CN103216080A - Wall body and wall space automatic construction equipment - Google Patents
Wall body and wall space automatic construction equipment Download PDFInfo
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- CN103216080A CN103216080A CN2013101586504A CN201310158650A CN103216080A CN 103216080 A CN103216080 A CN 103216080A CN 2013101586504 A CN2013101586504 A CN 2013101586504A CN 201310158650 A CN201310158650 A CN 201310158650A CN 103216080 A CN103216080 A CN 103216080A
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Abstract
The invention provides wall body and wall space automatic construction equipment which mainly comprises a base (6), a retaining device of the base, a cross arm (3), a stand column (4), a perpendicularity adjusting device of the stand column, a rotating arm (1), a rotation controlling mechanism of the rotating arm, and a work head clamp (37). The retaining device is fixedly installed on the bottom of the base (6). The cross arm (3) is movably connected with the stand column (4) through a second slide block base (23). A horizontal adjusting end of the perpendicularity adjusting device is fixed on the base (6), and a vertical adjusting end of the perpendicularity adjusting device is fixed on the stand column (4). The rotating arm (1) is movably connected with the cross arm (3) through a third slide block base (25). The rotation controlling mechanism of the rotating arm (1) is fixedly connected with the third slide block base (25). The rotating arm (1) can rotate relative to the cross arm (3) and can slide along the cross arm (3). The wall body and wall space automatic construction equipment can improve machining precision of the equipment on wall bodies and wall space, promotes machining quality, and is simple and compact in structure.
Description
Technical field
The present invention relates to house decoration decoration construction apparatus field, especially relate to the automatic construction equipment of a kind of wall and surface.
Background technology
Because the rapid raising of people's living standard, the transformation of aesthetic standards, for house miscellaneous requirement higher, that upgrade has been proposed, simultaneously, be accompanied by the fast development of realty industry, increasing building is rised sheer from level ground, thereby cause the finishing of building, decorative engineering quantity sharply to increase, simultaneously, the user also also more and more pays close attention to for the decoration quality and the construction period of building, particularly common non-bearing wall body metope owing to follow daily life closely bound up, becomes the emphasis of concern especially.But, decorate the field in traditional house decoration, the constructor is for the finishing processing of non-bearing wall body metope, for example body of wall perforate, polish, plaster, emulsion paint spraying, metope engraving moulding and electric wire, water pipe wire casing more loaded down with trivial details fitment process such as offer, the constructor that places one's entire reliance upon manually finishes, decorating apparatus semi-mechanization by means of certain special-purpose is finished, these make that all the finishing crudy of wall and surface is difficult to guarantee, the engineering time is long, and overall construction cost height, big, the low inferior drawback of working (machining) efficiency of labour intensity.
In the prior art, Chinese utility model open file CN202467124U discloses a kind of wall and surface processing unit (plant), and its turning arm drives rotation by the turning arm stepper motor, is braked by the turning arm arrestment mechanism after rotating to assigned address; Be provided with the column inclination angle cylinder of inclination between its columns assemblies and the base, make column shorten leaning against on the base of rear-inclined by shrinking column inclination angle cylinder; Thereby the angle orientation post column installing plate lower surface position by column bottom limits and guarantees the vertical of column and base; Its base comprises by level behind the base prime of locking pin firm banking collapsing length and the base, is arranged on the supporting leg of both sides, base prime end, and also is provided with the leveling assembly that comprises electric pushrod, column installing plate, angle orientation post and obliquity sensor on base; Therefore, though this device can substitute part handwork, reduce labour intensity, but, because the complex structure of this device itself, increased the volume and weight of device itself inevitably, be not easy to the revolution of interior decoration when construction wall and surface processing unit (plant) and move, and utilized cylinder to carry out pneumatic control also can't to guarantee machining accuracy and crudy.
Summary of the invention
The technical problem to be solved in the present invention is: at the problem of prior art existence, provide a kind of wall and surface automatic construction equipment, can either substitute traditional manual wall and surface fitment operation, improve the automaticity of construction equipment, can also further alleviate simultaneously the volume and weight of construction equipment, improve the machining accuracy and the crudy of wall and surface, and simple in structure, compact.
The technical problem to be solved in the present invention realizes by the following technical solutions: the automatic construction equipment of a kind of wall and surface mainly comprises the rotation control mechanism and the working head anchor clamps of base and stop device thereof, transverse arm, column and verticality calibration apparatus thereof, turning arm; Flexibly connect between described transverse arm and the column, described column is movably connected on the base, and described turning arm rotates with respect to transverse arm and can slide along transverse arm, and described working head anchor clamps are fixed on turning arm one end; The horizontal adjustable side of described verticality calibration apparatus is fixed on the base, and vertically the adjustable side is fixed on the column; Described stop device is fixedly mounted on the bottom of base; Described transverse arm is formed flexible connection by second take-up housing and column; Described turning arm is formed flexible connection by the 3rd take-up housing and transverse arm.
Further, described verticality calibration apparatus comprises horizontal adjustment mechanism, vertical adjustment mechanism and obliquity sensor, horizontal adjustment mechanism wherein is installed in the upper surface of base, and mainly by first stepper motor, reducer, shaft coupling and column turn to spindle nose to form, first stepper motor passes through reducer successively, shaft coupling drives column and turns to spindle nose, column turns to spindle nose to drive the adjustment arm that flexibly connects with it again, flexibly connect between the adjustment arm and first take-up housing, and passing through first screw mandrel that the driving of first take-up housing flexibly connects with it, first screw mandrel is fixed on the inside of column by the clutch shaft bearing seat; Vertical adjustment mechanism wherein is installed in the inside of column, and mainly form by first servomotor, first screw mandrel and first take-up housing, first servomotor is installed in the bottom of column and is connected with an end of first screw mandrel by shaft coupling, first take-up housing is positioned at the main part and the first screw mandrel socket of column inside, and exposed parts then flexibly connects with an end of adjustment arm; Described obliquity sensor is fixed on column inside by the sensor Connection Block and is positioned at the top of first screw mandrel upper end.
Further, described first take-up housing mainly comprises adjustment arm coupling spindle, screw mandrel guide pin bushing and first guide runner; Wherein, the upper end of described adjustment arm coupling spindle and adjustment arm flexibly connects, the described screw mandrel guide pin bushing and first screw mandrel are ganged up socket, described first guide runner is fixed on first take-up housing, and be the two ends that the center is symmetrically distributed in the screw mandrel guide pin bushing with the screw mandrel guide pin bushing, first guide runner middle part is provided with the groove of the notch and cooperates with the slide-and-guide bar of column inside by the groove of the notch.
Further, the stop device of described base mainly is made up of supporting disk, guide peg and supporting disk control cylinder, supporting disk is fixedlyed connected with the output of guide peg, the input of guide peg is fixedlyed connected with the output of supporting disk control cylinder, and the supporting disk control cylinder is fixedly mounted on the bottom of base.
Further, described second take-up housing mainly comprises the shop bolt hole, turns to pin hole, column screw mandrel guide pin bushing and second guide runner, described shop bolt hole lays respectively at the two ends on the long limit of second take-up housing, turn to pin hole between two shop bolt holes, the pin arrival end in two shop bolt holes is all opposite with the pin arrival end direction that turns to pin hole, described column screw mandrel guide pin bushing and column screw mandrel are ganged up socket, and described second guide runner middle part is equipped with open slot and cooperates by corresponding with the column inside respectively guide peg of open slot.
Further, described the 3rd take-up housing mainly comprises turning arm coupling spindle, transverse arm screw mandrel guide pin bushing and the 3rd guide runner; Described turning arm coupling spindle is connected with internal tooth wheel disc, turning arm bearing fixing, the turning arm bearing covers with the turning arm end ring, transverse arm screw mandrel on described transverse arm screw mandrel guide pin bushing and the transverse arm is ganged up socket, and described the 3rd guide runner middle part is equipped with open slot and cooperates by corresponding with the transverse arm inside respectively guiding slide bar of open slot.
Further, interconnect by universal joint between described base and the column, the fixed end of universal joint is fixed on the base, and its movable end is then fixedlyed connected with column.
Further, the rotation control mechanism of described turning arm mainly is made up of two second stepper motors, two planetary gears and an internal tooth wheel disc, wherein, described planetary gear is the inboard that the center is symmetrically distributed in the internal tooth wheel disc with the central axis of internal tooth wheel disc, and respectively with the gear teeth meshing transmission of internal tooth wheel disc, each planetary gear is respectively by independently second stepper motor is fixedly connected with it, and two second stepper motors all are fixed on the turning arm and are distributed in the both sides of turning arm end ring.
Further, the rotation control mechanism of described turning arm mainly is made up of one second stepper motor, a planetary gear and an internal tooth wheel disc, wherein, the gear teeth meshing transmission of described planetary gear and internal tooth wheel disc, planetary gear is fixedly connected with it by second stepper motor, and second stepper motor is fixed on the turning arm.
Further, described base is " Y " shape, and relative narrower one side of base lower end is equipped with stop device and caster wheel, and the two ends of relative broad one side of base lower end all are equipped with stop device and direction-caster; Relative narrower one end of base upper end is equipped with electric control box, and the middle part of relative broad one end of base upper end is equipped with universal joint.
Compared with prior art, the invention has the beneficial effects as follows: the spatial vertical degree that can accurately adjust column by the verticality calibration apparatus of column, the actual Ministry of worker that adds that guarantees equipment keeps relative constant parallel space length with wall and surface to be processed in the course of the work, thereby improve the machining accuracy of construction equipment, promote crudy wall and surface.In addition, the stop device of base is near castor, in the equipment course of work, the jacking mechanism at stop device and column top cooperatively interacts, can guarantee that equipment integral body does not produce displacement at work, help the machining accuracy and the crudy of the equipment that guarantees, but also make understructure simple, compact, reduced equipment volume.The actual Ministry of worker that adds of the turning arm end of construction equipment adopts integrated design, structure is compact more, and be that the moment of torsion that produces that rotatablely moves that utilizes guide rail to drive screw mandrel drives the actual guide rail of the Ministry of worker that adds along the guide pin bushing moving linearly, increased the actual impulse stroke that adds the Ministry of worker, avoid frequent mobile construction equipment in the work, guaranteed the essentially identical crudy of construction equipment.
Description of drawings
Fig. 1 is the general structure front view of the automatic construction equipment of a kind of wall and surface of the present invention (during duty).
Fig. 2 is the right view of equipment shown in Figure 1.
Fig. 3 is the vertical view of equipment shown in Figure 1.
Fig. 4 is the left view of equipment shown in Figure 1.
Fig. 5 is the upward view of equipment shown in Figure 1.
Fig. 6 is the general structure front view of the automatic construction equipment (during rounding state) of a kind of body of wall wall of the present invention.
Fig. 7 is the vertical view of equipment shown in Figure 6.
Fig. 8 is the front view of first take-up housing.
Fig. 9 is the upward view of first take-up housing.
Figure 10 is the front view of second take-up housing.
Figure 11 is the vertical view of second take-up housing.
Figure 12 is the front view of the 3rd take-up housing.
Figure 13 is the upward view of the 3rd take-up housing.
Figure 14 is the total structure figure of verticality calibration apparatus.
Figure 15 is the total structure figure of rotation control mechanism.
Figure 16 be among Figure 15 AA to sectional view.
Figure 17 is the explosive view of rotation control mechanism shown in Figure 15.
Figure 18 is the explosive view of another embodiment of rotation control mechanism shown in Figure 15.
Figure 19 is the front view of stop device.
Figure 20 be among Figure 19 BB to sectional view.
Mark among the figure: 1-turning arm, 2-internal tooth wheel disc, 3-transverse arm; the 4-column, 5-universal joint, 6-base; the 7-direction-caster, 8-caster wheel, 9-supporting disk; the 10-electric control box, 11-first stepper motor, 12-reducer; the 13-shaft coupling, 14-adjustment arm, 15-first take-up housing; 16-first screw mandrel, 17-first servomotor, 18-clutch shaft bearing seat; the 19-obliquity sensor, 20-organ protective cover, 21-synchronous pulley; the 22-guide pin bushing, 23-second take-up housing, 24-planetary gear; 25-the 3rd take-up housing, 26-guide rail, 27-protective cover; 28-holds out against bearing; the 29-cylinder, the 30-shop bolt, 31-turns to pin; 32-turning arm end ring; the 33-column turns to spindle nose, 34-sensor Connection Block, 35-guide peg; 36-supporting disk control cylinder; 37-working head anchor clamps, 38-equipment handle, 39-handle clamp structures; the 40-pressing tight plate; 110-second stepper motor, 150-adjustment arm coupling spindle, 151-screw mandrel guide pin bushing; 152-first guide runner; 160-column screw mandrel, 161-transverse arm screw mandrel, the 162-guide rail drives screw mandrel; 170-second servomotor; 171-the 3rd servomotor, 172-transverse arm screw mandrel drive motors, 180-second bearing support; 181-the 3rd bearing support; 210-second synchronous pulley, 211-the 3rd synchronous pulley, 230-shop bolt hole; 231-turns to pin hole; 232-column screw mandrel guide pin bushing, 233-second guide runner, 250-turning arm coupling spindle; 251-transverse arm screw mandrel guide pin bushing, 252-the 3rd guide runner.
The specific embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer, down and the present invention is described in detail with specific embodiment in conjunction with the accompanying drawings.Should be appreciated that specific embodiment instrument instrument described herein in order to explanation the present invention, and be not used in qualification the present invention.
The automatic construction equipment of a kind of wall and surface, as Fig. 1-shown in Figure 5, mainly comprise base 6 and stop device thereof, transverse arm 3, column 4 and verticality calibration apparatus thereof and turning arm 1 and rotation control mechanism thereof and working head anchor clamps 37, described working head anchor clamps 37 are fixed on turning arm 1 one ends; Described stop device is fixedly mounted on the bottom of base 6; Described transverse arm 3 is formed flexible connection by second take-up housing 23 and column 4; Interconnect by universal joint 5 between described column 4 and the base 6, the fixed end of universal joint 5 is fixed on the base 6, and its movable end is then fixedlyed connected with the bottom of column 4; The horizontal adjustable side of described verticality calibration apparatus is fixed on the base 6, and vertically the adjustable side is fixed on the column 4; Described turning arm 1 is formed flexible connection by the 3rd take-up housing 25 and transverse arm 3, and the rotation control mechanism of turning arm 1 is fixedlyed connected with the 3rd take-up housing 25, and described turning arm 1 can and can slide along transverse arm 3 with respect to transverse arm 3 rotations.
As shown in figure 14, above-mentioned verticality calibration apparatus comprises horizontal adjustment mechanism, vertical adjustment mechanism and obliquity sensor 19, horizontal adjustment mechanism wherein is installed in the upper surface of base 6, and mainly by first stepper motor 11, reducer 12, shaft coupling 13 and column turn to spindle nose 33 to form, first stepper motor 11 is successively by reducer 12, shaft coupling 13 drives column and turns to spindle nose 33, column turns to spindle nose 33 to drive the adjustment arm 14 that flexibly connects with it again, flexibly connect between the adjustment arm 14 and first take-up housing 15, and drive first screw mandrel, 16, the first screw mandrels 16 that flexibly connect with it are fixed on column 4 by clutch shaft bearing seat 18 inside by first take-up housing 15; Vertical adjustment mechanism wherein is installed in the inside of column 4, and mainly form by first servomotor 17, first screw mandrel 16 and first take-up housing 15, first servomotor 17 is installed in the bottom of column 4 and is connected by the end of shaft coupling with first screw mandrel 16, first take-up housing 15 is positioned at the main part and 16 sockets of first screw mandrel of column 4 inside, and exposed parts then flexibly connects with an end of adjustment arm 14; Described obliquity sensor 19 is fixed on column 4 inside by sensor Connection Block 34 and is positioned at the top of first screw mandrel, 16 upper ends.Because the power consumption of rolling friction is lower, and is more energy-conservation for making equipment, first screw mandrel 16 of indication adopts spiral ball screw herein.In the equipment debugging process, regulate the spatial vertical degree of column 4 if desired, control signal by electric control box 10 adjustings first stepper motor 11, first stepper motor 11 promptly drives column by reducer 12, shaft coupling 13 and turns to spindle nose 33 to rotate, column turns to spindle nose 33 that moment of torsion is passed to the adjustment arm 14 that flexibly connects with it, makes adjustment arm 14 drive column 4 and adjusts synchronously.In order to guarantee the safety in the equipment use, be convenient to the rectilinear motion of transverse arm 3, and protection lead screw transmission mechanism and motor, on column 4, be respectively arranged with organ protective cover 20 and protective cover 27.
As Fig. 8-shown in Figure 9, the first above-mentioned take-up housing 15 mainly comprises adjustment arm coupling spindle 150, screw mandrel guide pin bushing 151 and first guide runner 152; Wherein, described adjustment arm coupling spindle 150 flexibly connects with the upper end of adjustment arm 14, the described screw mandrel guide pin bushing 151 and first screw mandrel 16 are ganged up socket, described first guide runner 152 is fixed on first take-up housing 15, and be the two ends that the center is symmetrically distributed in screw mandrel guide pin bushing 151 with screw mandrel guide pin bushing 151, first guide runner, 152 middle parts are provided with the groove of the notch and cooperate by the slide-and-guide bar of the groove of the notch with column 4 inside.When equipment is in running order, first servomotor 17 drives first screw mandrel 16 by shaft coupling and rotates, and then drive first take-up housing 15 and do up and down rectilinear motion along first screw mandrel 16, thereby driving adjustment arm 14 rotates around adjustment arm coupling spindle 150, in this process, control signal by electric control box 10 adjustings first servomotor 17, can accurately adjust the spatial vertical degree of column 4, and be in course of adjustment, two first guide runners 152 that screw mandrel guide pin bushing 151 bilateral symmetry distribute can guarantee the stressed all even operation stability in 15 motions of first take-up housing, help promoting the spatial vertical degree of column 4, finally promote the machining accuracy and the crudy of equipment, and can increase the application life of first take-up housing 15.
As Figure 10-shown in Figure 11, described second take-up housing 23 mainly comprises shop bolt hole 230, turns to pin hole 231, column screw mandrel guide pin bushing 232 and second guide runner 233, described shop bolt hole 230 lays respectively at the two ends on second take-up housing, 23 long limits, helps the stressed distribution of balance transverse arm 3; Turn to pin hole 231 between two shop bolt holes 230, the pin gadolinium arrival end in two shop bolt holes 230 is all opposite with the pin arrival end direction that turns to pin hole 231, its objective is in order to guarantee that transverse arm 3 avoids coming off owing to operator's maloperation or the not careful transverse arm 3 and second take-up housing 23 of causing in the equipment course of work, improve the safety assurance coefficient of construction equipment; Described column screw mandrel guide pin bushing 232 is ganged up socket with column screw mandrel 160, described second guide runner 233 middle parts are equipped with open slot and cooperate by corresponding with the column 4 inside respectively guide peg of open slot, be subjected to force intensity and shock resistance for what strengthen second take-up housing 23, second guide runner 233 can be provided with 4, at least be provided with 2, and be that the center is symmetrically distributed in its both sides with column screw mandrel guide pin bushing 232; Column screw mandrel 160 is fixed on the inside of column 4 by second bearing support 180.In the equipment course of work, second servomotor 170 that is arranged on obliquity sensor 19 tops drives synchronous pulley 21 and rotates, because the top of column screw mandrel 160 also is provided with synchronous pulley, therefore synchronous pulley 21 rotates by the synchronous pulley at belt drives column screw mandrel 160 tops, and then driving column screw mandrel 160 rotates, column screw mandrel 160 drives second take-up housing 23 again and does rectilinear motion up and down along the vertical direction of column 4, drives equally also moving linearly of transverse arm 3 at last.Because the power consumption of rolling friction is lower, and is more energy-conservation for making equipment, the column screw mandrel 160 of indication also is to adopt spiral ball screw herein.In order to guarantee the safety in the equipment use, and protection lead screw transmission mechanism and motor, transverse arm 3 is provided with organ protective cover 20.
As Figure 12-shown in Figure 13, described the 3rd take-up housing 25 mainly comprises turning arm coupling spindle 250, transverse arm screw mandrel guide pin bushing 251 and the 3rd guide runner 252; Described turning arm coupling spindle 250 is connected with internal tooth wheel disc 2, turning arm bearing fixing, in order to guarantee the safety in the equipment use, the turning arm bearing covers with turning arm end ring 32, described transverse arm screw mandrel guide pin bushing 251 is ganged up socket with the transverse arm screw mandrel 161 on the transverse arm 3, and transverse arm screw mandrel 161 is fixed on the inside of transverse arm 3 by the 3rd bearing support 181.Described the 3rd guide runner 252 middle parts are equipped with open slot and cooperate by corresponding with the transverse arm 3 inside respectively guiding slide bar of open slot, be subjected to force intensity and shock resistance for what strengthen the 3rd take-up housing 25, the 3rd guide runner 252 can be provided with 4, at least be provided with 2, and be that the center is symmetrically distributed in its both sides with transverse arm screw mandrel guide pin bushing 251.In the equipment course of work, the transverse arm screw mandrel drive motors 172 that is arranged on transverse arm 3 one ends drives the 3rd synchronous pulley 211 and rotates, because the end of transverse arm screw mandrel 161 also is provided with synchronous pulley, therefore the 3rd synchronous pulley 211 rotates by the synchronous pulley of belt drives transverse arm screw mandrel 161 ends, and then driving transverse arm screw mandrel 161 rotates, transverse arm screw mandrel 161 drives the 3rd take-up housing 25 again and does rectilinear motion along transverse arm 3, drives turning arm 1 and rotation control mechanism thereof at last equally also along transverse arm 3 moving linearlies.Because the power consumption of rolling friction is lower, and is more energy-conservation for making equipment, the transverse arm screw mandrel 161 of indication also is to adopt spiral ball screw herein.
Figure 15-Figure 17 shows that rotation control mechanism of described turning arm 1, as a specific embodiment, this rotation control mechanism mainly is made up of two second stepper motors 110, two planetary gears 24 and an internal tooth wheel disc 2, wherein, described planetary gear 24 is the inboard that the center is symmetrically distributed in internal tooth wheel disc 2 with the central axis of internal tooth wheel disc 2, and respectively with the gear teeth meshing transmission of internal tooth wheel disc 2; Each planetary gear 24 is respectively by independently second stepper motor 110 is fixedly connected with it, and two second stepper motors 110 all are fixed on the turning arm 1 and are distributed in the both sides of turning arm end ring 32.Owing to adopted two planetary gears and symmetrical expression to be distributed in internal tooth wheel disc 2 inboards, both strengthened the force intensity that is subjected in turning arm 1 work, help again turning arm 1 in the course of the work stressed evenly, the synchronous rotation and the force balance that also help two planetary gears 24, improve turning arm 1 job stability, and then lifting means is to the crudy of wall and surface.
As Figure 19-shown in Figure 20, the stop device of base 6 mainly is made up of supporting disk 9, guide peg 35 and supporting disk control cylinder 36, supporting disk 9 is fixedlyed connected with the output of guide peg 35, the input of guide peg 35 is fixedlyed connected with the output of supporting disk control cylinder 36, and supporting disk control cylinder 36 is fixedly mounted on the bottom of base 6.In the concrete course of work of construction equipment, equipment is moved to after the riding position of appointment, regulate the cylinder 29 at column 4 tops, drive and hold out against bearing 28 and move upward, make and hold out against the ceiling that pressing tight plate 40 that bearing 28 fixedlys connected moves upward and holds out against the house; Regulate supporting disk control cylinder 36 again, drive guide peg 35 and move downward, make supporting disk 9 be close to the house ground and, motionless thereby the equipment overall fixed of making is placed in appointed positions.The stop device of base 6 is near contiguous castor; under the situation that does not influence direction-caster 7 and caster wheel 8 normal activities; the surface area of supporting disk 9 is big as far as possible; with the frictional force between fixing back of this increase equipment and the ground; prevent improper the moving in the equipment course of work; the machining accuracy and the crudy of further lifting means, but also make understructure simple, compact, reduced equipment volume.When the needs mobile device, regulate cylinder 29 and supporting disk control cylinder 36, make supporting disk 9 move upward and break away from the ground that is contacted, under contraction state, the bottom surface of supporting disk 9 is higher than the minimum point of direction-caster 7 and caster wheel 8, helps the flexibility ratio that raising equipment moves.
The automatic construction equipment of a kind of wall and surface of the present invention, its base 6 is designed to " Y " shape, has significantly reduced the towering surplus part of base 6, helps alleviating the overall weight of equipment; Relative narrower one side of base 6 lower ends is equipped with stop device and caster wheel 8, and the two ends of relative broad one side of base 6 lower ends all are equipped with stop device and direction-caster 7; The middle part of relative broad one end of base 6 upper ends is equipped with universal joint 5, relative narrower one end of base 6 upper ends is equipped with electric control box 10, this layout structure helps the counterweight at balancing equipment two ends, the equipment that prevents influences the machining accuracy and the crudy of equipment in the course of the work because of the discontinuity at equipment two ends, also help the electrical control operation of device operator for equipment simultaneously.
The course of work of present embodiment is: utilize equipment handle 38 equipment to be moved to the riding position of appointment, regulate cylinder 29 and supporting disk control cylinder 36, pressing tight plate 40 is moved upward and hold out against the ceiling in house, make supporting disk 9 move downward and hold out against the ground in house, it is motionless that entire equipment promptly is fixed on appointed positions.Control signal by electric control box 10 outputs drives first stepper motor 11 and first servomotor 17, utilize the verticality calibration apparatus of column 4 accurately to adjust the spatial vertical degree of column 4, make column 4 keep the vertical state in space, the actual Ministry of worker that adds that guarantees equipment keeps relative constant parallel space length with wall and surface to be processed in the course of the work, thereby improve the machining accuracy of construction equipment, promote crudy wall and surface.Control signal by electric control box 10 outputs drives second servomotor 170, drives transverse arm 3 and does rectilinear motion up and down with respect to column 4, enlarges the effective operation scope of equipment; Control signal by electric control box 10 output drives transverse arm screw mandrel drive motors 172, and then the rotation control mechanism that drives the 3rd take-up housing 25 and turning arm 1 is done rectilinear motion with respect to transverse arm 3; Control signal by electric control box 10 output drives second stepper motor 110, make turning arm 1 to realize about the gyrations of 180 degree, the working (finishing) area after increase equipment is fixing guarantees the uniformity of crudy.The actual Ministry of worker that adds of turning arm 1 end of this construction equipment adopts integrated design, structure is compact more, control signal by electric control box 10 outputs drives the 3rd servomotor 171, drive second synchronous pulley 210 by the 3rd servomotor 171, and then driving guide rail driving screw mandrel 162 is done gyration, the moment of torsion that produces that rotatablely moves that utilizes guide rail to drive screw mandrel 162 drives the actual guide rail 26 of the Ministry of worker that adds along guide pin bushing 22 moving linearlies, thereby increased the actual impulse stroke that adds the Ministry of worker, avoid frequent mobile construction equipment in the work, guaranteed the essentially identical crudy of construction equipment.Be arranged on machining tool on the turning arm 1 end working head anchor clamps 37 by replacing, can for example polish easily, plaster, emulsion paint spraying, the groove that bursts at the seams, to different manufacturing procedures such as metope moulding, artistic carving, strengthen the versatility of construction equipment, and helped having improved operating efficiency.
Behind the construction equipment end-of-job, regulate cylinder 29 and supporting disk control cylinder 36, pack up pressing tight plate 40 and supporting disk 9 to assigned address; Control signal by electric control box 10 outputs drives first stepper motor 11 and first servomotor 17, makes column 4 draw near electric control box 10; Pull out the shop bolt 30 in the shop bolt hole 230 on second take-up housing 23, rotate transverse arm 3, make transverse arm 3 around the substantially parallel position of column 4 after pin 31 returns back to and draws in of turning to that turns in the pin hole 231, pack up equipment handle 38 and it is fixed on the handle clamp structures 39, after entire equipment is drawn in fully, its rounding state such as Fig. 6, shown in Figure 7.
As an other specific embodiment of the present invention, as shown in figure 18, the rotation control mechanism of turning arm 1 can also be made up of one second stepper motor 110, a planetary gear 24 and an internal tooth wheel disc 2, wherein, the gear teeth meshing transmission of described planetary gear 24 and internal tooth wheel disc 2, planetary gear 24 is fixedly connected with it by second stepper motor 110, and second stepper motor 110 is fixed on the turning arm 1.Other are then basic identical with the foregoing description, do not repeat them here.
The above instrument is preferred embodiment of the present invention; not in order to restriction the present invention; for example; the synchronous pulley 21 of lead screw transmission mechanism, the 3rd synchronous pulley 211 all can be used chain gear transmission or gear drive instead; spiral ball screw also can be used other screw mandrels instead and realize identical motor pattern; universal joint 5 can also be used ball cup instead and realize basic identical function; should be noted that; all any modifications of being done within the spirit and principles in the present invention, be equal to and replace and improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. automatic construction equipment of wall and surface, mainly comprise base (6), transverse arm (3), the rotation control mechanism of column (4) and turning arm (1) and working head anchor clamps (37), flexibly connect between described transverse arm (3) and the column (4), described column (4) is movably connected on the base (6), described turning arm (1) rotates with respect to transverse arm (3) and can slide along transverse arm (3), described working head anchor clamps (37) are fixed on turning arm (1) one end, it is characterized in that: described construction equipment also comprises the verticality calibration apparatus of column (4) and the stop device of base (6); The horizontal adjustable side of described verticality calibration apparatus is fixed on the base (6), and vertically the adjustable side is fixed on the column (4); Described stop device is fixedly mounted on the bottom of base (6); Described transverse arm (3) is formed flexible connection by second take-up housing (23) and column (4); Described turning arm (1) is formed flexible connection by the 3rd take-up housing (25) and transverse arm (3).
2. the automatic construction equipment of a kind of wall and surface according to claim 1, it is characterized in that: described verticality calibration apparatus comprises horizontal adjustment mechanism, vertical adjustment mechanism and obliquity sensor (19), horizontal adjustment mechanism wherein is installed in the upper surface of base (6), and mainly by first stepper motor (11), reducer (12), shaft coupling (13) and column turn to spindle nose (33) to form, first stepper motor (11) is successively by reducer (12), shaft coupling (1) drives column and turns to spindle nose (33), column turns to spindle nose (33) to drive the adjustment arm (14) that flexibly connects with it again, flexibly connect between adjustment arm (14) and first take-up housing (15), and passing through first screw mandrel (16) that first take-up housing (15) driving flexibly connects with it, first screw mandrel (16) is fixed on the inside of column (4) by clutch shaft bearing seat (18); Vertical adjustment mechanism wherein is installed in the inside of column (4), and mainly form by first servomotor (17), first screw mandrel (16) and first take-up housing (15), first servomotor (17) is installed in the bottom of column (4) and is connected by the end of shaft coupling with first screw mandrel (16), first take-up housing (15) is positioned at column (4) inner main part and first screw mandrel (16) socket, exposed parts then with the end flexible connection of adjustment arm (14); Described obliquity sensor (19) is fixed on column (4) inside by sensor Connection Block (34) and is positioned at the top of first screw mandrel (16) upper end.
3. the automatic construction equipment of a kind of wall and surface according to claim 2 is characterized in that: described first take-up housing (15) mainly comprises adjustment arm coupling spindle (150), screw mandrel guide pin bushing (151) and first guide runner (152); Wherein, described adjustment arm coupling spindle (150) flexibly connects with the upper end of adjustment arm (14), described screw mandrel guide pin bushing (151) is ganged up socket with first screw mandrel (16), described first guide runner (152) is fixed on first take-up housing (15), and be the two ends that the center is symmetrically distributed in screw mandrel guide pin bushing (151) with screw mandrel guide pin bushing (151), first guide runner (152) middle part is provided with the groove of the notch and cooperates by the slide-and-guide bar of the groove of the notch with column (4) inside.
4. the automatic construction equipment of a kind of wall and surface according to claim 1, it is characterized in that: the stop device of described base (6) mainly is made up of supporting disk (9), guide peg (35) and supporting disk control cylinder (36), supporting disk (9) is fixedlyed connected with the output of guide peg (35), the input of guide peg (35) is fixedlyed connected with the output of supporting disk control cylinder (36), and supporting disk control cylinder (36) is fixedly mounted on the bottom of base (6).
5. the automatic construction equipment of a kind of wall and surface according to claim 1, it is characterized in that: described second take-up housing (23) mainly comprises shop bolt hole (230), turn to pin hole (231), column screw mandrel guide pin bushing (232) and second guide runner (233), described shop bolt hole (230) lays respectively at the two ends on the long limit of second take-up housing (23), turn to pin hole (231) to be positioned between two shop bolt holes (230), the pin arrival end in two shop bolt holes (230) is all opposite with the pin arrival end direction that turns to pin hole (231), described column screw mandrel guide pin bushing (232) is ganged up socket with column screw mandrel (160), and described second guide runner (233) middle part is equipped with open slot and cooperates by corresponding with column (4) the inside respectively guide peg of open slot.
6. the automatic construction equipment of a kind of wall and surface according to claim 1 is characterized in that: described the 3rd take-up housing (25) mainly comprises turning arm coupling spindle (250), transverse arm screw mandrel guide pin bushing (251) and the 3rd guide runner (252); Described turning arm coupling spindle (250) is connected with internal tooth wheel disc (2), turning arm bearing fixing, the turning arm bearing covers with turning arm end ring (32), described transverse arm screw mandrel guide pin bushing (251) is ganged up socket with the transverse arm screw mandrel (161) on the transverse arm (3), and described the 3rd guide runner (252) middle part is equipped with open slot and cooperates by corresponding with transverse arm (3) the inside respectively guiding slide bar of open slot.
7. the automatic construction equipment of a kind of wall and surface according to claim 1, it is characterized in that: interconnect by universal joint (5) between described base (6) and the column (4), the fixed end of universal joint (5) is fixed on the base (6), and its movable end is then fixedlyed connected with column (4).
8. the automatic construction equipment of a kind of wall and surface according to claim 1, it is characterized in that: the rotation control mechanism of described turning arm (1) mainly is by two second stepper motors (110), two planetary gears (24) and an internal tooth wheel disc (2) are formed, wherein, described planetary gear (24) is the inboard that the center is symmetrically distributed in internal tooth wheel disc (2) with the central axis of internal tooth wheel disc (2), and respectively with the gear teeth meshing transmission of internal tooth wheel disc (2), each planetary gear (24) is respectively by independently second stepper motor (110) is fixedly connected with it, and two second stepper motors (110) all are fixed on the both sides that turning arm end ring (32) were gone up and be distributed in to turning arm (1).
9. the automatic construction equipment of a kind of wall and surface according to claim 1, it is characterized in that: the rotation control mechanism of described turning arm (1) mainly is made up of one second stepper motor (110), a planetary gear (24) and an internal tooth wheel disc (2), wherein, the gear teeth meshing transmission of described planetary gear (24) and internal tooth wheel disc (2), planetary gear (24) is fixedly connected with it by second stepper motor (110), and second stepper motor (110) is fixed on the turning arm (1).
10. a kind of body of wall wall according to claim 1 and automatic construction equipment, it is characterized in that: described base (6) is " Y " shape, relative narrower one side of base (6) lower end is equipped with stop device and caster wheel (8), and the two ends of relative broad one side of base (6) lower end all are equipped with stop device and direction-caster (7); Relative narrower one end of base (6) upper end is equipped with electric control box (10), and the middle part of relative broad one end of base (6) upper end is equipped with universal joint (5).
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| Application Number | Priority Date | Filing Date | Title |
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| CN2013101586504A CN103216080A (en) | 2013-05-02 | 2013-05-02 | Wall body and wall space automatic construction equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2013101586504A CN103216080A (en) | 2013-05-02 | 2013-05-02 | Wall body and wall space automatic construction equipment |
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| CN103216080A true CN103216080A (en) | 2013-07-24 |
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| CN2013101586504A Pending CN103216080A (en) | 2013-05-02 | 2013-05-02 | Wall body and wall space automatic construction equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103790367A (en) * | 2014-02-20 | 2014-05-14 | 广厦湖北第六建设工程有限责任公司 | Full-automatic installation device for building outer wall stones |
| CN106481056A (en) * | 2016-09-19 | 2017-03-08 | 杭州电子科技大学 | A kind of automatic flooring brick dolly |
| CN107060290A (en) * | 2017-04-19 | 2017-08-18 | 黑龙江海存鑫科技有限公司 | A kind of intelligent mechanical float |
| CN108149936A (en) * | 2017-12-27 | 2018-06-12 | 重庆心机械制造有限公司 | Building tile number control intelligent multifunctional robot |
| CN109025195A (en) * | 2018-08-31 | 2018-12-18 | 深圳广田机器人有限公司 | Integrated robot is scraped in spray |
| CN109113314A (en) * | 2018-08-31 | 2019-01-01 | 深圳广田机器人有限公司 | Platform can be expanded |
| CN110465844A (en) * | 2019-08-30 | 2019-11-19 | 广东博智林机器人有限公司 | A kind of milling robot and its working method |
| CN111005532A (en) * | 2019-11-25 | 2020-04-14 | 广东博智林机器人有限公司 | Wall surface processing robot |
| CN111322505A (en) * | 2020-02-29 | 2020-06-23 | 广东博智林机器人有限公司 | Jacking device of indoor wall construction equipment |
| CN113085027A (en) * | 2021-04-12 | 2021-07-09 | 赵增瑞 | Clean and bottom glass erection equipment of recreation ground corridor inner wall |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103790367B (en) * | 2014-02-20 | 2016-01-06 | 广厦湖北第六建设工程有限责任公司 | A kind of full-automatic erection equipment of external wall stone material |
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| CN109025195A (en) * | 2018-08-31 | 2018-12-18 | 深圳广田机器人有限公司 | Integrated robot is scraped in spray |
| CN109113314A (en) * | 2018-08-31 | 2019-01-01 | 深圳广田机器人有限公司 | Platform can be expanded |
| CN110465844A (en) * | 2019-08-30 | 2019-11-19 | 广东博智林机器人有限公司 | A kind of milling robot and its working method |
| CN110465844B (en) * | 2019-08-30 | 2021-06-01 | 广东博智林机器人有限公司 | Polishing robot and working method thereof |
| CN111005532A (en) * | 2019-11-25 | 2020-04-14 | 广东博智林机器人有限公司 | Wall surface processing robot |
| CN111322505A (en) * | 2020-02-29 | 2020-06-23 | 广东博智林机器人有限公司 | Jacking device of indoor wall construction equipment |
| CN111322505B (en) * | 2020-02-29 | 2021-09-07 | 广东博智林机器人有限公司 | Jacking device of indoor wall construction equipment |
| CN113085027A (en) * | 2021-04-12 | 2021-07-09 | 赵增瑞 | Clean and bottom glass erection equipment of recreation ground corridor inner wall |
| CN113356530A (en) * | 2021-05-26 | 2021-09-07 | 固恒(苏州)智能科技有限公司 | Wall plastering mechanical arm |
| CN114888918A (en) * | 2022-04-20 | 2022-08-12 | 书香门地集团股份有限公司 | Crystal floor and preparation method thereof |
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