CN208854661U - A kind of shoulder joint mechanism of building decoration and fitment intelligent robot - Google Patents
A kind of shoulder joint mechanism of building decoration and fitment intelligent robot Download PDFInfo
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- CN208854661U CN208854661U CN201821171614.6U CN201821171614U CN208854661U CN 208854661 U CN208854661 U CN 208854661U CN 201821171614 U CN201821171614 U CN 201821171614U CN 208854661 U CN208854661 U CN 208854661U
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Abstract
The utility model discloses a kind of shoulder joint mechanisms of building decoration and fitment intelligent robot, belong to finishing robot field.A kind of shoulder joint mechanism of building decoration and fitment intelligent robot, the shoulder joint mechanism includes the first vertical swing arm, the second vertical swing arm and transversal swinging arm, described first vertical swing arm one end is connected to armed lever telescoping mechanism end, the first fixedly connected part is fixedly connected on the armed lever telescoping mechanism, the first vertical swing arm lower end is fixedly connected with the first oscillating motor；The utility model armed lever telescoping mechanism is used to support shoulder joint mechanism, the first oscillating motor on first vertical swing arm is by driving the rotation of the first connecting shaft, and the first connecting shaft and the first fixedly connected part of armed lever telescoping mechanism are fixedly linked, to realize that first vertically swings arm swing, first oscillating motor is that the first vertical swing arm swing improves power, controls speed, displacement angle.
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
Shoulder joint 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, a kind of shoulder joint machine of building decoration and fitment intelligent robot
Structure 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 shoulder joint mechanism of robot.
To achieve the goals above, the utility model adopts the technical scheme that
A kind of shoulder joint mechanism of building decoration and fitment intelligent robot, the shoulder joint mechanism include the first vertical swing
Arm, the second vertical swing arm and transversal swinging arm, described first vertical swing arm one end are connected to armed lever telescoping mechanism end, institute
It states and is fixedly connected with the first fixedly connected part on armed lever telescoping mechanism, the first vertical swing arm lower end is fixedly connected with first
Oscillating motor, the first oscillating motor output end are fixedly connected with the first connecting shaft, and first connecting shaft is fixed with first
Connector is fixedly linked, and the first vertical swing arm other end is connected with the second vertical swing arm, the described second vertical swing
Arm is connected far from one end of the first vertical swing arm with transversal swinging arm.
Preferably, the second fixedly connected part, the described second vertical swing are fixedly connected on the described first vertical swing arm
It is fixedly connected with the second oscillating motor on arm, the second oscillating motor output end is fixedly connected with the second connecting shaft, and described
Two connecting shafts are fixedly linked with the second fixedly connected part.
Preferably, the described second vertical swing arm upper end is fixedly connected with third oscillating motor, the third oscillating motor
Output end is fixedly connected with third connecting shaft, and the third connecting shaft is fixedly linked with transversal swinging arm.
Preferably, the transversal swinging arm is connected with end effector mechanism far from one end of the second vertical swing arm, described
Armed lever telescoping mechanism is connected on finishing intelligent robot；
The finishing intelligent robot includes low bottom-disc walking mechanism, top bottom-disc rotating mechanism, armed lever supporting mechanism, armed lever
Telescoping mechanism and pumping slurry pipeline steel mechanism.
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；
The top bottom-disc rotating mechanism includes upper support chassis, and the second driving electricity is fixedly connected in the upper support chassis
Machine, the second driving motor driving end are connected with turntable pinion gear, and the upper support chassis is rotatedly connected with lower support chassis,
Turntable gear wheel is fixedly connected in the lower support chassis, 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；
The armed lever telescoping mechanism includes telescopic arm, and the telescopic arm lower end is connected with the fixed holder pivots of telescopic arm, institute
It states telescopic arm upper end to be rotatedly connected with screw rod sleeve upper end, the telescopic arm top is fixedly linked with the first fixedly connected part.
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, the actuator B by fixed connecting rod
Upside offers grout outlet B, and roller bearing B is rotatably connected in the actuator B, flood dragon piece B is fixedly connected on the 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 by being fixed on armed lever telescoping mechanism, in shoulder joint mechanism, it is described main on ash pipe
End is connected with end effector mechanism.
Compared with prior art, the utility model provides a kind of shoulder joint machine of building decoration and fitment intelligent robot
Structure, have it is following the utility model has the advantages that
1, the shoulder joint mechanism of the building decoration and fitment intelligent robot includes the first vertical swing by shoulder joint mechanism
Arm, the second vertical swing arm and transversal swinging arm, first vertical swing arm one end are connected to armed lever telescoping mechanism end, and armed lever is stretched
Contracting mechanism is used to support shoulder joint mechanism, and the first oscillating motor on the first vertical swing arm is by driving the first connecting shaft to turn
It is dynamic, and the first connecting shaft and the first fixedly connected part of armed lever telescoping mechanism are fixedly linked, to realize the first vertical swing arm
It swings, the first oscillating motor is that the first vertical swing arm swing improves power, controls speed, displacement angle；
The first vertical swing arm other end is connected with the second vertical swing arm, and the second vertical swing arm is far from the first vertical pendulum
One end of swing arm is connected with transversal swinging arm, and the second vertical swing arm is rotatably connected on the vertical first vertical swing arm, is used for
The upper and lower position of the operation of end effector mechanism is adjusted, the first vertical swing arm and the second vertical swing arm can be realized folding；
Transversal swinging arm is rotatably connected on the second vertical swing arm, and the operation for precisely finely tuning end effector mechanism is horizontal
To position.
Detailed description of the invention
Fig. 1 be the utility model proposes a kind of building decoration and fitment intelligent robot shoulder joint mechanism structural representation
One of figure；
Fig. 2 be the utility model proposes a kind of building decoration and fitment intelligent robot shoulder joint mechanism structural representation
One of figure；
Fig. 3 be the utility model proposes a kind of building decoration and fitment intelligent robot shoulder joint mechanism map 2 at C
Structural schematic diagram；
Fig. 4 be the utility model proposes a kind of building decoration and fitment intelligent robot shoulder joint mechanism finishing intelligence
One of robot architecture's schematic diagram；
Fig. 5 be the utility model proposes a kind of building decoration and fitment intelligent robot shoulder joint mechanism finishing intelligence
One of robot architecture's schematic diagram；
Fig. 6 be the utility model proposes a kind of building decoration and fitment intelligent robot shoulder joint mechanism low bottom-disc row
Walk structural schematic diagram；
Fig. 7 be the utility model proposes a kind of building decoration and fitment intelligent robot shoulder joint mechanism low bottom-disc row
Walk partial structural diagram；
Fig. 8 be the utility model proposes a kind of building decoration and fitment intelligent robot shoulder joint mechanism armed lever support
Structural scheme of mechanism；
Fig. 9 be the utility model proposes a kind of building decoration and fitment intelligent robot shoulder joint mechanism armed lever it is flexible
Structural scheme of mechanism；
Figure 10 be the utility model proposes the end of shoulder joint mechanism of building decoration and fitment intelligent robot a kind of hold
One of row mechanism structure schematic diagram；
Figure 11 be the utility model proposes a kind of building decoration and fitment intelligent robot shoulder joint mechanism map 9 at A
Structural schematic diagram；
Figure 12 be the utility model proposes the end of shoulder joint mechanism of building decoration and fitment intelligent robot a kind of hold
One of row mechanism structure schematic diagram；
Figure 13 be the utility model proposes a kind of building decoration and fitment intelligent robot shoulder joint mechanism map 11 at B
Structural schematic diagram.
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；504, third oscillating motor；505, the second connecting shaft；506, the second pendulum
Dynamic motor；507, the second fixedly connected part；508, the first oscillating motor；509, the first fixedly connected part；510, the first connecting shaft；
511, third connecting shaft；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.1-13, a kind of shoulder joint mechanism of building decoration and fitment intelligent robot, shoulder joint mechanism 5 include the
One vertical swing arm 501, the second vertical swing arm 502 and transversal swinging arm 503, first vertical 501 one end of swing arm are connected to
4 end of armed lever telescoping mechanism is fixedly connected with the first fixedly connected part 509, the first vertical swing arm on armed lever telescoping mechanism 4
501 lower ends are fixedly connected with the first oscillating motor 508, and 508 output end of the first oscillating motor is fixedly connected with the first connecting shaft
510, the first connecting shaft 510 is fixedly linked with the first fixedly connected part 509, and first vertical 501 other end of swing arm and second erects
It is connected to swing arm 502, the one end of the second vertical swing arm 502 far from the first vertical swing arm 501 and 503 phase of transversal swinging arm
Even.
It is fixedly connected with the second fixedly connected part 507 on first vertical swing arm 501, consolidates on the second vertical swing arm 502
Surely it is connected with the second oscillating motor 506,506 output end of the second oscillating motor is fixedly connected with the second connecting shaft 505, the second connection
Axis 505 is fixedly linked with the second fixedly connected part 507.
Second vertical 502 upper end of swing arm is fixedly connected with third oscillating motor 504,504 output end of third oscillating motor
It is fixedly connected with third connecting shaft 511, third connecting shaft 511 is fixedly linked with transversal swinging arm 503.
Transversal swinging arm 503 is connected with end effector mechanism 6 far from one end of the second vertical swing arm 502, and armed lever is flexible
Mechanism 4 is connected on finishing intelligent robot；
Fitting up intelligent robot includes low bottom-disc walking mechanism 1, top bottom-disc rotating mechanism 2, armed lever supporting mechanism 3, armed lever
Telescoping mechanism 4 and pumping slurry pipeline steel mechanism 7.
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 be connected with forearm 104, 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.
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, 401 top of telescopic arm and 509 stationary phase of the first fixedly connected part
Even.
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 by being fixed on armed lever telescoping mechanism 4, in shoulder joint mechanism 5, it is main for 701 upper end of ash pipe and end
Executing agency 6 is held to be 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
Walking mechanism 1 turns to, and 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, realization is stretched
The rotation of contracting arm.
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 master stretches
Contracting 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 508 on the first vertical swing arm 501 is by driving the rotation of the first connecting shaft 510, and first connects
Spindle 510 and the first fixedly connected part 509 of armed lever telescoping mechanism 4 are fixedly linked, to realize that the first vertical swing arm 502 is put
Dynamic, the first oscillating motor 508 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 swing arm 501
It can be realized folding with the second vertical swing arm 502.
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, intelligent robot is printed for 3D and printing paste materials is persistently provided.
Embodiment 2:
Referring to Fig.1-13, a kind of shoulder joint mechanism of building decoration and fitment intelligent robot, shoulder joint mechanism 5 include the
One vertical swing arm 501, the second vertical swing arm 502 and transversal swinging arm 503, first vertical 501 one end of swing arm are connected to
4 end of armed lever telescoping mechanism is fixedly connected with the first fixedly connected part 509, the first vertical swing arm on armed lever telescoping mechanism 4
501 lower ends are fixedly connected with the first oscillating motor 508, and 508 output end of the first oscillating motor is fixedly connected with the first connecting shaft
510, the first connecting shaft 510 is fixedly linked with the first fixedly connected part 509, and first vertical 501 other end of swing arm and second erects
It is connected to swing arm 502, the one end of the second vertical swing arm 502 far from the first vertical swing arm 501 and 503 phase of transversal swinging arm
Even.
It is fixedly connected with the second fixedly connected part 507 on first vertical swing arm 501, consolidates on the second vertical swing arm 502
Surely it is connected with the second oscillating motor 506,506 output end of the second oscillating motor is fixedly connected with the second connecting shaft 505, the second connection
Axis 505 is fixedly linked with the second fixedly connected part 507.
Second vertical 502 upper end of swing arm is fixedly connected with third oscillating motor 504,504 output end of third oscillating motor
It is fixedly connected with third connecting shaft 511, third connecting shaft 511 is fixedly linked with transversal swinging arm 503.
Transversal swinging arm 503 is connected with end effector mechanism 6 far from one end of the second vertical swing arm 502, and armed lever is flexible
Mechanism 4 is connected on finishing intelligent robot；
Fitting up intelligent robot includes low bottom-disc walking mechanism 1, top bottom-disc rotating mechanism 2, armed lever supporting mechanism 3, armed lever
Telescoping mechanism 4 and pumping slurry pipeline steel mechanism 7.
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 be connected with forearm 104, 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.
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, 401 top of telescopic arm and 509 stationary phase of the first fixedly connected part
Even.
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 by fixed connecting rod 6002
Grout outlet B6006 is offered on the upside of B6004, actuator B6004, roller bearing B6007, roller bearing are rotatably connected in actuator B6004
Flood dragon piece B6005 is fixedly connected on 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 by being fixed on armed lever telescoping mechanism 4, in shoulder joint mechanism 5, it is main for 701 upper end of ash pipe and end
Executing agency 6 is held to be 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
Walking mechanism 1 turns to, and 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, realization is stretched
The rotation of contracting arm.
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 master stretches
Contracting 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 508 on the first vertical swing arm 501 is by driving the rotation of the first connecting shaft 510, and first connects
Spindle 510 and the first fixedly connected part 509 of armed lever telescoping mechanism 4 are fixedly linked, to realize that the first vertical swing arm 502 is put
Dynamic, the first oscillating motor 508 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 swing arm 501
It can be realized folding with the second vertical swing arm 502.
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, intelligent robot is printed for 3D and printing paste materials is persistently provided.
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 (9)
1. a kind of shoulder joint mechanism of building decoration and fitment intelligent robot, which is characterized in that the shoulder joint mechanism (5) includes
First vertical swing arm (501), the second vertical swing arm (502) and transversal swinging arm (503), the first vertical swing arm
(501) one end is connected to armed lever telescoping mechanism (4) end, and the first fixed company is fixedly connected on the armed lever telescoping mechanism (4)
Fitting (509), first vertical swing arm (501) lower end are fixedly connected with the first oscillating motor (508), and described first swings
Motor (508) output end is fixedly connected with the first connecting shaft (510), first connecting shaft (510) and the first fixedly connected part
(509) it being fixedly linked, first vertical swing arm (501) other end is connected with the second vertical swing arm (502), and described second
Vertical swing arm (502) is connected far from one end of the first vertical swing arm (501) with transversal swinging arm (503).
2. a kind of shoulder joint mechanism of building decoration and fitment intelligent robot according to claim 1, which is characterized in that institute
It states and is fixedly connected with the second fixedly connected part (507) on the first vertical swing arm (501), the second vertical swing arm (502)
On be fixedly connected with the second oscillating motor (506), the second oscillating motor (506) output end is fixedly connected with the second connecting shaft
(505), second connecting shaft (505) is fixedly linked with the second fixedly connected part (507).
3. a kind of shoulder joint mechanism of building decoration and fitment intelligent robot according to claim 1, which is characterized in that institute
It states the second vertical swing arm (502) upper end to be fixedly connected with third oscillating motor (504), the third oscillating motor (504) is defeated
Outlet is fixedly connected with third connecting shaft (511), and the third connecting shaft (511) is fixedly linked with transversal swinging arm (503).
4. a kind of shoulder joint mechanism of building decoration and fitment intelligent robot according to claim 1, which is characterized in that institute
It states transversal swinging arm (503) and is connected with end effector mechanism (6), the armed lever far from one end of the second vertical swing arm (502)
Telescoping mechanism (4) is connected on finishing intelligent robot；
The finishing intelligent robot includes low bottom-disc walking mechanism (1), top bottom-disc rotating mechanism (2), armed lever supporting mechanism
(3), armed lever telescoping mechanism (4) and pumping slurry pipeline steel mechanism (7).
5. a kind of shoulder joint mechanism of building decoration and fitment intelligent robot according to claim 4, which is characterized in that institute
Stating low bottom-disc walking mechanism (1) includes lower support chassis (101), and lower support chassis (101) rear and front end is respectively connected with
One driving motor (102), the first driving motor (102) driving end are 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 (105) on the forearm (104)；
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 shoulder joint mechanism of building decoration and fitment intelligent robot according to claim 4, which is characterized in that institute
Stating armed lever supporting mechanism (3) includes telescopic arm fixed bracket (301) and hydraulic screw rod (302), the fixed bracket of the telescopic arm
(301) it is fixedly connected on top bottom-disc rotating mechanism (2) with hydraulic screw rod (302), is connected on the hydraulic screw rod (302)
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)；
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, the telescopic arm (401)
Top is fixedly linked with the first fixedly connected part (509).
7. a kind of shoulder joint mechanism of building decoration and fitment intelligent robot according to claim 4, which is characterized in that institute
Stating end effector mechanism (6) includes end stress support (601), and the end stress support (601) is rotatably connected on lateral pendulum
Swing arm (503) end, transversal swinging arm (503) end are fixedly connected with rotary drive motor A (606), and the rotation is driven
Dynamic motor A (606) driving end is connected with end stress support (601), is connected with actuator on the end stress support (601)
A (603), actuator A (603) side wall offer grout outlet A (604), and roller bearing A is rotatablely connected in the actuator A (603)
(605), flood dragon piece A (602) is connected on the roller bearing A (605).
8. a kind of shoulder joint mechanism of building decoration and fitment intelligent robot according to claim 4, which is characterized in that institute
Stating end effector mechanism (6) includes end stress branch (6001), and the end stress branch (6001) is rotatably connected on transverse direction
Swing arm (503) end, transversal swinging arm (503) end are fixedly connected with rotary drive motor B (6003), the rotation
Driving motor B (6003) driving end is connected with end stress branch (6001), and the end stress branch (6001) passes through fixation
Connecting rod (6002) is connected with actuator B (6004), is offered grout outlet B (6006) on the upside of the actuator B (6004), described
It is rotatably connected in actuator B (6004) roller bearing B (6007), is fixedly connected with flood dragon piece B on the roller bearing B (6007)
(6005)。
9. special according to a kind of described in any item shoulder joint mechanisms of building decoration and fitment intelligent robot of claim 4-7
Sign is, the pumping slurry pipeline steel mechanism (7) includes main for ash pipe (701), described main to be connected to for ash pipe (701) lower end
On chassis rotator structure (2), it is described it is main for ash pipe (701) middle section by being fixed on armed lever telescoping mechanism (4), shoulder joint mechanism
(5) described main to be connected for ash pipe (701) upper end with end effector mechanism (6) on.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821171614.6U CN208854661U (en) | 2018-07-20 | 2018-07-20 | A kind of shoulder joint mechanism of building decoration and fitment intelligent robot |
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| CN201821171614.6U CN208854661U (en) | 2018-07-20 | 2018-07-20 | A kind of shoulder joint mechanism of building decoration and fitment intelligent robot |
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| CN208854661U true CN208854661U (en) | 2019-05-14 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111745780A (en) * | 2020-07-09 | 2020-10-09 | 哈尔滨坤程科技有限公司 | Concrete building 3D printing system and printing method |
-
2018
- 2018-07-20 CN CN201821171614.6U patent/CN208854661U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111745780A (en) * | 2020-07-09 | 2020-10-09 | 哈尔滨坤程科技有限公司 | Concrete building 3D printing system and printing method |
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