 3 A schematic structural diagram of a spatula actuator from a third perspective provided in an embodiment of the first aspect of the present application;

[0022] Figure 4 A working principle diagram of a spatula execution device provided in an embodiment of the first aspect of the present application;

[0023] Figure 5 A schematic structural diagram of a spatula actuator according to a fourth viewing angle provided in an embodiment of the first aspect of the present application;

[0024] Figure 6 for Figure 1 A partial enlarged view of the middle A;

[0025] Figure 7 for Figure 2 A partial enlarged view of point B in the middle;

[0026] Figure 8 A schematic structural diagram of a putty scraping robot from a first perspective provided in an embodiment of the second aspect of the present application;

[0027] Fig. 9 A schematic structural diagram of a putty scraping robot from a second perspective provided in an embodiment of the second aspect of the present application;

[0028] Fig.10A schematic structural diagram of the putty-scraping robot from a third perspective provided in the second aspect embodiment of the present application.

[0029] Icons: 100- spatula actuator; 110- first bracket; 111- limiting protrusion; 120- spatula mounting frame; 121- front side of spatula mounting frame; 122- rear side of spatula mounting frame; 123- spatula; 1231- screed surface; 124- limiting groove; 130- parallelism detection mechanism; 131- first parallelism detection assembly; 1311- second bracket; 1312- first displacement sensor; 1313- driving member; 1314- belt assembly ; 1315-second displacement sensor; 1316-detection position; 1317-first guide rail assembly; 132-second parallelism detection assembly; 133-first connecting member; 140-parallelism adjustment mechanism; 141-parallelism adjustment drive member; 142-parallelism adjustment slider; 143-second guide rail assembly; 150-spatula lifting mechanism; 151-first mounting plate; 152-spatula lifting drive mechanism; 160-spatula telescopic mechanism; 161-first Second mounting plate; 162-spatula telescopic drive mechanism; 170-rotation stop mechanism; 200-putty scraping robot; 210-walking chassis; 211-chassis mounting frame; 2111-chassis front side; 2112-chassis rear side; 2113-chassis bottom side; 2114-chassis upper side; 215-first connecting ear; 220-lifting device; 221-fixed frame; 2212-fixed frame rear side; 2213-second connecting ear; 222-lifting frame; 2221-front side of lifting frame; 2222-rear side of lifting frame; 223-lifting drive mechanism; 230-electric control box; 240-verticality adjustment mechanism; 241-first cylinder support; 242-verticality adjustment cylinder; 243-second cylinder support; 250-top rod mechanism; 251-top rod lifting drive mechanism; 252-top rod; 253-second connecting piece; 260-feeding system; 261-silo; 330-wall to be constructed. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0031] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0032] Please refer to Figure 1 and Figure 2 In the first aspect of the present application, a spatula actuator 100 is provided, comprising a first bracket 110, a spatula mounting frame 120, a parallelism detection mechanism 130 and a parallelism adjustment mechanism 140. The spatula mounting frame 120 is used to mount a spatula 123, and the spatula mounting frame 120 is rotatably mounted on the first bracket 110 around a first axis. The spatula 123 comprises a spatula surface 1231 (see Figure 3 The parallelism detection mechanism 130 includes two parallelism detection components, which are a first parallelism detection component 131 and a second parallelism detection component 132. The first parallelism detection component 131 and the second parallelism detection component 132 are installed on the spatula mounting frame 120, and the connection line between the first parallelism detection component 131 and the second parallelism detection component 132 is configured as a first straight line.

[0033] Please refer to Figure 4 , the first straight line is parallel to the trowel plane 1231, the first parallelism detection assembly 131 is used to detect the distance L1 from the first straight line to the wall 330 to be constructed, and the second parallelism detection assembly 132 is used to detect the distance L2 from the first straight line to the wall 330 to be constructed. The parallelism adjustment mechanism 140 is installed on the first bracket 110, and the parallelism adjustment mechanism 140 can respond to the detection result of the parallelism detection mechanism 130 and drive the trowel mounting frame 120 to rotate so that L1 and L2 are the same.

[0034] The spatula actuator 100 in the embodiment of the present application has a simple structure, and utilizes a first straight line parallel to the spatula surface 1231. When the first straight line and the spatula actuator 100 are used for puttying operation, the spatula surface 1231 can be adjusted to be parallel to the wall 330 to be constructed before construction, thereby making the verticality of the wall after construction smaller, thereby meeting the acceptance requirements.

[0035] The detailed structure of each component of the spatula actuator 100 and the connection relationship between the components are described in detail below.

[0036] The first bracket 110 is used to be installed at the output end of the upper-level execution device.

[0037] In some embodiments of the present application, the first bracket 110 is installed at the output end of the lifting device 220 of the putty scraping robot 200 described below, and the lifting device 220 is used to drive the entire spatula actuator 100 to move up and down to perform the putty scraping operation, and the walking chassis 210 of the putty scraping robot 200 is used to drive the spatula actuator 100 to move so as to perform continuous operation.

[0038] Please refer to Figure 5 Furthermore, the spatula actuator 100 further includes a spatula lifting mechanism 150, which includes a first mounting plate 151 and a spatula lifting drive mechanism 152. The first mounting plate 151 is slidably matched with the first bracket 110 in the vertical direction, and the spatula lifting drive mechanism 152 is installed on the first mounting plate 151 for driving the first bracket 110 to rise and fall in the vertical direction.

[0039] The first mounting plate 151 is mounted on the output end of the upper-level actuator, and is used to drive the first bracket 110 to perform secondary lifting based on the lifting device 220 .

[0040] Furthermore, the spatula actuator 100 also includes a spatula retractable mechanism 160, which includes a second mounting plate 161 and a spatula retractable driving mechanism 162. The second mounting plate 161 is slidably matched with the first bracket 110 along the front-to-back direction. The spatula retractable driving mechanism 162 is installed on the second mounting plate 161, and is used to drive the first bracket 110 along the front-to-back direction to approach or move away from the wall 330 to be constructed.

[0041] Through the spatula telescopic driving mechanism 162, the spatula 123 can be pushed forward to approach the wall 330 to be constructed, so that a preset distance D is formed between the spatula surface 1231 and the wall 330 to be constructed, so that the thickness of the applied putty meets the requirements.

[0042] In some embodiments of the present application, the spatula lifting drive mechanism 152 is a motor belt mechanism, and the spatula telescopic drive mechanism 162 is a motor screw nut mechanism.

[0043] In other embodiments, the spatula lifting drive mechanism 152 and the spatula telescopic drive mechanism 162 may also be other forms of linear drive mechanisms, such as an electric push rod, a linear cylinder, or the like.

[0044] Please refer to Figure 3 In some embodiments of the present application, the first mounting plate 151 is installed at the output end of the upper-level actuator, the second mounting plate 161 is vertically slidably cooperated with the first mounting plate 151, the spatula lifting drive mechanism 152 can drive the second mounting plate 161 to rise and fall vertically, the first bracket 110 is slidably installed on the second mounting plate 161 along the front-to-back direction, and the spatula telescopic drive mechanism 162 can drive the first bracket 110 to slide along the front-to-back direction.

[0045] In other embodiments, the second mounting plate 161 can also be installed on the output end of the upper-level actuator, the first mounting plate 151 can be slidably installed on the second mounting plate 161 along the front-to-back direction, the spatula retracting drive mechanism 162 can drive the first mounting plate 151 to slide along the front-to-back direction, the first bracket 110 can be slidably installed on the first mounting plate 151 along the vertical direction, and the spatula lifting drive mechanism 152 can drive the first bracket 110 to slide up and down.

[0046] In other embodiments, the first bracket 110 may also be installed on a fixed execution platform, and the execution platform can drive the first bracket 110 to move in the vertical direction, the front-back direction, and the width direction of the wall surface to perform continuous puttying operations. For another example, the first bracket 110 may also be installed at the output end of the ceiling processing equipment to perform puttying operations on the ceiling.

[0047] Please refer to Figure 3 The spatula mounting frame 120 includes a spatula mounting frame front side 121 and a spatula mounting frame rear side 122. The spatula mounting frame front side 121 is installed with a spatula 123, and the spatula mounting frame rear side 122 is used to be installed at the output end of the upper-level execution device.

[0048] In some embodiments of the present application, the first axis extends in a vertical direction, and the normal of the trowel surface 1231 extends in a horizontal direction, so that the spatula actuator 100 is used for puttying operations on vertical walls.

[0049] In other embodiments, the first axis can be flexibly adjusted according to the inclination angle of the specific wall surface so as to be parallel to the wall surface 330 to be constructed. For example, when the spatula actuator 100 is used to perform puttying operation on the ceiling, the first axis extends in the horizontal direction.

[0050] The parallelism detection mechanism 130 is used to detect whether the plastering surface 1231 is parallel to the wall surface 330 to be constructed.

[0051] Please refer to Figure 1 In some embodiments of the present application, the parallelism detection mechanism 130 also includes a first connecting member 133, the first connecting member 133 is installed on the spatula mounting frame 120, the first parallelism detection component 131 and the second parallelism detection component 132 are movably installed on the first connecting member 133, and the first parallelism detection component 131 and the second parallelism detection component 132 can approach or move away from each other along the extension direction of the first straight line.

[0052] Through this form, the positions of the first parallelism detection component 131 and the second parallelism detection component 132 can be flexibly adjusted, thereby adjusting the width range R of the wall to be paved to be detected.

[0053] In other embodiments, the first parallelism detection assembly 131 and the second parallelism detection assembly 132 may also be fixedly mounted on the first connecting member 133 to simplify the structure of the parallelism detection mechanism 130 .

[0054] Further, the first parallelism detection assembly 131 and the second parallelism detection assembly 132 have a first working position and a second working position;

[0055] When the first parallelism detection assembly 131 and the second parallelism detection assembly 132 are in the first working position, the first parallelism detection assembly 131 and the second parallelism detection assembly 132 are respectively located at two ends of the extension direction of the first straight line;

[0056] When the first parallelism detection assembly 131 and the second parallelism detection assembly 132 are in the second working position, there is a minimum distance Lmin between the first parallelism detection assembly 131 and the second parallelism detection assembly 132 .

[0057] When the first parallelism detection component 131 and the second parallelism detection component 132 are in the first working position, the distance between the first parallelism detection component 131 and the second parallelism detection component 132 is greater than the width W of the spatula 123, and the wall width range detected by the parallelism detection mechanism 130 is greater than the operating width range of the spatula 123. When the spatula 123 completes the operation of one wall width unit in the up and down directions and then moves horizontally to the adjacent wall width unit for operation, the edge junctions of the two wall width units have better parallelism, avoiding parallelism mutations at the edge junctions.

[0058] For example, the width W of the spatula 123 is 80 cm, the distance between the first parallelism detection component 131 and the second parallelism detection component 132 can be extended to 2 m at most, the wall width range detected by the parallelism detection mechanism 130 is 2 m, and the operating width range of the spatula 123 is 80 cm.

[0059] When the first parallelism detection component 131 and the second parallelism detection component 132 are in the second working position, they can be folded up, so that the spatula actuator 100 occupies a smaller space in the non-working state, which is convenient for movement.

[0060] The first parallelism detection assembly 131 and the second parallelism detection assembly 132 have the same structure. The structure of the first parallelism detection assembly 131 is exemplarily described below.

[0061] Please refer to Figure 6The first parallelism detection assembly 131 includes a second bracket 1311, a first displacement sensor 1312 and a driving member 1313 (please refer to Figure 1 The second bracket 1311 is slidably mounted on the first connecting member 133 along the first straight line through the first guide rail assembly 1317. The first displacement sensor 1312 is mounted on the second bracket 1311 to detect the distance L1 between the second bracket 1311 and the wall 330 to be constructed. The driving member 1313 is mounted on the first connecting member 133 to drive the second bracket 1311 to move along the first straight line.

[0062] In some embodiments of the present application, the driving member 1313 is a motor, which drives the second bracket 1311 to move along the first straight line through the belt assembly 1314 .

[0063] In other embodiments, the second bracket 1311 may also be driven to move along the first straight line by a motor screw nut mechanism.

[0064] When the first parallelism detection component 131 and the second are in the first working position, the first displacement sensor 1312 of the first parallelism detection component 131 and the first displacement sensor 1312 of the second parallelism detection component 132 are respectively located at the two ends of the trowel surface 1231 in the extension direction of the first straight line, so that the detected wall width range is larger than the operating range of the trowel 123.

[0065] Please refer to Figure 6 Furthermore, the first parallelism detection component 131 also includes a detection position 1316 (please refer to Figure 1 ) and a second displacement sensor 1315. The detection position 1316 is set on the first connecting member 133, and the second displacement sensor 1315 is installed on the second bracket 1311, and is used to detect the distance L3 of the second bracket 1311 along the first straight line relative to the detection position 1316. The driving member 1313 is used to work or stop in response to the distance L1 of the second bracket 1311 along the first straight line relative to the detection position 1316 detected by the second displacement sensor.

[0066] Similarly, the second displacement sensor 1315 of the second parallelism detection assembly 132 is used to detect the distance L4 of its second bracket 1311 relative to its detection position 1316 along the first straight line.

[0067] By detecting L3 and L4, the distance L between the first parallelism detection component 131 and the second parallelism detection component 132 can be calculated, and L is compared with the preset distance L0. When L=L0, the driving member 1313 of the first parallelism detection component 131 and the driving member 1313 of the second parallelism detection component 132 can respond and stop running; when L=Lmax or Lmin, the driving member 1313 of the first parallelism detection component 131 and the driving member 1313 of the second parallelism detection component 132 can respond and stop running.

[0068] In some embodiments of the present application, the detection position 1316 and the second displacement sensor 1315 are a pair of distance measuring sensing components.

[0069] In other embodiments, limit switches may be provided at both ends of the extension direction of the first guide rail assembly 1317 , and the driving member 1313 stops running in response to an in-position signal from the limit switch to limit the travel range of the second bracket 1311 .

[0070] Please refer to Figure 2 The parallelism adjustment mechanism 140 is installed on the first bracket 110. The parallelism adjustment mechanism 140 can respond to the detection result of the parallelism detection mechanism 130 and drive the spatula mounting frame 120 to rotate so that L1=L2.

[0071] Please refer to Figure 7 In some embodiments of the present application, the parallelism adjustment mechanism 140 includes a parallelism adjustment driving member 141, a second guide rail assembly 143 and a parallelism adjustment slider 142, and the second guide rail assembly 143 extends along the second direction. The parallelism adjustment driving member is fixed to the first bracket 110, and the second guide rail assembly 143 is arranged on a side of the spatula mounting frame 120 close to the first bracket 110. One end of the parallelism adjustment slider 142 is slidably mounted on the second guide rail assembly 143, and the other end is connected to the output end of the parallelism adjustment driving member 141. The parallelism adjustment driving member 141 can drive the parallelism adjustment slider 142 to move along the first direction (please refer to Figure 1 ) extension. When the parallelism adjustment slider 142 moves along the first direction, it can drive the second guide rail assembly 143 to move synchronously along the first direction, thereby driving the spatula mounting frame 120 to rotate around the first axis relative to the first bracket 110. The extension direction of the second guide rail assembly 143 is perpendicular to the first direction.

[0072] Preferably, the first direction is perpendicular to the extension direction of the second guide rail assembly 143 , and the extension direction of the second guide rail assembly 143 is parallel to the longitudinal direction of the spatula mounting bracket 120 , so as to regularize the structure of the spatula actuator 100 .

[0073] This form facilitates the flexible arrangement of the parallelism adjustment driving member 141 , and the rotation range of the spatula mounting bracket 120 can be limited by the second guide rail assembly 143 .

[0074] In other embodiments, the parallelism adjustment driving member 141 may also drive the spatula mounting bracket 120 to rotate by gear meshing or belt transmission.

[0075] Please refer to Figure 1 Optionally, a limiting protrusion 111 is provided on the upper side of the first bracket 110, and a limiting groove 124 is provided on the spatula mounting frame 120. The limiting protrusion 111 is slidably installed in the limiting groove 124 to limit the rotation limit position of the spatula mounting frame 120 relative to the first bracket 110.

[0076] Please refer to Figure 2 Optionally, the spatula actuator 100 further includes a rotation-stopping mechanism 170 , which is used to selectively allow the spatula mounting frame 120 to rotate relative to the first bracket 110 .

[0077] The anti-rotation mechanism 170 can lock the trowel mounting frame 120 when the parallelism adjustment mechanism 140 adjusts the trowel surface 1231 to be parallel to the wall surface to be paved, thereby preventing the trowel mounting frame 120 from rotating relative to the first bracket 110 during operation.

[0078] In some embodiments of the present application, the anti-rotation mechanism 170 is an electromagnetic clutch.

[0079] When the electromagnetic clutch is powered on, the spatula mounting frame 120 can rotate freely relative to the first bracket 110; when the electromagnetic clutch is powered off, the spatula mounting frame 120 is locked by the electromagnetic clutch brake and cannot rotate freely.

[0080] In other embodiments, the anti-rotation mechanism may also use an inflatable structure or a claw assembly to selectively allow the spatula mounting bracket 120 to rotate freely.

[0081] The working principle of the spatula execution device 100 in the embodiment of the present application is as follows:

[0082] The first parallelism detection assembly 131 and the second parallelism detection assembly 132 are in the second working position, and the upper-level execution device drives the spatula execution device 100 to move, so that the spatula 123 is close to the wall surface 330 to be constructed, and the spatula surface 1231 is substantially parallel to the wall surface 330 to be constructed;

[0083] The first parallelism detection assembly 131 and the second parallelism detection assembly 132 extend outwardly along a first straight line to a first working position;

[0084] The first parallelism detection component 131 detects the distance L1 between it and the wall surface 330 to be constructed, and the second parallelism detection component 132 detects the distance L2 between it and the wall surface 330 to be constructed;

[0085] The parallelism adjustment mechanism 140 responds to the values ​​of L1 detected by the first parallelism detection assembly 131 and L2 detected by the second parallelism detection assembly 131 and drives the spatula mounting frame 120 to rotate around the first axis;

[0086] The spatula retractable drive mechanism 162 responds to the values ​​of L1 detected by the first parallelism detection assembly 131 and L2 detected by the second parallelism detection assembly 131 and drives the spatula mounting frame 120 to move in the front-rear direction;

[0087] When the electric control box 230 described below detects that L1=L2=the preset distance between the trowel plane 1231 and the wall surface 330 to be constructed, the trowel plane 1231 is parallel to the wall surface 330 to be constructed and meets the preset distance, the anti-rotation mechanism 170 locks the trowel mounting frame 120;

[0088] The spatula lifting drive mechanism 152 drives the spatula mounting frame 120 to rise and fall vertically to perform the puttying operation.

[0089] The trowel actuator 100 has a simple structure, and utilizes a first straight line parallel to the trowel surface 1231. When the first straight line and the trowel actuator 100 are used for puttying operation, the trowel surface 1231 can be adjusted to be parallel to the wall 330 to be constructed before construction, thereby making the verticality of the wall after construction smaller, thereby meeting the acceptance requirements.

[0090] Please refer to Figure 8 The second embodiment of the present application provides a putty scraping robot 200, including a walking chassis 210, a lifting device 220 and a spatula actuator 100. The lifting device 220 is installed on the walking chassis 210, and the lifting device 220 can drive the spatula actuator 100 to rise and fall.

[0091] The structures and interconnected relationships of the various devices of the putty-scraping robot 200 according to the embodiment of the present application are described below.

[0092] Please refer to Figure 8 The walking chassis 210 includes a chassis mounting frame 211 and a walking device. The chassis mounting frame 211 includes a chassis front side 2111, a chassis rear side 2112, a chassis bottom side 2113 and a chassis upper side 2114. The walking device is installed on the chassis bottom side 2113 to drive the putty scraping robot 200 to walk. The chassis front side 2111 is provided with a notch to avoid the bottom of the lifting device 220; the lifting device 220 is installed on the chassis upper side 2114, and the spatula actuator 100 is installed at the output end of the lifting device 220.

[0093] In some embodiments of the present application, the walking device includes a first steering wheel, a second steering wheel and a universal wheel, and the first steering wheel, the second steering wheel and the universal wheel are arranged in a triangle.

[0094] In this way, the first steering wheel, the second steering wheel and the universal wheel are always in rigid contact with the ground, so as to stably support the chassis mounting frame 211 and prevent the putty-scraping robot 200 from shaking and tilting due to the uneven ground during operation and walking.

[0095] Preferably, the first steering wheel and the universal wheel are arranged close to the front side 2111 of the chassis, and the second steering wheel is arranged close to the rear side 2112 of the chassis.

[0096] Furthermore, the traveling device also includes two anti-tip wheels. The two anti-tip wheels are respectively arranged on the left and right sides of the second steering wheel, and are both arranged close to the rear side 2112 of the chassis.

[0097] The two anti-tilt wheels can abut against the ground when the putty-scraping robot 200 tilts to the left or right sides, so as to support the chassis mounting frame 211 and improve the anti-tilt performance of the walking chassis 210 .

[0098] In other embodiments, the running device may also be a common four-wheel drive chassis.

[0099] The lifting device 220 is installed on the upper side 2114 of the chassis, and can drive the spatula actuator 100 to rise and fall to perform puttying operations in the up and down directions.

[0100] The lifting device 220 includes a fixed frame 221, a lifting frame 222 and a lifting drive mechanism 223. The fixed frame 221 is installed on the chassis mounting frame 211. The lifting frame 222 slides with the fixed frame 221 in the up and down directions. The lifting drive mechanism 223 is installed on the fixed frame 221 and is used to drive the lifting frame 222 to lift and lower.

[0101] Please refer to Fig. 9 Specifically, the fixed frame 221 includes a fixed frame front side and a fixed frame rear side 2212, the lifting frame 222 includes a lifting frame front side 2221 and a lifting frame rear side 2222, the lifting frame rear side 2222 is arranged close to the front side of the fixed frame 221, the lifting frame front side 2221 is installed with a spatula actuator 100, and the left and right sides of the lifting frame 222 are slidably matched with the fixed frame 221.

[0102] In some embodiments of the present application, the lifting drive mechanism 223 is a motor screw nut mechanism.

[0103] In other embodiments, the lifting drive mechanism 223 may also be a linear guide mechanism or an electric push rod.

[0104] Please refer to Figure 8 The putty scraping robot 200 includes an electric control box 230 for controlling the automated operation of the putty scraping robot 200 .

[0105] Please refer to Fig. 9 Optionally, the putty scraping robot 200 further includes a verticality adjustment mechanism 240 , which is installed on the walking chassis 210 and is used to adjust the verticality of the lifting device 220 .

[0106] In some embodiments of the present application, the verticality adjustment mechanism 240 includes a first cylinder support 241, a verticality adjustment cylinder 242, and a second cylinder support 243. The first cylinder support 241 is connected to the chassis mounting frame 211, the second cylinder support 243 is installed on the rear side 2212 of the fixed frame, the main body of the verticality adjustment cylinder 242 is hinged to the first cylinder support 241, and the output rod of the verticality adjustment cylinder 242 is hinged to the second cylinder support 243. A first connecting ear 215 is provided on the upper side 2114 of the chassis, and a second connecting ear 2213 is provided on the bottom of the fixed frame 221. The first connecting ear 215 and the second connecting ear 2213 are hinged around the second axis, so that the fixed frame 221 is hinged to the chassis mounting frame 211 around the second axis, and the third cylinder support is fixed to the back side of the fixed frame 221.

[0107] In other embodiments, the verticality adjustment mechanism 240 may also include a motor and a shaft, the shaft extending along the second axis, the motor drives the shaft to rotate, and the rotation drives the fixed frame 221 to rotate around the second axis to adjust the verticality of the lifting device 220.

[0108] In some embodiments of the present application, the second cylinder support 243 is arranged in the upper middle position of the lifting frame 222, and the first cylinder support 241 is fixed on the shell of the electrical control box 230, which not only shortens the stroke of the vertical adjustment cylinder 242 but also improves the adjustment accuracy.

[0109] In other embodiments, the first cylinder support 241 may also be directly disposed on the chassis mounting frame 211 to facilitate installation.

[0110] The spatula actuator 100 is installed on the front side 2221 of the lifting frame and is used to perform puttying operations.

[0111] In some embodiments of the present application, the first mounting plate 151 is fixedly connected to the lifting frame 222, the lifting frame 222 serves as a primary lifting mechanism, and the spatula lifting drive mechanism 152 serves as a secondary lifting mechanism.

[0112] In other embodiments, the first bracket 110 may also be fixed to the lifting frame 222 , and the lifting frame 222 may be used to drive the first bracket 110 to move up and down.

[0113] Please refer to Fig.10 Optionally, the puttying robot 200 further includes a ceiling support mechanism 250, which is used to support the ceiling when the puttying robot 200 is constructing the wall 330 to be constructed, and to guide the lifting frame 222 to rise and fall, so as to enable the lifting frame 222 to rise and fall vertically and prevent the lifting frame 222 from shaking during the lifting process.

[0114] The top rod mechanism 250 includes a top rod lifting drive mechanism 251, a top rod 252 and a second connecting member 253. The top rod lifting drive mechanism 251 is fixed to the upper side 2114 of the chassis. The top rod 252 is vertically slidably installed on the fixed frame 221. The movable frame is installed with the second connecting member 253, and the second connecting member 253 is vertically slidably matched with the top rod 252.

[0115] In some embodiments of the present application, the top rod lifting drive mechanism 251 is a motor winch mechanism.

[0116] In other embodiments, the apex rod lifting drive mechanism 251 may also be a motor screw nut mechanism or other linear guide mechanisms.

[0117] Optionally, the putty scraping robot 200 also includes a feeding system 260, which includes a silo 261 and a feeding device. The silo 261 is fixed to the chassis mounting frame 211, and the feeding device is fixed to the spatula mounting frame 120. The feeding device connects the silo 261 to the slurry outlet of the spatula 123 to spray slurry during the operation.

[0118] The leveling working principle of the putty scraping robot 200 is as follows:

[0119] The walking chassis 210 drives the puttying robot 200 to approach the wall surface 330 to be constructed, so that the plastering plane 1231 is substantially parallel to the wall surface 330 to be constructed, and the distance between the plastering plane 1231 and the wall surface 330 to be constructed is substantially equal to the preset distance;

[0120] The verticality adjustment cylinder 242 drives the fixed frame 221 to rotate around the second axis to make the fixed frame 221 vertical;

[0121] The top rod lifting drive mechanism 251 drives the top rod 252 to move upward until the top of the top rod 252 abuts against the ceiling;

[0122] The trowel actuator 100 further adjusts the distance and parallelism between the trowel plane 1231 and the wall surface to be paved, so that L1 = L2 = the preset distance between the trowel plane 1231 and the wall surface 330 to be constructed.

[0123] The puttying robot 200 in the embodiment of the present application includes a verticality adjustment mechanism 240 and a top rod mechanism 250, and the spatula actuator 100 includes a parallelism detection mechanism 130, a parallelism adjustment mechanism 140 and a spatula retracting mechanism 160, which can better ensure that the spatula 123 is puttying parallel to the wall 330 to be constructed at a preset distance, thereby ensuring the verticality of the wall after construction.

[0124] It should be noted that, in the absence of conflict, the features in the embodiments of this application may be combined with each other.

[0125] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A spatula execution device, characterized in that: include: First bracket; A spatula mounting frame, used for mounting a spatula, the spatula mounting frame being rotatably mounted on the first bracket around a first axis, the spatula (123) comprising a spatula surface; A parallelism detection mechanism, comprising two parallelism detection assemblies, the two parallelism detection assemblies are mounted on the spatula mounting frame, the connection line between the two parallelism detection assemblies is configured as a first straight line, the first straight line is parallel to the spatula surface, and each parallelism detection assembly is used to detect the distance from the parallelism detection assembly to the wall surface to be constructed; A parallelism adjustment mechanism is mounted on the first bracket, and the parallelism adjustment mechanism can respond to the detection result of the parallelism detection mechanism and drive the spatula mounting frame to rotate so that the two distances detected by the two parallelism detection assemblies are the same; The parallelism detection mechanism comprises: A first connecting member, mounted on the spatula mounting frame; The two parallelism detection components can be movably mounted on the first connecting member, and the two parallelism detection components can approach or move away from each other along the extension direction of the first straight line.

2. The spatula actuator according to claim 1, characterized in that: The two parallelism detection assemblies have a first working position and a second working position; When the two parallelism detection components are in the first working position, the two parallelism detection components are respectively located at two ends of the first straight line in the extension direction; When the two parallelism detection components are in the second working position, there is a minimum distance between the two parallelism detection components.

3. The spatula actuator according to claim 1, characterized in that: The parallelism detection component comprises: A second bracket is slidably mounted on the first connecting member along a first straight line; A first displacement sensor, mounted on the second bracket, for detecting the distance between the second bracket and the wall to be constructed; A driving member, mounted on the first connecting member, and used to drive the second bracket to move along a first straight line; When the two parallelism detection assemblies are in the first working position, the two first displacement sensors are located at two ends of the wiping plane in the extension direction of the first straight line.

4. The spatula actuator according to claim 3, characterized in that: The parallelism detection component also includes: A detection position, the detection position is arranged on the first connecting member; The second displacement sensor is installed on the second bracket and is used to detect the distance of the second bracket relative to the detection position along the first straight line. The driving member is used to work or stop in response to the distance of the second bracket relative to the detection position along the first straight line detected by the second displacement sensor.

5. The spatula actuator according to claim 1, characterized in that: The spatula actuator also includes: A rotation-stop mechanism is used to selectively allow the spatula mounting frame (120) to rotate relative to the first bracket.

6. The spatula actuator according to claim 5, characterized in that: The anti-rotation mechanism is an electromagnetic clutch.

7. The spatula actuator according to claim 1, characterized in that: The spatula actuator also includes: A first mounting plate, slidingly matched with the first bracket along a vertical direction; The spatula lifting drive mechanism is installed on the first mounting plate and is used to drive the first bracket to rise and fall in the vertical direction.

8. The spatula actuator according to claim 1, characterized in that: The spatula actuator also includes: A second mounting plate, slidingly matched with the first bracket along the front-rear direction; The spatula telescopic driving mechanism is installed on the second mounting plate and is used to drive the first bracket to approach or move away from the wall to be constructed in the front-rear direction.

9. A putty scraping robot, characterized in that: include: Walking chassis; A lifting device, mounted on the walking chassis; According to the spatula actuator as described in any one of claims 1-8, the lifting device can drive the spatula actuator to rise and fall.

10. The putty scraping robot according to claim 9, characterized in that: The putty scraping robot also includes: A verticality adjustment mechanism is installed on the walking chassis and is used to adjust the verticality of the lifting device.

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