Plastering robot plastering head plaster supply support lifting device

Abstract

The utility model discloses a plastering robot plastering head plaster supply support lifting device which comprises a plastering head support, first fixing rods are fixedly connected to the two sides of the interior of the plastering head support, screw rods are rotationally connected to the sides, close to each other, of the first fixing rods, first servo motors are fixedly connected to one sides of the first fixing rods, and second servo motors are fixedly connected to the other sides of the first fixing rods. And the output end of the first servo motor is fixedly connected with a screw rod, the outer wall of the screw rod is in threaded connection with a first moving seat, and the two sides of the first moving seat are both connected with limiting rods in a matched mode. The utility model relates to the technical field of plastering robots, and solves the problems that in the prior art, a plastering head plaster supply support is arranged at the top of a plastering head, after the plastering head moves to the top of a wall, the plastering head plaster supply support is prone to making contact with a shed roof, the stability of the plastering head is affected, a certain height exists between the plastering head plaster supply support and the plastering head, and the plastering head plaster supply support is prone to falling off. Large pores exist between the plastering head and the top of the wall, plastering operation is difficult, and certain manpower is consumed for filling.

Description

Technical Field

[0001] The utility model relates to the technical field of plastering robots, in particular to a lifting device for a plaster supply bracket of a plastering robot head. Background Art

[0002] A plastering robot is a high-tech automated construction equipment that can replace traditional manual plastering methods and improve construction efficiency and quality. It is mainly used in the fields of construction and decoration, and has the advantages of high efficiency, precision, and labor saving. The plastering robot's trowel head mortar supply bracket is used to provide plastering materials and assist it in plastering operations. In the prior art, the trowel head mortar supply bracket is arranged at the top of the trowel head. After the trowel head moves to the top of the wall, the trowel head mortar supply bracket is easy to touch the ceiling, affecting the stability of the trowel head. In addition, there is a certain height between the trowel head mortar supply bracket and the trowel head, which makes a large gap between the trowel head and the top of the wall, making it difficult to perform plastering operations, and requires a certain amount of manpower to fill. Summary of the invention

[0003] In view of the deficiencies in the prior art, the utility model provides a lifting device for a mortar supply bracket for a plastering robot trowel head, which solves the problem in the prior art that the mortar supply bracket for the trowel head is set at the top of the trowel head. After the trowel head moves to the top of the wall, the mortar supply bracket for the trowel head is easily in contact with the ceiling, affecting the stability of the trowel head. In addition, there is a certain height between the mortar supply bracket for the trowel head and the trowel head, which causes a large gap between the trowel head and the top of the wall, making it difficult to perform plastering operations and requiring a certain amount of manpower to fill the gap.

[0004] To achieve the above-mentioned purpose, the utility model is implemented through the following technical solutions: a plastering robot trowel supply bracket lifting device, comprising a trowel bracket, both sides of the interior of the trowel bracket are fixedly connected with a first fixing rod, the side of the first fixing rod close to each other is rotatably connected with a screw rod, one side of the first fixing rod is fixedly connected with a first servo motor, the output end of the first servo motor is fixedly connected with the screw rod, the outer wall of the screw rod is threadedly connected with a first moving seat, both sides of the first moving seat are cooperatively connected with a limiting rod, the two ends of the limiting rod are respectively fixedly connected with the first fixing rod, both sides of the top of the first moving seat are rotatably connected with a first connecting rod, both sides of the trowel bracket are rotatably connected with a second connecting rod, the first connecting rod and the second connecting rod are rotatably connected with an axle rod, the top of the second connecting rod is rotatably connected with an ash supply bracket, both sides of the bottom of the ash supply bracket are provided with a first slide rail, the outer wall of the first slide rail is cooperatively connected with a slide seat, the slide seat is rotatably connected with the first connecting rod, and the top of the ash supply bracket is provided with an ash supply pipe.

[0005] Preferably, the top of the ash supply bracket is fixedly connected with a second slide rail, the inner wall of the second slide rail is cooperatively connected with a second movable seat, the second movable seat is fixedly connected to the ash supply pipe through a fixing component, both ends of the second slide rail are rotatably connected with synchronous gears, the outer wall of the synchronous gear is meshingly connected with a synchronous belt, the synchronous belt is fixedly connected to the second movable seat, a second servo motor is installed at one end of the outer wall of the second slide rail, and the output end of the second servo motor is transmission connected to the synchronous gear.

[0006] Preferably, the top of the ash supply bracket is fixedly connected with a second slide rail, the inner wall of the second slide rail is cooperatively connected with a second movable seat, the second movable seat is fixedly connected to the ash supply pipe through a fixing component, both ends of the second slide rail are rotatably connected with synchronous gears, the outer wall of the synchronous gear is meshingly connected with a synchronous belt, the synchronous belt is fixedly connected to the second movable seat, a second servo motor is installed at one end of the outer wall of the second slide rail, and the output end of the second servo motor is transmission connected to the synchronous gear.

[0007] Preferably, both sides of the wiper bracket are fixedly connected with a second fixing rod.

[0008] Preferably, a laser ranging sensor is installed on the inner wall of the wiper head bracket.

[0009] The utility model provides a lifting device for a plastering robot trowel supply bracket. It has the following beneficial effects: the lifting device for the plastering robot trowel supply bracket can control the lifting of the trowel supply bracket through the cooperation between the trowel bracket, the first fixed rod, the first servo motor, the screw, the first movable seat, the limit rod, the first connecting rod, the second connecting rod, the shaft rod, the trowel supply bracket, the first slide rail and the slide seat. When the trowel moves to the top of the wall, the plastering robot automatically controls the first servo motor to move the trowel supply bracket downward to prevent the trowel supply bracket from touching the ceiling and affecting the stability of the trowel, and by reducing the distance between the trowel bracket and the trowel supply bracket, the trowel of the plastering robot can be closer to the connection between the wall and the ceiling, which can reduce the workload of manual plastering.

[0010] By cooperating among the ash supply bracket, the ash supply pipe, the second slide rail, the second movable seat, the synchronous belt, the synchronous gear and the second servo motor, and by controlling the second servo motor, the second movable seat and the ash supply pipe are driven to stably supply ash to different positions of the trowel head, so that cement or gypsum can be more evenly distributed at the trowel head, thereby ensuring the flatness of the wall and improving the plastering effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the structure of the utility model;

[0012] Figure 2 for Figure 1Schematic diagram of the appearance of the middle trowel bracket, the screw rod and the first connecting rod;

[0013] Figure 3 for Figure 1 Structural schematic diagram of the middle ash supply bracket, the second movable seat and the ash supply pipe;

[0014] Figure 4 for Figure 2 Schematic diagram of the appearance of the middle limiting rod, the first connecting rod and the first fixing rod.

[0015] In the figure: 1. wiper head bracket, 2. first fixed rod, 3. first servo motor, 4. screw, 5. first movable seat, 6. limit rod, 7. first connecting rod, 8. second connecting rod, 9. shaft rod, 10. ash supply bracket, 11. first slide rail, 12. slide seat, 13. ash supply pipe, 14. second slide rail, 15. second movable seat, 16. fixed assembly, 17. synchronous belt, 18. synchronous gear, 19. second servo motor, 20. support roller, 21. bent pipe, 22. second fixed rod, 23. laser ranging sensor. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0017] In the prior art, the mortar supply bracket for the trowel head is arranged at the top of the trowel head. After the trowel head moves to the top of the wall, the mortar supply bracket for the trowel head is easily in contact with the ceiling, affecting the stability of the trowel head. In addition, there is a certain height between the mortar supply bracket for the trowel head and the trowel head, so that a large gap exists between the trowel head and the top of the wall, making it difficult to perform plastering operations and requiring a certain amount of manpower to fill.

[0018] In view of this, the utility model provides a lifting device for a plastering robot's trowel head and ash supply bracket, which cooperates with the trowel head bracket, the first fixed rod, the first servo motor, the screw, the first movable seat, the limit rod, the first connecting rod, the second connecting rod, the shaft rod, the ash supply bracket, the first slide rail and the slide seat, and controls the first servo motor to move the first movable seat, change the angle between the first connecting rod and the second connecting rod, and then change the distance between the trowel head bracket and the ash supply bracket, so as to realize the lifting and lowering adjustment of the ash supply bracket. When the trowel head moves to the top of the wall, the plastering robot automatically controls the first servo motor to move the ash supply bracket downward to prevent the ash supply bracket from touching the ceiling and affecting the stability of the trowel head. By reducing the distance between the trowel head bracket and the ash supply bracket, the trowel head of the plastering robot can be closer to the connection between the wall and the ceiling.

[0019] Through the personnel in this field, all the electrical components in this case are connected to their corresponding power supplies through wires, and appropriate controllers and encoders should be selected according to actual conditions to meet the control requirements. The specific connection and control sequence should refer to the following working principle, and the electrical connection between the electrical components is completed in the order of working in sequence. The detailed connection means are well-known technologies in this field. The following mainly introduces the working principles and processes, and no longer explains the electrical control.

[0020] Depend on Figure 1-4 It can be seen that a plastering robot trowel supply bracket lifting device includes a trowel bracket 1, both sides of the interior of the trowel bracket 1 are fixedly connected to a first fixed rod 2, the side of the first fixed rod 2 close to each other is rotatably connected to a screw rod 4, one side of the first fixed rod 2 is fixedly connected to a first servo motor 3, the output end of the first servo motor 3 is fixedly connected to the screw rod 4, the outer wall of the screw rod 4 is threadedly connected to a first moving seat 5, both sides of the first moving seat 5 are matched and connected to a limit rod 6, both ends of the limit rod 6 are respectively fixedly connected to the first fixed rod 2, and both sides of the top of the first moving seat 5 are rotatable. A first connecting rod 7 is connected, and both sides of the wiper bracket 1 are rotatably connected to the second connecting rod 8. The first connecting rod 7 and the second connecting rod 8 are rotatably connected to the shaft rod 9, and the shaft rod 9 is used to connect the first connecting rod 7 and the second connecting rod 8. The top of the second connecting rod 8 is rotatably connected to the ash supply bracket 10, and the bottom sides of the ash supply bracket 10 are provided with first slide rails 11. The outer wall of the first slide rail 11 is matched and connected with a slide seat 12, and the slide seat 12 is rotatably connected to the first connecting rod 7. The top of the ash supply bracket 10 is provided with an ash supply pipe 13, and the ash supply pipe 13 is used to supply ash to the wiper;

[0021] In the specific implementation process, it is worth pointing out that the trowel bracket 1 is used to fix the trowel scraper of the plastering robot. Through the cooperation among the trowel bracket 1, the first fixed rod 2, the first servo motor 3, the screw 4, the first movable seat 5 and the limit rod 6, the first servo motor 3 is controlled to rotate the screw 4, and the engagement between the screw 4 and the first movable seat 5 is realized to achieve stable movement and fixation of the first movable seat 5. The shaft rod 9 is used to connect the first connecting rod 7 and the second connecting rod 8. Through the cooperation among the trowel bracket 1, the first connecting rod 7, the second connecting rod 8, the shaft rod 9 and the ash supply bracket 10, the first connecting rod 7 and the second connecting rod 8 are cross-arranged at the bottom of the ash supply bracket 10 to support the ash supply bracket 10. Compared with the quadrilateral support structure, the stability of the ash supply bracket 10 can be improved, and the connection between the trowel bracket 1 and the ash supply bracket 10 can be realized. The ash supply pipe 13 is used to supply ash to the trowel. Through the cooperation among the trowel bracket 1, the first fixed rod 2, the first servo motor 3, the screw 4, the first movable seat 5, the limiting rod 6, the first connecting rod 7, the second connecting rod 8, the shaft rod 9, the ash supply bracket 10, the first slide rail 11 and the slide seat 12, the first servo motor 3 is controlled to move the first movable seat 5, the angle between the first connecting rod 7 and the second connecting rod 8 is changed, and then the distance between the trowel bracket 1 and the ash supply bracket 10 is changed to realize the lifting and lowering adjustment of the ash supply bracket 10. When the trowel moves to the top of the wall, the plastering robot automatically controls the first servo motor 3 to move the ash supply bracket 10 downward to prevent the ash supply bracket 10 from touching the ceiling and affecting the stability of the trowel. By reducing the distance between the trowel bracket 1 and the ash supply bracket 10, the trowel of the plastering robot can be closer to the connection between the wall and the ceiling. The specific model of the first servo motor 3 is not limited, and it is sufficient to meet the use requirements.

[0022] Further, a second slide rail 14 is fixedly connected to the top of the ash supply bracket 10, and a second movable seat 15 is cooperatively connected to the inner wall of the second slide rail 14. The second movable seat 15 is fixedly connected to the ash supply pipe 13 through a fixing assembly 16. Both ends of the second slide rail 14 are rotatably connected to synchronous gears 18. The outer wall of the synchronous gear 18 is meshed with a synchronous belt 17. The synchronous belt 17 is fixedly connected to the second movable seat 15. A second servo motor 19 is installed at one end of the outer wall of the second slide rail 14, and the output end of the second servo motor 19 is transmission-connected to the synchronous gear 18.

[0023] In the specific implementation process, it is worth pointing out that, through the cooperation among the ash supply bracket 10, the second slide rail 14 and the second movable seat 15, the second movable seat 15 is limited and moved at the top of the ash supply bracket 10; through the cooperation among the ash supply tube 13, the second movable seat 15 and the fixing assembly 16, the connection and fixation between the ash supply tube 13 and the second movable seat 15 are realized; through the cooperation among the ash supply bracket 10, the second slide rail 14, the second movable seat 15, the synchronous belt 17, the synchronous gear 18 and the second servo motor 19, by controlling the second servo motor 19, The second movable seat 15 is controlled to move in a controlled manner. Through the coordination among the ash supply bracket 10, the ash supply pipe 13, the second slide rail 14, the second movable seat 15, the synchronous belt 17, the synchronous gear 18 and the second servo motor 19, the second servo motor 19 is controlled to drive the second movable seat 15 and the ash supply pipe 13 to move, so as to realize stable ash supply to different positions of the trowel head, so that cement or gypsum can be more evenly distributed at the trowel head, and the flatness after plastering is ensured. The specific model of the second servo motor 19 is not limited, and it can meet the use requirements.

[0024] Furthermore, the top of the ash supply bracket 10 is equidistantly connected to a support roller 20 for rotation. The support roller 20 is used to support the connecting pipe of the ash supply pipe 13 to prevent the connecting pipe of the ash supply pipe 13 from bending when the trowel bracket is raised or lowered. The outer wall of the support roller 20 is connected to the ash supply pipe 13. The end of the ash supply pipe 13 away from the support roller 20 is connected to a curved pipe 21. The curved pipe 21 is used for precise guidance at the end of the ash supply pipe 13.

[0025] In the specific implementation process, it is worth pointing out that the support roller 20 is used to support the connecting pipe of the ash supply pipe 13 to prevent the connecting pipe of the ash supply pipe 13 from bending when the trowel bracket is raised or lowered, thereby affecting the stable supply of cement and lime. The elbow 21 is used to accurately guide the end of the ash supply pipe 13 to prevent cement or lime from splashing out.

[0026] Furthermore, both sides of the trowel bracket 1 are fixedly connected with second fixing rods 22, and the second fixing rods 22 are used for the installation and fixing of the trowel bracket 1 by the plastering robot;

[0027] In the specific implementation process, it is worth pointing out that the second fixing rod 22 is used for the installation and fixing of the plastering robot to the plastering head bracket 1;

[0028] Furthermore, a laser distance sensor 23 is installed on the inner wall of the plaster head bracket 1, and the laser distance sensor 23 is used to measure the distance between the plaster head bracket 1 and the ceiling, so that the plastering robot can control the lifting of the plaster supply bracket;

[0029] In the specific implementation process, it is worth pointing out that the laser distance sensor 23 is used to measure the distance between the plaster head bracket 1 and the roof, so that the plastering robot can control the lifting of the ash supply bracket 10;

[0030] Specifically, when the plastering robot trowel supply bracket lifting device is used, the trowel bracket 1 is fixed to the lifting component of the plastering robot, and the trowel supply pipe 13 is connected to the trowel supply component. After the plastering robot moves to the wall operating surface, the first servo motor 3 is controlled to drive the screw 4 to rotate, so that the first moving seat 5 moves to the side away from the first servo motor 3, and the angle between the first connecting rod 7 and the second connecting rod 8 is changed, so that the trowel supply bracket 10 moves upward. After the trowel supply bracket 10 moves to a specified height, the first servo motor 3 is stopped, and the first moving seat 5 is fixed on the upper limit position of the screw 4, so that the first connecting rod 7 and the second connecting rod 8 are aligned. The ash supply bracket 10 forms a stable support, supplies ash to the trowel head through the ash supply component, and at the same time, the trowel head bracket 1 is moved upward by the lifting component, and the wall materials such as cement or lime located on the top of the trowel head are bonded to the wall. During the wall plastering process, the plastering robot automatically controls the second servo motor 19 to make the second moving seat 15 reciprocate in the second slide rail 14, and evenly transfers wall materials such as cement or lime to different positions on the top of the trowel head. The laser ranging sensor 23 measures the specific distance between the trowel head bracket 1 and the ceiling in real time, and transmits the measurement signal to the control system of the plastering robot in real time. When it reaches the top of the wall, the control system stops supplying ash to the plaster head and automatically controls the first servo motor 3 to move the first movable seat 5 to the side close to the first servo motor 3, thereby reducing the distance between the ash supply bracket 10 and the plaster head bracket 1, so that the plaster head can plaster the wall to the maximum extent. After the plaster head bracket 1 moves downward, the plastering robot automatically controls the first servo motor 3 to reset the ash supply bracket 10, and the plastering robot automatically controls the first servo motor 3 to reset the ash supply bracket 10 through the plaster head bracket 1, the first fixed rod 2, the first servo motor 3, the screw 4, the first movable seat 5, the limit rod 6, the first connecting rod 7, the second connecting rod 8, the shaft rod 9, the ash supply bracket 10, and the first slide rail. The coordination between 11 and the slide seat 12 is achieved by controlling the first servo motor 3 to move the first movable seat 5, thereby changing the angle between the first connecting rod 7 and the second connecting rod 8, and then changing the distance between the trowel head bracket 1 and the ash supply bracket 10, so as to realize the lifting and lowering adjustment of the ash supply bracket 10. When the trowel head moves to the top of the wall, the plastering robot automatically controls the first servo motor 3 to move the ash supply bracket 10 downward to prevent the ash supply bracket 10 from touching the ceiling and affecting the stability of the trowel head. By reducing the distance between the trowel head bracket 1 and the ash supply bracket 10, the trowel head of the plastering robot can be closer to the connection between the wall and the ceiling.

[0031] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions. The sentence "includes an element defined by ... does not exclude the existence of other identical elements in the process, method, article or device including the element".

[0032] In the present utility model, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation" and "screw-on" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the utility model according to the specific circumstances.

[0033] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A lifting device for a plastering robot trowel head supply bracket, comprising a trowel head bracket (1), characterized in that: Both sides of the interior of the wiper bracket (1) are fixedly connected to a first fixed rod (2); a side of the first fixed rod (2) close to each other is rotatably connected to a screw rod (4); one side of the first fixed rod (2) is fixedly connected to a first servo motor (3); an output end of the first servo motor (3) is fixedly connected to the screw rod (4); an outer wall of the screw rod (4) is threadedly connected to a first movable seat (5); both sides of the first movable seat (5) are matched and connected to a limiting rod (6); both ends of the limiting rod (6) are respectively fixedly connected to the first fixed rod (2); a top of the first movable seat (5) is Both sides are rotatably connected with a first connecting rod (7), both sides of the wiper bracket (1) are rotatably connected with a second connecting rod (8), the first connecting rod (7) and the second connecting rod (8) are rotatably connected with an axle rod (9), the top of the second connecting rod (8) is rotatably connected with an ash supply bracket (10), both sides of the bottom of the ash supply bracket (10) are provided with a first slide rail (11), the outer wall of the first slide rail (11) is cooperatively connected with a slide seat (12), the slide seat (12) is rotatably connected with the first connecting rod (7), and the top of the ash supply bracket (10) is provided with an ash supply pipe (13).

2. A lifting device for a plastering robot plastering head supply bracket according to claim 1, characterized in that: The top of the ash supply bracket (10) is fixedly connected to a second slide rail (14), the inner wall of the second slide rail (14) is cooperatively connected to a second movable seat (15), the second movable seat (15) is fixedly connected to the ash supply pipe (13) through a fixing assembly (16), both ends of the second slide rail (14) are rotatably connected to synchronous gears (18), the outer wall of the synchronous gear (18) is meshingly connected to a synchronous belt (17), the synchronous belt (17) is fixedly connected to the second movable seat (15), a second servo motor (19) is installed at one end of the outer wall of the second slide rail (14), and the output end of the second servo motor (19) is transmission-connected to the synchronous gear (18).

3. The lifting device for the plastering robot head supply bracket according to claim 1 is characterized in that: The top of the ash supply bracket (10) is equidistantly rotatably connected to a support roller (20), the outer wall of the support roller (20) is cooperatively connected to the ash supply pipe (13), and the end of the ash supply pipe (13) away from the support roller (20) is connected to a bent pipe (21).

4. The lifting device for the plastering robot head supply bracket according to claim 1 is characterized in that: Second fixing rods (22) are fixedly connected to both sides of the wiper bracket (1).

5. The lifting device for the plastering robot head supply bracket according to claim 1 is characterized in that: A laser distance measuring sensor (23) is installed on the inner wall of the wiper bracket (1).

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