Actuator and work implement

Abstract

The application provides an actuating mechanism and a working device, and relates to the technical field of construction robots. The actuating mechanism comprises a fixed seat, an actuating module and a spray gun. The actuating module is rotatably connected to the front side of the fixed seat around a preset axis. The preset axis extends in the front-rear direction. The spray gun is slidably connected to the upper part of the actuating module in the left-right direction. A feeding pipe is connected with the spray gun and can move horizontally with the spray gun. Part of the feeding pipe is fixed to the rear side of the fixed seat. The other part of the feeding pipe passes the rear side of the fixed seat, passes the preset axis from one side of the preset axis, and is connected with the spray gun on the opposite side of the preset axis. The working device uses the actuating mechanism, which does not affect the conveying of slurry, the movement of the spray gun, and the rotation of the actuating module relative to the fixed seat, and effectively overcomes the existing problems.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of building robots, in particular, relates to an actuator and a working device. BACKGROUND

[0002] The pipe walking scheme has always been a difficulty of all-in-one machine. There are mainly two pipe walking forms of plastering machines of the company and on the market:

[0003] The first one is side pipe walking. This way requires a relatively hard mortar pipe. The moving end of the pipe is relatively easy to achieve when subjected to tensile movement, but it is easy to arch when subjected to thrust reset, which causes mortar to be stuck.

[0004] The second one is to bypass the top of the lifting mechanism and then connect to the reciprocating spray gun. In this form, the mortar pipe has too much pulling force on the actuator and the spray gun, which seriously affects the service life and stability of the actuator.

[0005] That is, the existing pipe walking schemes have poor pipe storage or affect the rotation of the actuator such as the working device. SUMMARY

[0006] The purpose of the present application is to provide an actuator that can be used to improve the problem of poor pipe storage and affecting the rotation of the actuator existing in the pipe walking mode of the existing plastering machine.

[0007] Another purpose of the present application is to provide a working device comprising the above-mentioned actuator, which has all the characteristics of the actuator.

[0008] The embodiments of the present application are implemented as follows:

[0009] The embodiments of the present application provide an actuator, comprising: a fixed seat, an execution module and a spray gun, the execution module is rotatably connected to the front side of the fixed seat around a preset axis, the preset axis extends in the front-rear direction, the spray gun is slidably connected to the upper part of the execution module in the left-right direction;

[0010] A feeding pipe connected with the spray gun and capable of moving horizontally with the spray gun;

[0011] Wherein, a part of the feeding pipe is fixed to the rear side of the fixed seat, and the other part of the feeding pipe bypasses the fixed seat, bypasses the preset axis from one side of the preset axis, and is connected with the spray gun at the opposite side of the preset axis.

[0012] The feeding pipe is designed to pass through a path, so that the feeding pipe is wound from the rear side of the fixed seat to the front side and then around the preset axis to be connected with the spray gun. When the spray gun moves left and right, the feeding pipe is subjected to certain convergence, only one end moves with the spray gun, and mortar is not blocked due to the reset arching. When the execution module rotates relative to the fixed seat, the feeding pipe does not pull the spray gun, and the rotation of the execution module and the spray gun is not affected, so that the components are not damaged.

[0013] In addition, the working device provided by the embodiment of the application can also have the following additional technical features.

[0014] In an optional embodiment of the application, the feeding pipe comprises a first section, a second section and a third section. The first section is fixed to the rear side of the fixed seat. The second section is connected to the first section and passes through the lower side of the fixed seat. The second section is located on the front side of the fixed seat and on one side of the preset axis. The third section is connected to the second section and passes through the preset axis to be connected with the spray gun.

[0015] Since the first section is fixed to the rear side of the fixed seat, the second section does not sag. Since the second section is located on the lower side of the fixed seat, compared with being located on the upper side, the second section does not sag and interfere with other structures. When the third section passes through the preset axis to be connected with the spray gun, the part of the third section that needs to be reset will naturally sag, and the mortar transportation will not be affected by arching. Since the second section and the third section are limited by the rear side of the fixed seat, the length of the second section and the third section is suitable for the movement of the spray gun. When the execution module rotates relative to the fixed seat, the length of the second section and the third section can satisfy the bending of the second section and the third section to adapt to the position change, without pulling the spray gun and affecting the rotation of the execution module. In addition, due to the fixing of the rear side of the fixed seat, the second section and the third section do not sag for a long time, and the second section and the third section do not hook with other structures during the rotation of the execution module, so that the rotation is guaranteed and the transverse movement of the spray gun is not affected.

[0016] In an optional embodiment of the application, the execution mechanism further comprises a first guide plate and a second guide plate. The first guide plate and the second guide plate are connected to the execution module. The first guide plate and the second guide plate enclose a limiting space in the front-rear direction. When the third section moves with the spray gun, the third section is kept in the limiting space.

[0017] Since the first guide plate and the second guide plate enclose a limiting space, the movement of the third section is restricted in the left-right direction, so that the movement of the third section in the front-rear direction is avoided to pull the spray gun.

[0018] In an optional embodiment of the application, the lower side of the first guide plate is provided with a folded edge. The folded edge is used to support the third section to avoid the sagging of the third section during the operation of the spray gun.

[0019] By supporting the third section through the folded edge, when the spray gun moves to the left or right limit position, the third section can be prevented from being excessively lowered to interfere with other structures, and the spray gun can be prevented from being pulled by the third section when moving reversely.

[0020] In an optional embodiment of the present application, the execution module comprises an execution body and a work support, the execution body is fixed to the work support, the work support is rotatably connected to the fixed seat around the preset axis, the work support comprises a supporting plate, the supporting plate has a gap with the folded edge, and the part where the second section connects with the third section passes through the gap, so that the second section is limited by the supporting plate and the folded edge to the side of the supporting plate away from the preset axis.

[0021] The supporting plate and the folded edge limit the joint of the second section and the third section, so that the second section is not lifted during the movement of the third section, and the feeding pipe is not hooked with the components for rotating the work support relative to the fixed seat to affect the normal range of the feeding pipe.

[0022] In an optional embodiment of the present application, the first guide plate comprises a first guide part, and the second guide plate comprises a second guide part, the first guide part is tilted backward relative to the limiting space, and the second guide part is tilted forward relative to the limiting space.

[0023] By arranging the first guide part and the second guide part, the third section does not abut and jam with the first guide plate and the second guide plate during reciprocating movement, so as to control the length of the first guide plate and the second guide plate, and prevent the length of the execution mechanism from being too long.

[0024] In an optional embodiment of the present application, the part where the second section connects with the first section is located on one side of the preset axis in the left-right direction, the third section has a straight part and a curved part, the part where the second section connects with the curved part is located on the other side of the preset axis in the left-right direction, the straight part is used for connecting the curved part and the spray gun, and is located on the upper side of the preset axis.

[0025] Since the two ends of the second section are respectively located on the two sides of the preset axis, the third section does not hook with the components for rotating the work support relative to the fixed seat during the movement of the spray gun.

[0026] In an optional embodiment of the present application, when the execution module is in the transverse position, the spray gun can reciprocate at the left end and the right end of the execution module, and the second section and the third section form a U-shaped structure or a J-shaped structure during the movement of the spray gun.

[0027] The U-shaped structure or J-shaped structure can make the movement of the spray gun not be pulled by the third section, and the third section can avoid other structures and be smoothly wound and released to cooperate with the movement of the spray gun.

[0028] In an optional embodiment of the present application, when the execution module rotates relative to the fixed seat, the second section is arched or the third section is arched, so that neither the second section nor the third section is stretched.

[0029] By designing the length of the second section and the third section, the length is sufficient to satisfy the arching of the second section or the arching of the third section, so that the spray gun is not pulled when the execution module rotates.

[0030] In an optional embodiment of the present application, the work device further comprises a connecting bearing, an inner ring of the connecting bearing is fixedly connected with the fixed seat, an outer ring of the connecting bearing is fixedly connected with the execution module, the preset axis is a central axis of the connecting bearing, and the feed pipe is not in contact with the connecting bearing when the spray gun moves or the execution module rotates.

[0031] Since the feed pipe is not in contact with the connecting bearing, the feed pipe is not abraded or pulled, and the feed pipe pulling the spray gun to affect the rotation of the execution module relative to the fixed seat is avoided.

[0032] Embodiments of the present application provide a work device, comprising:

[0033] a chassis;

[0034] a lifting mechanism arranged on the chassis;

[0035] a cabinet arranged on the chassis and located on one side of the lifting mechanism; and

[0036] According to the above-mentioned execution mechanism, the execution mechanism is used for processing a work surface, and the execution mechanism is connected to an output end of the lifting mechanism.

[0037] The work device can smoothly work by using the execution mechanism, the feed pipe can smoothly work with the spray gun, and the feed pipe can be well stored and does not interfere with other structures when not working.

[0038] In an optional embodiment of the present application, the work device further comprises a drag chain, one end of the drag chain is fixed to the cabinet, the other end of the drag chain is fixed to the rear side of the fixed seat, and the first section is arranged in the drag chain.

[0039] The drag chain can conveniently constrain the first section, avoid the first section from swinging or being hooked to other structures during the process of the lifting mechanism driving the actuator to move up and down, and also enable the first section to be fixed to the rear side of the fixed seat.

[0040] In an optional embodiment of the present application, a projection of the drag chain in the vertical direction is on the same side of the lifting mechanism.

[0041] The drag chain is always on one side of the lifting mechanism, which can avoid the first section and the drag chain from interfering with the lifting mechanism in the left-right direction and damaging the structure.

[0042] In an optional embodiment of the present application, one end of the drag chain is fixed to the rear side of the cabinet, and the cabinet can support part of the sections of the drag chain when the lifting mechanism drives the actuator to move downward.

[0043] Since the cabinet provides certain support, the first section will not completely hang down when the actuator moves downward, which not only ensures that the lifting stroke of the actuator meets the work requirements, but also avoids the first section from being pulled by other structures due to being too long.

[0044] In an optional embodiment of the present application, the work device further comprises a flow meter, which is installed on the cabinet and can measure the flow of slurry in the feeding pipe.

[0045] The flow meter can effectively monitor the feeding amount to confirm the material usage and whether congestion occurs.

[0046] In an optional embodiment of the present application, the work device further comprises a protective cover, which is fixed to the rear side of the cabinet, and part of the feeding pipe connected with the flow meter is fixed in the protective cover.

[0047] The protective cover can prevent the flow meter from being contaminated by splashing of the slurry, and can also protect and fix part of the feeding pipe to prevent the feeding pipe from extending out of the work device.

[0048] In an optional embodiment of the present application, the work device further comprises an organ cover, the lifting mechanism comprises a terminal lifting module and a lifting seat, the lifting seat is arranged in the terminal lifting module in a lifting manner, the organ cover comprises an upper cover and a lower cover, the upper cover and the lower cover are arranged on the terminal lifting module and are connected to the upper side and the lower side of the lifting seat respectively, and the fixed seat is fixedly connected with the lifting seat.

[0049] The organ cover can protect the driving structure from being contaminated by the slurry when the lifting seat is lifted, and can allow the lifting seat to be freely lifted while being protected by the cooperation of the upper cover and the lower cover. BRIEF DESCRIPTION OF DRAWINGS

[0050] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced as follows. It should be understood that the following drawings only show some of the embodiments of the present application, and therefore should not be considered as a limitation to the scope. For those of ordinary skill in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0051] Figure 1 A schematic diagram of the operating device provided in the embodiments of the present application is shown in the figure.

[0052] Figure 2 A front view of the operating device is shown in the figure. Figure 1

[0053] Figure 3 A schematic diagram between the operating device and the wall is shown in the figure.

[0054] Figure 4 A schematic diagram when the actuator runs to the top is shown in the figure.

[0055] Figure 5 A schematic diagram after the bottom plate, the cabinet body and the lifting mechanism are hidden is shown in the figure. Figure 4

[0056] A schematic diagram of another perspective of the operating device is shown in the figure. Figure 6 Figure 5 A schematic diagram when the actuator runs to the bottom is shown in the figure.

[0057] Figure 7 A schematic diagram after the bottom plate, the cabinet body and the lifting mechanism are hidden is shown in the figure.

[0058] Figure 8 Figure 7 A schematic diagram of another perspective of the operating device is shown in the figure.

[0059] Figure 9 A schematic diagram of the explosion of the lifting mechanism and the actuator is shown in the figure. Figure 8

[0060] A schematic diagram of the second segment and the third segment of the feeding pipe and the actuator is shown in the figure. Figure 10

[0061] A schematic diagram of the explosion of the operating device is shown in the figure. Figure 11

[0062] A schematic diagram after the left structure of the operating device is connected with the operating support in the right structure is shown in the figure. Figure 12 Figure 11 A schematic diagram after the left structure of the operating device is connected with the operating support in the right structure is shown in the figure.

[0063] Figure 13 Figure 12 A schematic diagram after the left structure of the operating device is connected with the operating support in the right structure is shown in the figure.

[0064] Figure 14 A schematic diagram after the left structure of the operating device is connected with the operating support in the right structure is shown in the figure. Figure 13 ​​​​​schematic view of another perspective of the

[0065] Figure 15 schematic view of the positional relationship between the third segment and the first guide plate;

[0066] Figure 16 schematic view of the state of the third segment when the spray gun moves left and right;

[0067] Figure 17 schematic view of Figure 16 schematic view of another perspective of the

[0068] Figure 18 schematic view of the posture of the second segment and the third segment when the execution module is flipped to the vertical position relative to the fixed seat.

[0069] Icon: 1000 - working device; 10 - chassis; 20 - lifting mechanism; 21 - end lifting module; 22 - lifting seat; 30 - cabinet body; 40 - execution mechanism; 41 - fixed seat; 42 - execution module; 421 - execution main body; 4211 - trowel plate; 422 - working support; 4221 - supporting plate; 43 - spray gun; 44 - first guide plate; 441 - folded edge; 442 - first guide part; 45 - second guide plate; 451 - second guide part; 50 - feeding pipe; 501 - joint; 51 - first segment; 52 - second segment; 53 - third segment; 531 - straight part; 532 - curved part; 60 - flow meter; 70 - protective cover; 80 - piano cover; 81 - upper cover; 82 - lower cover; 90 - connecting bearing; 100 - drag chain; 111 - first end; 112 - second end; 120 - radar; 101 - first horizontal position; 102 - second horizontal position; 103 - first height position; 104 - second height position; 105 - limiting space; 2000 - wall; 3000 - plaster layer. DETAILED DESCRIPTION

[0070] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0071] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor are within the scope of protection of the present application.

[0072] It should be noted that similar reference numerals and letters refer to like items in the accompanying drawings, and once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.

[0073] In the description of the present application, it should be noted that the terms "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly placed when the product is used, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" and the like are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0074] In the description of the present application, it should also be noted that unless otherwise explicitly specified and limited, the terms "set", "connected" should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0075] Embodiments

[0076] Please refer to Figure 1 The embodiments of the present application provide a working device 1000, comprising:

[0077] A chassis 10;

[0078] A lifting mechanism 20, the lifting mechanism 20 is arranged on the chassis 10;

[0079] A cabinet 30, the cabinet 30 is arranged on the chassis 10 and located at one side of the lifting mechanism 20;

[0080] An actuator 40, the actuator 40 is used for processing a working surface, the actuator 40 comprises a fixed seat 41, an execution module 42 and a spray gun 43, the fixed seat 41 is connected to the output end of the lifting mechanism 20, the execution module 42 is rotatably connected to the front side of the fixed seat 41 around a preset axis, the preset axis extends in the front-rear direction, and the spray gun 43 is slidably connected to the upper part of the execution module 42 in the left-right direction;

[0081] The feeding pipe 50 is fixed to the rear side of the fixed seat 41, and the other part of the feeding pipe 50 passes the fixed seat 41 from one side of the preset axis, passes the preset axis, and is connected with the spray gun 43 at the other side of the preset axis. Through such arrangement, the feeding pipe 50 can normally move with the spray gun 43, and can not interfere with the rotation of the execution module 42 when stored, so as to avoid damage of the spray gun 43 or the feeding pipe 50 itself, and to avoid entanglement of the feeding pipe 50 with other structures during work. In the embodiment, one end of the feeding pipe 50 is arranged in the cabinet 30 and is used to be connected with an external feeding device, and the other end of the feeding pipe 50 is connected with the spray gun 43 and can move with the spray gun 43; when the execution module 42 is in the horizontal position, the feeding pipe 50 passes the lower side of the fixed seat 41 from the rear side of the fixed seat 41, and then passes to the front side of the fixed seat 41, and is connected with the spray gun 43 upward after passing the preset axis, so that the spray gun 43 moves or the execution module 42 rotates to the vertical position, and the feeding pipe 50 does not drag the spray gun 43.

[0082] The execution mechanism 40 can be applied to other devices, such as devices for working on the ground or the top surface, and can also be simply mounted on a support as long as it can provide support for work.

[0083] The chassis 10 and the lifting mechanism 20 can refer to the chassis 10 and the lifting device used by general building robots, and the radar 120 can be arranged on the chassis 10 for navigation. The cabinet 30 can refer to the general electric control cabinet or dust collection cabinet, storage cabinet and the like, which can perform its own functions and facilitate the arrangement of the feeding pipe 50.

[0084] For example, the execution module 42 of the embodiment can be used for plastering on the work surface such as the wall 2000, and the spray gun 43 can spray slurry. At the same time, the lifting mechanism 20 drives the execution module 42 to move upward to realize the plastering work on the wall 2000, and forms the plastering layer 3000 on the wall 2000. Figure 3 The feeding pipe 50 provides slurry for the spray gun 43, and the slurry can be connected to the feeding pipe 50 through the joint 501 of the external feeding device, or the feeding device can be arranged in the cabinet 30 and connected with the feeding pipe 50 through the joint 501. Figure 4

[0085] Further, Figure 2 The spray gun 43 is shown when working, and the feeding pipe 50 is shown when working. Figure 2 ​the left and right limit positions of the perspective view, respectively, the first horizontal position 101 and the second horizontal position 102. The supply pipe 50 can be wound and unwound as the spray gun 43 moves. In addition, the winding and unwinding of the supply pipe 50 can be further combined with the schematic of Figure 1 , Figure 16 and Figure 17 . The limit positions of the up and down directions in which the lifting mechanism 20 drives the execution mechanism 40 to lift can be referred to Figure 3 , respectively, the first height position 103 and the second height position 104. Of course, these are only schematic and do not mean that there are two spray guns 43 and two supply pipes 50 in terms of quantity. When it is necessary to add, it can be designed according to the needs. The present embodiment does not limit the number to one, but also makes corresponding description to avoid ambiguity.

[0086] The execution module 42 in the horizontal position refers to the posture when the entire execution mechanism 40 is laid horizontally as shown in Figures 1 to 4 . The execution module 42 in the vertical position refers to the posture in which the execution module 42 rotates clockwise relative to the fixed seat 41 and is vertically laid as shown in Figure 18 . This vertical position can conveniently reduce the horizontal size, so that the entire working device 1000 can be driven by the chassis 10 to pass through some small corridors or doors with limited width.

[0087] Briefly speaking, by designing the pipe path of the supply pipe 50, the supply pipe 50 is wound downward from the rear side of the fixed seat 41 to the front side and then upward around the preset axis to be connected with the spray gun 43, so that when the spray gun 43 moves left and right, the supply pipe 50 is subjected to certain convergence, only one end moves with the spray gun 43, and mortar does not appear to be stuck due to reset arching. When the execution module 42 rotates relative to the fixed seat 41, the supply pipe 50 does not pull the spray gun 43, does not affect the rotation of the execution module 42 and the spray gun 43, and avoids damaging the parts.

[0088] Please refer to Figures 4 to 9 , the working device 1000 of the present embodiment further comprises a flow meter 60, which is installed on the cabinet 30 and can measure the flow of the slurry in the supply pipe 50. The flow meter 60 can effectively monitor the supply amount to confirm the material amount and can confirm whether congestion occurs. For example, when the slurry is blocked, the flow measured by the flow meter 60 will decrease or there will be no flow, so as to alarm the control system of the working device 1000.

[0089] Please refer to Figures 4 to 9The work device 1000 of the embodiment further comprises a protective cover 70 fixed to the rear side of the cabinet 30, and the part of the supply pipe 50 with the flow meter 60 connected thereto is fixed in the protective cover 70. The protective cover 70 can avoid the flow meter 60 from being contaminated by splashing of the slurry, and can facilitate protection and fixation of a part of the supply pipe 50, to prevent the supply pipe 50 from extending out of the work device 1000. As can be seen, the part of the first section 51 before being connected to the drag chain 100 below is constrained in a zigzag shape along the rear side of the cabinet 30, and is protected by the protective cover 70. Of course, the protective cover 70 is mainly to prevent the flow meter 60 from being contaminated, and also to avoid splashing of the slurry to the components in front of the protective cover 70 when leakage occurs at the joint 501.

[0090] Please refer to Figure 10 The work device 1000 of the embodiment further comprises an organ cover 80, the lifting mechanism 20 comprises a terminal lifting module 21 and a lifting seat 22, the lifting seat 22 is arranged in the terminal lifting module 21 in a lifting manner, the organ cover 80 comprises an upper cover 81 and a lower cover 82, the upper cover 81 and the lower cover 82 are arranged on the terminal lifting module 21 and are connected to the upper side and the lower side of the lifting seat 22 respectively, and the fixing seat 41 is fixedly connected to the lifting seat 22. Among them, the terminal lifting module 21 refers to that the lifting mechanism 20 can have multiple lifting modules, and the terminal part is used to drive the lifting seat 22 to lift, which generally has transmission structures such as lead screws or gear racks, synchronous wheels, etc., and through the protection of the organ cover 80, these parts can be effectively prevented from being contaminated by the slurry, and in Figure 10 Among them, the lower cover 82 is in a compressed state, and the upper cover 81 is in an expanded state, and when the lifting seat 22 is lifted up and down on the terminal lifting module 21, the upper cover 81 and the lower cover 82 are stretched and contracted with the movement of the lifting seat 22. That is, the organ cover 80 can protect the driving structure from being contaminated by the slurry when the lifting seat 22 is lifted, and can allow the lifting seat 22 to be lifted freely while being protected through the cooperation of the upper cover 81 and the lower cover 82.

[0091] Please refer to Figure 5 、 Figure 6 、 Figure 8 、 Figure 9 and Figures 11 to 18 The supply pipe 50 of the application comprises a first section 51 ( Figure 5 、 Figure 6 、 Figure 8 、 Figure 9 are shown), a second section 52 and a third section 53 (mainly in Figures 11 to 18The first section 51 is fixed at one end to the external feeding device and at the other end to the rear side of the fixed base 41. The second section 52 is connected to the first section 51 and passes around the lower side of the fixed base 41. The third section 53 is connected to the second section 52 and to the spray gun 43 after passing around the preset axis.

[0092] Please refer to Figure 12 and Figure 13 The working device 1000 of the embodiment further comprises a connecting bearing 90, the inner ring of which is fixedly connected to the fixed base 41, and the outer ring of which is fixedly connected to the execution module 42. The preset axis is the central axis of the connecting bearing 90. When the spray gun 43 moves or the execution module 42 rotates, the feeding pipe 50 does not contact the connecting bearing 90. Since the feeding pipe 50 does not contact the connecting bearing 90, the feeding pipe 50 will not be abraded or pulled, and the pulling of the spray gun 43 by the feeding pipe 50 will not affect the rotation of the execution module 42 relative to the fixed base 41. Alternatively, when a rotating shaft is used, the axis of the rotating shaft is the preset axis. The preset axis can also be the rotating axis of other components that can be used for the rotation of the working support 422 relative to the fixed base 41.

[0093] In short, since the first section 51 is fixed at the rear side of the fixed base 41, the second section 52 will not sag, and since it is on the lower side of the fixed base 41, it will not sag and interfere with other structures compared to being on the upper side. When the third section 53 is connected to the spray gun 43 after passing around the preset axis, the part of the third section 53 that needs to be reset will naturally sag and will not arch and affect the transportation of the mortar as the spray gun 43 moves. Since the second section 52 and the third section 53 are limited by the rear side of the fixed base 41, they maintain a length suitable for the movement of the spray gun 43. When the execution module 42 rotates relative to the fixed base 41, this length allows the second section 52 and the third section 53 to bend to some extent to adapt to the change in position, without pulling the spray gun 43 and affecting the rotation of the execution module 42. Due to the fixing of the rear side of the fixed base 41, the second section 52 and the third section 53 will not sag for a long length, and will not be hooked with other structures during the process of the execution module 42 rotating upright or rotating flat, ensuring that the rotation and the transverse movement of the spray gun 43 will not be affected. That is, since the feeding pipe 50 will not be caught during rotation, the feeding pipe 50 always maintains its original degree of freedom throughout the process, so that the spray gun 43 can be used at any time when it needs to work, without worrying about the need for frequent manual repair due to the winding of the feeding pipe 50.

[0094] Please refer to Figure 11 and Figure 12The actuating mechanism 40 of the embodiment further comprises a first guide plate 44 and a second guide plate 45, both of which are connected to the actuating module 42, and the first guide plate 44 and the second guide plate 45 enclose a limiting space 105 in the front-rear direction, and the third section 53 is kept in the limiting space 105 when the spray gun 43 is laterally moved. Since the first guide plate 44 and the second guide plate 45 enclose the limiting space 105, the movement of the third section 53 is restricted in the left-right direction, and the front-rear position deviation of the third section 53 can be avoided to prevent the third section 53 from pulling the spray gun 43.

[0095] It should be noted that, Figure 11 and Figure 12 the first guide plate 44 is actually connected to the work support 422 (as shown in Figure 13 ), Figure 12 the first guide plate 44 in

[0096] The limiting space 105 refers to the third section 53 without front-rear position deviation, which is always in the area between the first guide plate 44 and the second guide plate 45, and even when the spray gun 43 moves to the rightmost position as shown in Figure 2 or Figure 16 , Figure 17 , the third section 53 only exceeds the range of the first guide plate 44 and the second guide plate 45 in the left-right direction, and does not deviate in the front-rear direction, so it is still in the limiting space 105. In this way, the first guide plate 44 and the second guide plate 45 can be designed to be shorter, avoiding the excessive length of the actuating mechanism 40 in the lateral direction, which prevents the actuating mechanism 40 from working in some space-limited areas.

[0097] Please refer to Figures 12 to 15 The lower side of the first guide plate 44 of the embodiment is provided with a folded edge 441 for supporting the third section 53 to prevent the third section 53 from sagging when the spray gun 43 is working. For example, Figure 16 and Figure 17 , the upper part of the third section 53 moves left and right with the spray gun 43, and the lower part of the third section 53 is always supported by the folded edge 441, so that the third section 53 does not occupy the space below the first guide plate 44, avoiding interference between other structures of the work device 1000 and the third section 53. That is, by supporting the third section 53 with the folded edge 441, the third section 53 can be prevented from sagging excessively and interfering with other structures when the spray gun 43 moves to the left or right limit position, and the spray gun 43 can be prevented from being pulled by the third section 53 when it moves reversely. For example, if the sagging third section 53 is hooked, the movement range of the spray gun 43 will be reduced, or the spray gun 43 will be damaged due to excessive pulling force.

[0098] Please refer toFigure 12 The execution module 42 of the embodiment includes an execution body 421 and a work support 422, the execution body 421 is fixed to the work support 422, and the work support 422 is rotatably connected to the fixed seat 41 around a preset axis. Please refer to Figure 13 and Figure 14 The work support 422 of the embodiment includes a supporting plate 4221, and a gap is provided between the supporting plate 4221 and the folded edge 441. The part where the second section 52 and the third section 53 are connected passes through the gap, so that the second section 52 is limited to one side of the supporting plate 4221 away from the preset axis by the supporting plate 4221 and the folded edge 441. It should be noted that the execution body 421 refers to a main body composed of the trowel plate 4211 and the driving structure of the driving module as a whole relative to the rotation of the fixed seat 41. The specific troweling work and the rotation driving process can refer to the working process of the corresponding functional components of a general troweling robot.

[0099] Further, the supporting plate 4221 and the folded edge 441 limit the connection between the second section 52 and the third section 53, which can ensure that the second section 52 will not be lifted during the movement of the third section 53, so that the feeding pipe 50 will not be hooked with the components (the connecting bearing 90 in the embodiment) used for the rotation of the work support 422 relative to the fixed seat 41, thereby affecting the normal range of stretching and curling of the feeding pipe 50. In addition, as shown in Figure 13 , the connection part H of the first guide plate 44 and the work support 422 is also a kind of limitation, which avoids the further movement of the third section 53 towards the connecting bearing 90, and effectively restricts the third section 53.

[0100] Please refer to Figure 11 The first guide plate 44 of the embodiment includes a first guide part 442 ( Figure 15 also shown), and the second guide plate 45 has a second guide part 451. The first guide part 442 is tilted backward relative to the limiting space 105, and the second guide part 451 is tilted forward relative to the limiting space 105. By setting the first guide part 442 and the second guide part 451, the third section 53 will not be resisted and jammed with the first guide plate 44 and the second guide plate 45 during the reciprocating movement, so as to control the length of the first guide plate 44 and the second guide plate 45, and prevent the length of the execution mechanism 40 from being too long. In detail, as mentioned above, a part of the third section 53 can be outside the length direction of the first guide plate 44 and the second guide plate 45, and when moving reversely from the outside space, if the third section 53 has a certain amplitude of forward and backward direction deviation, it is possible to be blocked by the end of the first guide plate 44 and the second guide plate 45, and further cause the third section 53 to be unable to move with the spray gun 43. Therefore, after the first guide part 442 and the second guide part 451 are set, even if the third section 53 has a slight deviation in the forward and backward direction, it can be guided back, thereby ensuring the smooth movement of the spray gun 43.

[0101] Please refer to Figures 1 to 9 The working device 1000 in this embodiment also includes a cable chain 100, one end (first end 111) of which is fixed to the cabinet 30, and the other end (second end 112) of which is fixed to the rear side of the fixing base 41. Figures 11 to 12 The fixed end of this part is also shown. The first segment 51 is threaded through the cable chain 100. The cable chain 100 can easily constrain the first segment 51, preventing it from swaying or getting caught on other structures during the lifting mechanism 20's operation of driving the actuator 40 up and down. It also allows the first segment 51 to be fixed to the rear side of the fixed base 41. It should be noted that... Figure 10 The dotted line in the image represents a segment of cable chain 100.

[0102] Please refer to Figure 4 , Figure 6 , Figure 7 and Figure 9 In this embodiment, the vertical projection of the cable chain 100 is on the same side of the lifting mechanism 20. The cable chain 100 is always on one side of the lifting mechanism 20, which avoids interference between the first segment 51 and the cable chain 100 itself and the lifting mechanism 20 in the left-right direction, thus preventing structural damage. Furthermore, in this embodiment, the first end 111 and the second end 112 are coplanar, preventing movement in the left-right direction and ensuring that the first segment 51 does not shift unnecessarily, thus guaranteeing normal slurry transport. It is understood that when the layout requires it, the direction of the first segment 51 can be designed to be slanted left-right, and the cable chain 100 used can also adopt a structure that can form a left-right slant constraint.

[0103] Please refer to Figure 4 and Figure 7The first end 111 of the drag chain 100 is fixed to the rear side of the cabinet 30. When the lifting mechanism 20 drives the actuator 40 to move downward, the cabinet 30 can support part of the segments of the drag chain 100. Because the cabinet 30 provides a certain support, when the actuator 40 moves downward, the first segment 51 will not completely hang down. This can ensure that the lifting stroke of the actuator 40 meets the operation requirements, and avoid that the first segment 51 is pulled by other structures due to being too long. In detail, the first end 111 can also be arranged on the front side of the cabinet 30. Of course, at this time, the cabinet 30 does not provide support for part of the segments of the drag chain 100, and the length of the drag chain 100 hanging down will be longer. If there is no interference with other components, the drag chain 100 can be arranged in this way. If there is interference, the length of the drag chain 100 and the first segment 51 can be shortened, but the up-down operation range of the actuator will be correspondingly narrowed. Of course, as long as the actual operation requirements can be met, the position of the drag chain 100 can be arranged according to actual needs by those skilled in the art.

[0104] Please refer to Figure 12 The part where the second segment 52 connects with the first segment 51 is on one side of the preset axis in the left-right direction, the third segment 53 has a straight part 531 and a curved part 532, the part where the second segment 52 connects with the curved part 532 is on the other side of the preset axis in the left-right direction, the straight part 531 is used to connect the curved part 532 and the spray gun 43, and is on the upper side of the preset axis. Because the two ends of the second segment 52 are respectively on the two sides of the preset axis, when the spray gun 43 moves, the third segment 53 will not be hooked with the components (in this embodiment, the connecting bearing 90) used for the rotation of the operation support 422 relative to the fixed seat 41.

[0105] Please refer to Figure 16 and Figure 17 It should be noted that the curved part 532 and the straight part 531 are not the names of a certain section of the third segment 53, but in the process of movement of the spray gun 43, the straight part can be called the straight part 531, and the curved part can be called the curved part 532. For example, when the execution module 42 is in the horizontal position, the spray gun 43 can reciprocate at the left end and the right end of the execution module 42. In the process of movement of the spray gun 43, the second segment 52 and the third segment 53 form a U-shaped structure or a J-shaped structure. The U-shaped structure or the J-shaped structure can make the movement of the spray gun 43 not be pulled by the third segment 53, and the third segment 53 can avoid other structures and be smoothly wound and unwound to cooperate with the movement of the spray gun 43. That is to say, by bypassing the connecting bearing 90 in the form of the curved part 532, the wear and interference with the connecting bearing 90 can be effectively avoided, and by the simple curved structure, the arching and twisting of multiple segments can be avoided, so that the normal transportation of the slurry is ensured.

[0106] Please refer toFigure 18 When the execution module 42 rotates relative to the fixed seat 41, the second section 52 is arched or the third section 53 is arched, so that neither the second section 52 nor the third section 53 is stretched. The length of the second section 52 and the third section 53 is designed to be sufficient to satisfy the arching of the second section 52 or the arching of the third section 53, so that the spray gun 43 is not pulled when the execution module 42 rotates. It can be understood that the present application adopts a clockwise rotation scheme, at this time, the spray gun 43 is in the original first horizontal position 101, when the spray gun 43 is in the original second horizontal position 102, the third section 53 can hang down more, at this time, counterclockwise rotation can also be performed, so that the execution module 42 is in a vertical position, and the spray gun 43 will not be pulled by the feeding pipe 50.

[0107] It should be noted that, Figure 18 The dotted line in the second section 52 and the third section 53 represents the path of the second section 52 and the third section 53, and it can be seen that only a small arching is formed, and the arching will not affect the strength of the feeding pipe 50. In addition, since this is the path of the feeding pipe 50 when the execution mechanism 40 is in the storage state, it will not affect the slurry flow and the movement of the spray gun 43, so it will not have adverse effects.

[0108] The principle of the present embodiment is:

[0109] The overall problem of the existing solution is that the supply pipe 50 is insufficiently constrained or excessively constrained after being routed, causing mortar to be stuck or the spray gun 43 to be damaged, and the actuator 40 itself needs to be uprighted when being stored, and the excessive constraint will affect the uprighting process, and even the actuator 40 cannot be uprighted due to excessive pulling force. The present application can use a hose as the supply pipe 50, and there is no need to worry about the arching of the hard pipe causing the mortar to be stuck. The second top solution in the background art is a hose, but the pulling force is too large when being constrained, so it cannot achieve the effect of the present application. Specifically, the first section 51 is constrained in the drag chain 100, and the feeding end of the first section 51 is constrained on the cabinet 30, which can avoid being hooked by other mechanisms. The first section 51 is fixed to the rear side of the fixed seat 41, and then wound to the front side from the lower side, so that the second section 52 will not be unnecessarily sagging. When the third section 53 is connected to the spray gun 43 by winding through the connecting bearing 90, the first section 51 and the second section 52 have been constrained in position, and the constraint of the supporting plate 4221 and the folded edge 441 further constrains the second section 52. The main part that can move of the entire supply pipe 50 is the third section 53. The third section 53 can be constrained in front and back by the first guide plate 44 and the second guide plate 45, and the folded edge 441 can be constrained on the lower side. The connection between the first guide plate 44 and the work support 422 can form a constraint on the right side, so that the third section 53 can move while not deviating from the constraint range, thereby ensuring the movement of the spray gun 43 and the supply of mortar. When the work is not needed, the actuator 42 is rotated clockwise relative to the fixed seat 41, and the flexibility of the second section 52 and the third section 53 itself allows it to arch and bend to a certain extent, so that it will not be pulled to the spray gun 43, and the rotation of the actuator 42 will not be affected. The overall problem of the existing solution is effectively solved.

[0110] In summary, the work device 1000 of the present application adopts the actuator 40, which winds the supply pipe 50 on the fixed seat 41 from the rear side to the front side through the lower side, and finally to the position of the spray gun 43, which can provide sufficient constraint while not affecting the delivery of mortar, the movement of the spray gun 43, and the rotation of the actuator 42 relative to the fixed seat 41, effectively overcoming the existing problems.

[0111] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Those skilled in the art can make various modifications and changes to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An actuator, characterized by The application relates to a spraying device, which comprises a fixed base, an execution module and a spraying gun, the execution module is rotatably connected to the front side of the fixed base around a preset axis, the preset axis extends in the front-rear direction, and the spraying gun is slidably connected to the upper part of the execution module in the left-right direction. A feeding pipe is connected with the spraying gun and can move along with the spraying gun. Part of the feeding pipe is fixed to the rear side of the fixed base, and the other part of the feeding pipe passes around the rear side of the fixed base, passes around the preset axis from one side of the preset axis, and is connected with the spraying gun at the opposite side of the preset axis. The feeding pipe comprises a first section, a second section and a third section, the first section is fixed to the rear side of the fixed base, the part connected with the first section of the second section passes around the lower side of the fixed base, the second section is located at the front side of the fixed base and at one side of the preset axis, and the third section is connected with the second section and is connected with the spraying gun after passing around the preset axis. The execution mechanism further comprises a first guide plate and a second guide plate, the first guide plate and the second guide plate are connected to the execution module, the first guide plate and the second guide plate enclose a limiting space in the front-rear direction, and the third section is kept in the limiting space when the third section moves along with the spraying gun. The lower side of the first guide plate is provided with a folded edge, the folded edge is used for supporting the third section to avoid the third section from drooping when the spraying gun works. The execution module comprises an execution main body and a working support, the execution main body is fixed to the working support, the working support is rotatably connected to the fixed base around the preset axis, the working support comprises a supporting plate, a gap is formed between the supporting plate and the folded edge, the part connected with the second section of the third section passes through the gap, so that the second section is limited by the supporting plate and the folded edge to the side of the supporting plate away from the preset axis. The first guide plate comprises a first guide part, the second guide plate comprises a second guide part, the first guide part is tilted backward relative to the limiting space, and the second guide part is tilted forward relative to the limiting space.

2. The actuator of claim 1, wherein The part connected with the first section of the second section is located at one side of the preset axis in the left-right direction, the third section comprises a straight part and a curved part, the part connected with the second section of the curved part is located at the other side of the preset axis in the left-right direction, and the straight part is used for connecting the curved part and the spraying gun and is located at the upper side of the preset axis.

3. The actuator of claim 1, wherein, When the execution module is in a transverse position, the spraying gun can reciprocate at the left end and the right end of the execution module, and the second section and the third section form a U-shaped structure or a J-shaped structure during the movement of the spraying gun.

4. The actuator according to claim 1 or 3, characterized in that When the execution module rotates relative to the fixed base, the second section is arched or the third section is arched, so that neither the second section nor the third section is stretched.

5. The actuator of claim 1, wherein, ​ 6. The actuator of claim 1 or 3, wherein The actuating mechanism further comprises a connecting bearing, an inner ring of the connecting bearing is fixedly connected with the fixed base, an outer ring of the connecting bearing is fixedly connected with the actuating module, the preset axis is a central axis of the connecting bearing, and the feed pipe is free of contact with the connecting bearing when the spray gun moves or the actuating module rotates.

7. A work device characterized by comprising: The actuating mechanism comprises: a chassis; a lifting mechanism arranged on the chassis; a cabinet arranged on the chassis and located at one side of the lifting mechanism; and an actuating mechanism according to any one of claims 1-6, the actuating mechanism being used for processing a work surface, the actuating mechanism being connected to an output end of the lifting mechanism. The work device further comprises a drag chain, one end of the drag chain is fixed to the cabinet, the other end of the drag chain is fixed to a rear side of the fixed base, and a first section of the feed pipe is arranged in the drag chain.

8. The work device according to claim 7, characterized in that A projection of the drag chain in a vertical direction is located at the same side of the lifting mechanism.

9. The work device according to claim 8, characterized in that One end of the drag chain is fixed to a rear side of the cabinet, and the cabinet can support part of the drag chain when the lifting mechanism drives the actuating mechanism to move downward.

10. The work device of claim 8, wherein The work device further comprises a flow meter, the flow meter is installed on the cabinet and can measure a flow of slurry in the feed pipe.

11. The work device of claim 7, wherein The work device further comprises a protective cover, the protective cover is fixed to a rear side of the cabinet, and part of the feed pipe connected with the flow meter is fixed in the protective cover.

12. The work device of claim 11, wherein, The work device further comprises an organ cover, the lifting mechanism comprises a terminal lifting module and a lifting base, the lifting base is arranged on the terminal lifting module in a liftable manner, the organ cover comprises an upper cover and a lower cover, the upper cover and the lower cover cover the terminal lifting module and are connected to upper and lower sides of the lifting base respectively, and the fixed base is fixedly connected with the lifting base.

13. The work device of claim 7, wherein ​

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