CN208633462U - A kind of armed lever support of building decoration and fitment intelligent robot, telescoping mechanism - Google Patents
A kind of armed lever support of building decoration and fitment intelligent robot, telescoping mechanism Download PDFInfo
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- CN208633462U CN208633462U CN201821171656.XU CN201821171656U CN208633462U CN 208633462 U CN208633462 U CN 208633462U CN 201821171656 U CN201821171656 U CN 201821171656U CN 208633462 U CN208633462 U CN 208633462U
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Abstract
The utility model discloses a kind of supports of the armed lever of building decoration and fitment intelligent robot, telescoping mechanism, belong to finishing robot field.A kind of armed lever support of building decoration and fitment intelligent robot, telescoping mechanism, including armed lever support ontology and armed lever stretch ontology；The armed lever support ontology includes the fixed bracket of telescopic arm and hydraulic screw rod, is connected with hydraulic lifting screw rod on the hydraulic screw rod, screw rod sleeve is cased on the hydraulic lifting screw rod, and hydraulic lifting screw rod is matched with screw rod sleeve；The utility model armed lever support ontology includes the fixed bracket of telescopic arm and hydraulic screw rod, the fixed bracket stable of telescopic arm is fixedly connected on low bottom-disc rotating mechanism, hydraulic lifting screw rod is connected on hydraulic screw rod, hydraulic screw rod is that hydraulic lifting screw rod improves power, it drives lead screw sleeve to move up and down to realize, realizes telescopic arm rotation.
Description
Technical field
The utility model relates to fit up robotic technology field more particularly to a kind of building decoration and fitment intelligent robot
Armed lever support, telescoping mechanism.
Background technique
Currently, mainly based on manual operations, product has been made by worker in construction industry actual production process
At the technical operation level of operator is very big on product quality influence, causes quality disunity, long construction period, cost of labor
Height, Current Domestic construction market worker will be gradually aging, and young man has higher pursuit on occupation choice, and selection is built
The young man for building industry operation is fewer and fewer, technical operation worker's critical shortage occurs, seriously constrains building trade development.
With fabricated construction, the popularization of building industrialization, traditional construction mode, which no longer adapts to fast-developing industry, to be needed
It asks, technological innovation, model innovation are imperative, are necessarily becoming for industry development by robot application to building field therefore
Gesture, so that a kind of armed lever of building decoration and fitment intelligent robot supports, telescoping mechanism is particularly significant.
Utility model content
Purpose of the utility model is to solve problems in the prior art, and a kind of building decoration and fitment intelligence proposed
The armed lever support of robot, telescoping mechanism.
To achieve the goals above, the utility model adopts the technical scheme that
A kind of armed lever support of building decoration and fitment intelligent robot, telescoping mechanism, including armed lever support ontology and armed lever
Flexible ontology；
The armed lever support ontology includes the fixed bracket of telescopic arm and hydraulic screw rod, is connected on the hydraulic screw rod hydraulic
Elevating screw is cased with screw rod sleeve on the hydraulic lifting screw rod, and hydraulic lifting screw rod is matched with screw rod sleeve.
Preferably, the flexible ontology of the armed lever includes telescopic arm set, and telescopic arm set lower end is fixedly connected with the first company
Fishplate bar, first connecting plate are connected by the first rotary shaft with the fixed holder pivots of telescopic arm, and the telescopic arm set upper side is solid
Surely it is connected with the second connecting plate, second connecting plate is rotatedly connected by the second rotary shaft and screw rod sleeve upper end, and described
Wiring winding disc is rotatably connected in two rotary shafts, telescopic arm set lower end is fixedly connected with servo drive motor, described to watch
It takes driving motor output end and is fixedly connected with interior screw rod, be inserted with main telescopic arm in the telescopic arm set, the main telescopic arm covers
On interior screw rod, and main telescopic arm is matched with interior screw rod.
Preferably, the fixed bracket of the telescopic arm is fixedly connected on top bottom-disc rotating mechanism, and the hydraulic screw rod passes through
Arc fixed link is fixedly connected on top bottom-disc rotating mechanism, and the top bottom-disc rotating mechanism is rotatably connected on low bottom-disc walking mechanism
On, shoulder joint mechanism, end effector mechanism and pumping slurry pipeline steel mechanism are connected on the fixed bracket of the telescopic arm.
Preferably, the low bottom-disc walking mechanism includes lower support chassis, and the lower support chassis rear and front end is all connected with
There is the first driving motor, the first driving motor driving end is fixedly connected with large arm, and the large arm is far from the first driving motor
One end be connected with forearm, be connected with driving wheel on the forearm.
Preferably, the top bottom-disc rotating mechanism includes upper support chassis, and is fixedly connected in the upper support chassis
Two driving motors, the second driving motor driving end are connected with turntable pinion gear, the upper support chassis and lower support chassis
It is rotatedly connected, turntable gear wheel is fixedly connected in the lower support chassis, the turntable gear wheel and turntable pinion gear are mutual
Engagement.
Preferably, the shoulder joint mechanism includes the first vertical swing arm, the second vertical swing arm and transversal swinging arm, institute
It states first vertical swing arm one end and is connected to main telescopic arm end, the first vertical swing arm other end and the second vertical swing
Arm is connected, and the second vertical swing arm is connected far from one end of the first vertical swing arm with transversal swinging arm, the laterally pendulum
Swing arm is connected far from one end of the second vertical swing arm with end effector mechanism.
Preferably, the end effector mechanism includes end stress support, and the end stress support is rotatably connected on cross
To swing arm end, the transversal swinging arm end is fixedly connected with rotary drive motor A, the rotary drive motor A driving
End is connected with end stress support, actuator A is connected on the end stress support, the actuator A side wall offers out
Mouth A is starched, roller bearing A is rotatablely connected in the actuator A, is connected with flood dragon piece A on the roller bearing A.
Preferably, the end effector mechanism includes end stress branch, and the end stress branch is rotatably connected on cross
To swing arm end, the transversal swinging arm end is fixedly connected with rotary drive motor B, the rotary drive motor B driving
End is connected with end stress branch, and the end stress branch is connected with actuator B by fixed connecting rod.
Preferably, grout outlet B is offered on the upside of the actuator B, roller bearing B is rotatably connected in the actuator B, it is described
Flood dragon piece B is fixedly connected on roller bearing B.
Preferably, the pumping slurry pipeline steel mechanism includes main for ash pipe, described main to be connected to top bottom-disc for ash pipe lower end
On rotating mechanism, it is described it is main for ash pipe middle section be fixed on armed lever stretch ontology, in shoulder joint mechanism, it is described it is main for ash pipe upper end with
End effector mechanism is connected.
Compared with prior art, the utility model provide a kind of building decoration and fitment intelligent robot armed lever support,
Telescoping mechanism, have it is following the utility model has the advantages that
1, the armed lever support of the building decoration and fitment intelligent robot, telescoping mechanism, armed lever support ontology and armed lever flexible
Ontology, armed lever support ontology are used to support armed lever, and the flexible ontology of armed lever realizes that armed lever is flexible, and armed lever support ontology includes stretching
The fixed bracket of contracting arm and hydraulic screw rod, the fixed bracket stable of telescopic arm are fixedly connected on low bottom-disc rotating mechanism, hydraulic silk
Hydraulic lifting screw rod is connected on thick stick, hydraulic screw rod is that hydraulic lifting screw rod improves power, is driven on lead screw sleeve to realize
Telescopic arm rotation is realized in lower movement；
2, the armed lever support of the building decoration and fitment intelligent robot, telescoping mechanism, the flexible ontology of armed lever includes telescopic arm
Set covers lower end by telescopic arm and is fixedly connected with the first connecting plate, and the first connecting plate is fixed by the first rotary shaft with telescopic arm
Holder pivots are connected, and telescopic arm set and lead screw sleeve are rotatedly connected by the second rotary shaft, realize telescopic arm rotating support,
Connecting line of the wiring winding disc for being intertwined and connected on telescopic arm, the upper private clothes of telescopic arm set are rotatably connected in second rotary shaft
Driving motor is that interior screw rod improves power, so that main telescopic arm stretches in telescopic arm set, realizes lifting, main telescopic arm is real
Now it is connected with shoulder joint mechanism.
Detailed description of the invention
Fig. 1 be the utility model proposes the armed lever support of building decoration and fitment intelligent robot a kind of, telescoping mechanism
Partial schematic diagram；
Fig. 2 be the utility model proposes the armed lever support of building decoration and fitment intelligent robot a kind of, telescoping mechanism
Telescopic arm covers part section structure schematic diagram；
Fig. 3 be the utility model proposes the armed lever support of building decoration and fitment intelligent robot a kind of, telescoping mechanism
One of work structure diagram；
Fig. 4 be the utility model proposes the armed lever support of building decoration and fitment intelligent robot a kind of, telescoping mechanism
One of work structure diagram；
Fig. 5 be the utility model proposes the armed lever support of building decoration and fitment intelligent robot a kind of, telescoping mechanism
Low bottom-disc walking mechanism structural schematic diagram；
Fig. 6 be the utility model proposes the armed lever support of building decoration and fitment intelligent robot a kind of, telescoping mechanism
Low bottom-disc walking mechanism partial structural diagram；
Fig. 7 be the utility model proposes the armed lever support of building decoration and fitment intelligent robot a kind of, telescoping mechanism
Low bottom-disc walking mechanism partial structural diagram；
Fig. 8 be the utility model proposes the armed lever support of building decoration and fitment intelligent robot a kind of, telescoping mechanism
Shoulder joint mechanism structure schematic diagram；
Fig. 9 be the utility model proposes the armed lever support of building decoration and fitment intelligent robot a kind of, telescoping mechanism
One of end effector mechanism structural schematic diagram；
Figure 10 be the utility model proposes a kind of building decoration and fitment intelligent robot armed lever support, telescopic machine composition
Structural schematic diagram in 9 at A；
Figure 11 be the utility model proposes the armed lever support of building decoration and fitment intelligent robot a kind of, telescoping mechanism
One of end effector mechanism structural schematic diagram；
Figure 12 be the utility model proposes a kind of building decoration and fitment intelligent robot armed lever support, telescopic machine composition
Structural schematic diagram in 11 at B.
In figure: 1, low bottom-disc walking mechanism；101, lower support chassis；102, the first driving motor；103, large arm；104, small
Arm；105, driving wheel；2, top bottom-disc rotating mechanism；201, upper support chassis；202, the second driving motor；203, the small tooth of turntable
Wheel；204, turntable gear wheel；3, armed lever supports ontology；301, the fixed bracket of telescopic arm；302, hydraulic screw rod；303, hydraulic lifting
Screw rod；304, screw rod sleeve；4, the flexible ontology of armed lever；401, telescopic arm set；402, servo drive motor；403, interior screw rod；
404, main telescopic arm；405, arc fixed link；406, the first connecting plate；407, the first rotary shaft；408, the second rotary shaft；409,
Second connecting plate；410, wiring winding disc；5, shoulder joint mechanism；501, the first vertical swing arm；502, the second vertical swing arm；
503, transversal swinging arm；6, end effector mechanism；601, end stress support；602, flood dragon piece A；603, actuator A；604, go out
Starch mouth A；605, roller bearing A；606, rotary drive motor A；6001, end stress branch；6002, fixed connecting rod；6003, it rotates
Driving motor B；6004, actuator B；6005, flood dragon piece B；6006, grout outlet B；6007, roller bearing B；7, slurry pipeline steel machine is pumped
Structure；701, main for ash pipe.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.
In the description of the present invention, it should be understood that term " on ", "lower", "front", "rear", "left", "right",
The orientation or positional relationship of the instructions such as "top", "bottom", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only
For ease of description the utility model and simplify description, rather than the device or element of indication or suggestion meaning must have it is specific
Orientation, be constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.
Referring to Fig.1-12, a kind of armed lever support of building decoration and fitment intelligent robot, telescoping mechanism, including armed lever support
Ontology 3 and the flexible ontology 4 of armed lever；
It includes the fixed bracket 301 of telescopic arm and hydraulic screw rod 302 that armed lever, which supports ontology 3, is connected with liquid on hydraulic screw rod 302
Elevating screw 303 is pressed, screw rod sleeve 304, and hydraulic lifting screw rod 303 and screw rod sleeve 304 are cased on hydraulic lifting screw rod 303
Matching.
The flexible ontology 4 of armed lever includes telescopic arm set 401, and telescopic arm covers 401 lower ends and is fixedly connected with the first connecting plate 406,
First connecting plate 406 is rotatedly connected by the first rotary shaft 407 and the fixed bracket 301 of telescopic arm, and telescopic arm, which covers 401 upper ends, to be fixed
It is connected with the second connecting plate 409, the second connecting plate 409 is rotatedly connected by the second rotary shaft 408 and 304 upper end of screw rod sleeve,
Wiring winding disc 410 is rotatably connected in second rotary shaft 408, telescopic arm covers 401 lower ends and is fixedly connected with servo drive motor
402,402 output end of servo drive motor is fixedly connected with interior screw rod 403, is inserted with main telescopic arm 404 in telescopic arm set 401, main
404 sets of telescopic arm on interior screw rod 403, and main telescopic arm 404 is matched with interior screw rod 403.
The fixed bracket 301 of telescopic arm is fixedly connected on top bottom-disc rotating mechanism 2, and hydraulic screw rod 302 is fixed by arc
Bar 405 is fixedly connected on top bottom-disc rotating mechanism 2, and top bottom-disc rotating mechanism 2 is rotatably connected in low bottom-disc walking mechanism 1, stretches
Shoulder joint mechanism 5, end effector mechanism 6 and pumping slurry pipeline steel mechanism 7 are connected on the fixed bracket 301 of contracting arm.
Low bottom-disc walking mechanism 1 includes lower support chassis 101, and lower 101 rear and front end of support chassis is respectively connected with the first drive
Dynamic motor 102, the first driving motor 102 driving end are fixedly connected with large arm 103, and large arm 103 is far from the first driving motor 102
One end is connected with forearm 104, and driving wheel 105 is connected on forearm 104.
Top bottom-disc rotating mechanism 2 includes upper support chassis 201, and the second driving electricity is fixedly connected in upper support chassis 201
Machine 202, the second driving motor 202 driving end are connected with turntable pinion gear 203, upper support chassis 201 with 101 turns of lower support chassis
It is dynamic to be connected, turntable gear wheel 204, turntable gear wheel 204 and 203 phase of turntable pinion gear are fixedly connected in lower support chassis 101
Mutually engagement.
Shoulder joint mechanism 5 includes the first vertical swing arm 501, the second vertical swing arm 502 and transversal swinging arm 503, the
One vertical 501 one end of swing arm is connected to main 404 end of telescopic arm, first vertical 501 other end of swing arm and the second vertical pendulum
Swing arm 502 is connected, and the second vertical swing arm 502 is connected far from one end of the first vertical swing arm 501 with transversal swinging arm 503,
Transversal swinging arm 503 is connected far from one end of the second vertical swing arm 502 with end effector mechanism 6.
End effector mechanism 6 includes end stress support 601, and end stress support 601 is rotatably connected on transversal swinging arm
503 ends, 503 end of transversal swinging arm are fixedly connected with rotary drive motor A606, rotary drive motor A606 drive end with
End stress support 601 is connected, and actuator A603 is connected on end stress support 601, actuator A603 side wall offers out
Mouth A604 is starched, roller bearing A605 is rotatablely connected in actuator A603, is connected with flood dragon piece A602 on roller bearing A605.
Pumping slurry pipeline steel mechanism 7 is main to be connected to top bottom-disc rotating mechanism 2 for 701 lower end of ash pipe including main for ash pipe 701
On, it is main for 701 middle section of ash pipe be fixed on armed lever stretch ontology 4, in shoulder joint mechanism 5, it is main to be executed for 701 upper end of ash pipe and end
Mechanism 6 is connected.
Working principle:
1, top bottom-disc rotating mechanism 2 is by being used for robot device's integrated platform, the mounting platform of hydraulic device, low bottom-disc
Walking mechanism 1 and the composition rotation control platform of top bottom-disc rotating mechanism 2, four large arm 103, forearms of lower support chassis 101
104, driving wheel can either be moved independently, and can be realized the common movement of cooperation, and lower 101 rear and front end of support chassis is respectively connected with
First driving motor 102, the drive shaft that the first driving motor 102 driving end is fixedly connected is cased with fixing sleeve, and fixing sleeve passes through
First connector is rotatably connected to large arm, fixing sleeve rotation is driven by the driving of the first driving motor 102, to realize large arm
103, forearm 104, driving wheel move up and down, and large arm 103 is rotatedly connected with fixing sleeve, and large arm 103 by the first hydraulic stem with
Fixing sleeve is connected, and realizes the divertical motion of the relatively fixed set of large arm 103, large arm 103 is rotatedly connected with forearm 104, and large arm 103
It is connected by the second hydraulic stem with forearm 104, divertical motion of the forearm 104 with respect to large arm 103 is realized, to realize low bottom-disc row
The steering of mechanism 1 is walked, driving wheel realization moves horizontally.
2, it is locked on the driving shaft by fixing sleeve by check lock lever, rotating handles is fixedly connected on check lock lever, effectively
By the fixed locking of fixing sleeve on the driving shaft.
3, by starting the second driving motor 202 realize drive turntable pinion gear 203 rotate, and turntable pinion gear 203 with
Turntable gear wheel 204 engages, thus realize that upper support chassis 201 is rotated relative to lower support chassis 101, support chassis in realization
201 rotations, form rotating platform.
4, armed lever supporting mechanism 3 and armed lever telescoping mechanism 4, armed lever supporting mechanism 3 are used to support armed lever, and armed lever is flexible
Ontology 4 realizes that armed lever is flexible, and armed lever supporting mechanism 3 includes the fixed bracket 301 of telescopic arm and hydraulic screw rod 302, and telescopic arm is fixed
Bracket 301 is stable to be fixedly connected on low bottom-disc rotating mechanism 2, and hydraulic lifting screw rod 303 is connected on hydraulic screw rod 302,
Hydraulic screw rod 302 is that hydraulic lifting screw rod 303 improves power, drives lead screw sleeve 304 to move up and down to realize, is realized flexible
Arm rotation.
5, armed lever telescoping mechanism 4 includes telescopic arm set 401, covers 401 lower ends by telescopic arm and is fixedly connected with the first connection
Plate 406, the first connecting plate 406 is rotatedly connected by the first rotary shaft 407 and the fixed bracket 301 of telescopic arm, and telescopic arm set 401
It is rotatedly connected with lead screw sleeve 304 by the second rotary shaft 408, realizes telescopic arm rotating support, turn in the second rotary shaft 408
The dynamic connecting line for being connected with wiring winding disc 410 for being intertwined and connected on telescopic arm, the private that telescopic arm covers on 401 take driving motor
402 improve power for interior screw rod 403, so that main telescopic arm 404 stretches in telescopic arm set 401, realize lifting, main flexible
The realization of arm 404 is connected with shoulder joint mechanism 5.
It 6, include the first vertical swing arm 501, the second vertical swing arm 502 and transversal swinging arm by shoulder joint mechanism 5
503, first vertical 501 one end of swing arm is connected to 4 end of armed lever telescoping mechanism, and armed lever telescoping mechanism 4 is used to support shoulder joint
Mechanism 5, the first oscillating motor on the first vertical swing arm 501 by driving the rotation of the first connecting shaft, and the first connecting shaft with
First fixedly connected part of armed lever telescoping mechanism 4 is fixedly linked, to realize that the first vertical swing arm 502 is swung, first is swung
Motor is that the first vertical swing arm 501 swings raising power, controls speed, displacement angle.
7, first vertical 501 other end of swing arm is connected with the second vertical swing arm 502, and the second vertical swing arm 502 is remote
One end from the first vertical swing arm 501 is connected with transversal swinging arm 503, and the second vertical swing arm 502 is rotatably connected on vertically
On first vertical swing arm 501, the upper and lower position of the operation for adjusting end effector mechanism 6, the first vertical 501 He of swing arm
Second vertical swing arm 502 can be realized folding.
8, transversal swinging arm 503 is rotatably connected on the second vertical swing arm 502, for precisely finely tuning end effector mechanism
6 operation lateral position.
9, actuator A603 includes fixed pallet and fixed side panel, slides side plate and slide cover and passes through sliding side channel and cunning
Dynamic cover slot is stable is slidably connected on fixed side panel and fixed pallet, to realize moving up and down for sliding side plate, slide lid
The back-and-forth motion of plate opens and closes the sliding side plate on actuator A603 and the grout outlet between slide cover to realize
604 open and close, and control the slurry rate of outflow, and sliding side plate slides up and down, forms external corner mold, be easy to implement external corner 3D and beat
Print.
10, the first hydraulic unit driver pushes sliding side plate mobile by the first fixed impeller, to glide on sliding side plate
Dynamic to provide power, the second hydraulic unit driver pushes slide cover to be moved forward and backward, mentions for slide cover by the second fixed impeller
For power.
11, by actuator A603 be fixedly connected on end execute machine hook 6 on, and end execute machine hook 6 include end by
Power bracket 601, end stress support 601 is rotatably connected on 5 end of shoulder joint mechanism, and 5 end of shoulder joint mechanism is fixedly connected
There is rotary drive motor A606, provide rotary power for end stress support 601, drives actuator A603 rotation to realize,
End stress support 601 drives drive sprocket rotation by driving motor, so that drive sprocket passes through chain and driven sprocket band
Dynamic roller bearing A605 rotation, to realize that roller bearing A605 effectively drives flood dragon piece A602 to rotate, flood dragon piece A602 rotation drives slurry
Body flows to end, is rotated by chain drive flood dragon piece A602, accelerates slurry directed flow speed, it is ensured that slurry self weight in managing
Flow velocity is uniform, it is ensured that mortar flows speed.
12, by pumping slurry pipeline steel mechanism 7 including main for ash pipe 701 and rigid support, rigid support is fixedly connected on
It is main to be used for slurry pipeline steel for ash pipe 701 since firm support is main for ash pipe 701 on top bottom-disc rotating mechanism 2, it is main for ash pipe
701 middle sections are fixed on armed lever telescoping mechanism 4, in shoulder joint mechanism 5, and upper section is fixed on end effector mechanism 6 by being in charge of for ash
On, slurry ash is transported to working face from flooring/ground, is connected and fixed by buffering connector sleeve damping, slurry flowing punching is reduced
Shaking force is hit, persistently provides printing paste materials for 3D printing intelligent robot.
Embodiment 2:
Referring to Fig.1-12, a kind of armed lever support of building decoration and fitment intelligent robot, telescoping mechanism, including armed lever support
Ontology 3 and the flexible ontology 4 of armed lever；
It includes the fixed bracket 301 of telescopic arm and hydraulic screw rod 302 that armed lever, which supports ontology 3, is connected with liquid on hydraulic screw rod 302
Elevating screw 303 is pressed, screw rod sleeve 304, and hydraulic lifting screw rod 303 and screw rod sleeve 304 are cased on hydraulic lifting screw rod 303
Matching.
The flexible ontology 4 of armed lever includes telescopic arm set 401, and telescopic arm covers 401 lower ends and is fixedly connected with the first connecting plate 406,
First connecting plate 406 is rotatedly connected by the first rotary shaft 407 and the fixed bracket 301 of telescopic arm, and telescopic arm, which covers 401 upper ends, to be fixed
It is connected with the second connecting plate 409, the second connecting plate 409 is rotatedly connected by the second rotary shaft 408 and 304 upper end of screw rod sleeve,
Wiring winding disc 410 is rotatably connected in second rotary shaft 408, telescopic arm covers 401 lower ends and is fixedly connected with servo drive motor
402,402 output end of servo drive motor is fixedly connected with interior screw rod 403, is inserted with main telescopic arm 404 in telescopic arm set 401, main
404 sets of telescopic arm on interior screw rod 403, and main telescopic arm 404 is matched with interior screw rod 403.
The fixed bracket 301 of telescopic arm is fixedly connected on top bottom-disc rotating mechanism 2, and hydraulic screw rod 302 is fixed by arc
Bar 405 is fixedly connected on top bottom-disc rotating mechanism 2, and top bottom-disc rotating mechanism 2 is rotatably connected in low bottom-disc walking mechanism 1, stretches
Shoulder joint mechanism 5, end effector mechanism 6 and pumping slurry pipeline steel mechanism 7 are connected on the fixed bracket 301 of contracting arm.
Low bottom-disc walking mechanism 1 includes lower support chassis 101, and lower 101 rear and front end of support chassis is respectively connected with the first drive
Dynamic motor 102, the first driving motor 102 driving end are fixedly connected with large arm 103, and large arm 103 is far from the first driving motor 102
One end is connected with forearm 104, and driving wheel 105 is connected on forearm 104.
Top bottom-disc rotating mechanism 2 includes upper support chassis 201, and the second driving electricity is fixedly connected in upper support chassis 201
Machine 202, the second driving motor 202 driving end are connected with turntable pinion gear 203, upper support chassis 201 with 101 turns of lower support chassis
It is dynamic to be connected, turntable gear wheel 204, turntable gear wheel 204 and 203 phase of turntable pinion gear are fixedly connected in lower support chassis 101
Mutually engagement.
Shoulder joint mechanism 5 includes the first vertical swing arm 501, the second vertical swing arm 502 and transversal swinging arm 503, the
One vertical 501 one end of swing arm is connected to main 404 end of telescopic arm, first vertical 501 other end of swing arm and the second vertical pendulum
Swing arm 502 is connected, and the second vertical swing arm 502 is connected far from one end of the first vertical swing arm 501 with transversal swinging arm 503,
Transversal swinging arm 503 is connected far from one end of the second vertical swing arm 502 with end effector mechanism 6.
End effector mechanism 6 includes end stress branch 6001, and end stress branch 6001 is rotatably connected on horizontal swing
503 end of arm, 503 end of transversal swinging arm are fixedly connected with rotary drive motor B6003, rotary drive motor B6003 driving
End is connected with end stress branch 6001, and end stress branch 6001 is connected with actuator B6004 by fixed connecting rod 6002.
Grout outlet B6006 is offered on the upside of actuator B6004, roller bearing B6007 is rotatably connected in actuator B6004, is rolled
Flood dragon piece B6005 is fixedly connected on axis B6007.
Pumping slurry pipeline steel mechanism 7 is main to be connected to top bottom-disc rotating mechanism 2 for 701 lower end of ash pipe including main for ash pipe 701
On, it is main for 701 middle section of ash pipe be fixed on armed lever stretch ontology 4, in shoulder joint mechanism 5, it is main to be executed for 701 upper end of ash pipe and end
Mechanism 6 is connected
Working principle:
1, top bottom-disc rotating mechanism 2 is by being used for robot device's integrated platform, the mounting platform of hydraulic device, low bottom-disc
Walking mechanism 1 and the composition rotation control platform of top bottom-disc rotating mechanism 2, four large arm 103, forearms of lower support chassis 101
104, driving wheel can either be moved independently, and can be realized the common movement of cooperation, and lower 101 rear and front end of support chassis is respectively connected with
First driving motor 102, the drive shaft that the first driving motor 102 driving end is fixedly connected is cased with fixing sleeve, and fixing sleeve passes through
First connector is rotatably connected to large arm, fixing sleeve rotation is driven by the driving of the first driving motor 102, to realize large arm
103, forearm 104, driving wheel move up and down, and large arm 103 is rotatedly connected with fixing sleeve, and large arm 103 by the first hydraulic stem with
Fixing sleeve is connected, and realizes the divertical motion of the relatively fixed set of large arm 103, large arm 103 is rotatedly connected with forearm 104, and large arm 103
It is connected by the second hydraulic stem with forearm 104, divertical motion of the forearm 104 with respect to large arm 103 is realized, to realize low bottom-disc row
The steering of mechanism 1 is walked, driving wheel realization moves horizontally.
2, it is locked on the driving shaft by fixing sleeve by check lock lever, rotating handles is fixedly connected on check lock lever, effectively
By the fixed locking of fixing sleeve on the driving shaft.
3, by starting the second driving motor 202 realize drive turntable pinion gear 203 rotate, and turntable pinion gear 203 with
Turntable gear wheel 204 engages, thus realize that upper support chassis 201 is rotated relative to lower support chassis 101, support chassis in realization
201 rotations, form rotating platform.
4, armed lever supporting mechanism 3 and armed lever telescoping mechanism 4, armed lever supporting mechanism 3 are used to support armed lever, and armed lever is flexible
Ontology 4 realizes that armed lever is flexible, and armed lever supporting mechanism 3 includes the fixed bracket 301 of telescopic arm and hydraulic screw rod 302, and telescopic arm is fixed
Bracket 301 is stable to be fixedly connected on low bottom-disc rotating mechanism 2, and hydraulic lifting screw rod 303 is connected on hydraulic screw rod 302,
Hydraulic screw rod 302 is that hydraulic lifting screw rod 303 improves power, drives lead screw sleeve 304 to move up and down to realize, is realized flexible
Arm rotation.
5, armed lever telescoping mechanism 4 includes telescopic arm set 401, covers 401 lower ends by telescopic arm and is fixedly connected with the first connection
Plate 406, the first connecting plate 406 is rotatedly connected by the first rotary shaft 407 and the fixed bracket 301 of telescopic arm, and telescopic arm set 401
It is rotatedly connected with lead screw sleeve 304 by the second rotary shaft 408, realizes telescopic arm rotating support, turn in the second rotary shaft 408
The dynamic connecting line for being connected with wiring winding disc 410 for being intertwined and connected on telescopic arm, the private that telescopic arm covers on 401 take driving motor
402 improve power for interior screw rod 403, so that main telescopic arm 404 stretches in telescopic arm set 401, realize lifting, main flexible
The realization of arm 404 is connected with shoulder joint mechanism 5.
It 6, include the first vertical swing arm 501, the second vertical swing arm 502 and transversal swinging arm by shoulder joint mechanism 5
503, first vertical 501 one end of swing arm is connected to 4 end of armed lever telescoping mechanism, and armed lever telescoping mechanism 4 is used to support shoulder joint
Mechanism 5, the first oscillating motor on the first vertical swing arm 501 by driving the rotation of the first connecting shaft, and the first connecting shaft with
First fixedly connected part of armed lever telescoping mechanism 4 is fixedly linked, to realize that the first vertical swing arm 502 is swung, first is swung
Motor is that the first vertical swing arm 501 swings raising power, controls speed, displacement angle.
7, first vertical 501 other end of swing arm is connected with the second vertical swing arm 502, and the second vertical swing arm 502 is remote
One end from the first vertical swing arm 501 is connected with transversal swinging arm 503, and the second vertical swing arm 502 is rotatably connected on vertically
On first vertical swing arm 501, the upper and lower position of the operation for adjusting end effector mechanism 6, the first vertical 501 He of swing arm
Second vertical swing arm 502 can be realized folding.
8, transversal swinging arm 503 is rotatably connected on the second vertical swing arm 502, for precisely finely tuning end effector mechanism
6 operation lateral position.
9, include end stress branch 6001 by end effector mechanism 6, executed by the connection that fixedly connected part consolidates
Device bracket, actuator B6004 are fixed on actuator bracket, for storing, stirring the slurry of flowing, are also served as ash pipe use, are held
It is rotatably connected to roller bearing 6007 in row device B6004, flood dragon piece B6005, flood dragon piece B6005 rotation are fixedly connected on roller bearing 6007
Slurry is driven to convey from one end to the other end, and from grout outlet B6006 pulp.Accelerate slurry directed flow speed, solves in pipe
Slurry self weight generation flow velocity is uneven, influences slurry flowing velocity problem, rolls and controls grey device, passes through rotation adjusting slurry ash discharge speed
Degree, leveling rolling are closely knit.
10, active conical gear is driven to rotate by the driving motor in end stress branch 6001, and active circular cone tooth
Wheel is engaged with driven bevel gear, so that driven bevel gear drives roller bearing B6007 rotation, so that roller bearing B6007 drives
Flood dragon piece B6005 rotation, drives driving pulley rotation while roller bearing B6007 is rotated, driving pulley passes through transmission belt and driven
Belt wheel rotation is realized to drive the rotary shaft rotation for rolling and controlling on grey device and drives control ash device B6005 rotation.
11, slurry scraping blade controls grey device surface slurry cleaning for rolling, the levelling slurry of screeder moving process fast accurate,
Pressing, slurry are smooth.
12, end stress branch 6001 is rotatably connected on 5 end of shoulder joint mechanism, and 5 end of shoulder joint mechanism is fixedly connected
There is rotary drive motor 6003, rotary drive motor 6003 drives end stress branch 6001 to rotate, to realize that end executes
Mechanism 6 rotates.
13, by pumping slurry pipeline steel mechanism 7 including main for ash pipe 701 and rigid support, rigid support is fixedly connected on
It is main to be used for slurry pipeline steel for ash pipe 701 since firm support is main for ash pipe 701 on top bottom-disc rotating mechanism 2, it is main for ash pipe
701 middle sections are fixed on armed lever telescoping mechanism 4, in shoulder joint mechanism 5, and upper section is fixed on end effector mechanism 6 by being in charge of for ash
On, slurry ash is transported to working face from flooring/ground, is connected and fixed by buffering connector sleeve damping, slurry flowing punching is reduced
Shaking force is hit, persistently provides printing paste materials for 3D printing intelligent robot.
The preferable specific embodiment of the above, only the utility model, but the protection scope of the utility model is not
It is confined to this, anyone skilled in the art is within the technical scope disclosed by the utility model, practical according to this
Novel technical solution and its utility model design are subject to equivalent substitution or change, should all cover the protection model in the utility model
Within enclosing.
Claims (10)
1. a kind of armed lever of building decoration and fitment intelligent robot supports, telescoping mechanism, which is characterized in that support this including armed lever
Body (3) and armed lever stretch ontology (4)；
Armed lever support ontology (3) includes telescopic arm fixed bracket (301) and hydraulic screw rod (302), the hydraulic screw rod
(302) it is connected with hydraulic lifting screw rod (303), is cased with screw rod sleeve (304) on the hydraulic lifting screw rod (303), and liquid on
Pressure elevating screw (303) is matched with screw rod sleeve (304).
2. a kind of armed lever of building decoration and fitment intelligent robot according to claim 1 supports, telescoping mechanism, feature
It is, the armed lever ontology (4) that stretches includes telescopic arm set (401), and telescopic arm set (401) lower end is fixedly connected with first
Connecting plate (406), first connecting plate (406) rotate phase by the first rotary shaft (407) and telescopic arm fixed bracket (301)
Even, telescopic arm set (401) upper end is fixedly connected with the second connecting plate (409), and second connecting plate (409) passes through second
Rotary shaft (408) is rotatedly connected with screw rod sleeve (304) upper end, is rotatably connected to wiring on second rotary shaft (408) and twines
Drum (410), telescopic arm set (401) lower end are fixedly connected with servo drive motor (402), the servo drive motor
(402) output end is fixedly connected with interior screw rod (403), is inserted with main telescopic arm (404), the master in the telescopic arm set (401)
Telescopic arm (404) covers on interior screw rod (403), and main telescopic arm (404) is matched with interior screw rod (403).
3. a kind of armed lever of building decoration and fitment intelligent robot according to claim 2 supports, telescoping mechanism, feature
It is, the telescopic arm fixed bracket (301) is fixedly connected on top bottom-disc rotating mechanism (2), and the hydraulic screw rod (302) is logical
It crosses arc fixed link (405) to be fixedly connected on top bottom-disc rotating mechanism (2), the top bottom-disc rotating mechanism (2) is rotatably connected on
In low bottom-disc walking mechanism (1), the telescopic arm is connected with shoulder joint mechanism (5), end effector mechanism on fixed bracket (301)
(6) and slurry pipeline steel mechanism (7) are pumped.
4. a kind of armed lever of building decoration and fitment intelligent robot according to claim 3 supports, telescoping mechanism, feature
It is, the low bottom-disc walking mechanism (1) includes lower support chassis (101), and lower support chassis (101) rear and front end connects
It is connected to the first driving motor (102), the first driving motor (102) driving end is fixedly connected with large arm (103), the large arm
(103) one end far from the first driving motor (102) is connected with forearm (104), is connected with driving wheel on the forearm (104)
(105) 。
5. a kind of armed lever of building decoration and fitment intelligent robot according to claim 4 supports, telescoping mechanism, feature
It is, the top bottom-disc rotating mechanism (2) includes upper support chassis (201), is fixedly connected on the upper support chassis (201)
Second driving motor (202), the second driving motor (202) driving end are connected with turntable pinion gear (203), the upper support
Chassis (201) is rotatedly connected with lower support chassis (101), is fixedly connected with turntable gear wheel on the lower support chassis (101)
(204), the turntable gear wheel (204) and turntable pinion gear (203) are intermeshed.
6. a kind of armed lever of building decoration and fitment intelligent robot according to claim 3 supports, telescoping mechanism, feature
It is, the shoulder joint mechanism (5) includes the first vertical swing arm (501), the second vertical swing arm (502) and transversal swinging arm
(503), described first vertical swing arm (501) one end is connected to main telescopic arm (404) end, the first vertical swing arm
(501) other end is connected with the second vertical swing arm (502), and the second vertical swing arm (502) is far from the first vertical swing
One end of arm (501) is connected with transversal swinging arm (503), and the transversal swinging arm (503) is far from the second vertical swing arm (502)
One end be connected with end effector mechanism (6).
7. a kind of armed lever of building decoration and fitment intelligent robot according to claim 6 supports, telescoping mechanism, feature
It is, the end effector mechanism (6) includes end stress support (601), and the end stress support (601) is rotatably connected on
Transversal swinging arm (503) end, transversal swinging arm (503) end is fixedly connected with rotary drive motor A (606), described
Rotary drive motor A (606) driving end is connected with end stress support (601), is connected on the end stress support (601)
Actuator A (603), actuator A (603) side wall offer grout outlet A (604), and rotation connects in the actuator A (603)
It connects roller bearing A (605), is connected with flood dragon piece A (602) on the roller bearing A (605).
8. a kind of armed lever of building decoration and fitment intelligent robot according to claim 6 supports, telescoping mechanism, feature
It is, the end effector mechanism (6) includes end stress branch (6001), end stress branch (6001) rotation connection
In transversal swinging arm (503) end, transversal swinging arm (503) end is fixedly connected with rotary drive motor B (6003), institute
It states rotary drive motor B (6003) driving end to be connected with end stress branch (6001), the end stress branch (6001) is logical
It crosses fixed connecting rod (6002) and is connected with actuator B (6004).
9. a kind of armed lever of building decoration and fitment intelligent robot according to claim 8 supports, telescoping mechanism, feature
It is, is offered grout outlet B (6006) on the upside of the actuator B (6004), be rotatably connected to rolling in the actuator B (6004)
Axis B (6007) is fixedly connected with flood dragon piece B (6005) on the roller bearing B (6007).
10. according to a kind of armed lever support of the described in any item building decoration and fitment intelligent robots of claim 3-9, telescopic machine
Structure, which is characterized in that the pumping slurry pipeline steel mechanism (7) includes main for ash pipe (701), described main for ash pipe (701) lower end
Be connected on top bottom-disc rotating mechanism (2), it is described it is main for ash pipe (701) middle section be fixed on armed lever stretch ontology (4), shoulder joint machine
It is described main to be connected for ash pipe (701) upper end with end effector mechanism (6) on structure (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821171656.XU CN208633462U (en) | 2018-07-20 | 2018-07-20 | A kind of armed lever support of building decoration and fitment intelligent robot, telescoping mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821171656.XU CN208633462U (en) | 2018-07-20 | 2018-07-20 | A kind of armed lever support of building decoration and fitment intelligent robot, telescoping mechanism |
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| CN208633462U true CN208633462U (en) | 2019-03-22 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112523468A (en) * | 2019-09-17 | 2021-03-19 | 广东博智林机器人有限公司 | High-pressure water napping robot |
| CN112643427A (en) * | 2020-12-07 | 2021-04-13 | 李朝阳 | Intelligent building robot for high-rise building outer wall construction |
-
2018
- 2018-07-20 CN CN201821171656.XU patent/CN208633462U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112523468A (en) * | 2019-09-17 | 2021-03-19 | 广东博智林机器人有限公司 | High-pressure water napping robot |
| CN112643427A (en) * | 2020-12-07 | 2021-04-13 | 李朝阳 | Intelligent building robot for high-rise building outer wall construction |
| CN112643427B (en) * | 2020-12-07 | 2022-06-07 | 安徽浩淼建筑工程有限公司 | Intelligent building robot for high-rise building outer wall construction |
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