CN110778067B - Movement device, building robot and building construction system - Google Patents
Movement device, building robot and building construction system Download PDFInfo
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- CN110778067B CN110778067B CN201911000555.5A CN201911000555A CN110778067B CN 110778067 B CN110778067 B CN 110778067B CN 201911000555 A CN201911000555 A CN 201911000555A CN 110778067 B CN110778067 B CN 110778067B
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
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Abstract
The invention provides a movement device, a construction robot and a construction system, and relates to the field of construction machinery. The moving device comprises a moving frame, an upper guide rail and a lower guide rail. The moving frame is used for mounting an actuating mechanism and driving the actuating mechanism to move; the top of the moving frame can slide along the upper guide rail; the bottom of the moving vehicle frame can slide along the lower guide rail. The moving device provided by the invention can be used for stably and automatically constructing the wall surface in a narrow and small working environment of the climbing frame after an execution mechanism is carried on, and solves the problems of construction difficulty and potential safety hazard caused by manually constructing the wall surface on the climbing frame in the prior art. The invention provides a construction robot, which comprises the moving device. The invention provides a building construction system which comprises the building robot.
Description
Technical Field
The invention relates to the technical field of construction machinery, in particular to a moving device, a construction robot and a construction system.
Background
In building construction, a plurality of processes require workers to work by depending on the climbing frame, such as outer wall polishing, outer wall spraying, outer wall putty scraping and the like. The existing climbing frame is of a frame type structure, the space is relatively narrow, the distance between the outermost side of the climbing frame and a wall surface is only 1000mm, and a large enough supporting area cannot be provided to support a general moving frame to stably move; and the working environment of the climbing frame is complex, the outermost side of the climbing frame is 1000mm away from the wall surface, even a continuous turning part is arranged, and the width of the continuous turning part is 600mm multiplied by 600 mm. The construction of the worker in the climbing frame is very difficult, and the worker has great potential safety hazard during working.
Disclosure of Invention
The invention aims to provide a moving device, a building robot and a building construction system, wherein the moving device can stably move in a climbing frame, the building robot can walk in the climbing frame and carry out automatic construction operation on a wall surface, and the building construction system can carry out automatic construction operation on the wall surface.
In order to achieve the purpose, the invention adopts the following technical scheme:
the present invention provides a sports apparatus, including:
the moving frame is used for mounting an actuating mechanism and driving the actuating mechanism to move;
the top of the moving frame can slide along the upper guide rail;
and the bottom of the moving vehicle frame can slide along the lower guide rail.
Preferably, the sports carriage comprises:
a frame;
and the driving assembly is arranged on the frame and used for driving the frame to move.
Preferably, the drive assembly comprises:
the rolling wheel set is arranged at the bottom of the frame and is in rolling contact with the lower guide rail;
and the driving piece is arranged on the frame and used for driving the rolling wheel set to roll along the extending direction of the lower guide rail.
Preferably, the rolling wheel group comprises:
the driving wheel is in transmission connection with the driving piece;
and the driving wheel drives the driven wheel to roll.
Preferably, the driving wheel and the driven wheel are respectively arranged at two ends of the bottom of the frame along the movement direction.
Preferably, the sports carriage further comprises:
a lower steering structure connecting the frame and the drive assembly such that the frame is rotatable in a horizontal plane relative to the drive assembly.
Preferably, the lower steering structure includes:
a second rotating shaft, one end of which is fixed on one of the frame and the driving component;
a second bearing housing mounted on the other of the frame and the drive assembly;
and the third bearing is arranged on the second bearing seat, and the other end of the second rotating shaft extends into the third bearing and is in rotating connection with the third bearing.
Preferably, the sports carriage comprises:
the frame body is used for mounting the actuating mechanism;
the lower chassis is arranged at the bottom of the frame body and can slide along the lower guide rail;
and the upper chassis is arranged at the top of the frame body and can slide along the upper guide rail.
Preferably, the sports carriage further comprises:
the auxiliary steering structure is connected with the frame body and the upper chassis, so that the frame body can rotate in a horizontal plane relative to the chassis.
Preferably, the exercise device further comprises:
the upper guide wheel structure is arranged at the top of the moving frame and can roll along the upper guide rail;
and the lower guide wheel structure is arranged at the bottom of the moving vehicle frame and can roll along the lower guide rail.
Preferably, the upper guide rail is an i-shaped rail, and the upper guide wheel structure includes:
the first guide wheel is arranged at the top of the moving frame and can roll along one side of the upper guide rail;
and the second guide wheel is arranged at the top of the moving vehicle frame and can roll along the other side of the upper guide rail.
Preferably, the two ends of the top of the moving frame along the moving direction are provided with the upper guide wheel structures.
Preferably, the lower guide rail is an i-shaped rail, and the lower guide wheel structure includes:
the third guide wheel is arranged at the bottom of the moving frame and can roll along one side of the lower guide rail;
and the fourth guide wheel is installed at the bottom of the moving vehicle frame and can roll along the other side of the lower guide rail.
Preferably, the two ends of the bottom of the moving frame along the moving direction are provided with the lower guide wheel structures.
Preferably, the exercise device further comprises:
and the upper steering structure is connected with the moving frame and the upper guide wheel structure, so that the moving frame can rotate in a horizontal plane relative to the upper guide wheel structure.
Preferably, the upper steering structure includes:
an axle on which one of the upper idler structure and the moving frame is mounted;
and the first bearing is arranged on the other one of the moving vehicle frames of the upper guide wheel structure, and one end of the shaft element extends into the first bearing and is in rotating connection with the first bearing.
The invention provides a building robot which comprises an actuating mechanism and the moving device, wherein the actuating mechanism is arranged on a moving frame of the moving device.
Preferably, the actuating mechanism comprises a plurality of actuating mechanisms, and the actuating mechanisms are selectively arranged on the moving frame.
The invention provides a building construction system, which comprises a climbing frame and the building robot, wherein the upper guide rail and the lower guide rail are arranged in the climbing frame.
The invention has the beneficial effects that:
the moving device provided by the invention comprises a moving frame, an upper guide rail and a lower guide rail. The moving frame is used for installing the actuating mechanism and driving the actuating mechanism to move, the top of the moving frame can slide along the upper guide rail, and the bottom of the moving frame can slide along the lower guide rail. The upper guide slide rail is arranged at the top of the moving frame, and the lower guide slide rail is arranged at the bottom of the moving frame, so that the upper part and the lower part of the moving frame can obtain a constraint guide effect in the moving process, the moving frame is prevented from overturning in the moving process, the moving frame can stably move to a preset construction position in a preset direction, and the problem that the moving frame cannot be stably supported to move due to the fact that the supporting area of the existing frame type climbing frame is too small is solved.
Drawings
Fig. 1 is a perspective view of a sports apparatus mounted on a climbing frame according to an embodiment of the present invention;
FIG. 2 is a perspective view of a sports carriage of the sports apparatus according to the embodiment of the present invention;
FIG. 3 is a left side view of a sport chassis of a sport device provided in accordance with an embodiment of the present invention;
FIG. 4 is a top view of a sport chassis of a sport device provided in accordance with an embodiment of the present invention;
FIG. 5 is an enlarged view at E in FIG. 2;
FIG. 6 is an enlarged view at A in FIG. 1;
FIG. 7 is an enlarged view at C of FIG. 1;
FIG. 8 is an enlarged view at B in FIG. 1;
FIG. 9 is an enlarged view at D of FIG. 1;
FIG. 10 is an exploded view of an upper idler structure, upper steering structure, auxiliary steering structure, and upper chassis provided by an exemplary embodiment of the present invention;
FIG. 11 is an exploded view of the lower steering structure;
FIG. 12 is an enlarged view at F of FIG. 2;
fig. 13 is an exploded view of an auxiliary steering structure provided in accordance with an embodiment of the present invention.
In the figure:
1. climbing a frame;
2. a sport vehicle frame; 21. a frame; 211. a frame body; 212. a lower chassis; 213. an upper chassis; 22. a drive assembly; 221. a drive member; 222. a rolling wheel group; 2221. a driving wheel; 2222. a driven wheel; 23. an upper guide wheel structure; 231. a first guide wheel; 232. a second guide wheel; 24. a lower guide wheel structure; 241. a third guide wheel; 242. a fourth guide wheel; 25. an upper steering structure; 251. a first bearing; 252. a shaft member; 26. an auxiliary steering structure; 261. a first rotating shaft; 262. a first bearing housing; 263. a second bearing; 264. a limiting member; 27. a lower steering structure; 271. a second bearing housing; 272. a second rotating shaft; 273. a third bearing;
31. an upper guide rail; 32. a lower guide rail; 33. a first guide groove; 34. a second guide groove; 35. a third guide groove; 36. and a fourth guide groove.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments.
Referring to fig. 1, the present invention provides a sports apparatus including a sports car frame 2, an upper guide rail 31 and a lower guide rail 32. The moving frame 2 is used for installing an actuating mechanism and driving the actuating mechanism to move, the upper guide rail 31 is installed at the top of the climbing frame 1, the lower guide rail 32 is installed at the bottom of the climbing frame 1, and the upper guide rail 31 and the lower guide rail 32 are arranged along the extending direction of the climbing frame 1. The top of moving vehicle frame 2 can slide along upper guide rail 31, the bottom of moving vehicle frame 2 can slide along lower guide rail 32 to make the top and the bottom of moving vehicle frame 2 all can obtain restraint direction effect along the in-process of climbing frame 1 motion, simultaneously, because the upper portion and the lower part of moving vehicle frame 2 all can be connected with climbing frame 1 through upper guide slide rail 31 and lower guide slide rail 32, prevent that moving vehicle frame 2 from taking place to topple at the in-process of motion, so that moving vehicle frame 2 can move to predetermined construction position towards predetermined direction steadily. In practical applications, the moving vehicle frame 2 can be used for constructing a wall surface in a narrow working environment of the conventional climbing frame 1 after an execution mechanism is mounted.
Preferably, referring to fig. 1, 2, 3 and 4, the moving carriage 2 comprises a carriage 21 and a drive assembly 22. The driving assembly 22 is mounted on the frame 21 for driving the frame 21 to move along the creeper 1.
Specifically, the frame 21 includes a frame body 211, a lower chassis 212, and an upper chassis 213. The lower chassis 212 is mounted at the bottom of the frame body 211; the upper chassis 213 is installed on the top of the frame body 211. The driving assembly 22 includes a rolling wheel set 222 mounted on the lower chassis 212 and a driving member 221. The driving member 221 drives the rolling wheel set 222 to roll along the extending direction of the lower guide rail 32.
Further, referring to fig. 2, in the present embodiment, the driving member 221 is optionally configured as a motor, the rolling wheel set 222 includes a driving wheel 2221 and a driven wheel 2222, the driving wheel 2221 and the driven wheel 2222 are respectively installed at two ends of the lower chassis 212, and the driving wheel 2221 and the driven wheel 2222 are arranged along the extending direction of the creeper 1, so that two ends of the frame 21 can obtain the same supporting force, so as to further improve the stability of the moving frame 2.
Of course, in other embodiments, the driving assembly 22 may be configured to drive the sprocket chain assembly to move by a motor, so as to move the frame 21.
Preferably, the length direction of the frame 21 is the same direction as the extending direction of the climbing frame 1, so that the frame 21 can obtain larger volume in the narrow climbing frame 1 to better support the actuating mechanism.
Preferably, referring to fig. 1 and 2, the exercise apparatus further includes an upper idler structure 23. The upper guide wheel structure 23 is mounted on the top surface of the upper chassis 213 and can roll along the upper guide rail 31. The upper guide wheel structure 23 rolls along the upper guide rail 31, so that the guide effect of the moving vehicle frame 2 in the moving process is realized.
Preferably, both ends of the upper chassis 213 in the moving direction are provided with upper guide wheel structures 23 to further improve the stability of the moving carriage 2 during movement.
Preferably, referring to fig. 1, 5, 6 and 7, the upper guide rail 31 is an i-shaped rail, that is, two opposite sides of the upper guide rail 31 are respectively provided with a first guide groove 33 and a second guide groove 34, the first guide groove 33 and the second guide groove 34 are both arranged along the length direction of the upper guide rail 31, and the upper guide wheel structure 23 includes a first guide wheel 231 and a second guide wheel 232. The first guide wheel 231 is installed on the top surface of the upper chassis 213 and can roll along the second guide groove 34; the second guide pulley 232 is mounted on the top surface of the upper chassis 213 and can roll along the first guide groove 33. When the moving body frame 2 moves along the creeper 1, the first guide wheel 231 rolls in the second guide groove 34, the second guide wheel 232 rolls in the first guide groove 33, and meanwhile, the upper guide rail 31 is clamped between the first guide wheel 231 and the second guide wheel 232, and the upper guide rail 31 can prevent the upper portion of the moving body frame 2 from deviating from the upper guide rail 31 under the action of external force, so that the stability of the moving body frame 2 is ensured.
Of course, in other embodiments, the upper guide rail 31 may also be provided as a guide rod, and correspondingly, the moving vehicle frame 2 may be sleeved on the guide rod by using a guide sleeve, as long as the moving vehicle frame 2 can move along the direction of the guide rod.
Of course, in other embodiments, the sliding block is slidably engaged with the upper guide rail 31 to achieve the sliding connection effect with the upper guide rail 31.
Preferably, the moving device further comprises a lower guide wheel structure 24, and a lower guide rail 32 is arranged at the bottom of the climbing frame 1 along the extending direction of the climbing frame 1; lower idler structure 24 is mounted to the bottom surface of lower chassis 212 and is capable of rolling along lower guide track 32.
Preferably, both ends of the lower chassis 212 in the moving direction are provided with lower guide wheel structures 24 to further improve the stability of the moving carriage 2 during the moving process.
Preferably, referring to fig. 1, 8 and 9, the lower guide rail 32 is an i-shaped rail, that is, two opposite sides of the lower guide rail 32 are respectively provided with a third guide groove 35 and a fourth guide groove 36, the third guide groove 35 and the fourth guide groove 36 are both arranged along the length direction of the lower guide rail 32, and the lower guide wheel structure 24 includes a third guide wheel 241 and a fourth guide wheel 242. The third guide wheel 241 is installed on the bottom surface of the lower chassis 212 and can roll along the fourth guide groove 36; the fourth guide pulley 242 is installed on the bottom surface of the lower chassis 212 and can roll along the third guide groove 35. When the moving frame 2 moves along the creeper 1, the third guide wheel 241 rolls in the fourth guide groove 36, the fourth guide wheel 242 rolls in the third guide groove 35, and meanwhile, the lower guide rail 32 is clamped between the third guide wheel 241 and the fourth guide wheel 242, and the lower guide rail 32 can prevent the lower portion of the moving frame 2 from deviating from the lower guide rail 32 under the action of external force, so as to ensure the stability of the moving frame 2.
Of course, in other embodiments, the lower guide rail 32 may be provided as a guide rod, and correspondingly, the moving vehicle frame 2 may be sleeved on the guide rod by using a guide sleeve, as long as the moving vehicle frame 2 can move along the direction of the guide rod.
Of course, in other embodiments, the sliding block is slidably engaged with the lower guide rail 32 to achieve the sliding connection effect with the lower guide rail 32.
Under the action of the upper guide rail 31 and the lower guide rail 32, the upper part and the bottom part of the moving carriage 2 are limited to move in the same plane, so that the moving carriage 2 does not overturn when walking.
Preferably, referring to fig. 1 and 3, the moving device further includes an upper steering structure 25, the upper steering structure 25 is installed between the top of the moving frame 2 and the upper guide wheel structure 23, and the moving frame 2 and the upper guide wheel structure 23 are rotatably connected through the upper steering structure 25. When the climbing frame 1 has a curve, the upper part of the moving frame 2 can rotate relative to the upper guide wheel structure 23 and can move along the guide direction of the upper guide rail 31 so as to adapt to the construction of a wall surface with a corner.
Specifically, referring to fig. 1, 3, 5 and 10, the upper steering structure 25 includes a shaft 252 and a first bearing 251. The first guide wheel 231 and the second guide wheel 232 are mounted on the upper surface of the shaft member 252, the shaft member 252 extends into the first bearing 251 and is rotatably connected with the first bearing 251, and the first bearing 251 is mounted on the upper chassis 213 of the moving frame 2. When the moving frame 2 encounters a corner in the moving process, the first bearing 251 can rotate around the axis of the shaft member 252 in the plane where the moving direction of the moving frame 2 is located, and simultaneously the first bearing 251 can drive the shaft member 252 to move towards the moving direction of the moving frame 2, so as to solve the problem that the moving frame 2 is jammed when moving at the corner of the climbing frame 1.
Since the upper guide rail 31 and the lower guide rail 32 are installed in parallel to each other at the upper and lower ends of the creeper 1, that is, the relative positions of the upper guide rail 31 and the lower guide rail 32 are fixed, that is, the degree of freedom of the shaft member 252 and the first bearing 251 in the direction perpendicular to the moving direction of the moving body frame 2 is limited within a predetermined range, that is, the shaft member 252 is not separated from the first bearing 251.
Of course, in other embodiments, the upper steering structure 25 may be installed upside down, that is, the first guide wheel 231 and the second guide wheel 232 are installed on the upside down first bearing 251, and the shaft member 252 is installed upside down on the upper chassis 213, so that the effect of the moving frame 2 rotating relative to the upper guide wheel structure 23 and being capable of moving along the guiding direction of the upper guide rail 31 can be achieved.
Preferably, referring to fig. 1, 2, 3 and 11, the exercise device further includes a lower steering structure 27, the lower steering structure 27 is installed between the frame 21 and the rolling wheel set 222, and the frame 21 and the rolling wheel set 222 are rotatably connected through the lower steering structure 27. When the climbing frame 1 has a curved path to fit a wall surface having a corner, the lower portion of the moving frame 2 can rotate relative to the lower guide wheel structure 24 and can move in the guide direction of the lower guide rail 32 to adapt to the construction of the wall surface having a corner.
Specifically, the lower steering structure 27 includes a second rotating shaft 272, a second bearing housing 271, and a third bearing 273. One end of the second rotating shaft 272 is fixed to the lower chassis 212 of the moving frame 2; the second bearing seat 271 is mounted on the wheel set support of the rolling wheel set 222; the third bearing 273 is installed in the second bearing housing 271, and the other end of the second rotating shaft 272 extends into the third bearing 273 and is rotatably connected to the third bearing 273. The rotational connection between the lower chassis 212 and the rolling wheel group 222 is realized by a rotational connection between the second rotating shaft 272 and the third bearing 273.
Of course, in other embodiments, the lower steering structure 27 may also be installed upside down, that is, the second bearing seat 271 is installed upside down on the lower chassis 212, and the second rotating shaft 272 is installed upside down on the wheel set support of the rolling wheel set 222, and the effect of the rotational connection between the lower chassis 212 and the rolling wheel set 222 can also be achieved.
Since the upper guide rail 31 and the lower guide rail 32 are installed in parallel to each other at the upper and lower ends of the creeper 1, that is, the relative positions of the upper guide rail 31 and the lower guide rail 32 are fixed, that is, the degree of freedom of the second bearing seat 271 and the second rotating shaft 272 in the direction perpendicular to the moving direction of the moving vehicle frame 2 is limited within a predetermined range, that is, the second bearing seat 271 is not separated from the second rotating shaft 272.
By arranging the upper steering structure 25 and the lower steering structure 27, the sports car frame 2 can continue to move at the turning part of the climbing frame 1 so as to adapt to the complex environment that the climbing frame 1 has a turning.
Since in this embodiment, the upper guide wheel structures 23 are arranged in two sets and respectively installed at two ends of the upper chassis 213, and the lower guide wheel structures 24 are arranged in two sets and respectively installed at two ends of the lower chassis 212, in order to prevent the two sets of upper guide wheel structures 23 and the two sets of lower guide wheel structures 24 from being jammed when the exercise frame 2 moves along the corner of the climbing frame 1, preferably, referring to fig. 2, 10, 12 and 13, the exercise device further includes an auxiliary steering structure 26, the auxiliary steering structure 26 is installed between the frame body 211 and the upper chassis 213, and the frame body 211 and the upper chassis 213 are rotatably connected through the auxiliary steering structure 26. When the moving frame 2 moves at the corner of the climbing frame 1, if the two sets of upper guide wheel structures 23 and the two sets of lower guide wheel structures 24 are locked with each other, so that the upper chassis 213 cannot rotate relative to the upper guide wheel structures 23 and/or the lower chassis 212 cannot rotate relative to the lower guide wheel structures 24, the frame body 211 can still rotate relative to the lower chassis 212 and the upper chassis 213 in the plane where the moving direction of the moving frame 2 is located, and meanwhile, the frame body 211 can drive the lower chassis 212 and the upper chassis 213 to move towards the moving direction of the moving frame 2, so as to solve the problem that the moving frame 2 is locked due to the two sets of upper guide wheel structures 23 and the two sets of lower guide wheel structures 24.
Specifically, the auxiliary steering structure 26 includes a first rotating shaft 261, a first bearing housing 262, and a second bearing 263. One end of the first rotating shaft 261 is fixed in the frame body 211; the first bearing seat 262 is fixed on the upper chassis 213; the second bearing 263 is installed on the first bearing seat 262, and the other end of the first rotating shaft 261 extends into the second bearing 263 and is rotatably connected with the second bearing 263. The rotational connection between the frame body 211 and the upper chassis 213 is realized by the rotational connection between the first rotating shaft 261 and the second bearing 263.
Further, the auxiliary steering structure 26 further includes a limiting member 264, and the limiting member 264 is installed on a portion of the first rotating shaft 261 protruding from the second bearing 263 to prevent the first rotating shaft 261 from being separated from the second bearing 263, so as to further ensure the stability of the exercise device.
Of course, in other embodiments, the auxiliary steering structure 26 may be mounted upside down, that is, one end of the first rotating shaft 261 is fixed on the upper chassis 213, and correspondingly, the first bearing seat 262 is mounted upside down on the frame body 211, and the effect of the rotational connection between the frame body 211 and the upper chassis 213 can also be achieved.
Of course, in other embodiments, the auxiliary steering structure 26 may be installed between the frame body 211 and the lower chassis 212, and the problem of the sport car frame 2 being jammed due to the two sets of upper guide wheel structures 23 and the two sets of lower guide wheel structures 24 can also be solved.
The invention provides a building robot which comprises an actuating mechanism and the moving device, wherein the actuating mechanism is arranged on a moving frame 2 of the moving device, and the moving frame 2 travels in a climbing frame 1 to realize the traveling of the actuating mechanism so as to construct a wall surface.
Preferably, the actuator includes a plurality of types, and the plurality of types of actuators are selectively installed on the moving frame 2 to perform different processes on the wall surface. The executing mechanism comprises a spraying mechanism, a polishing mechanism, a floating mechanism and the like. Of course, the moving frame 2 may be provided with a lifting mechanism, a battery, an electric box and other components, so that the actuator can move more flexibly.
The invention provides a building construction system, which comprises a climbing frame 1 and the building robot, wherein an upper guide rail 31 and a lower guide rail 32 are arranged in the climbing frame 1.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.
Claims (17)
1. An exercise device, comprising:
the moving frame (2) is used for mounting an actuating mechanism and driving the actuating mechanism to move;
an upper guide rail (31), along which the top of the moving carriage (2) can slide;
a lower guide rail (32), along which the bottom of the moving carriage (2) can slide;
the sports carriage (2) comprises:
a frame body (211) for mounting the actuating mechanism;
the lower chassis (212) is installed at the bottom of the frame body (211), and the lower chassis (212) can slide along the lower guide rail (32);
the upper chassis (213) is installed at the top of the frame body (211), and the upper chassis (213) can slide along the upper guide rail (31);
the auxiliary steering structure (26) is used for connecting the frame body (211) with the upper chassis (213) so that the frame body (211) can rotate in a horizontal plane relative to the upper chassis (213).
2. Vehicle according to claim 1, characterized in that the vehicle frame (2) comprises:
a vehicle frame (21);
the driving assembly (22) is mounted on the vehicle frame (21) and used for driving the vehicle frame (21) to move.
3. Vehicle according to claim 2, characterized in that said drive assembly (22) comprises:
a rolling wheel set (222) mounted at the bottom of the frame (21), the rolling wheel set (222) being in rolling contact with the lower guide rail (32);
and the driving piece (221) is mounted on the frame (21) and is used for driving the rolling wheel set (222) to roll along the extending direction of the lower guide rail (32).
4. Vehicle according to claim 3, characterized in that said rolling wheel group (222) comprises:
the driving wheel (2221) is in transmission connection with the driving piece (221);
and the driven wheel (2222) is driven by the driving wheel (2221) to roll by the driven wheel (2222).
5. Vehicle according to claim 4, characterized in that the driving wheel (2221) and the driven wheel (2222) are respectively arranged at the bottom of the frame (21) at both ends in the direction of movement.
6. Vehicle according to claim 2, characterized in that the vehicle frame (2) further comprises:
a lower steering structure (27), the lower steering structure (27) connecting the frame (21) and the drive assembly (22) such that the frame (21) is rotatable in a horizontal plane relative to the drive assembly (22).
7. Vehicle according to claim 6, characterized in that said lower steering structure (27) comprises:
a second rotating shaft (272) having one end fixed to one of the frame (21) and the drive assembly (22);
a second bearing housing (271) mounted on the other of the frame (21) and the drive assembly (22);
and the third bearing (273) is installed on the second bearing seat (271), and the other end of the second rotating shaft (272) extends into the third bearing (273) and is rotatably connected with the third bearing (273).
8. The exercise device of any of claims 1-7, further comprising:
an upper guide wheel structure (23) which is arranged on the top of the moving vehicle frame (2) and can roll along the upper guide rail (31);
and the lower guide wheel structure (24) is arranged at the bottom of the moving vehicle frame (2) and can roll along the lower guide rail (32).
9. Vehicle according to claim 8, wherein the upper guide track (31) is an I-shaped track and the upper guide wheel structure (23) comprises:
a first guide wheel (231) installed on the top of the moving carriage (2) and capable of rolling along one side of the upper guide rail (31);
and the second guide wheel (232) is installed at the top of the moving vehicle frame (2) and can roll along the other side of the upper guide rail (31).
10. Vehicle according to claim 8, characterized in that the upper guide wheel structure (23) is arranged at both ends of the top of the vehicle frame (2) in the direction of movement.
11. Vehicle according to claim 8, wherein the lower guide track (32) is an i-shaped track and the lower guide wheel structure (24) comprises:
a third guide wheel (241) installed at the bottom of the moving frame (2) and capable of rolling along one side of the lower guide rail (32);
and a fourth guide wheel (242) mounted at the bottom of the moving carriage (2) and capable of rolling along the other side of the lower guide rail (32).
12. Vehicle according to claim 8, characterized in that the bottom of the vehicle frame (2) is provided with the lower guide wheel structure (24) at both ends in the direction of movement.
13. The exercise device of claim 8, further comprising:
an upper steering structure (25), wherein the upper steering structure (25) connects the moving frame (2) and the upper guide wheel structure (23) so that the moving frame (2) can rotate in a horizontal plane relative to the upper guide wheel structure (23).
14. Vehicle according to claim 13, characterized in that said upper diverting structure (25) comprises:
an axle (252), one of the upper idler structure (23) and the moving frame (2) being mounted on the axle (252);
a first bearing (251) mounted on the other of the upper guide wheel structure (23) and the moving frame (2), one end of the shaft member (252) extending into the first bearing (251) and being rotatably connected to the first bearing (251).
15. A construction robot, comprising an actuator; and
the vehicle according to any of claims 1 to 14, wherein the actuator is mounted on a vehicle frame (2) of the vehicle.
16. The construction robot according to claim 15, characterized in that said actuators comprise a plurality of types, selectively mounted on said moving carriage (2).
17. A building construction system comprising a creeper (1), further comprising a construction robot as claimed in claim 15 or 16, the upper guide rail (31) and the lower guide rail (32) both being provided within the creeper (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911000555.5A CN110778067B (en) | 2019-10-21 | 2019-10-21 | Movement device, building robot and building construction system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911000555.5A CN110778067B (en) | 2019-10-21 | 2019-10-21 | Movement device, building robot and building construction system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110778067A CN110778067A (en) | 2020-02-11 |
| CN110778067B true CN110778067B (en) | 2021-04-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911000555.5A Active CN110778067B (en) | 2019-10-21 | 2019-10-21 | Movement device, building robot and building construction system |
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Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4977659A (en) * | 1989-12-29 | 1990-12-18 | Ristow Delano H | Tool for seating tubing in a concealed roofing base rail |
| JPH04258468A (en) * | 1991-02-13 | 1992-09-14 | Nichias Corp | Robot type spraying apparatus |
| CN2660021Y (en) * | 2003-12-04 | 2004-12-01 | 韩燕华 | Building plastering manipulator |
| US8448954B2 (en) * | 2010-12-09 | 2013-05-28 | Sbyke Usa Llc | Skate truck |
| CN202248799U (en) * | 2011-09-09 | 2012-05-30 | 丁台喜 | Full-automatic plastering machine |
| CN205935580U (en) * | 2016-08-16 | 2017-02-08 | 郑开军 | Novel large tracts of land mechanical float |
| CN107060291B (en) * | 2017-04-24 | 2019-02-15 | 彭红星 | A kind of wall plastering machine of the pedestal with guide rail |
| CN206722342U (en) * | 2017-05-13 | 2017-12-08 | 惠安县翔盛建筑设计有限公司 | plastering machine |
| CN107539735B (en) * | 2017-07-20 | 2019-07-16 | 武汉华星光电技术有限公司 | A kind of transport device applied to arc track |
| CN208137367U (en) * | 2018-05-03 | 2018-11-23 | 中铁十二局集团电气化工程有限公司 | A kind of wall plastering strickle |
-
2019
- 2019-10-21 CN CN201911000555.5A patent/CN110778067B/en active Active
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