CN208633463U - A kind of pumping slurry pipeline steel mechanism of building decoration and fitment intelligent robot - Google Patents
A kind of pumping slurry pipeline steel mechanism of building decoration and fitment intelligent robot Download PDFInfo
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- CN208633463U CN208633463U CN201821171657.4U CN201821171657U CN208633463U CN 208633463 U CN208633463 U CN 208633463U CN 201821171657 U CN201821171657 U CN 201821171657U CN 208633463 U CN208633463 U CN 208633463U
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Abstract
The utility model discloses a kind of pumping slurry pipeline steel mechanisms of building decoration and fitment intelligent robot, belong to finishing robot field.A kind of pumping slurry pipeline steel mechanism of building decoration and fitment intelligent robot, including pumping slurry pipeline steel ontology；The pumping slurry pipeline steel ontology includes main for ash pipe and rigid support, and the rigid support support is main for ash pipe, it is described it is main be connected on top bottom-disc rotating mechanism for ash pipe lower end, the rigid support is fixedly linked with top bottom-disc rotating mechanism；The utility model is main to be used for slurry pipeline steel for ash pipe, upper section is fixed on end effector mechanism by being in charge of for ash, slurry ash is transported to every robot working face by floor vertical duct and horizontal pipe layering from the center mixer on flooring or ground, it is connected and fixed by buffering connector sleeve damping, slurry impact flow shaking force is reduced, persistently provides printing paste materials for 3D printing intelligent robot.
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
Pump slurry pipeline steel 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；From
And a kind of pumping slurry pipeline steel mechanism of building decoration and fitment intelligent robot 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 pumping slurry pipeline steel mechanism of robot.
To achieve the goals above, the utility model adopts the technical scheme that
A kind of pumping slurry pipeline steel mechanism of building decoration and fitment intelligent robot, including pumping slurry pipeline steel ontology；
The pumping slurry pipeline steel ontology includes main for ash pipe and rigid support, and the rigid support support is main for ash pipe,
It is described it is main be connected on top bottom-disc rotating mechanism for ash pipe lower end, the rigid support is fixedly linked with top bottom-disc rotating mechanism,
The top bottom-disc rotating mechanism be equipped with center through hole, it is described it is main for ash pipe lower end run through center through hole, it is described main for ash
Pipe middle section is fixed on armed lever telescoping mechanism, in shoulder joint mechanism by buffering connector sleeve, described main to be connected with confession for ash pipe upper end
Ash is in charge of.
Preferably, the top bottom-disc rotating mechanism is connected on finishing intelligent robot；
The finishing intelligent robot includes the low bottom-disc walking mechanism being rotatedly connected with top bottom-disc rotating mechanism, armed lever branch
Support mechanism, armed lever telescoping mechanism, shoulder joint mechanism, end effector mechanism and pumping slurry pipeline steel ontology, it is described for ash be in charge of with
End effector mechanism is connected.
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 the rigid support is fixed with upper support chassis
It is connected, the second driving motor is fixedly connected in the upper support chassis, the second driving motor driving end is connected with turntable
Pinion gear, the upper support chassis are rotatedly connected with lower support chassis, are fixedly connected with turntable canine tooth in the lower support chassis
Wheel, the turntable gear wheel and turntable pinion gear are intermeshed.
Preferably, the armed lever supporting mechanism includes the fixed bracket of telescopic arm and hydraulic screw rod, the fixed branch of the telescopic arm
Frame and hydraulic screw rod are fixedly connected on top bottom-disc rotating mechanism, and hydraulic lifting screw rod, institute are connected on the hydraulic screw rod
It states and is cased with screw rod sleeve on hydraulic lifting screw rod, and hydraulic lifting screw rod is matched with screw rod sleeve.
Preferably, the armed lever telescoping mechanism includes telescopic arm, the telescopic arm lower end and the fixed holder pivots of telescopic arm
It is connected, the telescopic arm upper end is rotatedly connected with screw rod sleeve upper end.
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 telescopic arm end, the first vertical swing arm other end and the second vertical swing arm
It is connected, the second vertical swing arm is connected far from one end of the first vertical swing arm with transversal swinging arm, the horizontal 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 fixedly connected part.
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.
Compared with prior art, the utility model provide a kind of building decoration and fitment intelligent robot pumping slurry it is defeated
Send mechanism, have it is following the utility model has the advantages that
1, the pumping slurry pipeline steel mechanism of the building decoration and fitment intelligent robot, by pump slurry pipeline steel ontology include
It is main that for ash pipe and rigid support, rigid support is fixedly connected on top bottom-disc rotating mechanism, since firm support is main for ash pipe,
Main to be used for slurry pipeline steel for ash pipe, main to be fixed on armed lever telescoping mechanism, in shoulder joint mechanism for ash pipe middle section, upper section passes through for ash
It to be in charge of and is fixed on end effector mechanism, top bottom-disc rotating mechanism is equipped with center through hole, it is arranged for main ash pipe and pipeline,
Slurry ash is transported to every machine by floor vertical duct and horizontal pipe layering from the center mixer on flooring or ground
Device people's working face is connected and fixed by buffering connector sleeve damping, reduces slurry impact flow shaking force, is 3D printing intelligence machine
People persistently provides printing paste materials.
Detailed description of the invention
Fig. 1 be the utility model proposes a kind of building decoration and fitment intelligent robot pumping slurry pipeline steel mechanism it is upper
Segment structure schematic diagram；
Fig. 2 be the utility model proposes a kind of building decoration and fitment intelligent robot pumping slurry pipeline steel mechanism under
End structure schematic diagram；
Fig. 3 be the utility model proposes a kind of building decoration and fitment intelligent robot pumping slurry pipeline steel mechanism arm
Bar support, telescoping mechanism schematic diagram；
Fig. 4 be the utility model proposes a kind of building decoration and fitment intelligent robot pumping slurry pipeline steel mechanism dress
Repair one of intelligent robot structural schematic diagram；
Fig. 5 be the utility model proposes a kind of building decoration and fitment intelligent robot pumping slurry pipeline steel mechanism dress
Repair one of intelligent robot structural schematic diagram；
Fig. 6 be the utility model proposes a kind of building decoration and fitment intelligent robot pumping slurry pipeline steel mechanism under
Chassis walking mechanism structural schematic diagram；
Fig. 7 be the utility model proposes a kind of building decoration and fitment intelligent robot pumping slurry pipeline steel mechanism under
Chassis walking mechanism partial structural diagram；
Fig. 8 be the utility model proposes a kind of building decoration and fitment intelligent robot pumping slurry pipeline steel mechanism it is upper
Chassis rotator structure structural schematic diagram；
Fig. 9 be the utility model proposes a kind of building decoration and fitment intelligent robot pumping slurry pipeline steel mechanism end
Hold one of executing agency's structural schematic diagram；
Figure 10 be the utility model proposes a kind of building decoration and fitment intelligent robot pumping slurry pipeline steel mechanism map 9
Structural schematic diagram at middle A；
Figure 11 be the utility model proposes a kind of building decoration and fitment intelligent robot pumping slurry pipeline steel 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 pumping slurry pipeline steel mechanism map
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 supporting mechanism；301, the fixed bracket of telescopic arm；302, hydraulic screw rod；303, hydraulic lifting
Screw rod；304, screw rod sleeve；4, armed lever telescoping mechanism；401, telescopic arm；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, grout outlet A；605, roller bearing A；606, rotary drive motor A；6001, end stress branch；6002,
Fixedly connected part；6003, rotary drive motor B；6004, actuator B；6005, flood dragon piece B；6006, grout outlet B；6007, it rolls
Axis B；7, slurry pipeline steel ontology is pumped；701, main for ash pipe；702, connector sleeve is buffered；703, it is in charge of for ash；704, rigid support；
705, center through hole.
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.
Embodiment 1:
Referring to Fig.1-12, the pumping slurry pipeline steel mechanism of a kind of building decoration and fitment intelligent robot, including pumping slurry
Convey ontology 7；
Slurry pipeline steel ontology 7 is pumped including main for ash pipe 701 and rigid support 704, rigid support 704 supports main for ash pipe
701, main to be connected on top bottom-disc rotating mechanism 2 for 701 lower end of ash pipe, rigid support 704 and 2 stationary phase of top bottom-disc rotating mechanism
Even, top bottom-disc rotating mechanism 2 is equipped with center through hole 705, main to run through center through hole 705 for 701 lower end of ash pipe, main for ash
701 middle section of pipe is fixed on armed lever telescoping mechanism 4, in shoulder joint mechanism 5 by buffering connector sleeve 702, main to connect for 701 upper end of ash pipe
It is connected to and is in charge of 703 for ash.
Top bottom-disc rotating mechanism 2 is connected on finishing intelligent robot；
Finishing intelligent robot includes the low bottom-disc walking mechanism 1 being rotatedly connected with top bottom-disc rotating mechanism 2, armed lever support
Mechanism 3, armed lever telescoping mechanism 4, shoulder joint mechanism 5, end effector mechanism 6 and pumping slurry pipeline steel ontology 7, are in charge of 703 for ash
It is connected with end effector mechanism 6.
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 rigid support 704 is fixedly linked with upper support chassis 201,
The second driving motor 202 is fixedly connected in upper support chassis 201, the second driving motor 202 driving end is connected with the small tooth of turntable
Wheel 203, upper support chassis 201 is rotatedly connected with lower support chassis 101, is fixedly connected with turntable canine tooth in lower support chassis 101
Wheel 204, turntable gear wheel 204 and turntable pinion gear 203 are intermeshed.
Armed lever supporting mechanism 3 includes that the fixed bracket 301 of telescopic arm and hydraulic screw rod 302, telescopic arm fix bracket 301 and liquid
Silk pressing thick stick 302 is fixedly connected on top bottom-disc rotating mechanism 2, and hydraulic lifting screw rod 303, liquid are connected on hydraulic screw rod 302
It is cased with screw rod sleeve 304 on pressure elevating screw 303, and hydraulic lifting screw rod 303 is matched with screw rod sleeve 304.
Armed lever telescoping mechanism 4 includes telescopic arm 401, and 401 lower end of telescopic arm is rotatedly connected with the fixed bracket 301 of telescopic arm,
401 upper end of telescopic arm is rotatedly connected with 304 upper end of screw rod sleeve.
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 401 end of telescopic arm, first vertical 501 other end of swing arm and the second vertical 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, horizontal
It is connected to swing arm 503 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.
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 401, is fixedly connected with the first connecting plate by 401 lower end of telescopic, the
One connecting plate is connected by the first rotary shaft with the fixed holder pivots of telescopic arm, and telescopic and lead screw sleeve 304 pass through second
Rotary shaft is rotatedly connected, and realizes telescopic arm rotating support, and wiring winding disc is rotatably connected in the second rotary shaft for winding
The connecting line on telescopic arm is connected, it is that interior screw rod improves power that the private on telescopic 401, which takes driving motor, so that main flexible
Arm stretches in telescopic, realizes that lifting, main telescopic arm realization are 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.
It 12, include main for ash pipe 701 and rigid support 704 by pumping slurry pipeline steel mechanism 7, rigid support 704 is fixed
It is connected on top bottom-disc rotating mechanism 2, it is main to be used for slurry pipeline steel, master for ash pipe 701 since firm support is main for ash pipe 701
Armed lever telescoping mechanism 4 is fixed on, in shoulder joint mechanism 5 for 701 middle section of ash pipe, and upper section is fixed on end by being in charge of 703 for ash
In executing agency 6, slurry ash is transported to working face from flooring/ground, is connected and fixed, is subtracted by buffering 702 damping of connector sleeve
Few slurry impact flow shaking force persistently provides printing paste materials for 3D printing intelligent robot.
Embodiment 2:
Referring to Fig.1-12, the pumping slurry pipeline steel mechanism of a kind of building decoration and fitment intelligent robot, including pumping slurry
Convey ontology 7；
Slurry pipeline steel ontology 7 is pumped including main for ash pipe 701 and rigid support 704, rigid support 704 supports main for ash pipe
701, main to be connected on top bottom-disc rotating mechanism 2 for 701 lower end of ash pipe, rigid support 704 and 2 stationary phase of top bottom-disc rotating mechanism
Even, top bottom-disc rotating mechanism 2 is equipped with center through hole 705, main to run through center through hole 705 for 701 lower end of ash pipe, main for ash
701 middle section of pipe is fixed on armed lever telescoping mechanism 4, in shoulder joint mechanism 5 by buffering connector sleeve 702, main to connect for 701 upper end of ash pipe
It is connected to and is in charge of 703 for ash.
Top bottom-disc rotating mechanism 2 is connected on finishing intelligent robot；
Finishing intelligent robot includes the low bottom-disc walking mechanism 1 being rotatedly connected with top bottom-disc rotating mechanism 2, armed lever support
Mechanism 3, armed lever telescoping mechanism 4, shoulder joint mechanism 5, end effector mechanism 6 and pumping slurry pipeline steel ontology 7, are in charge of 703 for ash
It is connected with end effector mechanism 6.
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 rigid support 704 is fixedly linked with upper support chassis 201,
The second driving motor 202 is fixedly connected in upper support chassis 201, the second driving motor 202 driving end is connected with the small tooth of turntable
Wheel 203, upper support chassis 201 is rotatedly connected with lower support chassis 101, is fixedly connected with turntable canine tooth in lower support chassis 101
Wheel 204, turntable gear wheel 204 and turntable pinion gear 203 are intermeshed.
Armed lever supporting mechanism 3 includes that the fixed bracket 301 of telescopic arm and hydraulic screw rod 302, telescopic arm fix bracket 301 and liquid
Silk pressing thick stick 302 is fixedly connected on top bottom-disc rotating mechanism 2, and hydraulic lifting screw rod 303, liquid are connected on hydraulic screw rod 302
It is cased with screw rod sleeve 304 on pressure elevating screw 303, and hydraulic lifting screw rod 303 is matched with screw rod sleeve 304.
Armed lever telescoping mechanism 4 includes telescopic arm 401, and 401 lower end of telescopic arm is rotatedly connected with the fixed bracket 301 of telescopic arm,
401 upper end of telescopic arm is rotatedly connected with 304 upper end of screw rod sleeve.
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 401 end of telescopic arm, first vertical 501 other end of swing arm and the second vertical 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, horizontal
It is connected to swing arm 503 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 fixedly connected part 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.
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 401, is fixedly connected with the first connecting plate by 401 lower end of telescopic, the
One connecting plate is connected by the first rotary shaft with the fixed holder pivots of telescopic arm, and telescopic and lead screw sleeve 304 pass through second
Rotary shaft is rotatedly connected, and realizes telescopic arm rotating support, and wiring winding disc is rotatably connected in the second rotary shaft for winding
The connecting line on telescopic arm is connected, it is that interior screw rod improves power that the private on telescopic 401, which takes driving motor, so that main flexible
Arm stretches in telescopic, realizes that lifting, main telescopic arm realization are 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.
It 13, include main for ash pipe 701 and rigid support 704 by pumping slurry pipeline steel mechanism 7, rigid support 704 is fixed
It is connected on top bottom-disc rotating mechanism 2, it is main to be used for slurry pipeline steel, master for ash pipe 701 since firm support is main for ash pipe 701
Armed lever telescoping mechanism 4 is fixed on, in shoulder joint mechanism 5 for 701 middle section of ash pipe, and upper section is fixed on end by being in charge of 703 for ash
In executing agency 6, slurry ash is transported to working face from flooring/ground, is connected and fixed, is subtracted by buffering 702 damping of connector sleeve
Few slurry impact flow shaking force 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 pumping slurry pipeline steel mechanism of building decoration and fitment intelligent robot, which is characterized in that defeated including pumping slurry
Send ontology (7)；
The pumping slurry pipeline steel ontology (7) includes main for ash pipe (701) and rigid support (704), the rigid support (704)
Support it is main for ash pipe (701), it is described it is main be connected on top bottom-disc rotating mechanism (2) for ash pipe (701) lower end, the rigid support
(704) it being fixedly linked with top bottom-disc rotating mechanism (2), the top bottom-disc rotating mechanism (2) is equipped with center through hole (705),
It is described it is main for ash pipe (701) lower end run through center through hole (705), it is described it is main for ash pipe (701) middle section by buffering connector sleeve
(702) it is fixed on armed lever telescoping mechanism (4), in shoulder joint mechanism (5), it is described main to be connected with for ash pipe (701) upper end for ash content
It manages (703).
2. a kind of pumping slurry pipeline steel mechanism of building decoration and fitment intelligent robot according to claim 1, feature
It is, the top bottom-disc rotating mechanism (2) is connected on finishing intelligent robot；
The finishing intelligent robot includes the low bottom-disc walking mechanism (1) being rotatedly connected with top bottom-disc rotating mechanism (2), armed lever
Supporting mechanism (3), armed lever telescoping mechanism (4), shoulder joint mechanism (5), end effector mechanism (6) and pumping slurry pipeline steel ontology
(7), described to be in charge of (703) for ash and be connected with end effector mechanism (6).
3. a kind of pumping slurry pipeline steel mechanism of building decoration and fitment intelligent robot according to claim 2, 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)。
4. a kind of pumping slurry pipeline steel mechanism of building decoration and fitment intelligent robot according to claim 3, feature
It is, the top bottom-disc rotating mechanism (2) includes upper support chassis (201), the rigid support (704) and upper support chassis
(201) it is fixedly linked, is fixedly connected with the second driving motor (202) on the upper support chassis (201), the second driving electricity
Machine (202) driving end is connected with turntable pinion gear (203), and the upper support chassis (201) rotates phase with lower support chassis (101)
Even, it is fixedly connected with turntable gear wheel (204) on the lower support chassis (101), the turntable gear wheel (204) and turntable are small
Gear (203) intermeshing.
5. a kind of pumping slurry pipeline steel mechanism of building decoration and fitment intelligent robot according to claim 2, feature
It is, the armed lever supporting mechanism (3) includes that telescopic arm fixed bracket (301) and hydraulic screw rod (302), the telescopic arm are fixed
Bracket (301) and hydraulic screw rod (302) are fixedly connected on top bottom-disc rotating mechanism (2), are connected on the hydraulic screw rod (302)
It is connected to hydraulic lifting screw rod (303), is cased with screw rod sleeve (304) on the hydraulic lifting screw rod (303), and hydraulic lifting screw rod
(303) it is matched with screw rod sleeve (304).
6. a kind of pumping slurry pipeline steel mechanism of building decoration and fitment intelligent robot according to claim 5, feature
It is, the armed lever telescoping mechanism (4) includes telescopic arm (401), telescopic arm (401) lower end and the fixed bracket of telescopic arm
(301) it is rotatedly connected, telescopic arm (401) upper end is rotatedly connected with screw rod sleeve (304) upper end.
7. a kind of pumping slurry pipeline steel mechanism of building decoration and fitment intelligent robot according to claim 6, 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 telescopic arm (401) 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).
8. a kind of pumping slurry pipeline steel mechanism of building decoration and fitment intelligent robot according to claim 7, 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).
9. a kind of pumping slurry pipeline steel mechanism of building decoration and fitment intelligent robot according to claim 7, 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 fixedly connected part (6002) and is connected with actuator B (6004).
10. a kind of pumping slurry pipeline steel mechanism of building decoration and fitment intelligent robot according to claim 9, 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).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821171657.4U CN208633463U (en) | 2018-07-20 | 2018-07-20 | A kind of pumping slurry pipeline steel mechanism of building decoration and fitment intelligent robot |
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| CN201821171657.4U CN208633463U (en) | 2018-07-20 | 2018-07-20 | A kind of pumping slurry pipeline steel mechanism of building decoration and fitment intelligent robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114961268A (en) * | 2022-05-30 | 2022-08-30 | 山东建筑大学 | Second Z-axis device for building 3D printing and printing path partial traversing method |
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2018
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114961268A (en) * | 2022-05-30 | 2022-08-30 | 山东建筑大学 | Second Z-axis device for building 3D printing and printing path partial traversing method |
| CN114961268B (en) * | 2022-05-30 | 2023-08-11 | 山东建筑大学 | Second Z-axis device for building 3D printing and printing path part type traversing method |
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Effective date of registration: 20230607 Address after: 311399 Room 206, Building 3, Yinghuafu, Jincheng Street, Lin'an District, Hangzhou, Zhejiang Patentee after: Wang Weidong Address before: Room 1305, 536 Shaoxing Road, Xiacheng District, Hangzhou City, Zhejiang Province Patentee before: ZHEJIANG HUATE DECORATION CO.,LTD. |