Actuator and plastering robot

Abstract

The present application provides an actuator and a plastering robot, which relate to the field of construction robot technology. The actuator includes a front-end actuator for performing operations; a rear-end drive mechanism, the rear-end drive mechanism includes an operation bracket, a linear drive member and a sliding base, the sliding base is slidably arranged on the operation bracket, and the front-end actuator is rotatably connected to the sliding base around a preset axis; and a force-guiding mechanism, the force-guiding mechanism includes a base, a first force-guiding part and a second force-guiding part, the first force-guiding part and the second force-guiding part are connected to the base, the base is slidably arranged on the sliding base, the output end of the linear drive member is connected to the first force-guiding part, and the second force-guiding part is closer to the preset axis than the first force-guiding part. The actuator can enable the front-end actuator to abut against the working surface and adapt to the unevenness of the working surface in a state with basically no offset torque. After adopting this actuator, the plastering robot can ensure good plastering quality.

Description

Technical Field

[0001] The present application relates to the technical field of construction robots, and in particular to an actuator and a plastering robot. Background Art

[0002] A plastering machine is a device used for wall plastering. General plastering machines do not perform well when the wall is uneven on the left and right sides. Some plastering machines are designed with a swing adjustment structure to allow the execution end to adapt to the left and right flatness changes of the wall.

[0003] When the installation space is limited, the driving mechanism of the swing adjustment structure can only be installed offset, that is, not installed in the middle position behind the plastering board. However, when the existing swing adjustment structure is pushed toward the wall by the driving mechanism, there is a large offset torque, so that the execution end and the wall still cannot fit well, affecting the quality of the plastering operation. Summary of the Invention

[0004] The purpose of the present application is to provide an actuator that can improve the problem of poor plastering quality of the existing actuator end due to a large offset torque.

[0005] Another object of the present application is to provide a plastering robot, which includes the above-mentioned actuator and has all the characteristics of the actuator.

[0006] The embodiment of the present application is implemented as follows:

[0007] An embodiment of the present application provides an actuator, comprising:

[0008] Front-end actuator, used to execute operations;

[0009] a rear-end driving mechanism, the rear-end driving mechanism comprising an operating support, a linear driving member, and a sliding base, the sliding base being slidably disposed on the operating support, and the front-end actuator being rotatably connected to the sliding base around a preset axis; and

[0010] A force guiding mechanism, the force guiding mechanism includes a base, a first force guiding part and a second force guiding part, the first force guiding part and the second force guiding part are connected to the base, the base is slidably arranged on the sliding base, the output end of the linear drive member is connected to the first force guiding part, and the second force guiding part is closer to the preset axis than the first force guiding part.

[0011] The front-end actuator is rotatably connected to the sliding base. When the linear drive is working, the first force-guiding portion drives the second force-guiding portion to move through the base, and the second force-guiding portion pushes the sliding base, so that the front-end actuator moves toward the working surface and contacts the working surface, and can adapt to the inclination changes of the working surface. In particular, since the second force-guiding portion is closer to the preset axis, the driving force of the linear drive can be transmitted to the sliding base through the second force-guiding portion and act on the front-end actuator. The closer the force application position is to the preset axis, the smaller the offset torque between the output end of the linear drive and the front-end actuator, which can make the entire front-end actuator contact the working surface, thereby ensuring uniform plastering and improving the quality of plastering.

[0012] In addition, the actuator provided according to the embodiments of the present application may also have the following additional technical features:

[0013] In an optional embodiment of the present application, the front-end actuator includes an actuator module and a rotating shaft, the rotating shaft is connected to the actuator module, the actuator module is used to plaster the work surface, the rotating shaft is rotatably connected to the sliding base, and the preset axis is the rotation axis of the rotating shaft and extends in the vertical direction.

[0014] By setting up a separate rotating shaft, the swing range of the execution module can be larger, which can basically adapt to the inclination of the working surface such as the general wall. Setting the rotating shaft vertically can achieve a good fit between the execution module and the working surface in the left and right directions, thereby ensuring the quality of plastering.

[0015] In an optional embodiment of the present application, the rotating shaft is connected to the middle part of the execution module.

[0016] Since the rotating shaft is set in the middle of the execution module, and the second force-guiding part is closer to the rotating shaft, when the second force-guiding part applies force, the execution module can be adjusted into position more quickly, avoiding the situation where one end cannot be quickly fitted into the working surface after being adjusted into position, thereby improving working efficiency.

[0017] In an optional embodiment of the present application, the sliding base includes a first part, a second part and a third part, the first part is sleeved on the rotating shaft and rotatably cooperates with the rotating shaft, the second part is located between the first part and the third part, the base is slidably arranged on the third part, the second force guiding part is supported by the second part, and the first force guiding part is located on the side of the base away from the second part.

[0018] Because the first force guide is located on the side of the base away from the second force guide, the linear drive can be installed farther from the rotating shaft, providing more space for installation and facilitating the selection of an appropriate linear drive based on drive requirements. This allows the force guide to transmit driving force and reduce offset torque, while also preventing the selection of a linear drive with sufficient power due to installation difficulties.

[0019] In an optional embodiment of the present application, the first force guiding portion, the base portion and the second force guiding portion are sequentially connected to form a Z-shaped structure.

[0020] The Z-shaped force-guiding mechanism can not only transmit the force of the linear drive component, but also avoid structural complexity, and enable the driving force of the linear drive component to keep driving forward without the need to set up additional steering components to guide the force to keep pushing the front-end drive mechanism forward.

[0021] In an optional embodiment of the present application, the force guiding mechanism also includes a linear guide block, which is fixed to the sliding base. The base includes a transition portion and a linear guide rail, and the linear guide rail is distributed along the transition portion. The first force guiding portion and the second force guiding portion are connected to the transition portion, and the linear guide rail is slidably arranged on the linear guide block.

[0022] By providing a linear guide block and a matching linear guide rail, the movement direction of the transition portion can be kept consistent with the driving direction of the linear drive component, thereby avoiding the generation of additional offset torque between the second force guiding portion and the front-end actuator.

[0023] In an optional embodiment of the present application, the rear-end driving mechanism further includes a pressure sensor, which is arranged in the second part. The force guiding mechanism further includes an elastic buffer, and the second force guiding part is supported against the detection end of the pressure sensor through the elastic buffer.

[0024] The pressure sensor can be used to monitor the driving force that the linear drive component ultimately applies to the working surface, to prevent excessive or insufficient pressure from affecting the normal plastering operation of the front-end actuator.

[0025] In an optional embodiment of the present application, the rear-end driving mechanism further includes a limiting column, which is arranged at the front end of the working bracket to limit the swing range of the front-end actuator.

[0026] While ensuring that the swing range of the front-end actuator is sufficient to meet the working surface such as the wall, by setting the limit column, it is possible to avoid the front-end actuator from hitting the rear-end drive mechanism due to excessive swing range.

[0027] In an optional embodiment of the present application, the actuator also includes a rotary drive mechanism, the rotary drive mechanism includes a rotary drive member and a bearing, the rotary drive member includes a main body and a telescopic rod, the main body is hinged to the working bracket, the outer ring of the bearing is fixed to the working bracket, the telescopic rod is hinged to the inner ring of the bearing, and the inner ring of the bearing is used to be fixedly connected to the robot body.

[0028] By providing a rotary drive mechanism, the rotary drive member can cooperate with the bearing to enable the entire actuator to rotate relative to the robot body, so as to facilitate the storage of the actuator.

[0029] An embodiment of the present application provides a plastering robot, comprising:

[0030] chassis;

[0031] a lifting device, the lifting device being arranged on the chassis; and

[0032] According to any one of the above actuators, the working bracket is connected to the output end of the lifting device.

[0033] By using actuators, the plastering robot can ensure that it contacts the wall during plastering, thus ensuring the quality of the plastering. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0035] Figure 1 A schematic diagram of a plastering robot provided in an embodiment of the present application;

[0036] Figure 2 for Figure 1 Exploded diagram of the actuator in ;

[0037] Figure 3 An exploded view of the actuator's force-guiding mechanism and partial structure of the rear-end drive mechanism;

[0038] Figure 4 for Figure 3 Schematic diagram after hiding some structures;

[0039] Figure 5 for Figure 4 Exploded diagram;

[0040] Figure 6 This is the exploded diagram of the force-guiding mechanism and the sliding base;

[0041] Figure 7 This is a schematic diagram of the linear drive component when it is not working;

[0042] Figure 8 This is a schematic diagram of the linear drive component at work;

[0043] Figure 9 for Figure 7 A partial cross-sectional view of

[0044] Figure 10 Schematic diagram of the front-end actuator, linear drive, sliding base, and force guide mechanism;

[0045] Figure 11 for Figure 10 Schematic diagram with some structures hidden.

[0046] Icons: 1000 - plastering robot; 100 - actuator; 10 - front-end actuator; 11 - actuator module; 111 - support housing; 112 - scraper; 113 - reinforcement plate; 12 - rotating shaft; 20 - rear-end drive mechanism; 21 - work support; 211 - guide rail; 212 - guide block; 213 - limit column; 22 - linear drive member; 23 - sliding base; 231 - first part; 232 - second part; 233 - third part; 24 - pressure sensor; 30 - guide machine Structure; 31-base; 311-transition part; 312-linear guide rail; 32-first force-guiding part; 33-second force-guiding part; 34-linear guide block; 35-elastic buffer; 351-abutment end; 40-spraying and scraping mechanism; 50-rotational drive mechanism; 51-rotational drive member; 512-main body; 514-telescopic rod; 52-bearing; 60-baffle structure; 70-accordion cover; 71-rear mounting surface; 72-front mounting surface; 200-chassis; 300-lifting device. DETAILED DESCRIPTION

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0048] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments in the present application without creative work are within the scope of protection of the present application.

[0049] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0050] In the description of this application, it should be noted that the terms "inner" and "outer" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or the orientations or positional relationships in which the product is typically placed when in use. These terms are intended solely to facilitate the description of this application and simplify the description, and are not intended to indicate or imply that the device or component referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first" and "second" and the like are used solely for distinction and should not be construed as indicating or implying relative importance.

[0051] It should also be noted that, in the description of this application, unless otherwise expressly specified or limited, the terms "disposed" and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, or electrical connections; direct connections, indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0052] Example

[0053] Please refer to Figure 1 , an embodiment of the present application provides a plastering robot 1000, comprising:

[0054] Chassis 200;

[0055] The lifting device 300 is disposed on the chassis 200 ; and the actuator 100 , wherein the operating bracket 21 of the actuator 100 is connected to the output end of the lifting device 300 .

[0056] The chassis 200 and the lifting device 300 can refer to the chassis 200 and the lifting mechanism used in general plastering equipment, and will not be described in detail here. In short, the plastering robot 1000 can ensure contact with the wall during plastering by using the actuator 100, thereby ensuring the quality of the plastering.

[0057] Please combine Figure 2 and Figure 3 The actuator 100 of this embodiment includes: a front-end actuator 10, a rear-end driving mechanism 20, a force guiding mechanism 30, and a spraying and scraping overflow mechanism 40. For ease of understanding, Figure 2The positions of the structures on both sides after the explosion are marked in the figure. The spraying and scraping overflow mechanism 40 is installed on the top of the front-end actuator 10, and the rear-end driving mechanism 20 is installed on the rear side of the front-end actuator 10, and an accordion cover 70 is arranged between the two. The working bracket 21 can be provided with a rear mounting surface 71 for mounting the rear part of the accordion cover 70, and the execution module 11 is provided with a front mounting surface 72. Thereby, it can be ensured that during the swinging and forward and backward movement of the front-end actuator 10, the front-end actuator 10, the rear-end driving mechanism 20 and the force-guiding mechanism 30 are not contaminated by the slurry used for plastering. Among them, the spraying and scraping overflow mechanism 40 can refer to the spraying and scraping overflow structure used in general plastering machines or spraying machines, which will not be repeated here. It should be noted that, Figure 2 Hidden in the middle Figure 1 The baffle structures 60 on both sides of the actuator 100.

[0058] The front-end actuator 10, the rear-end driving mechanism 20, and the force guiding mechanism 30 are specifically as follows:

[0059] The front-end actuator 10 is used to perform work (for example, plastering the work surface in this embodiment);

[0060] The rear-end driving mechanism 20 includes a working support 21, a linear driving member 22, and a sliding base 23. The working support 21 is used to connect to the robot body. The sliding base 23 is slidably disposed on the working support 21. The front-end actuator 10 is rotatably connected to the sliding base 23 around a preset axis.

[0061] The force guiding mechanism 30 includes a base 31, a first force guiding part 32 and a second force guiding part 33. The first force guiding part 32 and the second force guiding part 33 are connected to the base 31. The base 31 is slidably arranged on the sliding base 23. The output end of the linear driving member 22 is connected to the first force guiding part 32. The second force guiding part 33 is closer to the preset axis than the first force guiding part 32.

[0062] When the linear drive member 22 is working, the first force guiding part 32 drives the second force guiding part 33 to move through the base 31, and the second force guiding part 33 pushes the sliding base 23, so that the front end actuator 10 moves toward the working surface and abuts against the working surface.

[0063] Among them, the working surface of this embodiment mainly refers to the vertical wall surface. The plastering robot 1000 can be driven by the chassis 200 to move to the working point as a whole, and then the lifting device 300 can drive the actuator 100 to perform the plastering operation on the wall surface from bottom to top. Other surfaces that require plastering operations can also be regarded as working surfaces, and the actuator 100 and the corresponding plastering robot 1000 of this application can be used. The robot body refers to the main structure of the plastering robot 1000 other than the actuator 100. For example, in this embodiment, the actuator 100 is connected to the output end of the lifting device 300.

[0064] Simply put, the front-end actuator 10 is rotatably connected to the sliding base 23. When the linear drive member 22 is in operation, the front-end actuator 10 can be pressed against the work surface and can adapt to the inclination changes of the work surface. Among them, because the second force guide 33 is near the preset axis, the driving force of the linear drive member 22 can be transmitted to the sliding base 23 through the second force guide 33 and act on the front-end actuator 10. The closer the force application position is to the preset axis, the smaller the offset torque between the output end of the linear drive member 22 and the front-end actuator 10. This can keep the entire front-end actuator 10 in contact with the work surface, ensuring uniform plastering and improving the quality of plastering.

[0065] Please combine Figure 2 , and can refer to Figure 10 as well as Figure 11The front-end actuator 10 of this embodiment includes an actuator module 11 and a rotating shaft 12. The actuator module 11 is used to plaster the working surface. The rotating shaft 12 is rotatably connected to the sliding base 23. The preset axis is the rotation axis of the rotating shaft 12 and extends in the vertical direction. Among them, the actuator module 11 mainly supports structures such as the shell 111 and the scraper 112. A reinforcing plate 113 can be set in the supporting shell 111 to ensure the reliability of the structure. The scraper 112 can refer to the structure and function of the scraper 112 module used in general actuators. The rotating shaft 12 is fixed to the supporting shell 111. By setting a separate rotating shaft 12, the swing range of the actuator module 11 can be larger, which can basically adapt to the inclination of the working surface such as the general wall. The rotating shaft 12 is set vertically, so that the actuator module 11 can maintain a good fit with the working surface in the left and right directions, thereby ensuring the quality of plastering. Compared to solutions with multiple rotating shafts, a single rotating shaft 12 can quickly adapt to uneven working surfaces when the actuator module 11 contacts them and rotate relative to the rear-end actuator. Moreover, without the constraints of other rotating shafts, the range of rotation can be greater. While multiple rotating shafts can allow the actuator module 11 to swing, this requires a structure such as an articulated seat, which takes up unnecessary space. Furthermore, within the same installation space, a single rotating shaft 12 can have a greater rotation range than a structure with multiple rotating shafts, allowing the actuator module 11 to adapt to larger left-right unevenness and tilt conditions on the working surface.

[0066] Please continue to combine Figure 2 , the rotating shaft 12 of this embodiment is connected to the middle part of the execution module 11. Since the rotating shaft 12 is set in the middle part of the execution module 11, and the second force-guiding part 33 is relatively close to the rotating shaft 12, when the second force-guiding part 33 applies force, the execution module 11 can be adjusted into position relatively quickly, avoiding the situation where one end cannot be quickly fitted with the working surface after being adjusted into position, thereby improving work efficiency. For example, if the rotating shaft 12 is set in the end area of ​​the execution module 11, then when it needs to adapt to the wall, the position of the execution module 11 away from the rotating shaft 12 will take more time to fit with the wall, and may not fit, while the position closer to the rotating shaft 12 will exert a greater force on the wall, which will have a negative impact on the overall quality of the plastering.

[0067] Please combine Figure 4 and Figure 5The linear drive component 22 of this embodiment is an electric push rod. Of course, other linear drive components such as air cylinders, oil cylinders, linear motors, etc. can also be used as the linear drive component 22 of this application, as long as the volume can be appropriately installed and does not affect the normal operation of the entire actuator 100 or the plastering robot 1000. Furthermore, in this embodiment, a guide rail 211 and a guide block 212 are provided on the working bracket 21, and both ends of the sliding base 23 are fixed to the guide rail 211. The guide rail 211 and the guide block 212 are slidably matched, and the guide block 212 is symmetrically fixed on the working bracket 21. When the electric push rod is working, the driving force can be transmitted to the sliding base 23 through the force guide mechanism 30, so that the sliding base 23 moves in the front and rear directions, so as to push the execution module 11 to abut against the wall and adaptively rotate around the rotating shaft 12, so as to achieve the execution module 11 adapting to the inclination of the wall.

[0068] Please combine Figure 4 and Figure 5 In this embodiment, the rear-end drive mechanism 20 further includes a limit post 213 disposed at the front end of the work support 21 to limit the swing range of the front-end actuator 10. While ensuring that the swing range of the front-end actuator 10 is sufficient for working on a wall, the provision of the limit post 213 prevents the front-end actuator 10 from striking the rear-end drive mechanism 20 due to excessive swing.

[0069] Please combine Figure 4 and Figure 5The actuator 100 of this embodiment also includes a rotary drive mechanism 50. The rotary drive mechanism 50 includes a rotary drive member 51 and a bearing 52. The rotary drive member 51 includes a main body 512 and a telescopic rod 514. The main body 512 is hinged to the working bracket 21. The outer ring of the bearing 52 is fixed to the working bracket 21. The telescopic rod 514 is hinged to the inner ring of the bearing 52. The inner ring of the bearing 52 is used to be fixedly connected to the robot body. By providing the rotary drive mechanism 50, the rotary drive member 51 can cooperate with the bearing 52 to enable the entire actuator 100 to rotate relative to the robot body, thereby facilitating the storage of the actuator 100. In detail, the bearing 52 of this embodiment is a cross-roller bearing 52. The inner ring of the cross-roller bearing 52 is fixed to the output end of the lifting device 300, that is, the inner ring of the bearing 52 does not rotate. The rotating drive member 51 adopts an electric cylinder. Of course, a structure that can be extended and retracted, such as a pneumatic cylinder, can also be considered. The cylinder body of the electric cylinder is hinged to the working bracket 21, and the telescopic rod 514 is fixed to the inner ring of the bearing 52. When the telescopic rod 514 is driven to extend or retract, it is actually the electric cylinder cylinder body that extends or retracts relative to the telescopic rod 514, while the working bracket 21 is fixed to the outer ring of the bearing 52. In this way, the electric cylinder cylinder body can be rotated with the position where the inner ring is connected to the telescopic rod 514 as the fulcrum, and the working bracket 21 can be driven to rotate, so as to change the position of the entire actuator 100 relative to the lifting device 300, for example, it can be rotated from a vertical position to a horizontal position, and vice versa.

[0070] The work support 21 of this embodiment is a welded steel frame, and it can also be made of other materials as long as the structural strength meets the use requirements.

[0071] Please combine Figure 6 The sliding base 23 of this embodiment includes a first portion 231, a second portion 232 and a third portion 233. The first portion 231 is sleeved on the rotating shaft 12 and rotates with the rotating shaft 12. The second portion 232 is located between the first portion 231 and the third portion 233. The base 31 is slidably disposed on the third portion 233. The second force guiding portion 33 is supported by the second portion 232. The first force guiding portion 32 is located on the side of the base 31 away from the second portion 232.

[0072] In detail, the first portion 231 is a sleeve structure, which can be sleeved on the rotating shaft 12 and has rotational freedom with the rotating shaft 12 , so that the rotating shaft 12 can rotate relative to the first portion 231 .

[0073] Because the first force-guiding portion 32 is located on the side of the base 31 away from the second force-guiding portion 33, the linear drive member 22 can be installed farther from the rotating shaft 12, thereby providing more space for the linear drive member 22 to be installed. This allows for the selection of an appropriate linear drive member 22 based on the drive requirements. This allows the force-guiding mechanism 30 to transmit the driving force and reduce the offset torque, while also preventing the selection of a linear drive member 22 with sufficient power due to installation difficulties.

[0074] Please combine Figure 6 In this embodiment, the first force-guiding portion 32, the base portion 31, and the second force-guiding portion 33 are sequentially connected to form a Z-shaped structure. The Z-shaped force-guiding mechanism 30 can transmit the force of the linear drive member 22 while avoiding structural complexity. Moreover, it can ensure that the driving force of the linear drive member 22 can maintain forward driving without the need for additional steering components to guide the force to keep pushing the front-end drive mechanism forward.

[0075] Alternatively, the first force guide portion 32, the base portion 31 and the second force guide portion 33 may not be designed as a Z-shaped structure. For example, the first force guide portion 32 may be arranged at the lower side of the transition portion 311 described below, and the linear guide rail 312 originally arranged at the lower side of the transition portion 311 may be arranged at the lower side of the transition portion 311. Figure 6 to the right of the transition portion 311 in the middle. In this way, the smooth transmission of the driving force can be guaranteed by the sliding of the base 31, and a new installation position can be provided for the linear drive 22. As long as the installation of the linear drive 22 is satisfied, the driving force can be smoothly transmitted to the sliding base 23 to push the rotating shaft 12 forward. Therefore, there is no need to specifically limit the appearance of the inverted mechanism formed by the first force-guiding portion 32, the base 31, and the second force-guiding portion 33. The Z-shaped structure proposed in this embodiment is mainly for the conduction of adaptive force and the installation of the linear drive 22, and cannot be restrictively understood as having to be designed in this way. Of course, for the entire actuator 100, its lateral space is more sufficient than the space in the up and down directions. Therefore, the Z-shaped structure is more suitable, and the linear drive 22 can make better use of the lateral space for installation.

[0076] Please combine Figure 6To improve the smoothness of the Z-shaped force guidance, the force guidance mechanism 30 of this embodiment further includes a linear guide block 34, which is fixed to the sliding base 23. The base 31 includes a transition portion 311 and a linear guide rail 312. The linear guide rail 312 is arranged along the transition portion 311. The first force guidance portion 32 and the second force guidance portion 33 are connected to the transition portion 311. The linear guide rail 312 is slidably mounted on the linear guide block 34. In this embodiment, two linear guide blocks 34 are provided, one above the other. The linear guide rails 312 on the transition portion 311 are also arranged in a corresponding manner. This allows the driving force of the linear drive member 22 to be transmitted to the sliding base 23 as much as possible by the second force guidance portion 33, reducing the driving force loss caused by overcoming sliding friction. In other words, by providing the linear guide blocks 34 and the accompanying linear guide rails 312, the movement direction of the transition portion 311 can be consistent with the driving direction of the linear drive member 22, thereby preventing the generation of additional offset torque in other directions between the second force guidance portion 33 and the front end actuator 10.

[0077] Please combine Figure 6 as well as Figure 9 The rear end driving mechanism 20 of this embodiment also includes a pressure sensor 24, which is arranged in the second part 232. The force guiding mechanism 30 also includes an elastic buffer 35, and the second force guiding part 33 is supported on the detection end of the pressure sensor 24 through the elastic buffer 35. In detail, the elastic buffer 35 is a spring, and an abutting end 351 is provided at one end of the spring. The abutting end 351 can abut against the detection section of the pressure sensor 24. The pressure sensor 24 can be used to monitor the driving force finally applied by the linear driving member 22 to the working surface, so as to avoid excessive or insufficient pressure affecting the normal plastering operation of the front end actuator 10. Further, please combine Figure 7 、 Figure 8 as well as Figure 9 When the linear drive 22 is working, its output end is Figure 7 and Figure 8 From the perspective of FIG, the first force guide portion 32 is pushed downward, the first force guide portion 32 causes the base 31 to be subjected to force, and the entire base 31 moves downward along the linear guide block 34. At the same time, the second force guide portion 33 also moves downward, and is squeezed on the pressure sensor 24 by the spring, causing the second portion 232 to be forced to move downward, and the sliding base 23 can move smoothly downward along the guide block 212 through the connected guide rail 211, that is, from Figure 7 State movement to Figure 8 The state shown is shown. This allows both pushing the front end actuator and determining whether the actual applied pressure meets the requirements, thus avoiding insufficient pressure control that could affect the quality of the actual operation. At the same time, the spring provides a certain degree of buffering, allowing the linear drive member 22 to be driven with a certain degree of flexibility, preventing the front end actuator 10 from damaging the working surface.

[0078] Please combine Figure 10 and Figure 11 , Figure 10 The figure shows the cooperation between the front-end actuator 10, the force guiding mechanism 30 and the linear drive member 22. Figure 11 It is hidden Figure 10 The partial structure in the figure is used to show the position of the second force-guiding portion 33 of the force-guiding mechanism 30 and the rotating shaft 12 when the rotating shaft 12 is matched with the first portion 231. It can be seen that the position of the linear drive member 22 is offset in the lateral direction from the rotating shaft 12. This allows the linear drive member 22 to have sufficient space in the lateral direction for installation while avoiding the expansion of the volume of the entire actuator 100. Because the indoor plastering operation space is limited in existing construction, the volume of the entire plastering robot 1000 cannot be too large, and the volume of the corresponding actuator cannot be too large either, otherwise it will easily lead to an unstable center of gravity or the inability to pass through some narrow spaces such as doors or corridors, or it will lead to the inability to perform automated plastering construction in some narrow spaces. Therefore, it is not easy to install the linear drive member 22 in a limited space. The present application makes the linear drive member 22 offset from the rotating shaft 12, thereby utilizing the available space and realizing the forward push of the rotating shaft 12.

[0079] Furthermore, since the output direction of the linear drive member 22 is not coplanar with the axis of the rotating shaft 12, a large offset torque is generated. If the operation is performed directly, the entire execution module 11 may not be able to completely fit with the working surface in the left and right directions when the working surface is uneven on the left and right sides.

[0080] Detailed, such as Figure 2 as well as Figure 10 、 Figure 11 As shown, the execution module 11 has a support housing 111, and a scraper 112 is mounted on the support housing 111. During actual operation, the scraper 112 contacts the wall surface and can plaster the wall surface under the drive of the lifting device 300. When the linear drive member 22 is in operation, the entire sliding base 23 can move forward, causing the rotating shaft 12 to move forward, that is, causing the scraper 112 to move toward the wall surface. When the scraper 112 touches the wall surface, if the wall surface is uneven in the left and right directions, the force applied by the linear drive member 22 can cause the entire execution module 11 to swing left and right relative to the rear end drive mechanism 20, so that the scraper 112 can fit the wall surface.

[0081] If there is no force guide mechanism 30, the offset torque between the linear drive member 22 and the rotating shaft 12 is large. When the force output by the linear drive member 22 of the blocking rod reaches the construction requirement, the scraper 112 may not be completely in contact with the wall surface, thus avoiding Figure 10From a visual perspective, if force is applied on the right side without a force-guiding component, force is applied directly to the supporting shell 111. Although the entire scraper 112 will fit the wall as closely as possible as the shaft 12 rotates, when the left and right inclination angles of the wall are large, the left side of the scraper 112 may be lifted up without contacting the wall, and the plastering slurry may leak from the gap, affecting the actual plastering effect.

[0082] In this embodiment, since the second force-guiding portion 33 is closer to the rotating shaft 12, the point where the linear drive member 22 actually applies force to the sliding base 23 is also closer to the rotating shaft 12, and the corresponding offset torque is basically eliminated. In actual operation, the scraper 112 can adapt to the left and right inclination of the wall surface, ensuring the plastering effect. In addition, if the offset torque is large, even if the scraper 112 is completely in contact with the wall surface, there may be a problem that the scraper 112 applies too much force to the local part of the wall surface, resulting in a poor final plastering effect. Therefore, the present application basically eliminates the offset torque through the force-guiding mechanism 30, which enables the plastering robot 1000 to have a good plastering effect after adopting the actuator 100.

[0083] In summary, the actuator 100 of the present application, by rotatably positioning the front-end actuator 10 on the sliding base 23 and, with the linear drive member 22 cooperating with the force-guiding mechanism 30 composed of the base 31, the first force-guiding portion 32, and the second force-guiding portion 33, can propel the front-end actuator 10 forward with essentially no offset torque, allowing the front-end actuator 10 to contact the work surface and adapt to unevenness of the work surface. By employing this actuator 100, the plastering robot 1000 can ensure good plastering quality.

[0084] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. An actuator, characterized in that: include: Front-end actuator, used to execute operations; A rear-end driving mechanism, comprising an operating support, a linear driving member, and a sliding base, wherein the sliding base is slidably disposed on the operating support, and the front-end actuator is rotatably connected to the sliding base around a preset axis; as well as A force guiding mechanism, the force guiding mechanism comprising a base, a first force guiding portion, and a second force guiding portion, the first force guiding portion and the second force guiding portion being connected to the base, the base being slidably disposed on the sliding base, the output end of the linear drive member being connected to the first force guiding portion, and the second force guiding portion being closer to the preset axis than the first force guiding portion; The front-end actuator includes an actuator module and a rotating shaft, wherein the rotating shaft is connected to the actuator module, and the actuator module is used to plaster the working surface. The rotating shaft is rotatably connected to the sliding base, and the preset axis is the rotation axis of the rotating shaft and extends in the vertical direction; The sliding base includes a first part, a second part and a third part. The first part is sleeved on the rotating shaft and rotates with the rotating shaft. The second part is located between the first part and the third part. The base is slidably arranged on the third part. The second force guiding part is supported by the second part. The first force guiding part is located on the side of the base away from the second part.

2. The actuator according to claim 1, characterized in that The rotating shaft is connected to the middle part of the execution module.

3. The actuator according to claim 1, characterized in that The first force guiding portion, the base portion and the second force guiding portion are sequentially connected to form a Z-shaped structure.

4. The actuator according to claim 3, characterized in that The force guiding mechanism also includes a linear guide block, which is fixed to the sliding base. The base includes a transition portion and a linear guide rail. The linear guide rail is distributed along the transition portion. The first force guiding portion and the second force guiding portion are connected to the transition portion. The linear guide rail is slidably arranged on the linear guide block.

5. The actuator according to claim 1, characterized in that The rear-end driving mechanism further includes a pressure sensor, which is arranged on the second part. The force guiding mechanism further includes an elastic buffer, and the second force guiding part is supported against the detection end of the pressure sensor through the elastic buffer.

6. The actuator according to claim 1, characterized in that The rear end driving mechanism further includes a limiting column, which is arranged at the front end of the working bracket to limit the swing range of the front end actuator.

7. The actuator according to claim 1, characterized in that The actuator also includes a rotary drive mechanism, which includes a rotary drive member and a bearing. The rotary drive member includes a main body and a telescopic rod. The main body is hinged to the work bracket, the outer ring of the bearing is fixed to the work bracket, and the telescopic rod is hinged to the inner ring of the bearing. The inner ring of the bearing is used to be fixedly connected to the robot body.

8. A plastering robot, characterized in that: include: chassis; A lifting device, the lifting device being arranged on the chassis; as well as According to the actuator according to any one of claims 1 to 7, the working bracket is connected to the output end of the lifting device.

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