A tilt assembly and construction robot

Abstract

The application provides a tilt assembly and a construction robot, wherein the tilt assembly comprises: a lifting assembly arranged on the construction robot, the lifting assembly being arranged on a robot main body and comprising at least a lifting seat; a tilt assembly installed on the lifting seat, the tilt assembly comprising at least a mounting seat capable of swinging relative to the lifting seat, the mounting seat being used for installing an execution mechanism of the construction robot; and a support assembly installed on the tilt assembly; when the tilt assembly is in a tilt state, the mounting seat deviates from a lifting path of the lifting seat, and the support assembly is used for providing an upward supporting force for the tilt assembly; when the tilt assembly is in a non-tilt state, the mounting seat is on the lifting path of the lifting seat. The application can realize wide-range space adjustment of the execution mechanism of the construction robot, is favorable for improving construction efficiency, and can realize construction on an outer wall area in a room through transverse adjustment of the tilt assembly and extension of the execution mechanism to the outer wall area.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of construction robots, and in particular to a tilting assembly and a construction robot. BACKGROUND

[0002] With the popularization and application of robots in the construction industry, construction robots also play an increasingly important role in the construction field. The existing construction robots are mostly carried by mechanical arms to realize automatic operation of the execution mechanism on the construction area by controlling the mechanical arm, which can greatly improve the efficiency of construction.

[0003] However, for high-rise buildings, outdoor operations such as external wall spraying operations are difficult, and the construction robot or workers need to be hoisted to the corresponding height when spraying the external wall, which is dangerous. The construction range of the indoor construction robot cannot cover the external wall (balcony skirt, etc.) area. SUMMARY

[0004] In view of the deficiencies of the prior art, the first object of the present application is to provide a tilting assembly which can realize large-range space adjustment of the execution mechanism of the construction robot, and is beneficial to improve the construction efficiency, and through the transverse adjustment of the tilting assembly, the execution mechanism can be extended to the external wall area through the window or balcony.

[0005] Another object of the present application is to provide a construction robot which is comprehensive in function and can realize construction on the external wall area indoors.

[0006] The embodiments of the present application are implemented by the following technical solutions:

[0007] A tilting assembly applied to a construction robot, comprising:

[0008] A lifting assembly arranged on the construction robot, the lifting assembly comprising at least a lifting seat;

[0009] A tilting assembly mounted on the lifting seat, the tilting assembly comprising at least a mounting seat capable of swinging relative to the lifting seat, the mounting seat being used for mounting an execution mechanism of the construction robot; and

[0010] A support assembly mounted on the tilting assembly;

[0011] When the tilting assembly is in a tilting state, the mounting seat deviates from the lifting path of the lifting seat, and the support assembly is used for providing upward support force to the tilting assembly;

[0012] When the tilting assembly is in a non-tilting state, the mounting seat is on the lifting path of the lifting seat.

[0013] According to a preferred embodiment, the lifting assembly comprises a main body seat, and the lifting seat is slidingly mounted on the main body seat; when the tilting assembly is in a non-tilting state and the lifting seat is in a first limit position, the main body seat and the lifting seat form a storage area for storing the tilting assembly.

[0014] According to a preferred embodiment, the tilting assembly is provided with a storage area for storing the support assembly.

[0015] According to a preferred embodiment, the tilting assembly further comprises a swing mechanism arranged between the lifting seat and the mounting seat, the swing mechanism being used to drive the mounting seat to swing relative to the lifting seat; the storage area is in the swing mechanism.

[0016] According to a preferred embodiment, the swing mechanism comprises a swing rod arranged between the mounting seat and the lifting seat, and the swing rod is hinged to the mounting seat and the lifting seat respectively; and a first driving member is used to drive the swing rod to rotate around the hinge point between the swing rod and the lifting seat.

[0017] According to a preferred embodiment, the swing rod comprises a left swing rod and a right swing rod, and the left swing rod, the lifting seat, the right swing rod and the mounting seat are hingedly connected in series to form a four-bar mechanism; the first driving member is used to drive the left swing rod and / or the right swing rod; when the tilting assembly is in a non-tilting state, the left swing rod and / or the right swing rod is parallel to the lifting path direction of the lifting seat.

[0018] According to a preferred embodiment, the swing mechanism comprises two parallel swing rods, and the storage area is formed between the two swing rods; the first driving member and the support assembly are arranged in the storage area.

[0019] According to a preferred embodiment, the support assembly comprises a telescopic member, and the mounting end of the telescopic member is mounted to the tilting assembly, and the driving end of the telescopic member is provided with an abutting portion.

[0020] According to a preferred embodiment, the lifting assembly further comprises a main body seat and a driving mechanism, the main body seat is provided with a linear guide rail, and the lifting seat is slidingly connected to the linear guide rail; the driving mechanism is used to drive the lifting seat to slide along the extension direction of the linear guide rail; when the tilting assembly is in a non-tilting state, the left swing rod and / or the right swing rod is parallel to the extension direction of the linear guide rail.

[0021] A construction robot comprises a feeding part, a feeding pipeline and a robot body which are sequentially connected, wherein: the robot body comprises a mobile chassis, and the mobile chassis is provided with the above-mentioned tilting assembly; the mounting seat is provided with an execution mechanism, and the feeding pipeline is connected to the execution mechanism.

[0022] The technical scheme of the embodiment of the present application has at least the following advantages and beneficial effects:

[0023] (1) The space position of the mounting seat can be adjusted in a large range by the lifting assembly cooperating with the oblique swing assembly, so that the actuating mechanism mounted on the mounting seat can realize large-area operation, which is beneficial to improve the construction efficiency.

[0024] (2) The space position of the mounting seat in the transverse direction can be adjusted by the oblique swing assembly, so that the actuating mechanism mounted on the mounting seat can extend to the outer wall area through the window or balcony, thereby realizing the operation on the outer wall in the room and increasing the operation range of the construction robot.

[0025] (3) The stable mechanical arm support structure is formed by the support assembly cooperating with the oblique swing assembly, so that the mechanical arm can remain stable without falling after the center of gravity is offset under the support of the support assembly. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical scheme of the embodiment of the present application, the following will briefly introduce the drawings needed to be used in the embodiment. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0027] Figure 1 The front view structural schematic diagram of the oblique swing assembly in the oblique swing state is provided for the embodiment of the present application;

[0028] Figure 2 The front view structural schematic diagram of the oblique swing assembly in the non-oblique swing state is provided for the embodiment of the present application;

[0029] Figure 3 The left view structural schematic diagram of the oblique swing assembly in the non-oblique swing state is provided for the embodiment of the present application;

[0030] Figure 4 The front view structural schematic diagram of the lifting assembly is provided for the embodiment of the present application;

[0031] Figure 5 The left view structural schematic diagram of the lifting assembly is provided for the embodiment of the present application;

[0032] Figure 6 The top view structural schematic diagram of the lifting assembly is provided for the embodiment of the present application;

[0033] Figure 7 The front view structural schematic diagram of the oblique swing assembly is provided for the embodiment of the present application;

[0034] Figure 8 A left view structural schematic diagram of the oblique swing assembly provided for the embodiment of the present application;

[0035] Figure 9 A top view structural schematic diagram of the oblique swing assembly provided for the embodiment of the present application;

[0036] Figure 10 A front view structural schematic diagram of the support assembly provided for the embodiment of the present application;

[0037] Figure 11 A left view structural schematic diagram of the support assembly provided for the embodiment of the present application.

[0038] Icon: 1-lifting assembly, 101-body seat, 102-window closing plate, 103-lifting seat, 1031-sliding block, 104-linear guide rail, 105-rack, 106-pad plate, 107-first speed reducer, 108-first servo motor, 109-gear, 110-cushion pad, 111-first reinforcing frame, 112-proximity switch, 113-goniometer mounting frame, 114-extension plate, 115-second reinforcing frame, 2-oblique swing assembly, 201-left swing rod, 202-right swing rod, 203-mounting seat, 204-first hinge shaft, 205-second hinge shaft, 206-supporting connecting long shaft, 207-third hinge shaft, 208-first driving member, 209-second speed reducer, 210-second servo motor, 211-fifth hinge shaft, 3-support assembly, 301-telescopic member, 302-frame plate, 303-end fork frame, 304-fourth hinge shaft, 305-supporting plate, 306-polyurethane plate, 307-elastic member. DETAILED DESCRIPTION

[0039] In order to better understand and implement, the technical solutions in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application.

[0040] In the description of the present application, it should be noted that the orientations or positional relationships indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application.

[0042] Please refer to Figures 1 to 11 A tilt assembly is applied to a construction robot, and a spraying robot is taken as an example for the convenience of understanding. It should be noted that the actuating mechanism of the spraying robot is a mechanical arm and a spray gun (or a roller coating mechanism), and the spray gun is installed on the mechanical arm. Meanwhile, the tilt assembly provided in the embodiment is not limited to the application of the spraying robot.

[0043] Specifically, the tilt assembly comprises: a lifting assembly 1 arranged on the construction robot, the lifting assembly 1 comprising at least a lifting seat 103; a tilt assembly 2 installed on the lifting seat 103, the tilt assembly 2 comprising at least a mounting seat 203 capable of swinging relative to the lifting seat 103, the mounting seat 203 being used for installing the actuating mechanism of the construction robot, i.e. the mechanical arm and the spray gun of the spraying robot; and a support assembly 3 installed on the tilt assembly 2. In the embodiment, when the tilt assembly is in a tilt state, the mounting seat 203 deviates from the lifting path of the lifting seat 103, and the support assembly 3 is used for providing an upward supporting force for the tilt assembly 2; when the tilt assembly is in a non-tilt state, the mounting seat 203 is on the lifting path of the lifting seat 103. In the embodiment, the longitudinal height of the mechanism installed on the lifting seat 103 can be adjusted; the spatial position (longitudinal and transverse) of the actuating mechanism installed on the mounting seat 203 can be adjusted (on the basis of cooperating with the lifting assembly 1, the tilt assembly 2 mainly realizes the adjustment of the mechanism installed on the mounting seat 203 in the transverse direction, and the longitudinal direction is the upward and downward direction, and the transverse direction is the left and right direction); after the height is adjusted by the lifting assembly 1 and the transverse spatial position is adjusted by the tilt assembly 2, the overall structural gravity center of the tilt assembly is shifted, and at this time, the supporting force is provided by the support assembly 3 to prevent the mechanism adjusted to the current spatial position from toppling, thereby improving the structural stability. Meanwhile, when the spraying robot is moved, the tilt assembly is adjusted to a non-tilt state, at this time, the mounting seat 203 is on the lifting path of the lifting seat 103, so that the gravity center of the spraying robot is stable. Further, a spraying robot (not shown in the figure) provided in the embodiment comprises a feeding part, a feeding pipeline and a robot main body which are sequentially communicated, wherein the robot main body comprises a mobile chassis, and the mobile chassis is provided with the above-mentioned tilt assembly. In the embodiment, the mounting seat 203 is provided with a mechanical arm, the mechanical arm is provided with a spray gun, and the feeding pipeline is communicated to the spray gun.

[0044] In use, the inner wall spraying: the robot body is moved to a proper position and the inner wall of the current area is sprayed using the spray gun, when the spraying of the area is completed, the oblique swing assembly 2 is adjusted in longitudinal spatial position by the lifting assembly 1 together with the spray gun installed on the oblique swing assembly 2, that is, the height is adjusted, so that the spraying area of the spray gun is expanded, and finally the spray gun is adjusted in transverse spatial position by the oblique swing assembly 2, further expanding the spraying area of the spray gun. It should be noted that the adjustment sequence of the lifting assembly 1 and the oblique swing assembly 2 is not specifically limited during use, that is, the transverse spatial position of the spray gun can be adjusted by the oblique swing assembly 2 first to complete the transverse area spraying of the current wall surface, and then the longitudinal spatial position of the spray gun is adjusted by the lifting assembly 1 to complete the longitudinal area spraying of the current wall surface. At the same time, after the transverse spatial position of the mechanical arm and the spray gun is adjusted by the oblique swing assembly 2, the oblique swing assembly 2 is supported by the supporting assembly 3 to prevent it from falling due to unstable center of gravity.

[0045] The outer wall spraying: first, the robot body is moved to the window or balcony, the mechanical arm together with the spray gun is adjusted to a certain height by the lifting assembly 1, and then the mechanical arm together with the spray gun is moved to the outer wall area through the window or balcony by adjusting the transverse spatial position by the oblique swing assembly 2, and the oblique swing assembly 2 is supported by the supporting assembly 3 to provide a supporting force (the lower end of the oblique swing assembly 2 is supported on the guardrail of the balcony or the windowsill), overcoming the risk of unstable center of gravity caused by the transverse spatial position adjustment of the mechanical arm and the spray gun by the oblique swing assembly 2.

[0046] In summary, the spraying robot provided by the embodiment realizes the spatial position (longitudinal and transverse) adjustment of the spray gun on the basis of the mechanical arm through the oblique swing assembly, so that the inner wall can be sprayed in a large range, and the mechanical arm and the spray gun can be moved to the outer wall area through the window or balcony by the oblique swing assembly 2, thereby realizing the spraying operation of the spraying robot on the outer wall area. During the process, the oblique swing assembly 2 is supported by the supporting assembly 3 in cooperation with the window or balcony structure (such as the upper end surface of the guardrail), which can improve the stability of the mechanical arm and the spray gun operation.

[0047] The feeding part in the embodiment is used for storing spraying materials such as putty, latex paint, and multi-color paint; the mechanical arm is a six-degree-of-freedom mechanical arm, and the flexibility of the spray gun can be greatly improved by using the mechanical arm to control the spray gun, which can improve the efficiency of the spray gun spraying automation construction and also cover the spraying of areas with high construction difficulty such as building corners. In use, the spraying materials stored in the feeding part can be delivered to the spray gun or the roller coating mechanism through the feeding pipeline.

[0048] In the embodiment, the mobile chassis is driven by the Mecanum wheel, and four sensors are used for moving and positioning the robot body. Meanwhile, the pneumatic supporting legs are installed on the mobile chassis, which can meet the stability requirements of various postures of the spraying operation.

[0049] Further, the feeding part at least comprises a hopper, and in order to facilitate the movement of the hopper, the same moving chassis as mentioned above can be configured to carry the hopper.

[0050] In this embodiment, as shown in Figure 4 , Figure 5 and Figure 6 , the lifting assembly 1 further comprises a main body seat 101 and a driving mechanism, the main body seat 101 is flat, a linear guide rail 104 is fixedly installed on the front side of the main body seat 101 by bolts, a sliding block 1031 matched with the linear guide rail 104 is arranged on the lifting seat 103, and the lifting seat 103 is slidably connected with the linear guide rail 104 through the sliding block 1031. The driving mechanism is used to drive the lifting seat 103 to slide along the extension direction of the linear guide rail 104, so as to realize the longitudinal spatial position adjustment of the lifting seat 103. As shown in Figures 1 to 5 , when the oblique swing assembly is in a non-oblique swing state and the lifting seat 103 is in a first limit position, the main body seat 101 and the lifting seat 103 form a storage area for storing the oblique swing assembly 2. The first limit position is the position of the lifting seat 103 at the lower end of the linear guide rail 104 as shown in Figure 5 . In this way, the oblique swing assembly 2 in the non-oblique swing state can be stored in the storage area, thereby effectively reducing the volume of the oblique swing assembly and increasing the structural compactness of the oblique swing assembly, which is beneficial to the transfer of the construction robot.

[0051] In this embodiment, two linear guide rails 104 are arranged in parallel on the main body seat 101.

[0052] Further, the driving mechanism comprises a first servo motor 108, a rack 105 and a gear 109, wherein: the rack 105 is arranged on the main body seat 101 and distributed between the two linear guide rails 104, and the extension direction of the rack 105 is parallel to the extension direction of the linear guide rail 104. The first servo motor 108 is installed on the lifting seat 103, and a backing plate 106 is also installed on the lifting seat 103, a first speed reducer 107 is assembled on the backing plate 106, the output end of the first servo motor 108 is transmissionally connected to the first speed reducer 107, and the gear 109 is installed on the output shaft of the first speed reducer 107.

[0053] In this embodiment, the main body seat 101 is fixedly installed on the moving chassis and serves as a support. In use, the first servo motor 108 is started, which is decelerated to an appropriate speed by the first speed reducer 107 and drives the gear 109 to mesh with the rack 105 for transmission, thereby realizing the movement of the lifting seat 103 in the extension direction of the rack 105 and the extension direction of the linear guide rail 104.

[0054] In the embodiment, the sealing window plate 102 is arranged on the lifting seat 103, and covers the outside of the first speed reducer 107 and the first servo motor 108, thereby protecting the first speed reducer 107 and the first servo motor 108.

[0055] In order to prevent the lifting seat 103 from colliding and generating excessive vibration when reaching the limit position, as shown in Figure 4 , the top and bottom of the main seat 101 are provided with the buffer pads 110, and the lifting seat 103 is located between the two buffer pads 110. The buffer pad 110 is made of elastic rubber, which is used to absorb the vibration generated by the collision of the lifting seat 103 when reaching the highest position, and can also limit the lifting seat 103. It should be noted that the buffer pad 110 can also be made of other elastic materials. In some embodiments, the buffer pad 110 can be replaced by a compression spring.

[0056] In order to facilitate automatic control, the proximity switch 112 is arranged on the top of the main seat 101. When the lifting seat 103 reaches a certain height, the proximity switch 112 checks the height data of the lifting seat, and feeds back to the central processor to stop the first servo motor 108 from running, thereby preventing the collision accident of the lifting seat 103.

[0057] As shown in Figure 5 , the two sides of the front side of the main seat 101 are provided with the extension plates 114, which protrude along the front side of the main seat 101 and protrude along the two sides of the front side of the main seat 101. In order to increase the structural stability of the main seat 101, the first reinforcing frame 111 and the second reinforcing frame 115 are arranged between the main seat 101 and the extension plate 114, respectively. The second reinforcing frame 115 forms a triangular structure with the main seat 101 and the extension plate 114, which has high stability. In the embodiment, as shown in Figure 1 、 Figure 3 、 Figure 7 、 Figure 8 and Figure 9 , the oblique swing assembly 2 further comprises a swing mechanism arranged between the lifting seat 103 and the mounting seat 203. The swing mechanism comprises a swing rod arranged between the mounting seat 203 and the lifting seat 103, and the swing rod is hinged to the mounting seat 203 and the lifting seat 103, respectively; and the first driving member 208 is used to drive the swing rod to rotate around the hinge point between the swing rod and the lifting seat 103. Further, the swing rod comprises a left swing rod 201 and a right swing rod 202, and the left swing rod 201, the lifting seat 103, the right swing rod 202 and the mounting seat 203 are hingedly connected in series to form a four-bar mechanism; and the first driving member 208 is used to drive the left swing rod 201 and / or the right swing rod 202. As shown in Figure 1 and Figure 7As shown, the left swing rod 201, the lifting seat 103, the right swing rod 202 and the mounting seat 203 are hingedly connected to form a four-bar mechanism in a parallelogram mechanism. When the left swing rod 201 or the right swing rod 202 swings, the mounting seat 203 and the lifting seat 103 can remain parallel, so that the mechanical arm mounted on the mounting seat 203 can maintain a translational posture during the spatial position adjustment process, and the stability is high. In the embodiment, when the oblique swing assembly is in a non-oblique swing state, the left swing rod 201 and / or the right swing rod 202 is parallel to the lifting path direction of the lifting seat 103.

[0058] In the embodiment, the first driving member 208 is an electric cylinder which is driven by the second servo motor 210 and the second speed reducer 209 mounted on the outer wall of the electric cylinder. In other embodiments, the first driving member 208 can be a gas cylinder, a hydraulic cylinder or the like.

[0059] Specifically, as shown in Figure 7 and Figure 8 In order to facilitate the installation of the first driving member 208 and improve the structural stability of the oblique swing assembly 2, as shown in Figure 8 , two groups of four-bar mechanisms are arranged between the lifting seat 103 and the mounting seat 203 to form a frame structure, and the first driving member 208 and the support assembly 3 are arranged between the two groups of four-bar mechanisms. In the embodiment, the space between the two groups of four-bar mechanisms, i.e. the space between the two parallel swing rods, forms a receiving area. The receiving area can accommodate the first driving member 208 and the support assembly 3, which can increase the compactness of the oblique swing assembly and provide structural protection for the first driving member 208 and the support assembly 3.

[0060] More specifically, the left swing rod 201 and the right swing rod 202 are hingedly connected to the lifting seat 103 through the first hinge shaft 204, and the left swing rod 201 and the right swing rod 202 are hingedly connected to the mounting seat 203 through the fifth hinge shaft 211. The second hinge shaft 205 and the support connecting long shaft 206 are arranged between the two right swing rods 202 of the two groups of four-bar mechanisms. The third hinge shaft 207 is arranged between the two left swing rods 201 of the two groups of four-bar mechanisms. The mounting end of the first driving member 208 is rotationally connected to the second hinge shaft 205, and the driving end of the first driving member 208 is rotationally connected to the third hinge shaft 207.

[0061] The first hinge shaft 204, the second hinge shaft 205, the third hinge shaft 207, the fifth hinge shaft 211 and the support connecting long shaft 206 are used to connect the two groups of four-bar mechanisms, which increases the structural stability of the oblique swing assembly 2. In use, the first driving member 208 is started, and the driving end is elongated to make the left swing rod 201 rotate, so that the shape of the four-bar mechanism changes from the state shown in Figure 7 to the state shown in Figure 1In the shown state, the spatial position of the mechanical arm and the spray gun mounted on the mounting seat 203 is adjusted, mainly in the lateral direction. The left swing rod 201, the lifting seat 103, the right swing rod 202 and the mounting seat 203 are hingedly connected at the ends to form a four-bar linkage structure, which is compact and ingenious in structure and can effectively save space. Meanwhile, the arrangement of the two four-bar linkages increases the structural stability of the oblique swing assembly 2 and effectively improves the carrying capacity of the oblique swing assembly 2.

[0062] Further, the lifting seat 103 is provided with a protractor mounting frame 113, and the first hinged shaft 204 is rotationally connected with the protractor mounting frame 113. The protractor mounting frame 113 can be assembled with a protractor, which facilitates the user to observe the swing angle of the left swing rod 201 and the right swing rod 202.

[0063] In the embodiment, as shown in Figure 10 and Figure 11 , the support assembly 3 comprises a telescopic member 301, the mounting end of the telescopic member 301 is mounted to the oblique swing assembly 2, and the driving end of the telescopic member 301 is provided with an abutting portion. In the embodiment, the mounting end of the telescopic member 301 is mounted into the storage area. Specifically, the mounting end of the telescopic member 301 has two hinged points, which are both rotationally connected with the structural member of the oblique swing assembly 2, and the connecting line of the two hinged points is always parallel to the connecting line between the hinged points of the left swing rod 201 and the right swing rod 202 and the lifting seat 103, i.e., the mounting end of the telescopic member 301, the left swing rod 201, the lifting seat 103 and the right swing rod 202 are hingedly connected at the ends to form a planar four-bar linkage, so that the axial direction of the telescopic member 301 is always vertically downward, and the telescopic member 301 can be automatically stored into the storage area when the oblique swing assembly 2 is in the non-oblique swing state.

[0064] Specifically, the support assembly 3 further comprises a rack plate 302, the telescopic piece 301 is fixedly installed on the rack plate 302, the upper end of the rack plate 302 is provided with a first mounting hole, the first mounting hole is sleeved on the outer side of the support connecting long shaft 206, and the fixing and adjustment of the telescopic piece 301 are facilitated. Further, the abutting portion at least comprises a support plate 305 hinged to the driving end of the telescopic piece 301, and the support plate 305 and the driving end of the telescopic piece 301 are provided with an elastic piece 307. In the embodiment, the telescopic piece 301 is a gas cylinder. The elastic piece 307 is a spring. Specifically, the telescopic end of the telescopic piece 301 is provided with an end fork 303, the support plate 305 is rotatably installed on the end fork 303 through a fourth hinge shaft 304, and the back side of the support plate 305 is provided with a polyurethane plate 306. The polyurethane plate 306 has high strength and good wear resistance, and can prolong the service life of the inclined swing assembly. In use, when the inclined swing assembly is in the inclined swing state, the abutting portion, i.e. the polyurethane plate 306, abuts against the guardrail of the window or the balcony, so as to provide upward supporting force for the inclined swing assembly through the telescopic piece 301, so as to keep the construction robot in a stable working state. In the embodiment, the elastic piece 307 plays a buffering role, so as to avoid rigid contact between the support assembly and the guardrail of the window or the balcony during the elongation supporting process when the inclined swing assembly is adjusted to the inclined swing state.

[0065] The technical means disclosed in the present application scheme is not limited to the technical means disclosed in the above-mentioned embodiments, and also includes the technical solutions composed of any combination of the above technical features. It should be pointed out that, for ordinary skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, and these improvements and refinements are also considered to be within the protection scope of the present application.

Claims

1. A tilt swing assembly applied to a construction robot, characterized by, The application relates to a construction robot, which comprises the following components: a lifting assembly (1) arranged on the construction robot, wherein the lifting assembly (1) at least comprises a lifting seat (103); a tilting assembly (2) arranged on the lifting seat (103), wherein the tilting assembly (2) at least comprises a mounting seat (203) capable of swinging relative to the lifting seat (103), and the mounting seat (203) is used for mounting an execution mechanism of the construction robot; and a supporting assembly (3) arranged on the tilting assembly (2); when the tilting assembly is in a tilting state, the mounting seat (203) deviates from a lifting path of the lifting seat (103), and the supporting assembly (3) is used for providing an upward supporting force for the tilting assembly (2); when the tilting assembly is in a non-tilting state, the mounting seat (203) is on the lifting path of the lifting seat (103); a receiving area for receiving the supporting assembly (3) is arranged in the tilting assembly (2); the tilting assembly (2) further comprises a swinging mechanism arranged between the lifting seat (103) and the mounting seat (203), and the swinging mechanism is used for driving the mounting seat (203) to swing relative to the lifting seat (103); the receiving area is in the swinging mechanism.

2. The bevel assembly of claim 1, wherein, the lifting assembly (1) comprises a main body seat (101), and the lifting seat (103) is slidingly arranged on the main body seat (101); when the tilting assembly is in the non-tilting state and the lifting seat (103) is in a first limit position, the main body seat (101) and the lifting seat (103) form a receiving area for receiving the tilting assembly (2).

3. The bevel assembly of claim 1, wherein: the swinging mechanism comprises a swinging rod arranged between the mounting seat (203) and the lifting seat (103), the swinging rod is hingedly connected with the mounting seat (203) and the lifting seat (103) respectively, and the swinging mechanism further comprises a first driving member (208) used for driving the swinging rod to rotate around a hinged joint between the swinging rod and the lifting seat (103).

4. The bevel assembly of claim 3, wherein: the swinging rod comprises a left swinging rod (201) and a right swinging rod (202), and the left swinging rod (201), the lifting seat (103), the right swinging rod (202) and the mounting seat (203) are hingedly connected in sequence to form a four-link mechanism; the first driving member (208) is used for driving the left swinging rod (201) and / or the right swinging rod (202); when the tilting assembly is in the non-tilting state, the left swinging rod (201) and / or the right swinging rod (202) is parallel to the lifting path direction of the lifting seat (103).

5. The bevel assembly of claim 4, wherein, the swinging mechanism comprises two parallel swinging rods, and the receiving area is formed between the two swinging rods; the first driving member (208) and the supporting assembly (3) are arranged in the receiving area.

6. The bevel assembly of any of claims 1-5, wherein: the supporting assembly (3) comprises a telescopic member (301), the mounting end of the telescopic member (301) is arranged on the tilting assembly (2), and the driving end of the telescopic member (301) is provided with an abutting portion.

7. The bevel assembly of claim 5, wherein: The lifting assembly (1) further comprises a main body seat (101) and a driving mechanism, the main body seat (101) is provided with a linear guide rail (104), and the lifting seat (103) is in sliding connection with the linear guide rail (104); The driving mechanism is used for driving the lifting seat (103) to slide along the extension direction of the linear guide rail (104); When the oblique swing assembly is in a non-oblique swing state, the left swing rod (201) and / or the right swing rod (202) are parallel to the extension direction of the linear guide rail (104).

8. A construction robot characterized by comprising: The robot comprises a feeding part, a feeding pipeline and a robot body which are sequentially connected, wherein: The robot body comprises a moving chassis, and the moving chassis is provided with the oblique swing assembly according to any one of claims 1-7; The mounting seat (203) is provided with an executing mechanism, and the feeding pipeline is connected to the executing mechanism.

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