CN209211849U - A kind of building decoration and fitment intelligent robot - Google Patents
A kind of building decoration and fitment intelligent robot Download PDFInfo
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- CN209211849U CN209211849U CN201821171836.8U CN201821171836U CN209211849U CN 209211849 U CN209211849 U CN 209211849U CN 201821171836 U CN201821171836 U CN 201821171836U CN 209211849 U CN209211849 U CN 209211849U
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Abstract
The utility model discloses a kind of building decoration and fitment intelligent robots, belong to finishing robot field.A kind of building decoration and fitment intelligent robot, including low bottom-disc walking mechanism, top bottom-disc rotating mechanism, armed lever supporting mechanism, armed lever telescoping mechanism, shoulder joint mechanism, end effector mechanism and pumping slurry pipeline steel mechanism；The utility model low bottom-disc walking mechanism can be realized lifting, walking, and steering, top bottom-disc rotating mechanism can be realized rotation process, armed lever supporting mechanism, armed lever telescoping mechanism, shoulder joint mechanism, end effector mechanism and pumping slurry pipeline steel mechanism can be realized slurry body, and it adjusts and is applicable in different construction working faces, quickly fitted up and decorated component, the installation of block, the operational motion of building living space can be applicable in, activity trajectory, building solid space size and operating condition and environment, keep constructing operation technical requirements high, the work of large labor intensity is substituted by 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.
Background technique
Currently, mainly based on manual operations, product has been made by worker in construction industry actual production process
At the technical operation level of operator is very big on product quality influence, causes quality disunity, long construction period, cost of labor
Height, Current Domestic construction market worker will be gradually aging, and young man has higher pursuit on occupation choice, and selection is built
The young man for building industry operation is fewer and fewer, technical operation worker's critical shortage occurs, seriously constrains building trade development.
With fabricated construction, the popularization of building industrialization, traditional construction mode, which no longer adapts to fast-developing industry, to be needed
It asks, technological innovation, model innovation are imperative, therefore, the intelligent robot of building decoration and fitment are applied to building field, is
The inexorable trend of industry development is the market demand and rare opportunity to develop, and many research institutions, universities and colleges and enterprise are being visited
The problem of rope.
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
Robot.
To achieve the goals above, the utility model adopts the technical scheme that
A kind of building decoration and fitment intelligent robot, including the support of low bottom-disc walking mechanism, top bottom-disc rotating mechanism, armed lever
Mechanism, armed lever telescoping mechanism, shoulder joint mechanism, end effector 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.
Preferably, the top bottom-disc rotating mechanism includes upper support chassis, and is fixedly connected in the upper support chassis
Two driving motors, the second driving motor driving end are connected with turntable pinion gear, the upper support chassis and lower support chassis
It is rotatedly connected, turntable gear wheel is fixedly connected in the lower support chassis, the turntable gear wheel and turntable pinion gear are mutual
Engagement.
Preferably, the 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.
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 building decoration and fitment intelligent robot, and having following has
Beneficial effect:
1, the intelligent robot of the building decoration and fitment, mainly by low bottom-disc walking mechanism, top bottom-disc rotating mechanism, armed lever
Supporting mechanism, armed lever telescoping mechanism, shoulder joint mechanism, end effector mechanism and pumping slurry pipeline steel mechanism composition, low bottom-disc row
Walking mechanism can be realized lifting, walking and turns to, and top bottom-disc rotating mechanism can be realized rotation process, armed lever supporting mechanism, arm
Bar telescoping mechanism, shoulder joint mechanism, end effector mechanism and pumping slurry pipeline steel mechanism can be realized slurry body, and adjust suitable
With different construction working faces, the installation of component, block is quickly fitted up and decorated, building living space can be applicable in
Operational motion, activity trajectory, building solid space size and operating condition and environment make constructing operation technical requirements height, labor
The big work of fatigue resistance is substituted by robot.
Detailed description of the invention
Fig. 1 be the utility model proposes a kind of building decoration and fitment intelligent robot schematic diagram of internal structure；
Fig. 2 be the utility model proposes a kind of building decoration and fitment intelligent robot structural schematic diagram；
Fig. 3 be the utility model proposes the low bottom-disc walking mechanism structure of building decoration and fitment intelligent robot a kind of show
It is intended to；
Fig. 4 be the utility model proposes the low bottom-disc walking mechanism of building decoration and fitment intelligent robot a kind of locally tie
Structure schematic diagram；
Fig. 5 be the utility model proposes a kind of building decoration and fitment intelligent robot armed lever supporting mechanism schematic diagram；
Fig. 6 be the utility model proposes a kind of building decoration and fitment intelligent robot armed lever telescoping mechanism schematic diagram；
Fig. 7 be the utility model proposes a kind of building decoration and fitment intelligent robot shoulder joint mechanism structure signal
Figure；
Fig. 8 be the utility model proposes a kind of building decoration and fitment intelligent robot end effector mechanism structural representation
One of figure；
Fig. 9 be the utility model proposes a kind of building decoration and fitment intelligent robot Fig. 9 in structural schematic diagram at A；
Figure 10 be the utility model proposes the end effector mechanism structure of building decoration and fitment intelligent robot a kind of show
One of be intended to；
Figure 11 be the utility model proposes a kind of building decoration and fitment intelligent robot Figure 11 in B
The structural schematic diagram at place.
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, roller bearing B；7, slurry pipeline steel mechanism is pumped；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.
Embodiment 1:
Referring to Figure 1 and Figure 3-9, a kind of building decoration and fitment intelligent robot, including low bottom-disc walking mechanism 1, 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
Mechanism 7 is mainly closed by low bottom-disc walking mechanism 1, top bottom-disc rotating mechanism 2, armed lever supporting mechanism 3, armed lever telescoping mechanism 4, arm
It saves mechanism 5, end effector mechanism 6 and pumping slurry pipeline steel mechanism 7 to form, low bottom-disc walking mechanism 1 can be realized lifting, row
It walks and turns to, top bottom-disc rotating mechanism 2 can be realized rotation process, armed lever supporting mechanism 3, armed lever telescoping mechanism 4, shoulder joint
Mechanism 5, end effector mechanism 6 and pumping slurry pipeline steel mechanism 7 can be realized slurry body, and adjust and be applicable in different construction works
Make face, quickly to be fitted up, operational motion, the activity trajectory of building living space, building solid space ruler can be applicable in
Very little and operating condition and environment substitute the work of constructing operation technical requirements height, large labor intensity by robot.
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.
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.
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 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 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. 2-7 and Figure 10-11, a kind of building decoration and fitment intelligent robot, including low bottom-disc walking mechanism 1, on
Chassis rotator structure 2, armed lever supporting mechanism 3, armed lever telescoping mechanism 4, shoulder joint mechanism 5, end effector mechanism 6 and pumping slurry
Conveying mechanism 7, mainly by low bottom-disc walking mechanism 1, 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 mechanism 7 form, and low bottom-disc walking mechanism 1 can be realized liter
Drop, walking and steering, top bottom-disc rotating mechanism 2 can be realized rotation process, armed lever supporting mechanism 3, armed lever telescoping mechanism 4, arm
Articulation mechanism 5, end effector mechanism 6 and pumping slurry pipeline steel mechanism 7 can be realized slurry body, and adjust and be applicable in different apply
Work working face, is quickly fitted up, and operational motion, the activity trajectory of building living space can be applicable in, and building is three-dimensional empty
Between size and operating condition and environment, make that constructing operation technical requirements are high, work of large labor intensity is substituted by robot.
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.
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 by fixedly connected part 6002
B6004。
Grout outlet B6006 is offered on the upside of actuator B6004, roller bearing B6007 is rotatably connected in actuator B6004, is rolled
Flood dragon piece B6005 is fixedly connected on axis B6007.
Pumping slurry pipeline steel mechanism 7 is main to be connected to top bottom-disc rotating mechanism 2 for 701 lower end of ash pipe including main for ash pipe 701
On, it is main for 701 middle section of ash pipe 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 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 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 (10)
1. a kind of building decoration and fitment intelligent robot, which is characterized in that rotated including low bottom-disc walking mechanism (1), top bottom-disc
Mechanism (2), armed lever supporting mechanism (3), armed lever telescoping mechanism (4), shoulder joint mechanism (5), end effector mechanism (6) and pumping slurry
Body conveying mechanism (7).
2. a kind of building decoration and fitment intelligent robot according to claim 1, which is characterized in that the low bottom-disc walking
Mechanism (1) includes lower support chassis (101), and lower support chassis (101) rear and front end is respectively connected with the first driving motor
(102), the first driving motor (102) driving end is fixedly connected with large arm (103), and the large arm (103) is driven far from first
The one end of dynamic motor (102) is connected with forearm (104), is connected with driving wheel (105) on the forearm (104).
3. a kind of building decoration and fitment intelligent robot according to claim 2, which is characterized in that the top bottom-disc rotation
Mechanism (2) includes upper support chassis (201), is fixedly connected with the second driving motor (202) on the upper support chassis (201),
Second driving motor (202) driving end is connected with turntable pinion gear (203), the upper support chassis (201) and lower support
Chassis (101) is rotatedly connected, and is fixedly connected with turntable gear wheel (204) on the lower support chassis (101), the turntable canine tooth
(204) and turntable pinion gear (203) are taken turns to be intermeshed.
4. a kind of building decoration and fitment intelligent robot according to claim 1, which is characterized in that the armed lever supports machine
Structure (3) includes telescopic arm fixed bracket (301) and hydraulic screw rod (302), and the telescopic arm fixes bracket (301) and hydraulic screw rod
(302) it is fixedly connected on top bottom-disc rotating mechanism (2), is connected with hydraulic lifting screw rod on the hydraulic screw rod (302)
(303), it is cased with screw rod sleeve (304) on the hydraulic lifting screw rod (303), and hydraulic lifting screw rod (303) and screw rod sleeve
(304) it matches.
5. a kind of building decoration and fitment intelligent robot according to claim 4, which is characterized in that the armed lever telescopic machine
Structure (4) includes telescopic arm (401), and telescopic arm (401) lower end is rotatedly connected with telescopic arm fixed bracket (301), described to stretch
Contracting arm (401) upper end is rotatedly connected with screw rod sleeve (304) upper end.
6. a kind of building decoration and fitment intelligent robot according to claim 5, which is characterized in that the shoulder joint mechanism
It (5) include the first vertical swing arm (501), the second vertical swing arm (502) and transversal swinging arm (503), described first is vertical
Swing arm (501) one end is connected to telescopic arm (401) end, and first vertical swing arm (501) other end and second is vertically
Swing arm (502) is connected, the second vertical swing arm (502) one end and lateral pendulum far from the first vertical swing arm (501)
Swing arm (503) is connected, the transversal swinging arm (503) one end and end effector mechanism far from the second vertical swing arm (502)
(6) it is connected.
7. a kind of building decoration and fitment intelligent robot according to claim 6, which is characterized in that the end executes machine
Structure (6) includes end stress support (601), and the end stress support (601) is rotatably connected on transversal swinging arm (503) end
End, transversal swinging arm (503) end are fixedly connected with rotary drive motor A (606), the rotary drive motor A (606)
Driving end is connected with end stress support (601), is connected with actuator A (603) on the end stress support (601), described
Actuator A (603) side wall offers grout outlet A (604), is rotatablely connected roller bearing A (605) in the actuator A (603), described
Flood dragon piece A (602) is connected on roller bearing A (605).
8. a kind of building decoration and fitment intelligent robot according to claim 6, which is characterized in that the end executes machine
Structure (6) includes end stress branch (6001), and the end stress branch (6001) is rotatably connected on transversal swinging arm (503) end
End, transversal swinging arm (503) end are fixedly connected with rotary drive motor B (6003), the rotary drive motor B
(6003) driving end is connected with end stress branch (6001), and the end stress branch (6001) passes through fixedly connected part
(6002) actuator B (6004) are connected with.
9. a kind of building decoration and fitment intelligent robot according to claim 8, which is characterized in that the actuator B
(6004) upside offers grout outlet B (6006), is rotatably connected to roller bearing B (6007), the rolling in the actuator B (6004)
Flood dragon piece B (6005) is fixedly connected on axis B (6007).
10. -9 described in any item a kind of building decoration and fitment intelligent robots according to claim 1, which is characterized in that described
Pumping slurry pipeline steel mechanism (7) includes main for ash pipe (701), described main to be connected to top bottom-disc whirler for ash pipe (701) lower end
On structure (2), it is described it is main for ash pipe (701) middle section by being fixed on armed lever telescoping mechanism (4), in shoulder joint mechanism (5), the master
It is connected for ash pipe (701) upper end with end effector mechanism (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821171836.8U CN209211849U (en) | 2018-07-20 | 2018-07-20 | A kind of building decoration and fitment intelligent robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821171836.8U CN209211849U (en) | 2018-07-20 | 2018-07-20 | A kind of building decoration and fitment intelligent robot |
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| Publication Number | Publication Date |
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| CN209211849U true CN209211849U (en) | 2019-08-06 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109235844A (en) * | 2018-07-20 | 2019-01-18 | 抹（北京）科技有限公司 | A kind of building decoration and fitment intelligent robot |
| CN110607898A (en) * | 2019-10-18 | 2019-12-24 | 浙江百施通智能科技有限公司 | Wall plastering working device and construction method thereof |
-
2018
- 2018-07-20 CN CN201821171836.8U patent/CN209211849U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109235844A (en) * | 2018-07-20 | 2019-01-18 | 抹（北京）科技有限公司 | A kind of building decoration and fitment intelligent robot |
| CN109235844B (en) * | 2018-07-20 | 2024-01-19 | 华德新材料有限公司 | Intelligent robot for building decoration |
| CN110607898A (en) * | 2019-10-18 | 2019-12-24 | 浙江百施通智能科技有限公司 | Wall plastering working device and construction method thereof |
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Effective date of registration: 20230822 Address after: 311399 Jindu Jiayuan 2 (111-211, Building 2), Jincheng Street, Lin'an District, Hangzhou City, Zhejiang Province (self declared) Patentee after: Hangzhou Chenkai Management Consulting Co.,Ltd. Address before: No. 21-1, Hutangxia, Jinbei Street, Lin'an District, Hangzhou City, Zhejiang Province, 311399 Patentee before: Qiu Yongqian |