CN109972817A - Construction robot - Google Patents
Construction robot Download PDFInfo
- Publication number
- CN109972817A CN109972817A CN201910366509.0A CN201910366509A CN109972817A CN 109972817 A CN109972817 A CN 109972817A CN 201910366509 A CN201910366509 A CN 201910366509A CN 109972817 A CN109972817 A CN 109972817A
- Authority
- CN
- China
- Prior art keywords
- screw rod
- lifting
- lifting platform
- optical axis
- construction robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000010276 construction Methods 0.000 title claims abstract description 39
- 230000003287 optical effect Effects 0.000 claims abstract description 36
- 230000005540 biological transmission Effects 0.000 claims description 14
- 230000000694 effects Effects 0.000 abstract description 9
- 230000003028 elevating effect Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 6
- 239000000428 dust Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 239000004576 sand Substances 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000009975 flexible effect Effects 0.000 description 1
- 230000002401 inhibitory effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/06—Implements for applying plaster, insulating material, or the like
- E04F21/08—Mechanical implements
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/16—Implements for after-treatment of plaster or the like before it has hardened or dried, e.g. smoothing-tools, profile trowels
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to automated construction equipment technical fields, more particularly to a kind of construction robot, it includes ground moving unit, execution unit, and lifting unit, the lifting unit includes fixed station and can be relative to the lifting platform of fixed part oscilaltion, the fixed station is set on ground moving unit, and the execution unit is then set on lifting platform, the fixed part includes the screw rod that at least one its axis extends longitudinally, the optical axis that at least one its axis extends longitudinally, and for driving screw rod to surround the lifting motor of the forward and reverse rotation of own axes, the sliding part includes to be placed between screw both end, and the lifting platform of ball wire bar pair is constituted with screw rod, the lifting platform is slidably matched with optical axis.Elevating mechanism of the present invention using the higher screw rod lifting platform of mobile accuracy as construction robot has ensured final construction effect quality to improve the mobile accuracy of execution unit.
Description
Technical field
The present invention relates to automated construction equipment technical field more particularly to a kind of construction robots.
Background technique
In the build process that house indoor is fitted up and is built, the working procedure of house inner wall and external wall is general
All over manual operation is depended on, which results in the entire project progress period is longer and stronger to worker's experience dependence, it is difficult to ensure
The quality and uniformity of final wall construction effect.Although and currently, occurring on the market several for indirect labor's construction
The Work machine of metope accelerates construction rate, but these Work machine the degree of automation are low, cumbersome, construction efficiency
Lowly, it generallys use the lower elevating mechanism of mobile accuracy and carries out lifting action, have precision lower, reliable poor wait lacks
It falls into.The adjustable height that these defects result in construction robot execution unit is easily deviated with preset value, execution unit positioning,
It is lower to control precision, to influence the construction effect of final metope.
Summary of the invention
In conclusion technical problem solved by the invention is: providing a kind of construction robot, execution unit lifting is dynamic
Make that precision is higher, can the final metope of effective guarantee construction effect.
And the present invention to solve above-mentioned technical problem used by technical solution are as follows: construction robot, include ground move
Moving cell, execution unit and lifting unit, the lifting unit include fixed part and can be relative to fixed part oscilaltions
Lifting platform, the fixed part is set on ground moving unit, and the execution unit is then set on lifting platform, described solid
Determining portion includes the screw rod that at least one its axis extends longitudinally, the optical axis that at least one its axis extends longitudinally, and
For drive screw rod surround the forward and reverse rotation of own axes lifting motor, the sliding part include be placed in screw both end it
Between, and the lifting platform with screw rod composition ball wire bar pair, the lifting platform are slidably matched with optical axis.
Further, the output shaft of the lifting motor is sequentially connected with driving wheel, and then coaxial fixed on the screw rod
It is connected with driven wheel, is sequentially connected between the driving wheel and driven wheel by transmission belt.
Further, the driving wheel is that engagement type V belt translation connects with driven wheel.
It further, further include the tensioning wheel having for being tensioned the transmission belt.
Further, the fixed part include be placed in upper and lower two sides the seat of honour and lower seat, the seat of honour and lower seat it
Between be connected with optical axis by the screw rod, the both ends of the optical axis are respectively fixedly connected on the seat of honour and lower seat, and the silk
The both ends of bar are rotatablely connected with the seat of honour and lower seat respectively.
Further, the lifting unit further includes having several tubular outer resilient protection covers, and the outer elasticity is protected
Shield covers screw rod and optical axis, and the outer resilient protection, which is provide with, to be placed between the seat of honour and lifting platform and lower between seat and lifting platform.
Further, interior resilient protection cover is cased on the periphery of the optical axis and screw rod, the interior resilient protection cover is placed in
Within outer resilient protection cover.
Further, the execution unit includes mechanical arm, and the wall construction being set on mechanical arm mobile terminal
Executive component.
Further, the mechanical arm is 6 shaft mechanical arms, 7 shaft mechanical arms, parallel mechanical arm, in scara planar manipulator
Any one.
Further, the ground moving unit is AGV trolley.
Further, the ground moving unit includes chassis body, and four for driving chassis body movement
A driving wheel, the ground moving unit further include driving motor corresponding with driving wheel quantity, driving motor and driving wheel
Between be sequentially connected correspondingly, the coaxially arranged left side in chassis body of two of them driving wheel, and other two drive
Then the coaxially arranged right side in chassis body, the axis of the driving wheel of two sides are horizontally disposed with and are parallel to each other wheel.
Further, the quantity of the screw rod is 2, and the quantity of the optical axis is 4, and 2 screw rods are respectively arranged at
The left and right sides of lifting motor, and 4 optical axises are then equally divided into two groups, are respectively placed in the left and right sides of lifting motor.
By adopting the above-described technical solution, the invention has the benefit that
Elevating mechanism of the present invention using the higher screw rod lifting platform of mobile accuracy as construction robot, and be aided with optical axis into
Row guiding, to improve the lifting precision of execution unit, has ensured final construction effect quality.Meanwhile in the present invention,
By the way that outer elastic covering and interior elastic covering is arranged, the screw rod and optical axis that are easily caught in dust are protected, ensured lifting platform
The precision and smooth degree moved when axial along the two, improves the reliability of elevating mechanism, has ensured the suitable of complete machine lifting action
Benefit carries out.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Cooperation schematic diagram of the Fig. 2 and Fig. 3 between screw rod, lifting platform and optical axis；
The schematic diagram of Fig. 4 V belt translation between driving wheel and driven wheel；
Fig. 5 is the schematic diagram of outer resilient protection cover and interior resilient protection cover；
Fig. 6 is the schematic diagram of ground moving unit；
Fig. 7 is the structural schematic diagram of chassis body.
[specific symbol description]
1- lifting platform, 2- screw rod, 3- optical axis, 4- lifting motor, 5- retarder, 6- driving wheel, 7- driven wheel, 8- tensioning
It takes turns, the seat of honour 9-, seat under 10-, the outer resilient protection cover of 11-, resilient protection cover in 12-, 13- mechanical arm, 14- chassis body, 15- drives
Driving wheel, 16- driving motor, 17- linear bearing.
Specific embodiment
A kind of construction robot provided by the present invention is described in detail below in conjunction with attached drawing.
As shown in Fig. 1 to 7, a kind of construction robot provided by the present invention comprising have ground moving unit, execute list
Member and lifting unit, the lifting unit include fixed part and can be relative to the lifting platform 1 of fixed part oscilaltion, institutes
Fixed part is stated to be set on ground moving unit, and the execution unit is then set on lifting platform 1, the fixed part includes
The screw rod 2 that at least one its axis extends longitudinally, the optical axis 3 that at least one its axis extends longitudinally, and for driving
Screw rod 2 surround the forward and reverse rotation of own axes lifting motor 4, the sliding part include be placed between 2 both ends of screw rod, and with
Screw rod 2 constitutes the lifting platform 1 of ball wire bar pair, and the lifting platform 1 is slidably matched with optical axis 3.
As shown in Fig. 1 to 5, the output shaft and screw rod 2 of lifting motor 4 are sequentially connected, and the positive and negative rotation of output shaft drives screw rod 2
Positive and negative rotation.It is then translated with the positive and negative of screw rod 2 then upward or downward with the lifting platform 1 of the composition ball wire bar pair of screw rod 2,
Drive the movement of execution unit in the longitudinal direction.And optical axis 3 is then to be slidably connected by linear bearing 17 with lifting platform 1,
It is mainly used for being oriented in parallel up and down to lifting platform 1, avoids the run-off the straight in moving process of lifting platform 1.Wherein, by
It is higher in the kinematic accuracy of ball wire bar pair, it is auxiliary to there is optical axis 3 to be oriented to, to ensure the mobile accuracy of execution unit, keep away
Exempt from execution unit run-off the straight, improves the construction effect of final metope.Wherein, ground moving unit is responsible for driving complete machine on ground
It is moved on face, so that complete machine can be moved to predeterminated position.And execution unit, that is, fingering row wall construction operation unit, such as spray
Head, sand plate and scraper.And lifting platform 1 and screw rod 2 constitute ball wire bar pair, that is, refer to be provided on lifting platform 1 and match with screw rod 2
Ball nut.
In above embodiment, chain conveyer, gear drive can be used between 4 output shaft of lifting motor and screw rod 2
Etc. a variety of driving forms.But in construction robot technical field, lifting motor 4 is as the driving for driving execution unit lifting
Component ensures that its transmission accuracy and transmission stability between screw rod 2 then has important in inhibiting.So such as Fig. 4 institute
Show, in present embodiment, the output shaft of the lifting motor 4 is sequentially connected with driving wheel 6, and then solid on the screw rod 2
Surely it is connected with driven wheel 7, is sequentially connected between the driving wheel 6 and driven wheel 7 by transmission belt.Wherein, driving wheel 6 and driven
Friction Type Belt Drive or engagement type V belt translation can be selected to connect between wheel 7.And be to further increase transmission accuracy, at this
In embodiment, the driving wheel 6 selects engagement type V belt translation to connect with driven wheel 7.In addition, in present embodiment,
It further include the tensioning wheel 8 having for being tensioned the transmission belt, as shown in figure 4, tensioning wheel 8 may be used also in addition to it can be tensioned transmission belt
To increase the cornerite between transmission belt and driving wheel 6 and between transmission belt and driven wheel 7, the i.e. circumference of the two contact arc length
Angle, to improve transmission efficiency.
On the basis of the above embodiment, in present embodiment, the fixed part includes two above and below being placed in
The seat of honour 9 of side and lower seat 10 are connected by the screw rod 2 with optical axis 3 between the seat of honour 9 and lower seat 10, and the two of the optical axis 3
End is respectively fixedly connected on the seat of honour 9 and lower seat 10, and the both ends of the screw rod 2 connect with the seat of honour 9 and the rotation of lower seat 10 respectively
It connects.Such as Fig. 3 and shown, the seat of honour 9 and lower seat 10 primarily serve the effect of fixed support screw 2 and optical axis 3.
In above embodiment, movement is executed with construction robot execution unit, is inevitably resulted from
A large amount of dust, these dust are easy to be caught between lifting platform 1 and screw rod 2 and between lifting platform 1 and optical axis 3, influence lifting platform
1 normal movement axial along screw rod 2, optical axis 3, easily causes inordinate wear or the clamping stagnation of elevating mechanism.So as preferred implementation
Mode, in present embodiment, the lifting unit further includes having several tubular outer resilient protection covers 11, described outer
Resilient protection cover 11 covers screw rod 2 and optical axis 3, and the outer resilient protection cover 11 is set between the seat of honour 9 and lifting platform 1 and lower seat
Between 10 and lifting platform 1.As shown in Figure 3 and Figure 5, since lifting platform 1 is set between 2 both ends of screw rod, so lifting platform 1 is placed in
Between the seat of honour 9 and lower seat 10.And in present embodiment, outer resilient protection cover 11 be set between the seat of honour 9 and lifting platform 1 with
And between lower seat 10 and lifting platform 1, it is possible to prevente effectively from dust is attached on 3 periphery of optical axis or in 2 helicla flute of screw rod.Value
It obtains it is noted that the both ends of outer resilient protection cover 11 are not fixedly connected on lifting platform 1 and the seat of honour in present embodiment
9 or lower seat 10 on.Meanwhile the lifting action with lifting platform 1 between 2 both ends of screw rod, outer resilient protection cover 11 can be with
Elasticity of compression deformation occurs as lifting platform 1 is mobile, has no effect on the regular event of lifting platform 1.In addition, in present embodiment
In the middle, interior resilient protection cover 12 is cased on the periphery of the optical axis 3 and screw rod 2, the interior resilient protection cover 12 is placed in outer elasticity
Within protective cover 11, further to protect optical axis 3 and screw rod 2, interior resilient protection cover 12 equally can be with the shifting of lifting platform 1
It moves and elasticity of compression deformation occurs, have no effect on the normal movement of lifting platform 1.
In above embodiment, execution unit may include displacement mechanism and be set on displacement mechanism mobile terminal
Executive component, and in present embodiment, for the applicability for improving execution unit, the execution unit includes mechanical arm
13, and the wall construction executive component being set on 13 mobile terminal of mechanical arm.Spray head, patter, sand plate can be used in executive component
And the metopes processing unit such as scraper.As shown in Figure 1 and Figure 5, mechanical arm 13 can increase substantially the applicability of construction robot
And working range, to improve complete machine applicability, more specifically, the mechanical arm 13 can be 6 shaft mechanical arms, 7 axis machines
Tool arm, parallel mechanical arm, any one in scara planar manipulator, implementation personnel can specifically select according to self-demand
With.
In above embodiment, ground moving unit can be the moving parts such as wooden handcart, and be that raising complete machine is flexible
Property and applicability, as shown in fig. 6, the ground moving unit includes chassis body 14 in present embodiment, and
Four driving wheels 15 for driving chassis body 14 mobile, the ground moving unit further includes opposite with 15 quantity of driving wheel
The driving motor 16 answered, is sequentially connected correspondingly between driving motor 16 and driving wheel 15, and two of them driving wheel 15 is same
Axis is arranged in the left side of chassis body 14, and other two driving wheel 15 then coaxially arranged right side in chassis body 14, two sides
Driving wheel 15 axis it is horizontally disposed and be parallel to each other.As shown in fig. 7, each driving wheel 15 is by independent driving motor 16
It being operated alone, the steering of each driving wheel 15 and revolving speed are independent, differential steering and the forward-reverse of complete machine may be implemented,
Improve the flexibility and applicability of complete machine.In addition, ground moving unit can also select AGV trolley, to realize to complete machine
Path clustering.
On the basis of the above embodiment, it is the precision for advanced optimizing upgrade unit lifting action, avoids lifting platform 1
Lateral deviation occurs when moving, in present embodiment, the quantity of the screw rod 2 is 2, and the quantity of the optical axis 3 is 4
A, 2 screw rods 2 are respectively arranged at the left and right sides of lifting motor 4, and 4 optical axises 3 are then equally divided into two groups, are respectively placed in liter
The left and right sides of motor 4 drops.This symmetrical set-up mode can effectively improve the reliability of complete machine, optimize 1 stress mould of lifting platform
Formula avoids lifting platform 1 from tilting.
Claims (10)
1. construction robot, it is characterised in that: include ground moving unit, execution unit and lifting unit, the lifting
Unit includes fixed part and can be set to ground moving relative to the lifting platform (1) of fixed part oscilaltion, the fixed part
On unit, and the execution unit is then set on lifting platform (1), the fixed part include at least one its axis along longitudinal direction
The screw rod (2) of extension, the optical axis (3) that at least one its axis extends longitudinally, and for driving screw rod (2) around itself axis
The lifting motor (4) of the forward and reverse rotation of line, the sliding part include to be placed between screw rod (2) both ends, and constitute with screw rod (2)
The lifting platform (1) of ball wire bar pair, the lifting platform (1) are slidably matched with optical axis (3).
2. construction robot as described in claim 1, it is characterised in that: the output shaft of the lifting motor (4) is sequentially connected
There are driving wheel (6), and has then been fixedly and coaxially connected driven wheel (7) on the screw rod (2), the driving wheel (6) and driven wheel (7)
Between pass through transmission belt be sequentially connected.
3. construction robot as claimed in claim 2, it is characterised in that: the driving wheel (6) and driven wheel (7) are engagement types
V belt translation connection.
4. construction robot as claimed in claim 2, it is characterised in that: further include the tensioning having for being tensioned the transmission belt
It takes turns (8).
5. construction robot as described in claim 1, it is characterised in that: the fixed part includes the upper and lower two sides that are placed in
The seat of honour (9) and lower seat (10) are connected by the screw rod (2) with optical axis (3) between the seat of honour (9) and lower seat (10), described
The both ends of optical axis (3) are respectively fixedly connected on the seat of honour (9) and lower seat (10), and the both ends of the screw rod (2) respectively with it is upper
Seat (9) and lower seat (10) rotation connection.
6. construction robot as claimed in claim 5, it is characterised in that: the lifting unit further includes having several to be cylindrical in shape
Outer resilient protection cover (11), the outer resilient protection cover (11) covers screw rod (2) and optical axis (3), the outer resilient protection cover
(11) it is set between the seat of honour (9) and lifting platform (1) between lower seat (10) and lifting platform (1).
7. construction robot as claimed in claim 6, it is characterised in that: be cased on the periphery of the optical axis (3) and screw rod (2)
Interior resilient protection cover (12), the interior resilient protection cover (12) are placed within outer resilient protection cover (11).
8. construction robot as described in claim 1, it is characterised in that: the execution unit includes mechanical arm (13), with
And it is set to the wall construction executive component on mechanical arm (13) mobile terminal.
9. construction robot as described in claim 1, it is characterised in that: the ground moving unit includes chassis body
(14), and four driving wheels (15) for driving chassis body (14) mobile, the ground moving unit further include and drive
The corresponding driving motor (16) of driving wheel (15) quantity, transmission connects correspondingly between driving motor (16) and driving wheel (15)
It connects, the coaxially arranged left side in chassis body (14) of two of them driving wheel (15), and other two driving wheel (15) is then coaxial
It is arranged in the right side of chassis body (14), the axis of the driving wheel (15) of two sides is horizontally disposed and is parallel to each other.
10. construction robot as claimed in claim 2, it is characterised in that: the quantity of the screw rod (2) is 2, and the light
The quantity of axis (3) is 4, and 2 screw rods (2) are respectively arranged at the left and right sides of lifting motor (4), and 4 optical axises (3) are then average
It is divided into two groups, is respectively placed in the left and right sides of lifting motor (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910366509.0A CN109972817A (en) | 2019-05-05 | 2019-05-05 | Construction robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910366509.0A CN109972817A (en) | 2019-05-05 | 2019-05-05 | Construction robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109972817A true CN109972817A (en) | 2019-07-05 |
Family
ID=67087581
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910366509.0A Pending CN109972817A (en) | 2019-05-05 | 2019-05-05 | Construction robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109972817A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110977947A (en) * | 2019-12-25 | 2020-04-10 | 广东博智林机器人有限公司 | Lifting mechanism and construction robot |
| CN114687535A (en) * | 2020-12-26 | 2022-07-01 | 浙江万川装饰设计工程有限公司 | Decoration panel attaching device and construction process thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2916014Y (en) * | 2006-06-19 | 2007-06-27 | 蒋传彪 | Wall-surface screeding robot |
| CN103640012A (en) * | 2013-11-28 | 2014-03-19 | 华南理工大学 | Lifting seat device of planar joint type robot |
| CN105239920A (en) * | 2015-10-30 | 2016-01-13 | 国网山东省电力公司东营供电公司 | Peristaltic cable tunnel tunneling device |
| CN209958684U (en) * | 2019-05-05 | 2020-01-17 | 成都天富若博特科技有限责任公司 | Construction robot |
-
2019
- 2019-05-05 CN CN201910366509.0A patent/CN109972817A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2916014Y (en) * | 2006-06-19 | 2007-06-27 | 蒋传彪 | Wall-surface screeding robot |
| CN103640012A (en) * | 2013-11-28 | 2014-03-19 | 华南理工大学 | Lifting seat device of planar joint type robot |
| CN105239920A (en) * | 2015-10-30 | 2016-01-13 | 国网山东省电力公司东营供电公司 | Peristaltic cable tunnel tunneling device |
| CN209958684U (en) * | 2019-05-05 | 2020-01-17 | 成都天富若博特科技有限责任公司 | Construction robot |
Non-Patent Citations (1)
| Title |
|---|
| 上海市机械工程学会: "《简明实用机械手册 第二版》", 30 April 1987, 机械工业出版社, pages: 607 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110977947A (en) * | 2019-12-25 | 2020-04-10 | 广东博智林机器人有限公司 | Lifting mechanism and construction robot |
| WO2021129070A1 (en) * | 2019-12-25 | 2021-07-01 | 广东博智林机器人有限公司 | Lifting mechanism and construction robot |
| CN110977947B (en) * | 2019-12-25 | 2021-11-30 | 广东博智林机器人有限公司 | Lifting mechanism and construction robot |
| CN114687535A (en) * | 2020-12-26 | 2022-07-01 | 浙江万川装饰设计工程有限公司 | Decoration panel attaching device and construction process thereof |
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