阅读说明：本技术 灰斗供料装置及抹灰机器人 (Ash bucket feeding device and plastering robot ) 是由 梁统生 闫善韵 齐博 宋涛 于 2019-11-27 设计创作，主要内容包括：本发明公开了一种灰斗供料装置及抹灰机器人。灰斗供料装置包括：支架；装盛灰浆的灰斗,灰斗可转动地设置在支架上；直线驱动件设置在支架上,直线驱动件的输出端连接灰斗；U型弹簧片的两端分别连接支架和灰斗,直线驱动件的输出端能伸缩运动以驱动灰斗以U型弹簧片为中心相对于支架转动。本发明灰斗供料装置设计U型弹簧片的两端分别连接支架和灰斗,且当直线驱动件的输出端伸缩运动时能驱动灰斗以U型弹簧片为中心相对于支架转动,通过控制直线驱动件的输出端伸缩可实现控制灰斗翻转角度和灰斗自主收回,使灰浆供料可控,避免过多的灰浆供给,节省成本；同时,U型弹簧片使得灰斗在翻转的同时能作一定幅度的摆动,减少灰斗中的灰浆飞溅。(The invention discloses a mortar bucket feeding device and a plastering robot. Ash bucket feedway includes: a support; the ash bucket is used for containing mortar and is rotatably arranged on the bracket; the output end of the linear driving piece is connected with the ash bucket; the two ends of the U-shaped spring piece are respectively connected with the bracket and the ash bucket, and the output end of the linear driving piece can perform telescopic motion to drive the ash bucket to rotate relative to the bracket by taking the U-shaped spring piece as a center. According to the ash bucket feeding device, the two ends of the U-shaped spring piece are respectively connected with the support and the ash bucket, the ash bucket can be driven to rotate relative to the support by taking the U-shaped spring piece as a center when the output end of the linear driving piece moves in a telescopic manner, the overturning angle of the ash bucket and the automatic retraction of the ash bucket can be controlled by controlling the telescopic manner of the output end of the linear driving piece, so that mortar feeding is controllable, excessive mortar feeding is avoided, and the cost is saved; meanwhile, the U-shaped spring piece enables the ash bucket to swing to a certain extent while being turned over, and mortar in the ash bucket is reduced from splashing.)

1. An ash hopper feeding device, comprising:

a bracket (5);

the ash bucket (1) is used for containing mortar, and the ash bucket (1) is rotatably arranged on the bracket (5);

the linear driving piece (2) is arranged on the bracket (5), and the output end of the linear driving piece (2) is connected with the ash bucket (1); and

the ash bucket comprises a U-shaped spring piece (3), one end of the U-shaped spring piece (3) is connected with the support (5), the other end of the U-shaped spring piece is connected with the ash bucket (1), and the output end of the linear driving piece (2) can move in a telescopic mode to drive the ash bucket (1) to rotate relative to the support (5) by taking the U-shaped spring piece (3) as a center.

2. The ash bucket feeding device according to claim 1, wherein the other end of the U-shaped spring piece (3) is connected with the bottom of the ash bucket (1) and is arranged close to the discharge hole of the ash bucket (1).

3. An ash bucket feeding device according to claim 1 or 2, characterized in that the ash bucket feeding device further comprises a vibration motor (4), and the vibration motor (4) is arranged on the ash bucket (1) and can drive the ash bucket (1) to vibrate.

4. An ash hopper feeding device according to claim 3, characterized in that the vibration motor (4) is arranged close to the discharge opening of the ash hopper (1), and the output end of the linear driving member (2) is connected to the ash hopper (1) far away from the discharge opening.

5. The hopper feeding device according to claim 4, characterized in that said vibrating motor (4) is arranged between said U-shaped spring plate (3) and the output end of said linear actuator (2).

6. An ash hopper feeding device according to claim 1, characterized in that the linear drive (2) is an electric, hydraulic or pneumatic cylinder.

7. Ash bucket feeding device according to claim 1, characterized in that the output end of the linear drive (2) is hinged to the ash bucket (1), and the housing of the linear drive (2) is hinged to the bracket (5).

8. Ash bucket feeding device according to claim 7, characterized in that the output end of the linear drive (2) is connected to the ash bucket (1) by a hinge, and the housing of the linear drive (2) is connected to the bracket (5) by a hinge.

9. An ash hopper feeding device according to claim 1, characterized in that the bracket (5) comprises:

the bottom plate is horizontally arranged, and the linear driving piece (2) is arranged on the bottom plate; and

the side plate is vertically arranged on the bottom plate, and the U-shaped spring piece (3) is arranged at the top of the side plate.

10. A plastering robot, comprising:

the ash hopper feeding device of any one of claims 1 to 9, and

the plastering plate can plaster mortar flowing out of the mortar hopper (1) of the mortar hopper feeding device on a wall surface to be plastered.

Technical Field

The invention relates to the technical field of construction machinery, in particular to a mortar bucket feeding device and a plastering robot.

Background

The hopper mechanism of most plastering robots in the market is turned up and driven by an air spring, and when the plastering mechanism rises to the wall top, the air spring presses back the mortar hopper after contacting the wall top through a pressure lever.

Disclosure of Invention

One object of the invention is to provide an ash bucket feeding device which can realize the automatic recovery of an ash bucket and the controllable overturning angle of the ash bucket.

Another object of the invention is to propose a plastering robot comprising the above hopper feeding device.

To achieve the purpose, on one hand, the invention adopts the following technical scheme:

an ash hopper feeding device comprising:

a support;

the ash bucket is used for containing mortar and is rotatably arranged on the bracket;

the linear driving piece is arranged on the bracket, and the output end of the linear driving piece is connected with the ash bucket; and

the output end of the linear driving piece can perform telescopic motion so as to drive the ash bucket to rotate relative to the bracket by taking the U-shaped spring piece as a center.

In some embodiments, the other end of the U-shaped spring piece is connected to the bottom of the ash bucket and is arranged close to the discharge hole of the ash bucket.

In some embodiments, the ash hopper feeding device further comprises a vibration motor, and the vibration motor is arranged on the ash hopper and can drive the ash hopper to vibrate.

In some embodiments, the vibration motor is disposed near the discharge port of the ash bucket, and the output end of the linear driving member is connected to a position of the ash bucket far away from the discharge port.

In some embodiments, the vibration motor is disposed between the U-shaped spring plate and the output end of the linear drive.

In some embodiments, the linear drive is an electric, hydraulic or pneumatic cylinder.

In some embodiments, the output end of the linear driving element is hinged with the ash bucket, and the shell of the linear driving element is hinged with the bracket.

In some embodiments, the output end of the linear driving element is connected with the ash bucket through a hinge, and the outer shell of the linear driving element is connected with the bracket through a hinge.

In some embodiments, the stent comprises:

the bottom plate is horizontally arranged, and the linear driving piece is arranged on the bottom plate; and

the side plate is vertically arranged on the bottom plate, and the U-shaped spring piece is arranged at the top of the side plate.

On the other hand, the invention adopts the following technical scheme:

a plastering robot comprising:

the hopper feeder as described above, and

the plastering plate can plaster mortar flowing out of the mortar hopper feeding device on a wall surface to be plastered.

The invention has at least the following beneficial effects:

according to the ash bucket feeding device, one end of the U-shaped spring piece is connected with the support, the other end of the U-shaped spring piece is connected with the ash bucket, the linear driving piece is arranged on the support, the ash bucket can be driven to rotate relative to the support by taking the U-shaped spring piece as a center when the output end of the linear driving piece performs telescopic motion, the overturning angle of the ash bucket and the automatic retraction of the ash bucket can be controlled by controlling the telescopic length of the output end of the linear driving piece, mortar feeding in a plastering process is controllable, excessive mortar feeding is avoided, and therefore cost is saved; meanwhile, the U-shaped spring piece can ensure that the ash bucket can swing to a certain extent while overturning, and the splashing of mortar in the ash bucket is reduced.

The plastering robot comprises the mortar hopper feeding device, the overturning angle of the mortar hopper can be controlled, the mortar hopper can be automatically withdrawn, mortar feeding in the plastering process can be controlled, excessive mortar feeding is avoided, and the cost is saved.

Drawings

FIG. 1 is a schematic structural diagram of an ash hopper feeding device according to an embodiment of the present invention;

FIG. 2 is a schematic structural view of the ash hopper feeding device shown in FIG. 1 in an ash hopper overturned state;

the reference numbers illustrate:

ash bucket 1, linear drive spare 2, U type spring leaf 3, vibrating motor 4, support 5.

Detailed Description

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

As shown in fig. 1 and 2, an ash bucket feeding device of an embodiment comprises an ash bucket 1, a linear driving member 2, a U-shaped spring plate 3 and a bracket 5; wherein, the ash bucket 1 is used for containing mortar, and the ash bucket 1 is rotatably arranged on the bracket 5; the linear driving piece 2 is arranged on the bracket 5, and the output end of the linear driving piece 2 is connected with the ash bucket 1; one end of the U-shaped spring piece 3 is connected with the support 5, the other end of the U-shaped spring piece is connected with the ash bucket 1, and the output end of the linear driving piece 2 can perform telescopic motion to drive the ash bucket 1 to rotate relative to the support 5 by taking the U-shaped spring piece 3 as a center.

According to the ash bucket feeding device, one end of the U-shaped spring piece 3 is connected with the support 5, the other end of the U-shaped spring piece is connected with the ash bucket 1, the linear driving piece 2 is arranged on the support 5, the ash bucket 1 can be driven to rotate relative to the support 5 by taking the U-shaped spring piece 3 as a center when the output end of the linear driving piece 2 extends and retracts, the overturning angle of the ash bucket 1 and the ash bucket 1 can be controlled to retract automatically by controlling the extension length of the output end of the linear driving piece 2, mortar feeding in a plastering process is controllable, excessive mortar feeding is avoided, and therefore cost is saved; meanwhile, the U-shaped spring piece 3 can ensure that the ash bucket 1 can swing to a certain extent while overturning, and the splashing of mortar in the ash bucket 1 is reduced.

Specifically, in the plastering process, the mortar feeding speed of the mortar hopper 1 can be controlled by controlling the overturning angle of the mortar hopper 1; the ash bucket 1 and the bracket 5 are connected by the U-shaped spring leaf 3 to form elastic connection, so that the ash bucket 1 swings to a certain extent while turning over, the splashing of mortar in the ash bucket 1 is reduced, and the mortar in the ash bucket 1 smoothly flows out; the output end of the linear driving part 2 pushes the ash bucket 1 to turn over by taking the U-shaped spring piece 3 as a rotating center, so that the reaction force of the U-shaped spring piece 3 when the linear driving part 2 lifts the ash bucket 1 is reduced.

In some embodiments, the bracket 5 comprises a bottom plate and side plates, wherein the bottom plate is horizontally disposed and the linear drive 2 is disposed on the bottom plate; the side plates are vertically arranged on the bottom plate, and the U-shaped spring pieces 3 are arranged at the tops of the side plates. It can be understood that the bottom plate of the support 5 plays a role in supporting and installing the linear driving part 2, the side plate of the support 5 plays a role in installing the U-shaped spring piece 3, and the included angle area between the bottom plate and the side plate provides a yielding space for the ash bucket 1 so that the ash bucket 1 can be freely overturned.

Optionally, the U-shaped spring plate 3 can be connected to the ash bucket 1 through a mounting block, and the other end of the U-shaped spring plate is connected to the side plate of the bracket 5 through another mounting block, so that the connection strength is increased, and meanwhile, the U-shaped spring plate 3 is prevented from being perforated, so that the service life of the U-shaped spring plate 3 is prolonged.

Optionally, the linear driving member 2 may be an electric cylinder, a hydraulic cylinder or an air cylinder, preferably an electric cylinder, the electric cylinder adopts closed-loop servo control, the thrust control precision is high, the motion is stable, the noise is low, and the linear driving member is easily connected with a control system such as a Programmable Logic Controller (PLC) and the like to realize high-precision linear motion control; the operation and maintenance are simple, the work in a complex environment only needs to be performed by regularly injecting grease for lubrication, no wearing parts need to be maintained and replaced, and the maintenance cost is greatly lower than that of a hydraulic cylinder and an air cylinder.

In some embodiments, the output end of the linear driving part 2 is hinged with the ash bucket 1, the shell of the linear driving part 2 is hinged with the bracket 5, and the hinged structure can realize flexible overturning of the ash bucket 1 and buffer the reaction force of the U-shaped spring piece 3 to the linear driving part 2. When the output end of the linear driving element 2 extends, the ash bucket 1 is turned upwards, and the shell of the linear driving element 2 is slightly deflected leftwards by a certain angle under the reaction force of the U-shaped spring piece 3, so that the reaction force of the U-shaped spring piece 3 to the linear driving element 2 can be buffered.

Optionally, a bearing is arranged at the hinged position of the output end of the linear driving piece 2 and the ash bucket 1, and the bearing enables the ash bucket 1 to be more smooth when being overturned; the bearing is arranged at the hinged part of the housing of the linear driving element 2 and the bracket 5, and the bearing enables the housing of the linear driving element 2 to deflect more smoothly.

In some embodiments, the output end of the linear drive 2 is hinged to the hopper 1 and the housing of the linear drive 2 is hinged to the bracket 5. Specifically, as shown in fig. 1, the output end of the linear driving member 2 is connected to the back surface of the dust hopper 1 by a hinge, and the housing of the linear driving member 2 is connected to the bottom plate of the bracket 5 by a hinge.

In some embodiments, the other end of the U-shaped spring 3 is connected to the bottom of the ash bucket 1, and the U-shaped spring 3 is disposed near the discharge port of the ash bucket 1, so as to reduce a reaction force of the U-shaped spring 3 when the linear driving member 2 lifts the ash bucket 1, and ensure the operational reliability of the linear driving member 2.

As shown in fig. 1 and 2, in some embodiments, the ash hopper feeding device further comprises a vibration motor 4, and the vibration motor 4 is disposed on the ash hopper 1 and can drive the ash hopper 1 to vibrate. When the output end of the linear driving part 2 extends out to drive the ash bucket 1 to turn upwards, the high-frequency vibration action of the vibration motor 4 drives the ash bucket 1 to vibrate, so that the mortar in the ash bucket 1 can flow out from the discharge hole of the ash bucket 1 more smoothly.

In some embodiments, the vibration motor 4 is disposed near the discharge port of the ash bucket 1, and the output end of the linear driving member 2 is connected to the ash bucket 1 far away from the discharge port. Keep away from vibrating motor 4 through making linear driving piece 2, realized under the prerequisite that improves the effect of vibration ejection of compact, reduce linear driving piece 2 and receive vibrating motor 4's resonance effect to guarantee linear driving piece 2's operational reliability and increase of service life.

In some embodiments, the vibration motor 4 is disposed between the U-shaped spring plate 3 and the output end of the linear driving element 2, and the U-shaped spring plate 3 plays a role in damping, so as to prevent the vibration motor 4 from damaging the linear driving element 2. Specifically, vibrating motor 4 sets up in the outer bottom of ash bucket 1 to close to U type spring leaf 3 and set up, guarantee effectual buffering effect.

Referring to fig. 1 and 2, the ash hopper feeding device is implemented as follows:

as shown in fig. 1, when the output end of the linear driving member 2 is retracted to be in an initial state, the vibration motor 4 is not started, and mortar in the hopper 1 cannot flow out; as shown in FIG. 2, when the output end of the linear driving member 2 extends, the ash bucket 1 forms a certain inclination angle with the horizontal plane, the inclination angle is controlled by the linear driving member 2, and the vibration motor 4 is started to generate vibration to drive the ash bucket 1 to vibrate together, so that mortar in the ash bucket 1 flows out smoothly.

The plastering robot of an embodiment comprises a plastering plate and the mortar hopper feeding device, wherein the plastering plate can plaster mortar flowing out of the mortar hopper 1 of the mortar hopper feeding device on a wall surface to be plastered.

The plastering robot realizes the controllable overturning angle of the mortar hopper 1 and the automatic retraction of the mortar hopper 1 through the mortar hopper feeding device, so that the mortar feeding in the plastering process is controllable, the excessive mortar feeding is avoided, and the cost is saved.

It should be noted that when one portion is referred to as being "secured to" another portion, it may be directly on the other portion or there may be an intervening portion. When a portion is said to be "connected" to another portion, it may be directly connected to the other portion or intervening portions may be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.