Swing device and plastering robot

Abstract

The present application relates to a swinging device and a plastering robot, belonging to the technical field of construction equipment. The swinging device includes: a fixed seat; a rotating shaft; an actuator rotatably mounted on the fixed seat through the rotating shaft, the actuator including an acting part disposed opposite to the fixed seat; a transition member, a first elastic member and a second elastic member, the transition member including a main body part, as well as a first arm and a second arm, the main body part rotatably sleeved on the rotating shaft, the main body part being rotationally matched with the fixed seat, the first arm being attached to the fixed seat, the first elastic member being disposed between the acting part and the first arm, the second arm being attached to the acting part, and the second elastic member being disposed between the second arm and the fixed seat. This swinging device can both swing and reduce the swing during the process of restoring from the deflected state to the initial state, improving the overall service life. At the same time, it has a good holding effect in the initial state.

Description

Technical Field

[0001] The present application relates to the technical field of construction equipment, and in particular to a swing device and a plastering robot. Background Art

[0002] In the construction industry, the degree of automation is increasing, and construction robots have emerged. Construction robots are suitable for different construction operations, such as wall plastering and wallpapering.

[0003] In order to adapt to different working surfaces, the construction robot needs to be equipped with a swing structure. The existing swing structure often has elastic components (such as springs) at both ends. When the working surface is tilted, one end of the swing structure contacts the working surface and compresses the elastic component so that the working execution end is parallel to the working surface. Taking the construction robot as a plastering device as an example, in the Chinese patent with application number: CN202010523236.9, the wiper is the working execution end, and the wiper adapts to the inclination of the working surface (wall) under the action of two elastic components. When the wiper is restored from the deflected state to the initial state, the recovery process is realized by the two elastic components. However, in the process of restoring the initial state, the elastic component is compressed and deformed due to the deflected state, and the elastic force provided by it causes the wiper to swing continuously in the front and rear directions. Only when this part of the elastic force is consumed, the wiper will reach the initial state. In the process of returning to the initial state, the wiper swings more frequently, which increases the loss of the elastic component. At the same time, in the initial state, the elastic forces of the elastic components on both sides of the wiper cancel each other out, so the holding force or torque is very small, and only a very slight force is needed to make the wiper swing. During the movement of the equipment, the wiper is prone to shaking, and the holding effect is poor. Summary of the invention

[0004] The purpose of the present application is to provide a swing device and a plastering robot. The swing device can swing and reduce the swing in the process of returning from a deflected state to an initial state, thereby increasing the overall service life and having a better maintenance effect in the initial state.

[0005] This application is achieved through the following technical solutions:

[0006] In a first aspect, the present application provides a swinging device, comprising: a fixed seat; an actuator rotatably mounted on the fixed seat through a rotating shaft, the actuator including an acting portion disposed opposite to the fixed seat; a transition member including a main body portion, a first arm and a second arm connected to the main body portion, the main body portion rotatably sleeved on the rotating shaft and rotatably engaged with the fixed seat, the first arm and the second arm being located on opposite sides of the rotating shaft, the first arm and the second arm being located between the acting portion and the fixed seat, the first arm being in contact with the fixed seat, and the second arm being in contact with the acting portion; a first elastic member disposed between the acting portion and the first arm; and a second elastic member disposed between the second arm and the fixed seat.

[0007] For the swinging device according to an embodiment of the present application, the actuator is rotatably mounted on the fixed seat through a rotating shaft, and the actuator can rotate relative to the fixed seat about the central axis of the rotating shaft to adapt to an inclined working base surface. The actuator has an initial state, a first deflection state in which it deflects clockwise relative to the fixed seat about the central axis of the rotating shaft, and a second deflection state in which it deflects counterclockwise. The actuator is maintained in the initial state under the cooperation of the first elastic member and the second elastic member; when the actuator rotates from the initial state towards the first deflection state, since the actuator is in contact with the second arm, the actuator drives the transition member to rotate relative to the fixed seat together, the second elastic member is compressed, and the first elastic member and the corresponding first arm form a holding portion. The actuator rotates to the first deflection state. During the process of the actuator recovering from the first deflection state to the initial state, the actuator rotates from the first deflection state towards the initial state under the action of the elastic force of the second elastic member, and the holding portion formed by the first elastic member and the first arm can block the swinging of the actuator, so that the actuator is maintained in the initial state; when the actuator rotates from the initial state towards the second deflection state, since the first arm is in contact with the fixed seat, the first arm and the fixed seat are relatively stationary, the actuator rotates relative to the transition member, the first elastic member is compressed, the actuator is separated from the second arm, and the second arm and the second elastic member form a holding portion. The actuator rotates to the second deflection state. During the process of the actuator recovering from the second deflection state to the initial state, the actuator rotates from the second deflection state towards the initial state under the action of the elastic force of the first elastic member, and the holding portion formed by the second elastic member and the second arm can block the swinging of the actuator, so that the actuator is maintained in the initial state. This swinging device can not only swing, but also reduce the swinging during the process of recovering from the deflection state to the initial state, improve the overall service life, and at the same time, has a good holding effect in the initial state.

[0008] According to some embodiments of the present application, the acting part and the fixed seat are oppositely arranged along a first direction, the first arm and the second arm are arranged at intervals along the first direction, the actuator extends along a second direction, both the first arm and the second arm extend along the second direction, the central axis of the rotating shaft extends along a third direction, and the first direction, the second direction and the third direction are perpendicular to each other in pairs.

[0009] In the above solution, the first arm and the second arm are arranged at intervals along the first direction, so as to facilitate the assembly of the first elastic member and the second elastic member; both the first arm and the second arm extend along the second direction. In the second direction, the second arm and the actuator have a long contact area, and the first arm and the fixed seat have a long contact area, ensuring that the actuator has a certain holding torque and a reset limiting surface in the initial state.

[0010] According to some embodiments of the present application, along the second direction, the first elastic member is located at one end of the first arm away from the main body portion, and the second elastic member is located at one end of the second arm away from the main body portion.

[0011] In the above solution, the first elastic member is located at one end of the first arm away from the main body portion, and the second elastic member is located at one end of the second arm away from the main body portion, so that the actuator has a large holding torque in the initial state, and thus the actuator has a good holding effect in the initial state.

[0012] According to some embodiments of the present application, the first arm and the second arm are integrally formed with the main body portion.

[0013] In the above solution, the first arm, the second arm and the main body portion are integrally formed, which is convenient for processing and has a low manufacturing cost.

[0014] According to some embodiments of the present application, the actuator includes a first frame body, a second frame body and a third frame body. The first frame body and the second frame body are oppositely arranged, the third frame body connects the first frame body and the second frame body, the first frame body, the second frame body and the third frame body enclose a receiving cavity, the acting part is arranged on the third frame body, and the fixed seat and the reset mechanism are both arranged in the receiving cavity.

[0015] In the above solution, the fixed seat and the reset mechanism are arranged in the receiving cavity, which realizes the protection of the fixed seat and the reset mechanism. At the same time, the structure is compact and interference with other components is avoided.

[0016] According to some embodiments of the present application, the fixing base is provided with a through hole corresponding to the rotating shaft, the first frame body is provided with a first mounting hole communicating with the accommodating cavity, the second frame body is provided with a second mounting hole communicating with the accommodating cavity, the rotating shaft passes through the first mounting hole, the through hole and the second mounting hole, and the rotating shaft is detachably connected to the first frame body and the second frame body.

[0017] In the above solution, the rotating shaft passes through the first mounting hole, the through hole and the second mounting hole, and the rotating shaft is detachably connected to the first frame body and the second frame body. The rotating shaft is rotationally matched with the fixing base to realize the assembly of the executing member and the fixing base, with a simple structure and convenient operation.

[0018] According to some embodiments of the present application, the swinging device further includes: a spacer sleeve disposed in the through hole, the spacer sleeve is rotatably sleeved on the rotating shaft, the main body portion is rotatably sleeved on the spacer sleeve, the fixing base is provided with an annular groove communicating with the through hole, the central axis of the annular groove coincides with the central axis of the through hole, and part of the annular groove penetrates through the fixing base, and the main body portion is rotatably disposed in the annular groove.

[0019] In the above solution, the spacer sleeve is disposed in the through hole, the main body portion is sleeved on the spacer sleeve, and the main body portion is rotatably disposed in the annular groove to facilitate the assembly of the main body portion and the fixing base.

[0020] According to some embodiments of the present application, the swinging device further includes: a positioning member detachably connected to the fixing base, and the positioning member is used to limit the spacer sleeve in the through hole.

[0021] In the above solution, the positioning member limits the spacer sleeve in the through hole to ensure the fixed position of the spacer sleeve and the fixing base, and ensure the stable rotation of the main body portion relative to the fixing base.

[0022] According to some embodiments of the present application, there are two positioning members, the two positioning members are disposed at both ends of the through hole, and the two positioning members are respectively in contact with the spacer sleeve.

[0023] In the above solution, the two positioning members are disposed at both ends of the through hole to limit the position of the spacer sleeve from two positions to ensure the fixed position of the spacer sleeve in the through hole.

[0024] According to some embodiments of the present application, the positioning member is a sleeve, the sleeve is rotatably sleeved on the outside of the rotating shaft, the sleeve includes a cylinder body and a limiting flange, part of the cylinder body is located in the through hole, the limiting flange is located at one end of the cylinder body and is arranged around the outer peripheral surface of the cylinder body, and the limiting flange is in contact with the fixing base.

[0025] In the above solution, part of the cylinder body is located inside the through hole, and the length dimension of the spacer sleeve can be smaller, reducing the manufacturing cost of the spacer sleeve; the limiting flange abuts against the fixed seat, increasing the contact area between the positioning member and the fixed seat and facilitating assembly.

[0026] According to some embodiments of the present application, a first limiting boss is provided on the inner surface of the first frame body, and a second limiting boss is provided on the inner surface of the second frame body. The limiting flange of the positioning member close to the first frame body is clamped by the first limiting boss and the fixed seat, and the limiting flange of the positioning member close to the second frame body is clamped by the second limiting boss and the fixed seat.

[0027] In the above solution, the first limiting boss and the second limiting boss abut the limiting flanges of the two positioning members against the fixed seat, and the sleeves of the two positioning members abut against the spacer sleeve, ensuring the assembly stability of the spacer sleeve, the two positioning members and the fixed seat.

[0028] In a second aspect, the present application provides a plastering robot, including an actuating mechanism and the swinging device provided in the first aspect embodiments, and the swinging device is installed at the end of the actuating mechanism.

[0029] The plastering robot according to the embodiments of the present application can adapt to the plastering operations on walls with different inclination degrees. At the same time, during the process of the swinging device converting from the deflected state to the initial state, the swing of the executing member is reduced, improving the service life of the swinging device. At the same time, the executing member has a good holding effect in the initial state, making the plastering robot walk stably.

[0030] Additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] 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 some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0032] Figure 1 Is a perspective view of the swinging device provided in some embodiments of the present application;

[0033] Figure 2 Is an exploded view of the structure of the swinging device provided in some embodiments of the present application;

[0034] Figure 3 Is a front view of the swinging device provided in some embodiments of the present application;

[0035] Figure 4 A cross-sectional view taken along the A-A direction provided for some embodiments of the present application;

[0036] Figure 5 is Figure 4 a partially enlarged view of portion B of

[0037] Figure 6 is Figure 4 a cross-sectional view taken along the C-C direction of

[0038] Figure 7 A schematic diagram showing the actuator in the second deflection state provided for some embodiments of the present application;

[0039] Figure 8 is Figure 7 a partially enlarged view of portion D of

[0040] Figure 9 A schematic diagram showing the actuator in the first deflection state provided for some embodiments of the present application;

[0041] Figure 10 is Figure 9 a partially enlarged view of portion E of

[0042] Figure 11 A schematic diagram of the structure of a plastering robot provided for some embodiments of the present application;

[0043] Figure 12 A schematic diagram of the structure of a plastering device provided for some embodiments of the present application;

[0044] Figure 13 A schematic diagram of the assembly of a swinging device and a plastering device provided for some embodiments of the present application.

[0045] Icon: 100 - swinging device; 10 - fixed seat; 11 - through hole; 12 - annular groove; 20 - rotating shaft; 21 - flange; 30 - actuator; 31 - acting portion; 32 - first frame; 321 - first mounting hole; 322 - first limiting boss; 33 - second frame; 331 - second mounting hole; 332 - second limiting boss; 34 - third frame; 35 - accommodating cavity; 36 - reinforcing plate; 41 - transition member; 411 - main body portion; 412 - first arm; 4121 - first groove; 413 - second arm; 4131 - second groove; 42 - first elastic member; 43 - second elastic member; 51 - spacer sleeve; 52 - positioning member; 521 - cylinder body; 522 - limiting flange; 200 - moving chassis; 300 - lifting mechanism; 400 - plastering plate mechanism; 410 - plastering plate rotating shaft; 420 - plastering plate; 500 - overflowing material mechanism; 600 - rear end bracket; 700 - electric push rod; 800 - jacking mechanism; 900 - feeding mechanism; 1000 - plastering robot. Detailed Implementation Modes

[0046] The following further describes in detail the implementation modes of the present application in conjunction with the accompanying drawings and embodiments. The following detailed descriptions of the embodiments and the accompanying drawings are used to exemplarily illustrate the principles of the present application, but cannot be used to limit the scope of the present application, that is, the present application is not limited to the described embodiments.

[0047] In the description of the present application, it should be noted that unless otherwise specified, the meaning of "a plurality" is two or more; the orientation or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying 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 application. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. "Vertical" is not strictly vertical, but within the allowable error range. "Parallel" is not strictly parallel, but within the allowable error range.

[0048] The orientation terms appearing in the following descriptions are all the directions shown in the drawings and do not limit the specific structure of the present application. In the description of the present application, it should also be noted that unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0049] The following describes a swing device according to an embodiment of the first aspect of the present application with reference to the drawings.

[0050] Please refer to Figures 1 to 10 , Figure 1 , which is a perspective view of the swing device provided by some embodiments of the present application, Figure 2 , which is an exploded view of the structure of the swing device provided by some embodiments of the present application, Figure 3 , which is a front view of the swing device provided by some embodiments of the present application, Figure 4 , which is a cross-sectional view in the A-A direction of the swing device provided by some embodiments of the present application, Figure 5 is Figure 4 , a partially enlarged view at B of Figure 6 is Figure 4 , a cross-sectional view in the C-C direction of Figure 7 , which is a schematic diagram of the actuator in the second deflection state provided by some embodiments of the present application, Figure 8 is Figure 7 , a partially enlarged view at D of Figure 9Schematic diagram of the actuator in the first deflection state provided by some embodiments of the present application Figure 10 is Figure 9 partial enlarged view of part E of

[0051] As Figures 1 to 10 shown, the swing device 100 according to an embodiment of the present application includes: a fixed seat 10, an actuator 30, a transition member 41, a first elastic member 42 and a second elastic member 43.

[0052] Specifically, the fixed seat 10 is a fixed base, which is used to be installed at the end of the actuating mechanism, and under the action of the actuating mechanism, the position of the fixed seat 10 and the components connected to the fixed seat 10 is changed.

[0053] The actuator 30 is rotatably installed on the fixed seat 10 through a rotating shaft 20. The actuator 30 can rotate relative to the fixed seat 10 around the central axis of the rotating shaft 20 following the rotating shaft 20. The actuator 30 includes an acting portion 31 disposed opposite to the fixed seat 10. As Figure 4 , Figure 7 , Figure 9 and Figure 10 shown, the actuator 30 has an initial state, a first deflection state of deflecting clockwise around the central axis of the rotating shaft 20 relative to the fixed seat 10, and a second deflection state of deflecting counterclockwise around the central axis of the rotating shaft 20 relative to the fixed seat 10.

[0054] It should be noted that the actuator 30 is used to connect the working mechanism. The working mechanism deflects relative to the fixed seat 10 under the drive of the actuator 30 to adapt to the inclination of the working base surface; the working mechanism can be a trowel mechanism, a wallpaper smoothing mechanism, etc.

[0055] The transition member 41, the first elastic member 42 and the second elastic member 43 constitute a reset mechanism for driving the actuator 30 to be in the initial state. As Figure 2 and Figure 5As shown, the transition member 41 includes a main body portion 411, and a first arm 412 and a second arm 413 extending away from the main body portion 411. The main body portion 411 is rotatably sleeved on the rotating shaft 20, and the main body portion 411 is rotationally engaged with the fixed seat 10. That is, the main body portion 411 can rotate relative to the rotating shaft 20 and can also rotate relative to the fixed seat 10. The first arm 412 and the second arm 413 are located on opposite sides of the rotating shaft 20. That is, the first arm 412 and the second arm 413 are located on both sides of the rotation direction of the rotating shaft 20. The first arm 412 and the second arm 413 are located between the acting portion 31 and the fixed seat 10. The first arm 412 is in contact with the fixed seat 10. The first elastic member 42 is disposed between the acting portion 31 and the first arm 412. The first elastic member 42 is used to apply an elastic force to the actuator 30 to rotate clockwise about the central axis of the rotating shaft 20. The second arm 413 is in contact with the acting portion 31. The second elastic member 43 is disposed between the second arm 413 and the fixed seat 10. The second elastic member 43 is used to apply an elastic force to the second arm 413 to rotate counterclockwise about the central axis of the rotating shaft 20.

[0056] For example, the acting portion 31 and the fixed seat 10 are oppositely arranged in the front-rear direction. The first elastic member 42 is located between the front of the acting portion 31 and the first arm 412. The second elastic member 43 is located between the rear of the second arm 413 and the fixed seat 10. The installation positions of the first elastic member 42 and the second elastic member 43 are different.

[0057] The first elastic member 42 and the second elastic member 43 can be springs, can be rubbers, or can also be other elastic structures, as long as they have good elastic force. Optionally, both the first elastic member 42 and the second elastic member 43 are springs.

[0058] According to the swing device 100 of the embodiment of the present application, the actuator 30 is rotatably installed on the fixed seat 10 through the rotating shaft 20. The actuator 30 can rotate relative to the fixed seat 10 about the central axis of the rotating shaft 20 to adapt to an inclined working base surface. When the actuator 30 rotates from the initial state to the first deflection state, as Figure 9 and Figure 10As shown, since the actuator 30 is in contact with the second arm 413, the actuator 30 drives the transition member 41 to rotate relative to the fixed seat 10 together. The second elastic member 43 is compressed, and the first elastic member 42 and the corresponding first arm 412 form a holding portion (the first elastic member 42 remains in a free state, and the distance between the first arm 412 and the acting portion 31 does not change). The actuator 30 rotates to the first deflection state. During the process of the actuator 30 recovering from the first deflection state to the initial state, the actuator 30 rotates from the first deflection state towards the initial state under the action of the elastic force of the second elastic member 43. The holding portion formed by the first elastic member 42 and the first arm 412 can block the swing of the actuator 30, so that the actuator 30 remains in the initial state; when the actuator 30 rotates from the initial state towards the second deflection state, as Figure 7 and Figure 8 shown, since the first arm 412 is in contact with the fixed seat 10, the first arm 412 and the fixed seat 10 are relatively stationary, the actuator 30 rotates relative to the transition member 41, the first elastic member 42 is compressed, the actuator 30 is separated from the second arm 413, and the second arm 413 and the second elastic member 43 form a holding portion (the second elastic member 43 remains in a free state, and the distance between the second arm 413 and the fixed seat 10 does not change). The actuator 30 rotates to the second deflection state. During the process of the actuator 30 recovering from the second deflection state to the initial state, the actuator 30 rotates from the second deflection state towards the initial state under the action of the elastic force of the first elastic member 42. The holding portion formed by the second elastic member 43 and the second arm 413 can block the swing of the actuator 30, so that the actuator 30 remains in the initial state. The swing device 100 can not only swing but also reduce the swing during the process of recovering from the deflection state to the initial state, improve the overall service life, and at the same time has a good holding effect in the initial state.

[0059] It should be noted that when the actuator 30 is in the initial state, both the first elastic member 42 and the second elastic member 43 are in a free state, that is, neither the first elastic member 42 nor the second elastic member 43 is subjected to any external force.

[0060] According to some embodiments of the present application, the acting portion 31 and the fixed seat 10 are oppositely arranged in the first direction, the first arm 412 and the second arm 413 are spaced apart in the first direction X, the actuator 30 extends in the second direction Y, both the first arm 412 and the second arm 413 extend in the second direction Y, the central axis of the rotating shaft 20 extends in the third direction Z, and the first direction X, the second direction Y, and the third direction Z are perpendicular to each other in pairs.

[0061] In the figure, the direction indicated by the letter X is the first direction, the direction indicated by the letter Y is the second direction, and the direction indicated by the letter Z is the third direction. The first direction X can be the front-back direction, the second direction Y can be the left-right direction, and the third direction Z can be the up-down direction. In other words, the acting part 31 and the fixed seat 10 are arranged opposite to each other in the front-back direction, the acting part 31 and the fixed seat 10 are arranged in parallel, the acting part 31 can be located in front of the fixed seat 10, the acting part 31 is closer to the working base surface relative to the fixed seat 10, the first support arm 412 and the second support arm 413 are arranged in parallel, the first support arm 412 is located behind the second support arm 413, the first support arm 412 is in contact with the fixed seat 10, the second support arm 413 is in contact with the acting part 31. Correspondingly, the first elastic member 42 is located between the front of the acting part 31 and the first support arm 412, and the second elastic member 43 is located between the back of the second support arm 413 and the fixed seat 10; the actuator 30 extends in the left-right direction so that the actuator 30 has a large overlapping area with the working base surface in the left-right direction; both the first support arm 412 and the second support arm 413 extend in the left-right direction. The first support arm 412 can extend leftward relative to the main body part 411, and the second support arm 413 can extend rightward relative to the main body part 411. Correspondingly, the first elastic member 42 is located on the left side of the main body part 411, and the second elastic member 43 is located on the right side of the main body part 411; the central axis of the rotating shaft 20 extends in the up-down direction.

[0062] To facilitate the installation of the first elastic member 42 and the second elastic member 43, as Figure 5 shown, a first groove 4121 for installing the first elastic member 42 is provided on the front of the first support arm 412. The rear end of the first elastic member 42 is embedded in the first groove 4121, and the front end of the first elastic member 42 is in contact with the acting part 31; a second groove 4131 for installing the second elastic member 43 is provided on the back of the second support arm 413. The front end of the second elastic member 43 is embedded in the second groove 4131, and the rear end of the second elastic member 43 is in contact with the fixed seat 10.

[0063] The first support arm 412 and the second support arm 413 are arranged at intervals in the first direction X to facilitate the assembly of the first elastic member 42 and the second elastic member 43; both the first support arm 412 and the second support arm 413 extend in the second direction Y. In the second direction Y, the second support arm 413 and the actuator 30 have a long contact area, and the first support arm 412 and the fixed seat 10 have a long contact area, ensuring that the actuator 30 has a certain holding torque and a reset limiting surface in the initial state.

[0064] According to some embodiments of the present application, as Figure 5 shown, along the second direction Y, the first elastic member 42 is located at the end of the first support arm 412 far from the main body part 411, and the second elastic member 43 is located at the end of the second support arm 413 far from the main body part 411.

[0065] In other words, in the left - right direction, the first elastic member 42 is located at the left end of the first arm 412, and the second elastic member 43 is located at the right end of the second arm 413. Both the first elastic member 42 and the second elastic member 43 are away from the main body portion 411. That is, the distance between the first elastic member 42 and the central axis of the rotating shaft 20 is long, and the distance between the second elastic member 43 and the central axis of the rotating shaft 20 is long.

[0066] The first elastic member 42 is located at one end of the first arm 412 away from the main body portion 411, and the second elastic member 43 is located at one end of the second arm 413 away from the main body portion 411, so that the actuator 30 has a large holding torque in the initial state, and thus the actuator 30 has a good holding effect in the initial state.

[0067] As Figure 2 shown, the main body portion 411 is sleeved on the rotating shaft 20, and the main body portion 411 has a cylindrical structure. At the same time, since the first arm 412 and the second arm 413 extend from the main body portion 411 in opposite directions, in order to facilitate the first arm 412 to fit with the fixed seat 10 and the second arm 413 to fit with the acting portion 31, a transition portion connected to the second arm 413 is provided on the outer peripheral surface of the main body portion 411, so that the first arm 412 and the second arm 413 are arranged in parallel. The transition portion can be understood as a region where the thickness of the main body portion 411 is thickened, and the region of the main body portion 411 except the transition portion can be an equal - thickness structure.

[0068] According to some embodiments of the present application, the first arm 412 and the second arm 413 are integrally formed with the main body portion 411. The first arm 412 and the second arm 413 being integrally formed with the main body portion 411 is convenient for processing and has a low manufacturing cost; for example, the transition member 41 can be formed by casting.

[0069] According to some embodiments of the present application, as Figure 1 、 Figure 2 and Figure 4 shown, the actuator 30 includes a first frame body 32, a second frame body 33 and a third frame body 34. The first frame body 32 and the second frame body 33 are oppositely arranged, the third frame body 34 connects the first frame body 32 and the second frame body 33, the first frame body 32, the second frame body 33 and the third frame body 34 enclose a receiving cavity 35, the acting portion 31 is arranged on the third frame body 34, and the fixed seat 10 and the reset mechanism are both arranged in the receiving cavity 35.

[0070] The actuator 30 can be of a frame structure to facilitate the connection between the actuator 30 and the working mechanism. As shown in the figure, the first frame body 32, the second frame body 33, and the third frame body 34 form a U-shaped structure. The first frame body 32, the second frame body 33, and the third frame body 34 can be integrally formed. For example, the first frame body 32, the second frame body 33, and the third frame body 34 can be formed by bending a metal plate. Since the actuator 30 has a certain length, a plurality of reinforcing plates 36 can be provided in the accommodating cavity 35. The plurality of reinforcing plates 36 are distributed at intervals along the length of the actuator 30 to increase the overall strength of the actuator 30.

[0071] The fixed seat 10 and the reset mechanism are arranged in the accommodating cavity 35 to protect the fixed seat 10 and the reset mechanism. At the same time, the structure is compact and interference with other components is avoided.

[0072] According to some embodiments of the present application, as Figure 2 and Figure 6 shown, the fixed seat 10 is provided with a through hole 11 corresponding to the rotating shaft 20. The first frame body 32 is provided with a first mounting hole 321 communicating with the accommodating cavity 35. The second frame body 33 is provided with a second mounting hole 331 communicating with the accommodating cavity 35. The rotating shaft 20 passes through the first mounting hole 321, the through hole 11, and the second mounting hole 331. The rotating shaft 20 is detachably connected to the first frame body 32 and the second frame body 33.

[0073] As Figure 6 shown, the first mounting hole 321 can penetrate the first frame body 32, and the second mounting hole 331 can penetrate the second frame body 33. The rotating shaft 20 can pass through the first mounting hole 321 and the through hole 11 and then be disposed in the second mounting hole 331. A flange 21 can be provided at one end of the rotating shaft 20. After the rotating shaft 20 passes through the first mounting hole 321, the through hole 11, and the second mounting hole 331, the flange 21 can abut against the first frame body 32 to prevent the rotating shaft 20 from moving further along its axial direction. The second frame body 33 and the rotating shaft 20 can be fixedly connected by a threaded fastener (such as a bolt). Alternatively, in other embodiments of the present application, the rotating shaft 20 can pass through the second mounting hole 331 and the through hole 11 and then be disposed in the first mounting hole 321. The flange 21 of the rotating shaft 20 can abut against the second frame body 33 to prevent the rotating shaft 20 from moving further along its axial direction. The first frame body 32 and the rotating shaft 20 can be fixedly connected by a threaded fastener.

[0074] The rotating shaft 20 is detachably connected to the first frame body 32 and the second frame body 33, that is, the position of the rotating shaft 20 and the actuator 30 is relatively fixed. The actuator 30 can rotate following the rotating shaft 20. At the same time, the rotating shaft 20 can be separated from the actuator 30 to facilitate maintenance or replacement.

[0075] The rotating shaft 20 passes through the first mounting hole 321, the through hole 11, and the second mounting hole 331. The rotating shaft 20 is detachably connected to the first frame body 32 and the second frame body 33. The rotating shaft 20 is rotatably engaged with the fixed seat 10 to realize the assembly of the actuator 30 and the fixed seat 10, with a simple structure and convenient operation.

[0076] During the assembly process, first, the fixed seat 10 and the reset mechanism are assembled into one body. Then, the assembled fixed seat 10 and the reset mechanism are placed in the accommodating cavity 35, such that the through hole 11 is coaxial with the first mounting hole 321 and the second mounting hole 331. Next, the rotating shaft 20 is passed through the first mounting hole 321, the through hole 11, and the second mounting hole 331. Finally, the rotating shaft 20 is fixedly connected to the first frame body 32 and the second frame body 33.

[0077] According to some embodiments of the present application, as Figure 2 and Figure 6 shown, the swinging device 100 further includes a spacer sleeve 51. The spacer sleeve 51 is disposed in the through hole 11. The spacer sleeve 51 is rotatably sleeved on the rotating shaft 20. The main body portion 411 is rotatably sleeved on the spacer sleeve 51. The fixed seat 10 is provided with an annular groove 12 communicating with the through hole 11. The central axis of the annular groove 12 coincides with the central axis of the through hole 11. Part of the annular groove 12 penetrates through the fixed seat 10. The main body portion 411 is rotatably disposed in the annular groove 12.

[0078] The spacer sleeve 51 is rotatably sleeved on the rotating shaft 20, and the rotating shaft 20 can rotate relative to the spacer sleeve 51. The central axis of the spacer sleeve 51 coincides with the central axis of the through hole 11, ensuring stable rotation of the rotating shaft 20 relative to the spacer sleeve 51. The main body portion 411 is rotatably sleeved on the spacer sleeve 51, and the main body portion 411 can rotate relative to the spacer sleeve 51, so that the main body portion 411 can rotate relative to the rotating shaft 20.

[0079] Optionally, the outer peripheral surface of the spacer sleeve 51 is in contact with the hole wall of the through hole 11 to ensure the positioning of the spacer sleeve 51 and the fixed seat 10.

[0080] The main body portion 411 is rotatably disposed in the annular groove 12. The annular groove 12 is the area where the main body portion 411 and the fixed seat 10 are rotatably engaged. The annular groove 12 communicates with the through hole 11, and the central axis of the annular groove 12 coincides with the central axis of the rotating shaft 20, making the rotation of the main body portion 411 relative to the rotating shaft 20 stable.

[0081] To reduce the thickness of the fixed seat 10, the fixed seat 10 can be thickened at the position where the through hole 11 is provided. Part of the annular groove 12 penetrates through the fixed seat 10 to facilitate the assembly of the main body portion 411 and the fixed seat 10. When the main body portion 411 and the fixed seat 10 are assembled, the main body portion 411 can enter the annular groove 12 from the position where the annular groove 12 penetrates through the fixed seat 10, and the first arm 412 and the second arm 413 are located outside the annular groove 12.

[0082] The spacer sleeve 51 is disposed within the through hole 11, and the main body portion 411 is sleeved on the spacer sleeve 51. The main body portion 411 is rotatably disposed within the annular groove 12 to facilitate the assembly of the main body portion 411 and the fixed seat 10.

[0083] According to some embodiments of the present application, as Figure 2 and Figure 6 shown, the swing device 100 further includes a positioning member 52. The positioning member 52 is detachably connected to the fixed seat 10, and the positioning member 52 is used to limit the spacer sleeve 51 within the through hole 11.

[0084] The positioning member 52 limits the spacer sleeve 51 within the through hole 11 to ensure the fixed position of the spacer sleeve 51 and the fixed seat 10, and to ensure the stable rotation of the main body portion 411 relative to the fixed seat 10.

[0085] In some embodiments, the positioning member 52 can be threadedly connected to the fixed seat 10 to facilitate assembly and disassembly. For example, the positioning member 52 is provided with an external thread, and the through hole 11 is provided with an internal thread; alternatively, the positioning member 52 and the fixed seat 10 are threadedly connected through a threaded fastener (such as a bolt).

[0086] In other embodiments, the positioning member 52 and the fixed seat 10 can also be connected by means such as snap connection or interference fit.

[0087] According to some embodiments of the present application, as Figure 2 and Figure 6 shown, two positioning members 52 are provided. The two positioning members 52 are disposed at both ends of the through hole 11, and the two positioning members 52 respectively abut against the spacer sleeve 51.

[0088] The two positioning members 52 are disposed at both ends of the through hole 11, and the spacer sleeve 51 is located between the two positioning members 52. The two positioning members 52 respectively limit the spacer sleeve 51 at opposite ends of the spacer sleeve 51 to limit the position of the spacer sleeve 51 within the through hole 11.

[0089] The two positioning members 52 are disposed at both ends of the through hole 11 to limit the position of the spacer sleeve 51 from two positions, ensuring the fixed position of the spacer sleeve 51 within the through hole 11.

[0090] According to some embodiments of the present application, as Figure 2 and Figure 6 shown, the positioning member 52 is a sleeve. The sleeve is rotatably sleeved on the outside of the rotating shaft 20. The sleeve includes a cylindrical body 521 and a limiting flange 522. Part of the cylindrical body 521 is located within the through hole 11, and the limiting flange 522 is located at one end of the cylindrical body 521 and is disposed around the outer peripheral surface of the cylindrical body 521. The limiting flange 522 abuts against the fixed seat 10.

[0091] The sleeve has an open structure at both ends to facilitate the passing of the rotating shaft 20 through it.

[0092] As Figure 2 and Figure 6 shown, the limiting flange 522 is a ring structure, formed at one end of the cylinder body 521. The limiting flange 522 is arranged around the central axis of the cylinder body 521. After the sleeve is assembled with the fixed seat 10, the end of the cylinder body 521 located inside the through hole 11 abuts against the sleeve, and the limiting flange 522 is located outside the through hole 11 and abuts against the fixed seat 10.

[0093] Part of the cylinder body 521 is located inside the through hole 11, and the length dimension of the spacer sleeve 51 can be smaller, reducing the manufacturing cost of the spacer sleeve 51; the limiting flange 522 abuts against the fixed seat 10, increasing the contact area between the positioning member 52 and the fixed seat 10, which is convenient for assembly.

[0094] It should be noted that the spacer sleeve 51 is restricted inside the through hole 11 by the positioning member 52, and the position of the spacer sleeve 51 relative to the fixed seat 10 does not change. The spacer sleeve 51 is used to realize the rotational fit of the main body portion 411 relative to the rotating shaft 20, and the spacer sleeve 51 may not be in contact with the rotating shaft 20.

[0095] The sleeve is sleeved outside the rotating shaft 20, and the rotating shaft 20 is rotationally fitted with the sleeve. The sleeve can be a copper sleeve, which has good sliding and self-lubricating properties. The inner peripheral surface of the copper sleeve can be fitted with the outer peripheral surface of the rotating shaft 20 to ensure stable rotation of the rotating shaft 20 relative to the fixed seat 10.

[0096] According to some embodiments of the present application, as Figure 2 and Figure 6 shown, the inner surface of the first frame body 32 is provided with a first limiting boss 322, and the inner surface of the second frame body 33 is provided with a second limiting boss 332. The limiting flange 522 of the positioning member 52 close to the first frame body 32 is clamped by the first limiting boss 322 and the fixed seat 10, and the limiting flange 522 of the positioning member 52 close to the second frame body 33 is clamped by the second limiting boss 332 and the fixed seat 10.

[0097] The first mounting hole 321 is provided in the first limiting boss 322 and penetrates through the first limiting boss 322. The second mounting hole 331 is provided in the second limiting boss 332 and penetrates through the second limiting boss 332.

[0098] As Figure 6As shown, the limiting flange 522 of the positioning member 52 close to the first frame body 32 is located between the first limiting boss 322 and the fixing base 10. The limiting flange 522 is clamped by the first limiting boss 322 and the fixing base 10, so that both opposite sides of the limiting flange 522 are limited, and the position of the positioning member 52 is fixed; the limiting flange 522 of the positioning member 52 close to the second frame body 33 is located between the second limiting boss 332 and the fixing base 10. The limiting flange 522 is clamped by the second limiting boss 332 and the fixing base 10, so that both opposite sides of the limiting flange 522 are limited, and the position of the positioning member 52 is fixed.

[0099] In other words, the first limiting boss 322 and the second limiting boss 332 abut the limiting flanges 522 of the two positioning members 52 against the fixing base 10, and the sleeves of the two positioning members 52 abut against the spacer sleeve 51, ensuring the assembly stability of the spacer sleeve 51, the two positioning members 52 and the fixing base 10.

[0100] The assembly process of the swing device 100 according to the embodiment of the present application is as follows:

[0101] The second elastic member 43 is arranged on the second arm 413, and the main body portion 411 of the transition member 41 is arranged in the annular groove 12 of the fixing base 10, so that the main body portion 411 coincides with the central axis of the annular groove 12; the spacer sleeve 51 is arranged in the through hole 11, and the main body portion 411 is sleeved on the spacer sleeve 51; the two sleeves are respectively arranged in the through hole 11 from both ends of the through hole 11, so that the two sleeves abut against the spacer sleeve 51 from both sides of the spacer sleeve 51; the first elastic member 42 is arranged on the first arm 412 to complete the assembly of the reset mechanism and the fixing base 10; the assembled reset mechanism and the fixing base 10 are arranged in the accommodating cavity 35 of the actuator 30, the central axis of the through hole 11 coincides with the central axis of the first mounting hole 321 located on the first frame body 32 and the central axis of the second mounting hole 331 located on the second frame body 33, the second arm 413 abuts against the acting portion 31 located on the third frame body 34, and the first elastic member 42 abuts against the acting portion 31; the rotating shaft 20 is fixedly connected to the first frame body 32 and the second frame body 33 to complete the assembly of the swing device 100.

[0102] Next, the plastering robot according to the second aspect embodiment of the present application and the specific process of the plastering operation of the plastering robot will be described with reference to the drawings.

[0103] Please refer to Figures 11 to 13 as shown Figure 11 which is a schematic structural diagram of a plastering robot provided by some embodiments of the present application, Figure 12 which is a schematic structural diagram of a plastering device provided by some embodiments of the present application, Figure 13 which is an assembly schematic diagram of a swing device and a plastering device provided by some embodiments of the present application.

[0104] As shown Figures 11 to 13 in FIG. 1, the plastering robot 1000 includes an actuating mechanism and the swinging device 100 provided by the first aspect embodiment. The swinging device 100 is installed at the end of the actuating mechanism.

[0105] The actuating mechanism is a mechanism for changing the position of the swinging device 100. The actuating mechanism can be one or a combination of a mobile chassis, a lifting mechanism, a rotating mechanism, a feeding mechanism, etc.

[0106] The plastering robot 1000 according to the embodiment of the present application can adapt to the plastering operation on walls with different inclination degrees. At the same time, during the process of the swinging device 100 switching from the deflected state to the initial state, the swing of the actuator 30 is reduced, the service life of the swinging device 100 is improved. At the same time, the actuator 30 has a good holding effect in the initial state, making the plastering robot 1000 walk stably.

[0107] According to some embodiments of the present application, as Figure 11 shown in FIG. 2, the actuating mechanism may include a mobile chassis 200 and a lifting mechanism 300. The mobile chassis 200 drives the entire plastering robot 1000 to walk; the lifting mechanism 300 is installed on the mobile chassis 200, and the swinging device 100 is installed at the execution end of the lifting mechanism 300.

[0108] The plastering robot 1000 further includes a plastering device, as Figures 11 to 13 shown in FIG. 3. The plastering device includes a plastering plate mechanism 400, an overflowing material mechanism 500 and a rear end bracket 600. The plastering plate mechanism 400 is arranged at the front end to facilitate the plastering operation on the wall. The overflowing material mechanism 500 is arranged at the rear end of the plastering plate mechanism 400. The overflowing material mechanism 500 is used to accommodate the excess slurry scraped off by the plastering plate mechanism 400 and the falling materials generated when plastering the ceiling surface, protect the working environment, and the slurry can be recycled. The rear end bracket 600 is connected to the execution end of the lifting mechanism 300.

[0109] The plastering plate mechanism 400 is installed on the actuator 30, as Figure 13 shown in FIG. 4. The plastering plate mechanism 400 includes a plastering plate rotating shaft 410 and a plastering plate 420. The plastering plate 420 is rotatably connected to the actuator 30 through the plastering plate rotating shaft 410.

[0110] The overflowing material mechanism 500 may include an overflowing material box and an overflowing material scraper. The overflowing material box is arranged on the rear end bracket. The overflowing material box is used to carry the slurry scraped off by the plastering plate 420. The overflowing material scraper is movably arranged in the overflowing material box and is used to scrape out the slurry in the overflowing material box to recycle the slurry.

[0111] As Figure 13As shown, the plastering robot 1000 further includes an electric push rod 700. The electric push rod 700 is installed on the rear end bracket 600. The execution end of the electric push rod 700 is connected to the fixed seat 10. The electric push rod 700 can drive the fixed seat 10 to move in the front-rear direction, so as to drive the plastering mechanism 400 to move in the front-rear direction, making the plastering board 420 approach or move away from the wall surface.

[0112] As Figure 11 shown, the plastering robot 1000 further includes a jacking mechanism 800. The jacking mechanism 800 is arranged on the mobile chassis 200. The jacking mechanism 800 can move relative to the mobile chassis 200 to abut against the ceiling to fix the plastering robot 1000. The lifting mechanism 300 is slidably matched with the jacking mechanism 800 to facilitate the lifting mechanism 300 to drive the plastering device to move in the vertical direction.

[0113] As Figure 11 shown, the plastering robot 1000 further includes a feeding mechanism 900. The feeding mechanism 900 is used to spray the slurry onto the wall surface to be plastered for the plastering board 420 to level.

[0114] The working process of the plastering robot 1000 according to the embodiment of the present application is as follows:

[0115] The mobile chassis 200 moves the plastering robot 1000 to a preset station, and the mobile chassis 200 stops working;

[0116] The jacking mechanism 800 abuts against the ceiling;

[0117] The lifting mechanism 300 drives the plastering device to move to the starting plastering position close to the ground. The feeding mechanism sprays the slurry. The lifting mechanism 300 drives the plastering device to level the slurry from bottom to top. During the process of leveling the slurry, the actuator 30 adapts to the inclination angle of the wall surface and drives the plastering board 420 to rotate, making the plastering board 420 parallel to the wall surface;

[0118] After the slurry is leveled, the lifting mechanism 300 drives the plastering device to return to the initial position, the jacking mechanism 800 resets, and the mobile chassis 200 drives the plastering robot 1000 to move to the next plastering position.

[0119] Although the present application has been described with reference to the preferred embodiments, various improvements can be made to it and components therein can be replaced with equivalents without departing from the scope of the present application. In particular, as long as there is no structural conflict, the technical features mentioned in each embodiment can be combined in any way. The present application is not limited to the specific embodiments disclosed in the text, but includes all technical solutions falling within the scope of the claims.

Claims

1. A swinging device for a plastering robot, characterized in that, Comprising: Fixed seat; Actuating member, rotatably mounted on the fixed seat through a rotating shaft, the actuating member including an acting portion disposed opposite to the fixed seat; Transition member, including a main body portion, and a first arm and a second arm connected to the main body portion, the main body portion rotatably sleeved on the rotating shaft and rotatably cooperating with the fixed seat, the first arm and the second arm located on opposite sides of the rotating shaft, the first arm and the second arm located between the acting portion and the fixed seat, the first arm being in contact with the fixed seat, and the second arm being in contact with the acting portion; First elastic member, disposed between the acting portion and the first arm; And Second elastic member, disposed between the second arm and the fixed seat.

2. The swing device according to claim 1, characterized in that, The acting portion and the fixed seat are disposed opposite to each other in a first direction, the first arm and the second arm are spaced apart in the first direction, the actuating member extends in a second direction, the first arm and the second arm both extend in the second direction, the central axis of the rotating shaft extends in a third direction, and the first direction, the second direction, and the third direction are perpendicular to each other in pairs.

3. The swing device according to claim 2, characterized in that, The first elastic member is located at one end of the first arm away from the main body portion along the second direction, and the second elastic member is located at one end of the second arm away from the main body portion along the second direction.

4. The swing device according to claim 1, characterized in that, The first arm and the second arm are integrally formed with the main body portion.

5. The swing device according to claim 1, characterized in that, The transition member, the first elastic member, and the second elastic member constitute a reset mechanism. The actuating member includes a first frame body, a second frame body, and a third frame body. The first frame body and the second frame body are disposed opposite to each other, and the third frame body connects the first frame body and the second frame body. The first frame body, the second frame body, and the third frame body enclose an accommodation cavity. The acting portion is disposed on the third frame body, and the fixed seat and the reset mechanism are both disposed in the accommodation cavity.

6. The swing device according to claim 5, characterized in that, The fixed seat is provided with a through hole corresponding to the rotating shaft. The first frame body is provided with a first mounting hole communicating with the accommodation cavity. The second frame body is provided with a second mounting hole communicating with the accommodation cavity. The rotating shaft passes through the first mounting hole, the through hole, and the second mounting hole, and the rotating shaft is detachably connected to the first frame body and the second frame body.

7. The swing device according to claim 6, characterized in that, The swinging device further includes: Spacer sleeve, disposed in the through hole, the spacer sleeve rotatably sleeved on the rotating shaft, the main body portion rotatably sleeved on the spacer sleeve. The fixed seat is provided with an annular groove communicating with the through hole. The central axis of the annular groove coincides with the central axis of the through hole. Part of the annular groove penetrates the fixed seat, and the main body portion is rotatably disposed in the annular groove.

8. The swing device according to claim 7, characterized in that, The swinging device further includes: Positioning member, detachably connected to the fixed seat, the positioning member being used to limit the spacer sleeve in the through hole.

9. The swing device according to claim 8, characterized in that, There are two positioning members, and the two positioning members are disposed at both ends of the through hole, and the two positioning members are respectively in contact with the spacer sleeve.

10. The swinging device according to claim 9, characterized in that, The positioning member is a sleeve, the sleeve is rotatably sleeved outside the rotating shaft, the sleeve includes a cylinder body and a limiting flange, a part of the cylinder body is located in the through hole, the limiting flange is located at one end of the cylinder body and is arranged around the outer peripheral surface of the cylinder body, and the limiting flange abuts against the fixed seat.

11. The swinging device according to claim 10, characterized in that, A first limiting boss is arranged on the inner surface of the first frame body, a second limiting boss is arranged on the inner surface of the second frame body, the limiting flange of the positioning member close to the first frame body is clamped by the first limiting boss and the fixed seat, and the limiting flange of the positioning member close to the second frame body is clamped by the second limiting boss and the fixed seat.

12. A plastering robot, characterized in that, It includes an actuating mechanism and a swinging device according to any one of claims 1-11, and the swinging device is installed at the end of the actuating mechanism.

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