CN209869408U - Four-arm multifunctional building robot - Google Patents
Four-arm multifunctional building robot Download PDFInfo
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- CN209869408U CN209869408U CN201920107679.2U CN201920107679U CN209869408U CN 209869408 U CN209869408 U CN 209869408U CN 201920107679 U CN201920107679 U CN 201920107679U CN 209869408 U CN209869408 U CN 209869408U
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Abstract
The utility model discloses a four-arm multifunctional building robot, which comprises a robot body, a head, a power supply power system, a material supply system, a mobile system, a computer intelligent system, a 3D printing system, a fixing system, a lifting system, a head monitor, a robot body monitor, a left fixing monitor, a right fixing monitor and a paint filling device; the 3D printing system comprises a left printing arm, a printing nozzle, a right printing arm and a multifunctional processing mechanical claw; the fixing system comprises a left fixing arm, a left fixing claw, a right fixing arm and a right fixing claw. This robot has the four-arm system of collaborative work, and left fixed arm and right fixed arm are used for fixed robot's position, and the printing shower nozzle on the left side printing arm carries out main print jobs, and the multifunctional processing machinery claw on the right side printing arm is processed and is repaired the work, and the synergism divides the worker to be clear and definite, promotes the efficiency that 3D printed greatly.
Description
Technical Field
The utility model relates to a 3D prints the field, specifically is a multi-functional construction robot of four arms.
Background
The rapid development of modern society science and technology enables building industrialization to become a hot tide, a new manufacturing technology and a new building technology are promoted in the new development era, and a 3D printing technology is produced in the middle of the 90 s of the 20 th century. Based on a virtual object created by a computer file, the 3D printing technology runs an additive manufacturing process, and material layer-by-layer superposition is realized by combining three-dimensional digital model design and multiple printing technologies and utilizing a certain specific mode, so that the virtual object becomes a real printed product. The rapid forming and the industrialization of the 3D printing technology realize seamless butt joint. Accordingly, advanced manufacturing technologies in the world also focus on the development and application of 3D printing technology, and have a great role in various fields, such as aerospace, national defense, medical equipment, education, and manufacturing.
With the increasing maturity of artificial intelligence technology, 3D printing and artificial intelligence also start to work effectively in combination. The industrial robot can replace traditional manpower on many streamlined processes, has the advantage that shortens the cycle simultaneously, improves work efficiency concurrently, is the essential "screw" of 4.0 of propelling industry. Undoubtedly, 3D printing speeds up the production and use of industrial robots, and 3D printing smart construction robots have become a very promising research direction.
At present, domestic 3D printing robot almost all uses single machinery to print the arm and implements the print job, and the whole arm of printing and printing shower nozzle function singleness, it is clear inadequately to divide the worker, and whole printing apparatus harmony is not good, and this just leads to printing efficiency lower, and the meticulous degree of the structural component of printing out is not high, and the work of repairing that can't be timely also to the finished product of printing simultaneously, probably still need additional artificial secondary operation, still remain to improve on the reduction of time resource and manpower resources. For example, document No. 201711021944.7 discloses a 3D printing robot, which has improved local functions, but still has only one printing arm and a single printing mode; meanwhile, the printing range of the robot is still limited.
SUMMERY OF THE UTILITY MODEL
To the deficiency of the prior art, the utility model aims to solve the technical problem that a four-arm multifunctional construction robot is provided.
The technical scheme of the utility model for solving the technical problems is to provide a four-arm multifunctional construction robot, which comprises a robot body, a head, a power supply power system, a material supply system, a mobile system and a computer intelligent system; the robot is characterized by further comprising a 3D printing system, a fixing system, a lifting system, a head monitor, a body monitor, a left fixing monitor, a right fixing monitor and a paint filling device; the 3D printing system comprises a left printing arm, a printing nozzle, a right printing arm and a multifunctional processing mechanical claw; the fixing system comprises a left fixing arm, a left fixing claw, a right fixing arm and a right fixing claw;
the machine body is arranged on the mobile system through the lifting system, and the machine body monitor is arranged on the front surface of the machine body; the power supply power system, the material supply system and the computer intelligent system are all arranged on the machine body; the head is arranged at the upper part of the machine body, and the head monitor is arranged on the front surface of the head; the left fixing arm is arranged on one side surface of the head through a spherical pair, and the tail end of the left fixing arm is provided with a left fixing claw; a left fixed monitor is arranged on the left fixed arm; the right fixed arm is arranged on the other side surface of the head part through a spherical pair, and the tail end of the right fixed arm is provided with a right fixed claw; a right fixed monitor is arranged on the right fixed arm; the left printing arm is arranged on one side surface of the machine body through a spherical pair, and the tail end of the left printing arm is provided with a printing nozzle; the right printing arm is arranged on the other side surface of the machine body through a spherical pair, and the tail end of the right printing arm is provided with a multifunctional processing mechanical claw; the right printing arm is provided with a paint filling device;
the material supply system is respectively connected with the printing nozzle and the additive printing nozzle of the multifunctional processing mechanical claw; the paint filling device is connected with the coloring nozzle of the multifunctional processing mechanical claw; the computer intelligent system is respectively connected with the 3D printing system, the fixing system, the lifting system, the power supply power system, the material supply system, the moving system, the head monitor, the machine body monitor, the left fixing monitor, the right fixing monitor and the paint filling device.
Compared with the prior art, the utility model discloses beneficial effect lies in:
(1) this robot has the four-arm system of collaborative work, and both arms are fixed, and both arms print, and the synergism divides the worker clearly and definitely, promotes the efficiency that 3D printed greatly.
(2) Print the shower nozzle on the arm and carry out main print job, print the multi-function processing machinery claw on the arm on the right side and process and repair work, divide the worker clearly and definitely, increased the harmony of printing the process, solved traditional 3D printing apparatus and only contained single printing arm or shower nozzle to lack the problem of harmony, improved simultaneously and printed the precision not high need the artifical shortcoming of repairing of printing inefficiency. The two printing arms work in coordination, so that the printing efficiency is greatly improved, the construction period is shortened more effectively, and manpower is saved.
(3) The left fixing arm and the right fixing arm are used for fixing the position of the robot. When needs are adjusted the operation height, left fixed arm and right fixed arm depend on existing exterior structure or building to stabilize the fuselage, guarantee to carry out 3D under the take the altitude stably and print work, realize wider range operation.
(4) Realize that work height is adjustable through operating system, realized wider 3D and printed, the fuselage is small simultaneously, effectively utilizes work site area. When the working height does not need to be adjusted, the lifting system can be retracted into the machine body.
(5) On the basis of having the printing shower nozzle, improve the single function of printing arm in the past, increased multi-functional processing machinery claw, have to print the object and carry out increase material improvement, subtract material modification and add the function of coloring. The multifunctional processing mechanical claw is used for assisting in processing, the working state of the multifunctional processing mechanical claw lags behind the printing spray head, operation conflict cannot be generated between the multifunctional processing mechanical claw and the printing spray head, and the printing working efficiency is improved.
(6) The head monitor, the body monitor, the left fixed monitor and the right fixed monitor form a complete 'four-in-one' printing process monitoring system, the comprehensive monitoring of the printing process, the whole recording of the state information of all printing works and the continuous correction of the current printing scheme are facilitated, and the precision and the four-arm matching degree are improved.
(7) The resulting printing member is more excellent in precision and appearance, and the printing process is more efficient. The printing is completed following the repairing process, the printing work of the next stage is synchronously performed, a large amount of manual repairing processes for the component after the printing of the component is completed are omitted, and the manual repairing rate of the printed component is lower, so that the time and the labor are better saved, and the construction period is shortened.
(8) The computer intelligent system of the robot can be connected with an upper computer, so that remote human-computer interaction and remote control are realized, and artificial intelligence is embodied.
Drawings
Fig. 1 is a schematic view of an overall structure and an operating state of an embodiment of the present invention.
Fig. 2 is a schematic view of another working state of the overall structure of an embodiment of the present invention.
Fig. 3 is an enlarged schematic view of a head mount according to an embodiment of the present invention.
Fig. 4 is a schematic view of a 3D printing system according to an embodiment of the present invention.
Fig. 5 is a schematic view of a fastening system according to an embodiment of the present invention.
In the figure: 1. a body; 2. a head portion; 3. a 3D printing system; 4. a fixation system; 5. a lifting system; 6. a power supply power system; 7. a material supply system; 8. a mobile system; 9. a computer intelligence system; 10. a head monitor; 11. a fuselage monitor; 12. a left stationary monitor; 13. a right stationary monitor; 14. a paint filling device;
3-1, a left printing arm; 3-2, printing a spray head; 3-3, a right printing arm; 3-4, processing the mechanical claw with multiple functions; 3-1-1, left printing shoulder rod; 3-1-2, left large printing arm; 3-1-3, a left small printing arm; 3-3-1, right printing shoulder rod; 3-3-2, right large printing arm; 3-3-3, right small printing arm; 3-4-1, adding material and printing a nozzle; 3-4-2, reducing the material cutter; 3-4-3, coloring nozzle;
4-1, a left fixed arm; 4-2, a left fixed claw; 4-3, a right fixed arm; 4-4, a right fixed claw; 4-1-1, left fixed shoulder pole; 4-1-2, a left big fixed arm; 4-1-3, a left small fixed arm; 4-3-1, right fixed shoulder pole; 4-3-2, a right big fixed arm; 4-3-3, right small fixed arm; 4-2-1, a left fixed buckle claw; 4-2-2 and a left fixed sucker.
Detailed Description
Specific embodiments of the present invention are given below. The specific embodiments are only used for further elaboration of the invention, and do not limit the scope of protection of the claims of the present application.
The utility model provides a four-arm multifunctional building robot (a robot for short, see fig. 1-5), which comprises a robot body 1, a head 2, a power supply and power system 6, a material supply system 7, a mobile system 8 and a computer intelligent system 9; the robot is characterized by further comprising a 3D printing system 3, a fixing system 4, a lifting system 5, a head monitor 10, a machine body monitor 11, a left fixing monitor 12, a right fixing monitor 13 and a paint filling device 14; the 3D printing system 3 comprises a left printing arm 3-1, a printing spray head 3-2, a right printing arm 3-3 and a multifunctional processing mechanical claw 3-4; the fixing system 4 comprises a left fixing arm 4-1, a left fixing claw 4-2, a right fixing arm 4-3 and a right fixing claw 4-4;
the machine body 1 is arranged on a moving system 8 through a lifting system 5, and a machine body monitor 11 is arranged in the center of the front surface of the machine body 1 and used for monitoring the overall progress of 3D printing work; the power supply power system 6, the material supply system 7 and the computer intelligent system 9 are all arranged on the machine body 1; the head 2 is arranged at the upper part of the machine body 1, and the head monitor 10 is arranged in the center of the front surface of the head 2; the left fixing arm 4-1 is arranged on one side face of the head 2 through a spherical pair, and the tail end of the left fixing arm is provided with a left fixing claw 4-2; a left fixed monitor 12 is arranged on the left fixed arm 4-1; the right fixing arm 4-3 is arranged on the other side surface of the head part 2 through a spherical pair, and the tail end of the right fixing arm is provided with a right fixing claw 4-4; a right fixed monitor 13 is arranged on the right fixed arm 4-3; the left printing arm 3-1 is arranged on one side surface of the machine body 1 through a spherical pair, and the tail end of the left printing arm is provided with a printing nozzle 3-2; the right printing arm 3-3 is arranged on the other side surface of the machine body 1 through a spherical pair, and the tail end of the right printing arm is provided with a multifunctional processing machine claw 3-4; the right printing arm 3-3 is provided with a paint filling device 14;
the 3D printing system 3 performs printing work according to a modeling information instruction input by the computer intelligent system 9;
the fixing system 4 is attached to an existing external structure or building, so that the machine body 1 is stabilized, 3D printing work can be stably performed at a certain height, and wider-range operation is achieved.
The lifting system 5 is arranged on the machine body 1 and the moving system 8 and is positioned between the machine body 1 and the moving system; the machine body 1 can rotate a certain angle relative to the lifting system 5; when the lifting system 5 is not in operation, the lifting system 5 is stored in the machine body 1, and the lower part of the machine body 1 is placed on the moving system 8; the lifting system 5 is used for controlling the lifting and lowering of the machine body 1. The lifting system 5 is a telescopic rigid rod for controlling the machine body 1 to ascend or descend, and the telescopic rigid rod is contracted in the machine body 1 when not in operation. The height can be adjusted by using the telescopic rigid rod according to the printing work requirement, and the process can be controlled by an external computer and a computer intelligent system 9.
The power supply power system 6 is used for providing required power supply power for all parts of the whole robot.
The material supply system 7 is used for supplying printing materials; the material supply system 7 is respectively connected with the printing nozzle 3-2 and the additive printing nozzle 3-4-1 of the multifunctional processing machine claw 3-4 through material conveying pipelines penetrating through the machine body 1, the left printing arm 3-1 and the right printing arm 3-3, and conveys materials to the printing nozzle 3-2 and the additive printing nozzle 3-4-1 of the multifunctional processing machine claw 3-4, so that the materials required by the printing work are provided, and the materials are preferably cement-based materials.
The paint filling device 14 is connected with the coloring nozzle 3-4-3 of the multifunctional processing machine claw 3-4 and is used for filling paint into the coloring nozzle 3-4-3.
The moving system 8 realizes the movement of any position of the robot by receiving the control instruction transmitted by the computer intelligent system 9, thereby maximizing the printing working area;
the computer intelligent system 9 is respectively connected with the 3D printing system 3, the fixing system 4, the lifting system 5, the power supply power system 6, the material supply system 7, the moving system 8, the head monitor 10, the body monitor 11, the left fixing monitor 12, the right fixing monitor 13 and the paint filling device 14. The computer intelligent system 9 is a central processing system of the robot and is used for inputting modeling information and intelligently analyzing work progress; after the modeling work information is input, the 3D printing system 3, the fixing system 4 and the lifting system 5 receive an instruction to perform printing work, and the start and the end of the whole printing work are controlled; meanwhile, wireless network can be utilized to be in wireless connection with manpower, remote wireless operation can be carried out, and man-machine interaction is realized.
Preferably, the power supply system 6 and the material supply system 7 are both mounted on the side port of the body 1 (in this embodiment, right-side down); the computer intelligent system 9 is arranged at the rear part of the machine body 1; when deviation or fault occurs in 3D printing work and the computer intelligent system 9 needs to be operated manually, the computer intelligent system 9 is positioned at the rear part of the machine body 1, so that an operator can directly realize the 3D printing work progress, and the work progress condition can be conveniently known in real time; meanwhile, in order not to affect manual operation and 3D printing work, the power supply system 6 and the material supply system 7 are disposed on one side (the right side in this embodiment) of the main body 1, so that power and material supply work can be performed simultaneously.
The head monitor 10 is spherical, has a spherical radius of 2-5 cm, and is mainly used for monitoring the printing state of a printed matter on the front side and collecting information; meanwhile, the laser scanning positioning device has a laser scanning positioning function, and can ensure the stability of the machine body in the lifting process so as to ensure the accuracy of printing work.
The shape of the machine body monitor 11 is a spherical shape and is mainly used for monitoring the 3D printing progress, and meanwhile, the horizontal laser positioning function is achieved, so that the stability of the machine body in the lifting process can be guaranteed, and the accuracy of printing work is guaranteed.
Fixed monitor 12 in a left side and the fixed monitor 13 in the right side are small-size globular camera, and the spheroid radius is 2 ~ 4cm, under the prerequisite that does not influence normal 3D print job, from the audio-visual monitoring 3D print job progress in top for the collection of the real-time status information of printed matter.
The left printing arm 3-1 has 6 degrees of freedom and comprises a left printing shoulder rod 3-1-1, a left large printing arm 3-1-2 and a left small printing arm 3-1-3; one end of the left printing shoulder rod 3-1-1 is arranged on one side surface of the machine body 1, and forms a spherical pair with the machine body 1, and the left printing shoulder rod can rotate freely on the side surface; one end of the left large printing arm 3-1-2 is connected with the other end of the left printing shoulder rod 3-1-1 through a rotating shaft, and forms a revolute pair with the left printing shoulder rod 3-1-1; one end of the left small printing arm 3-1-3 is connected with the other end of the left large printing arm 3-1-2 through a rotating shaft, and forms a rotating pair with the left large printing arm 3-1-2; and the tail end of the left small printing arm 3-1-3 is provided with a printing spray head 3-2.
The printing nozzle 3-2 is used for carrying out normal printing work of 3D printing; the spray head is of a tubular structure, and the radius of the spray head can be 2mm, 3mm, 5mm, 1cm, 2cm or 4 cm;
the right printing arm 3-3 has 6 degrees of freedom and comprises a right printing shoulder rod 3-3-1, a right large printing arm 3-3-2 and a right small printing arm 3-3-3; one end of the right printing shoulder rod 3-3-1 is arranged on the other side surface of the machine body 1, and forms a spherical pair with the machine body 1, so that the right printing shoulder rod can rotate freely on the side surface; one end of the right large printing arm 3-3-2 is connected with the other end of the right printing shoulder rod 3-3-1 through a rotating shaft, and forms a revolute pair with the right printing shoulder rod 3-3-1; one end of the right small printing arm 3-3-3 is connected with the other end of the right large printing arm 3-3-2 through a rotating shaft, and forms a rotating pair with the right large printing arm 3-3-2; the end of the right small printing arm 3-3-3 is provided with a multifunctional processing mechanical claw 3-4 and a paint filling device 14.
The multifunctional processing mechanical claw 3-4 is provided with 3 claw ends, and each claw end is respectively provided with an additive printing nozzle 3-4-1, a subtractive cutter 3-4-2 and a coloring nozzle 3-4-3; the additive printing nozzle 3-4-1 is used for additive improvement on a printing object, and the radius of the nozzle can be 2mm, 3mm, 5mm or 1 cm; the material reducing cutter 3-4-2 is used for reducing and modifying the printing object, and the length is 0.2 m-0.4 m; the coloring nozzle 3-4-3 is used for coloring the printing object, and the radius of the nozzle can be 5mm, 1cm or 2 cm.
The left fixing arm 4-1 has 6 degrees of freedom and comprises a left fixing shoulder rod 4-1-1, a left large fixing arm 4-1-2 and a left small fixing arm 4-1-3; one end of the left fixed shoulder rod 4-1-1 is arranged on one side surface of the head part 2, and forms a spherical pair with the machine body 1, and the left fixed shoulder rod can rotate freely on the side surface; one end of the left big fixing arm 4-1-2 is connected with the other end of the left fixing shoulder rod 4-1-1 through a rotating shaft, and forms a revolute pair with the left fixing shoulder rod 4-1-1; one end of the left small fixed arm 4-1-3 is connected with the other end of the left large fixed arm 4-1-2 through a rotating shaft, and forms a revolute pair with the left large fixed arm 4-1-2; the tail end of the left small fixing arm 4-1-3 is provided with a left fixing claw 4-2 and a left fixing monitor 12.
The right fixing arm 4-3 has 6 degrees of freedom and comprises a right fixing shoulder rod 4-3-1, a right large fixing arm 4-3-2 and a right small fixing arm 4-3-3; one end of the right fixed shoulder rod 4-3-1 is arranged on the other side surface of the head part 2, and forms a spherical pair with the machine body 1, and the right fixed shoulder rod can rotate freely on the side surface; one end of the right big fixed arm 4-3-2 is connected with the other end of the right fixed shoulder rod 4-3-1 through a rotating shaft and forms a revolute pair with the right fixed shoulder rod 4-3-1; one end of the right small fixed arm 4-3-3 is connected with the other end of the right large fixed arm 4-3-2 through a rotating shaft, and forms a revolute pair with the right large fixed arm 4-3-2; the tail end of the right small fixing arm 4-3-3 is provided with a right fixing claw 4-4 and a right fixing monitor 13.
The structure of the left fixed claw 4-2 is completely the same as that of the right fixed claw 4-4; the left fixed claw 4-2 comprises a left fixed fastening claw 4-2-1 and a left fixed sucker 4-2-2; the left fixed buckle claw 4-2-1 consists of two rigid fasteners, acts on the protruding part or the rod piece of an external building or structure and can be used for buckling to achieve the fixing effect; the left fixed sucker 4-2-2 is a plastic sucker, acts on the flat part of an external building or structure, and can be used for adsorption so as to achieve the fixing effect.
The area of the paint filling device 14 is 6-12 cm2。
The utility model discloses a theory of operation and work flow are:
establishing a physical model on modeling software of an external computer, planning information of a printing path, inputting the information into a computer intelligent system 9, setting a processing mode of the multifunctional processing mechanical claw 3-4, and selecting whether the working mode is a time lag mode or a path lag mode.
Firstly, checking whether a left printing arm 3-1 and a right printing arm 3-2 of the robot can work normally, whether materials are sufficient and whether electric quantity is sufficient; if the standard is not met, the wireless network connection is manually carried out between the external computer and the computer intelligent system 9, so that the computer control system 9 is controlled to timely adjust the material supply system 5 and the power supply power system 4. The external computer then controls the movement system 8 to move the robot to the correct working position, and the movement process is precisely positioned using the main eye monitor 10 and the body monitor 11. After the selection of the working position of the robot is finished, the lifting system 5 is controlled by the computer control system 9 to adjust the height according to the actual working requirement; after the working height is adjusted, the left fixing claw 4-2 and the right fixing claw 4-4 of the fixing system 4 are controlled by the computer control system 9 to be fixed.
After the printing machine starts to work, the left printing arm 3-1 and the printing nozzle 3-2 start to work according to the known planned printing path: firstly, the left printing arm 3-1 moves to a working position, and then the printing nozzle 3-2 performs 3D printing additive building according to a planned path; meanwhile, the main eye monitor 10 and the body monitor 11 start to monitor the printing work progress in real time, and the left fixed monitor 12 and the right fixed monitor 13 assist in monitoring simultaneously. The printing component state information and the printing work progress information collected by the main eye monitor 10, the body monitor 11, the left fixed monitor 12 and the right fixed monitor 13 are transmitted to the computer intelligent system 9 for real-time analysis, and the analysis process and the analysis software are the prior art. The computer intelligent system 9 compares the printing path state and the printing finished product state of each printing stage with the information generated by the external computer; if the expected printing effect at the stage is met, the right printing arm 3-3 and the multifunctional processing mechanical claw 3-4 do not receive a processing instruction at the stage, and the stage does not work; if the expected printing effect at this stage is not met after the comparison and analysis, the computer intelligent system 9 sends a modification instruction, and the right printing arm 3-3 and the multifunctional processing mechanical claw 3-4 start to process at this stage: firstly, the right printing arm 3-3 moves to a working position, then the additive printing nozzle 3-4-1 performs additive improvement on the defective position of a printing object, then the additive cutter 3-4-2 performs additive reduction on the position of the printing object with surplus additive, finally the coloring nozzle 3-4-3 performs color spraying on the position of the printing object needing coloring, so that the work of the stage is completed, and the left printing arm 3-1 and the printing nozzle 3-2 start the work of the next stage while the right printing arm 3-3 and the multifunctional processing machine claw 3-4 work.
The left fixing arm 4-1 and the right fixing arm 4-3 of the fixing system 4 are mainly used for fixing the robot body after the height of the robot is adjusted, the left printing arm 3-1 and the right printing arm 3-3 of the 3D printing system 3 are mainly used for printing and processing, and the four arms of the robot work in a coordinated mode until the whole printing work is completed.
The control of the external computer and the control of the computer intelligent system 9 are both the existing mature technologies.
The utility model discloses the nothing is mentioned the part and is applicable to prior art.
Claims (10)
1. A four-arm multifunctional building robot comprises a robot body, a head, a power supply power system, a material supply system, a mobile system and a computer intelligent system; the robot is characterized by further comprising a 3D printing system, a fixing system, a lifting system, a head monitor, a body monitor, a left fixing monitor, a right fixing monitor and a paint filling device; the 3D printing system comprises a left printing arm, a printing nozzle, a right printing arm and a multifunctional processing mechanical claw; the fixing system comprises a left fixing arm, a left fixing claw, a right fixing arm and a right fixing claw;
the machine body is arranged on the mobile system through the lifting system, and the machine body monitor is arranged on the front surface of the machine body; the power supply power system, the material supply system and the computer intelligent system are all arranged on the machine body; the head is arranged at the upper part of the machine body, and the head monitor is arranged on the front surface of the head; the left fixing arm is arranged on one side surface of the head through a spherical pair, and the tail end of the left fixing arm is provided with a left fixing claw; a left fixed monitor is arranged on the left fixed arm; the right fixed arm is arranged on the other side surface of the head part through a spherical pair, and the tail end of the right fixed arm is provided with a right fixed claw; a right fixed monitor is arranged on the right fixed arm; the left printing arm is arranged on one side surface of the machine body through a spherical pair, and the tail end of the left printing arm is provided with a printing nozzle; the right printing arm is arranged on the other side surface of the machine body through a spherical pair, and the tail end of the right printing arm is provided with a multifunctional processing mechanical claw; the right printing arm is provided with a paint filling device;
the material supply system is respectively connected with the printing nozzle and the additive printing nozzle of the multifunctional processing mechanical claw; the paint filling device is connected with the coloring nozzle of the multifunctional processing mechanical claw; the computer intelligent system is respectively connected with the 3D printing system, the fixing system, the lifting system, the power supply power system, the material supply system, the moving system, the head monitor, the machine body monitor, the left fixing monitor, the right fixing monitor and the paint filling device.
2. The four-arm multi-function construction robot according to claim 1, wherein the elevating system is installed on the body and the moving system between them; the machine body can rotate a certain angle relative to the lifting system; when the lifting system is not in operation, the lifting system is stored in the machine body, and the lower part of the machine body is placed on the moving system.
3. The four-arm multi-function construction robot according to claim 1, wherein the power supply system and the material supply system are installed on a side port of the main body; the computer intelligent system is installed at the rear part of the machine body.
4. The four-arm multifunctional construction robot according to claim 1, wherein the head monitor is spherical in shape, the radius of the spherical shape is 2-5 cm, and the head monitor has a laser scanning and positioning function; the machine body monitor is spherical and has a laser scanning and positioning function; the left fixed monitor and the right fixed monitor are both spherical cameras, and the radius of a sphere is 2-4 cm.
5. The four-arm multi-function construction robot of claim 1, wherein the left print arm comprises a left print shoulder bar, a left large print arm, and a left small print arm; one end of the left printing shoulder rod is arranged on one side surface of the machine body and forms a spherical pair with the machine body; one end of the left large printing arm is connected with the other end of the left printing shoulder rod through a rotating shaft and forms a revolute pair with the left printing shoulder rod; one end of the left small printing arm is connected with the other end of the left large printing arm through a rotating shaft and forms a rotating pair with the left large printing arm; and the tail end of the left small printing arm is provided with a printing spray head.
6. The four-arm multi-function construction robot of claim 1, wherein the right printing arm comprises a right printing shoulder bar, a right large printing arm, and a right small printing arm; one end of the right printing shoulder rod is arranged on the other side surface of the machine body and forms a spherical pair with the machine body; one end of the right large printing arm is connected with the other end of the right printing shoulder rod through a rotating shaft and forms a revolute pair with the right printing shoulder rod; one end of the right small printing arm is connected with the other end of the right large printing arm through a rotating shaft and forms a rotating pair with the right large printing arm; and the tail end of the right small printing arm is provided with a multifunctional processing mechanical claw and a paint filling device.
7. The four-arm multipurpose construction robot of claim 1, wherein the multipurpose processing machine claw has 3 claw ends each provided with an additive printing nozzle, a subtractive cutter and a coloring nozzle; the additive printing nozzle is used for performing additive improvement on a printing object; the material reducing cutter is used for reducing and modifying the printing object; the coloring nozzle is used for coloring the printing object.
8. The four-arm multi-function construction robot according to claim 1, wherein the left fixing arm comprises a left fixing shoulder bar, a left large fixing arm, and a left small fixing arm; one end of the left fixed shoulder rod is arranged on one side surface of the head part and forms a spherical pair with the machine body; one end of the left large fixing arm is connected with the other end of the left fixing shoulder rod through a rotating shaft and forms a revolute pair with the left fixing shoulder rod; one end of the left small fixed arm is connected with the other end of the left large fixed arm through a rotating shaft and forms a revolute pair with the left large fixed arm; and the tail end of the left small fixing arm is provided with a left fixing claw and a left fixing monitor.
9. The four-arm multi-function construction robot according to claim 1, wherein said right fixing arm comprises a right fixing shoulder bar, a right large fixing arm and a right small fixing arm; one end of the right fixed shoulder rod is arranged on the other side surface of the head part and forms a spherical pair with the machine body; one end of the right large fixed arm is connected with the other end of the right fixed shoulder rod through a rotating shaft and forms a revolute pair with the right fixed shoulder rod; one end of the right small fixed arm is connected with the other end of the right large fixed arm through a rotating shaft and forms a revolute pair with the right large fixed arm; and the tail end of the right small fixing arm is provided with a right fixing claw and a right fixing monitor.
10. The four-arm multi-function construction robot according to claim 1, wherein the left and right fixing claws have the identical structure; the left fixing claw comprises a left fixing buckle claw and a left fixing sucker; the left fixed buckle claw consists of two rigid fasteners, acts on a protruding part or a rod piece of an external building or structure and is used for buckling; the left fixed sucker acts on the flat part of an external building or structure for adsorption.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920107679.2U CN209869408U (en) | 2019-01-23 | 2019-01-23 | Four-arm multifunctional building robot |
Applications Claiming Priority (1)
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109703016A (en) * | 2019-01-23 | 2019-05-03 | 河北工业大学 | A kind of multi-functional construction robot of four arms |
| CN113060256A (en) * | 2021-04-25 | 2021-07-02 | 北京丰润铭科贸有限责任公司 | Construction engineering robot of large-scale concatenation formula maritime work platform |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109703016A (en) * | 2019-01-23 | 2019-05-03 | 河北工业大学 | A kind of multi-functional construction robot of four arms |
| CN113060256A (en) * | 2021-04-25 | 2021-07-02 | 北京丰润铭科贸有限责任公司 | Construction engineering robot of large-scale concatenation formula maritime work platform |
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