A troweling robot and a terminal work mechanism thereof

Abstract

The application belongs to the technical field of wall plastering mechanical equipment manufacturing, and particularly relates to a plastering robot and a terminal operation mechanism thereof, which is applied to the plastering robot. The plastering robot comprises a baffle, a top plate, a guide column and a scraper. The baffle comprises an inner baffle, an outer baffle and a bottom plate. The inner baffle, the bottom plate and the outer baffle are sequentially connected to form a box body with an opening upward. A long column is arranged on the inner wall of the inner baffle. The top plate is trapezoidal. A downward opening groove is formed in the bottom of the top plate. The bottom end of the guide column is fixedly arranged at the center of the bottom plate, and the top end of the guide column is connected to the groove of the top plate. A guide column spring is arranged on the guide column, which is used to cooperate with the guide column to drive the vertical movement of the top plate. The scraper is arranged outside the outer baffle and is used to plaster the wall surface. A long hole is formed in the center of the connecting rod, which is used to sleeve the connecting rod on the long column through the long hole. The inner end of the connecting rod abuts against the side wall of the top plate, and the outer end of the connecting rod is connected to the outer end of the scraper, which is used to control the relative movement of the top plate and the scraper. The plastering operation from the ground to the ceiling can be realized.

Description

Technical Field

[0001] This invention belongs to the field of wall plastering machinery and equipment manufacturing technology, specifically relating to a plastering robot and its end-effector mechanism. Background Technology

[0002] When it's necessary to apply cement or putty to building walls, the cement or putty is usually sprayed onto the wall first. Then, a plastering robot, fixed at a certain distance from the wall, uses a lifting device equipped with a scraper to move the scraper vertically, thus smoothing the wall surface. This method effectively replaces manual plastering, saving time and labor significantly, and is much faster than manual plastering, resulting in a marked improvement in work efficiency.

[0003] In residential plastering applications, a lifting track device is often needed to allow the plastering robot's end-effector scraper to apply plaster from 10cm above the ground to the ceiling, thus completing the wall plastering. However, in actual applications, the end-effector of the plastering robot is affected by other mechanical mechanisms, and the connection base is limited by size and space to meet the design requirements for heights below 10cm. Consequently, the plastering scraper cannot perform finishing work on the side walls near the ceiling. Summary of the Invention

[0004] The present invention provides a plastering robot and its end effector mechanism. The robot achieves vertical movement of the top plate by setting guide columns and guide column springs, and connects the scraper and the top plate by a connecting rod. Under the action of the connecting rod, the top plate and the scraper can move relative to each other in the vertical direction. This allows the scraper to rise automatically after the top plate is pressed down to complete the finishing work of the side wall near the ceiling, realizing the plastering work of the entire height of the wall surface. It is simple and convenient.

[0005] An end-effector mechanism for use in a plastering robot; comprising:

[0006] A baffle, comprising an inner baffle, an outer baffle, and a bottom plate; the inner baffle, the bottom plate, and the outer baffle are sequentially connected to form an upward-opening box; the inner wall of the inner baffle is provided with elongated columns;

[0007] The top plate is trapezoidal; a downward-opening groove is formed at the bottom of the top plate;

[0008] A guide post is fixedly installed at the center of the base plate at its bottom end and connected to the groove of the top plate at its top end; a guide post spring is provided on the guide post for cooperating with the guide post to drive the top plate to move vertically;

[0009] A scraper, which is installed outside the outer baffle, is used for plastering the wall surface;

[0010] A connecting rod has an elongated hole at its center for attaching the connecting rod to the elongated column through the hole; the inner end of the connecting rod abuts against the side wall of the top plate and the outer end connects to the outer end of the scraper, for controlling the relative movement of the top plate and the scraper.

[0011] The vertical movement of the top plate is achieved by setting guide columns and guide column springs, and the scraper and top plate are connected by a connecting rod. Under the action of the connecting rod, the top plate and scraper can move relative to each other in the vertical direction. This allows the scraper to rise automatically after the top plate is pressed down to complete the finishing work of the side wall near the ceiling, realizing the full height of the wall plastering work, which is simple and convenient.

[0012] Furthermore, the inner wall of the inner baffle is also provided with:

[0013] A fixed column is provided at the lower end of the long column;

[0014] A limiting post is provided, which is flush with the top of the inner baffle and close to the top plate, to limit the highest position of the top plate.

[0015] By setting limit posts, it is easy to control the maximum height that the top plate can be lifted, and at the same time control the farthest position of the inner end of the connecting rod on the side wall of the top plate, so as to drive the scraper to the highest position, thereby controlling the vertical movement range of the top plate and the scraper.

[0016] Furthermore, the scraper includes:

[0017] A connecting plate is disposed on the side near the baffle; a connecting hole is provided on the connecting plate;

[0018] A scraper, positioned on the side away from the baffle, is used for plastering the wall surface.

[0019] Furthermore, the link includes:

[0020] The connecting rod is long and narrow.

[0021] A strip-shaped cylinder is provided at the outer end of the connecting rod, for extending into the connecting hole on the scraper and connecting the connecting rod and the scraper through two sets of nuts, inner and outer;

[0022] A roller, which is disposed at the inner end of the connecting rod, is used to slide along the side wall of the top plate;

[0023] A connecting post is disposed on the connecting rod and located at one end near the roller;

[0024] A connecting rod spring, one end of which is connected to the connecting post and the other end of which is fixedly connected to the fixed post on the inner baffle.

[0025] The connecting rod and the scraper are connected by a strip-shaped cylinder at the outer end of the connecting rod, and the connecting rod and the top plate are connected by a roller at the inner end of the connecting rod, thereby realizing the indirect connection between the scraper and the top plate, which facilitates the relative movement of the two under the action of the connecting rod; the movement of the connecting rod is easily controlled by the connecting rod spring.

[0026] Furthermore, there are two connecting rods; the two connecting rods are axially symmetrically arranged on both sides of the top plate, which are used to limit the movement trajectory of the top plate in two directions, so that the top plate moves in the vertical direction.

[0027] By setting two connecting rods symmetrically arranged along the top plate axis, the top plate is limited in the horizontal direction to ensure that the movement trajectory of the top plate is vertical.

[0028] Furthermore, the tension of the connecting rod spring is greater than the weight of the scraper.

[0029] By limiting the tension of the connecting rod spring and the weight of the scraper, the scraper can be lifted through the action of the connecting rod.

[0030] Furthermore, the elongated column moves linearly or rotates along the elongated hole.

[0031] By fitting a long strip into the long hole of the connecting rod, the range of motion of the connecting rod is restricted, causing it to move in a circle along the long hole or in a straight line along the length of the long hole, thereby assisting the scraper to move vertically.

[0032] Furthermore, the guide post spring is disposed inside the guide post or sleeved on the outside of the guide post.

[0033] Furthermore, the box formed by the inner baffle, the bottom plate, and the outer baffle has a hollow space that matches the top plate, allowing the top plate to move into the box.

[0034] A plastering robot, comprising:

[0035] main body;

[0036] A mobile mechanism, installed at the bottom of the main body, is used to control the movement of the plastering robot on the ground;

[0037] A lifting mechanism is mounted on the main body;

[0038] The end-effector, as described above, is mounted on the lifting mechanism and is used to perform plastering work on the wall surface.

[0039] The beneficial effects of this invention are as follows:

[0040] This invention achieves vertical movement of the top plate by setting guide columns and guide column springs, and connects the scraper and the top plate by a connecting rod, so that the top plate and the scraper can move relative to each other in the vertical direction under the action of the connecting rod. This allows the scraper to rise automatically after the top plate is pressed down to complete the finishing work of the side wall near the ceiling, realizing the full height of the wall plastering work, which is simple and convenient. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the end-effector mechanism;

[0042] Figure 2 This is a top view of the end-effector mechanism.

[0043] Figure 3 This is a side view schematic diagram of the end-effector mechanism;

[0044] Figure 4 for Figure 3 A cross-sectional schematic diagram of AA in the middle;

[0045] Figure 5 This is a schematic diagram of the plastering robot.

[0046] Figure label:

[0047] 1. End-effector; 11. Baffle; 111. Inner baffle; 1111. Long column; 1112. Fixed column; 1113. Limiting column; 112. Outer baffle; 113. Base plate; 12. Top plate; 121. Groove; 131. Guide column; 132. Guide column spring; 14. Scraper; 141. Connecting plate; 1411. Connecting hole; 1412. Nut; 142. Scraper; 15. Connecting rod; 151. Connecting rod; 152. Strip cylinder; 153. Roller; 154. Connecting column; 155. Connecting rod spring; 156. Long hole;

[0048] 2. Main body;

[0049] 3. Moving mechanism;

[0050] 4. Lifting mechanism. Detailed Implementation

[0051] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0052] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0053] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. Furthermore, the technical features involved in the different embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0054] Example 1

[0055] Figures 1-4 The diagram shows an end-effector mechanism used in a plastering robot. It includes a baffle 11, a top plate 12, guide columns 131, a scraper 14, and a connecting rod 15. The guide columns 131 and guide column springs 132 enable the vertical movement of the top plate 12. The connecting rod 15 connects the scraper 14 and the top plate 12, allowing the top plate 12 and the scraper 14 to move relative to each other in the vertical direction under the action of the connecting rod 15. This facilitates the automatic completion of the finishing work on the side wall near the ceiling after the top plate 12 is pressed down, enabling full-height plastering of the wall surface. This design is simple and convenient.

[0056] Specifically, the baffle 11 includes an inner baffle 111, an outer baffle 112, and a bottom plate 113; the inner baffle 111, the bottom plate 113, and the outer baffle 112 are connected in sequence to form a box with the opening facing upward;

[0057] The inner wall of the inner baffle 111 is provided with:

[0058] The long column 1111 is used to fit into the long hole 156 in the center of the connecting rod 15 to limit the range of motion of the connecting rod 15, so that it can make circular motion along the long hole 156 or linear motion along the length of the long hole 156, thereby assisting the scraper 14 to move vertically.

[0059] In this embodiment, the elongated column 1111 moves linearly or rotates along the elongated hole 156.

[0060] A fixing post 1112 is located at the lower end of the long strip post 1111 and is used to fix one end of the connecting rod spring 155.

[0061] The limiting post 1113 is flush with the top of the inner baffle 111 and close to the top plate 12. It is used to limit the highest position of the top plate 12, so as to control the maximum height that the top plate 12 can be lifted. At the same time, it controls the farthest position of the inner end of the connecting rod 15 on the side wall of the top plate 12, so as to drive the scraper 14 to rise to the highest position, thereby controlling the vertical movement range of the top plate 12 and the scraper 14.

[0062] The box formed by the inner baffle 111, the bottom plate 113, and the outer baffle 112 has a hollow space that matches the top plate 12, so that the top plate 12 can move into the box.

[0063] Specifically, the top plate 12 is trapezoidal; a downward-opening groove 121 is provided at the bottom of the top plate 12.

[0064] Specifically, the guide post 131 has its bottom end fixedly set at the center of the base plate 113 and its top end connected to the groove 121 of the top plate 12; a guide post spring 132 is provided on the guide post 131 to cooperate with the guide post 131 to drive the top plate 12 to move vertically.

[0065] Among them, the guide spring 132 is a compression spring.

[0066] In this embodiment, as Figure 4 As shown, the guide spring 132 is sleeved on the outside of the guide post 131; it should be noted that the guide spring 132 can also be set inside the guide post 131.

[0067] Specifically, the scraper 14 is disposed outside the outer baffle 112 and is used for plastering the wall surface; the scraper 14 includes:

[0068] A connecting plate 141 is provided on the side near the outer baffle 112; a connecting hole 1411 is provided on the connecting plate 141.

[0069] The scraper 142, located on the side away from the outer baffle 112, is used for plastering the wall surface.

[0070] Specifically, the connecting rod 15 has its inner end abutting against the side wall of the top plate 12 and its outer end connected to the outer end of the scraper 14, and is used to control the relative movement of the top plate 12 and the scraper 14; the connecting rod 15 includes:

[0071] The connecting rod 151 is long and narrow; a long hole 156 is opened in the center of the connecting rod 151 for connecting the connecting rod 15 to the long column 1111 through the long hole 156.

[0072] A strip-shaped cylinder 152 is provided at the outer end of the connecting rod 151 and is used to extend into the connecting hole 1411 on the scraper 14 and connect the connecting rod 15 and the scraper 14 through two sets of nuts 1412, inside and outside.

[0073] Roller 153 is disposed at the inner end of connecting rod 151 and is used to slide along the side wall of top plate 12;

[0074] A connecting post 154 is disposed on the connecting rod 151 and located at one end near the roller 153;

[0075] The connecting rod spring 155 has one end connected to the connecting post 154 and the other end fixedly connected to the fixing post 1112 on the inner baffle 111.

[0076] In this embodiment, the tension of the connecting rod spring 155 is greater than the weight of the scraper 14. By limiting the tension of the connecting rod spring 155 and the weight of the scraper 14, the scraper 14 can be lifted by the action of the connecting rod 15.

[0077] In this embodiment, there are two connecting rods 15; the two connecting rods 15 are symmetrically arranged on both sides of the top plate 12 to limit the movement trajectory of the top plate 12 in two directions, so that the top plate 12 moves in the vertical direction. By setting two connecting rods 15 symmetrically arranged along the axis of the top plate 12, the top plate 12 is limited in the horizontal direction to ensure that the movement trajectory of the top plate 12 is vertical.

[0078] The connecting rod 15 and the scraper 14 are connected by a strip cylinder 152 located at the outer end of the connecting rod 151, and the connecting rod 15 and the top plate 12 are connected by a roller 153 located at the inner end of the connecting rod 151, thereby realizing the indirect connection between the scraper 14 and the top plate 12, which facilitates the relative movement of the two under the action of the connecting rod 15; the movement of the connecting rod 15 is easily controlled by the connecting rod spring 155.

[0079] The working principle of this embodiment is as follows:

[0080] When no closing operation is required, the pressure of the guide spring 132 is greater than the pressure at the top, the top plate 12 extends out of the baffle 11, and at the same time, under the gravity of the scraper 14, the outer end of the connecting rod 15 is continuously pressed downward, driving the inner end of the connecting rod 15 to move upward along the side wall of the top plate 12 until it is limited by the limiting post 1113.

[0081] When finishing work is required, the top plate 12 contacts the ceiling, the pressure of the guide column spring 132 is less than the pressure on the top, the top plate 12 is pressed downward until the top is flush with the top of the baffle 11, the inner end of the connecting rod 15 slides downward along the side wall of the top plate 12, and under the action of the connecting rod spring 155, the outer end of the connecting rod 15 moves upward and drives the scraper 14 to move upward to perform finishing work;

[0082] After completing one closing operation, the guide post spring 132 completes the reset.

[0083] Example 2

[0084] like Figure 5 As shown, this embodiment provides a plastering robot, including a main body 2, a moving mechanism 3, a lifting mechanism 4, and an end-effector 1 as described in the embodiment, to perform plastering operations on walls.

[0085] Specifically, the mobile mechanism 3, which is installed at the bottom of the main body 2, is used to control the movement of the plastering robot on the ground;

[0086] Specifically, the lifting mechanism 4 is installed on the main body 1;

[0087] In this embodiment, the lifting mechanism 4 is a lifting frame.

[0088] The end-effector 1, as described above, is installed on the lifting mechanism 4 and is used to perform plastering work on the wall.

[0089] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0090] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. An end-effector mechanism applied to a plastering robot; characterized in that, include: A baffle, comprising an inner baffle, an outer baffle, and a bottom plate; the inner baffle, the bottom plate, and the outer baffle are sequentially connected to form an upward-opening box; the inner wall of the inner baffle is provided with elongated columns; The top plate is trapezoidal; a downward-opening groove is formed at the bottom of the top plate; A guide post is fixedly installed at the center of the base plate at its bottom end and connected to the groove of the top plate at its top end; a guide post spring is provided on the guide post for cooperating with the guide post to drive the top plate to move vertically; A scraper, which is installed outside the outer baffle, is used for plastering the wall surface; A connecting rod has an elongated hole at its center for attaching the connecting rod to the elongated column through the hole; the inner end of the connecting rod abuts against the side wall of the top plate and the outer end is connected to the outer end of the scraper, for controlling the relative movement of the top plate and the scraper. The inner wall of the inner baffle is also provided with: A fixed column is provided at the lower end of the long column; A limiting post is provided, which is flush with the top of the inner baffle and close to the top plate, to limit the highest position of the top plate; The scraper includes: A connecting plate is disposed on the side near the baffle; a connecting hole is provided on the connecting plate; A scraper, positioned on the side away from the baffle, is used for plastering the wall surface; The link includes: The connecting rod is long and narrow. A strip-shaped cylinder is provided at the outer end of the connecting rod, for extending into the connecting hole on the scraper and connecting the connecting rod and the scraper through two sets of nuts, inner and outer; A roller, which is disposed at the inner end of the connecting rod, is used to slide along the side wall of the top plate; A connecting post is disposed on the connecting rod and located at one end near the roller; A connecting rod spring, one end of which is connected to the connecting post and the other end of which is fixedly connected to the fixed post on the inner baffle.

2. The end-effector mechanism according to claim 1, characterized in that, There are two connecting rods; the two connecting rods are axially symmetrically arranged on both sides of the top plate, and are used to limit the movement trajectory of the top plate in two directions, so that the top plate moves in the vertical direction.

3. The end-effector mechanism according to claim 1, characterized in that, The tension of the connecting rod spring is greater than the weight of the scraper.

4. The end-effector mechanism according to claim 1, characterized in that, The elongated column may move in a straight line or rotate along the elongated hole.

5. The end-effector mechanism according to claim 1, characterized in that, The guide post spring is disposed inside the guide post or sleeved on the outside of the guide post.

6. The end-effector mechanism according to claim 1, characterized in that, The box formed by the inner baffle, the bottom plate, and the outer baffle has a hollow space that matches the top plate, allowing the top plate to move into the box.

7. A plastering robot, characterized in that, include: main body; A mobile mechanism, installed at the bottom of the main body, is used to control the movement of the plastering robot on the ground; A lifting mechanism is mounted on the main body; The end-effector as described in claim 1 is installed on the lifting mechanism and is used to perform plastering operations on the wall surface.

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