CN105798885A - Building decoration supporting robot based on three-freedom-degree parallel mechanism - Google Patents
Building decoration supporting robot based on three-freedom-degree parallel mechanism Download PDFInfo
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- CN105798885A CN105798885A CN201610327891.0A CN201610327891A CN105798885A CN 105798885 A CN105798885 A CN 105798885A CN 201610327891 A CN201610327891 A CN 201610327891A CN 105798885 A CN105798885 A CN 105798885A
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- erecting bed
- round platform
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/003—Program-controlled manipulators having parallel kinematics
- B25J9/0045—Program-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
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Abstract
The invention relates to a building decoration supporting robot based on a three-freedom-degree parallel mechanism. The building decoration supporting robot comprises a self-stabilized supporting device with good rigid supporting performance, stabilizing performance and vibration reducing performance. A locking adjusting device is mounted in the middle of the upper end face of the self-stabilized supporting device. The self-stabilized supporting device comprises a fixed circular truncated cone, and four universal wheels are symmetrically arranged on the lower end face of the fixed circular truncated cone. The building decoration supporting robot is moved to the places, needing to be cleaned, of an indoor building through the four universal wheels. Four parallel supporting branched chains are evenly mounted on the upper end face of the fixed circular truncated cone in the axis direction, four L-shaped supporting columns are symmetrically mounted in the middles of the upper end faces of the four parallel supporting branched chains, four round mounting sheets are arranged at the tail ends of the four L-shaped supporting columns correspondingly and mounted on four connecting sheets through screws correspondingly, and the four connecting sheets are symmetrically welded to the lower end face of a square mounting table. According to the building decoration supporting robot, a stable rigid supporting function can be achieved during indoor building cleaning.
Description
Technical field
The present invention relates to building field of environment protection equipment, a kind of building decoration based on 3-freedom parallel mechanism supports robot specifically.
Background technology
nullAlong with socioeconomic development，High building miscellaneous stands in great numbers and rises，But it is as the continuous growth of high building quantity，Safeguard that the street cleaner of high building environmentally-friendly sanitary gets more and more，The scope of cleaning includes floor、Glass window、Furring tile、Furred ceiling or ceiling etc.，Although market has a lot of clean robot，But only possess the function of cleaning base plate and glass window automatically，Indoor wall ceramic tile、Furred ceiling or ceiling etc. need nonetheless remain for manually regularly processing，Not yet it is developed from automation cleaning equipment，Work as ceramic tile、Furred ceiling、When height residing for ceiling is higher，Typically require double ladder auxiliary cleaning，This height auxiliary equipment angles is fixed，Fixed angle is unadjustable，Equipment does not possess spinfunction，Thus causing the continuous adjusting angle of walking about up and down of artificial needs，And owing to street cleaner needs constantly repeatedly to clean back and forth，This height is assisted the stress point difference of equipment by people's health，Rocking or the phenomenon shaken often occur，Rigid support poor performance，Damping performance is poor，Stability is poor，Cause that street cleaner can only slowly clean meticulously，Work efficiency is greatly reduced，The scope of application is little.
Summary of the invention
In order to solve the problems referred to above, the invention provides a kind of building decoration based on 3-freedom parallel mechanism and support robot, the equipment rigid support poor performance that existing Clean-height auxiliary equipment exists can be solved, stabilization of equipment performance can be poor, equipment damping performance is poor, fixed angle is unadjustable, the anglec of rotation is unadjustable, the scope of application is little and the inferior difficult problem of inefficiency, rigid support function stable during interior architecture cleaning can be realized, there is equipment rigid support performance good, stabilization of equipment performance can be good, equipment damping performance is good, fixed angle is adjustable, the anglec of rotation is adjustable, the scope of application is big and work efficiency advantages of higher.
To achieve these goals, the present invention realizes by the following technical solutions: a kind of building decoration based on 3-freedom parallel mechanism supports robot, including from a steady support arrangement, from steady support arrangement, there is good rigid support performance, stability and damping performance, being provided with locking and regulating device in the middle part of a described certainly steady support arrangement upper surface, fixed angle and the anglec of rotation of locking and regulating device are adjustable；nullA described certainly steady support arrangement includes fixing round platform，The lower surface of described fixing round platform is symmetrically arranged with four universal wheels，The present invention is moved to cleaning place needed for interior architecture by the present invention by four universal wheels，The upper surface of fixing round platform is uniformly provided with four support side chains in parallel in the axial direction，Four in parallel supports are symmetrically installed with four L-type pillars in the middle part of side chain upper surface，The end of four L-type pillars is respectively arranged with four and installs disk，Four disk is installed to be separately mounted on four connection sheets by screw，Four connect sheet and are symmetrically welded at the lower surface of square erecting bed，The effect of stable support square erecting bed is played by four side chains that support in parallel，Location hollow axle it is welded with in the middle part of the lower surface of square erecting bed，Hollow axle lower end, location is set on main locating shaft，Location hollow axle can move vertically on main locating shaft，Main locating shaft plays spacing effect，Make square erecting bed location hollow axle spacing under can only move vertically，Without the phenomenon moved that rolls occurs，Improve the stability of equipment，Main locating shaft bottom is welded in the middle part of the upper surface of fixing round platform；The lower surface of described square erecting bed is symmetrically welded with four upper locating shafts, four upper locating shafts are arranged with four limit spring respectively, four limit spring lower ends are respectively sleeved on four lower locating shafts, four lower locating shafts are symmetrically welded on the upper surface of fixing round platform, lower locating shaft and upper locating shaft play the effect limiting limit spring position, and limit spring makes the present invention have good damping performance；Described support side chain in parallel includes the fixed platform being welded on fixing round platform upper surface, a number fixed platform upper surface uniformly installs three side chains in parallel in the axial direction, three No. one side chain upper end in parallel is uniformly arranged on a moving platform, is provided with the L-type pillar of correspondence in the middle part of a moving platform upper surface；A described side chain in parallel includes the ear mount that lower end is welded on a fixed platform upper surface, by bearing pin, a number hydraulic cylinder is installed between a number ear mount, the top of a number hydraulic cylinder has been threaded connection connecting cylinder, connecting cylinder has been threaded connection spherical hinge, spherical hinge upper end is by being threadably mounted on Triangulum, and Triangulum is welded on the lower surface of a moving platform.In the present invention, an ear mount defines R pair when rotating, P pair is defined during a number hydraulic cylinder, S pair is defined during spherical hinge work, thus defining a side chain in parallel of RPS type, eventually through a fixed platform, a number side chain in parallel of three RPS types, a number moving platform defines 3-RPS parallel institution, it is 3-RPS parallel institution that parallel connection in the present invention supports side chain, it is good that 3-RPS parallel institution has dynamic response, rigidity is high, bearing capacity is big, good stability and kinematic accuracy advantages of higher, the advantage present invention by parallel institution carrys out rigid support function stable when interior architecture cleans by four 3-RPS parallel institutions, advantage by parallel institution also makes the present invention have good stability and good damping performance simultaneously.
As a preferred technical solution of the present invention, described locking and regulating device includes the lower locking round platform that lower surface is welded on square erecting bed, by motor cabinet, electric rotating machine is installed in the middle part of lower locking round platform, the output shaft of electric rotating machine is fixedly connected with on locking erecting bed, the lower surface of locking erecting bed is evenly arranged with four L-type gag lever posts in the axial direction, four L-type gag lever posts are all connected by sliding matching mode with between convex annular edge, the lower end on convex annular edge is welded on lower locking round platform, the spaced motion on four L-type gag lever posts and convex annular edge makes locking erecting bed can stably be rotated under the drive of electric rotating machine, so that the present invention has rotates the function regulated, cleaning workman is without manual adjustments operating angle when operating, easy and simple to handle, work efficiency is high；Described locking erecting bed upper surface is symmetrically installed with four No. two hydraulic cylinders, and the middle part of four No. two hydraulic cylinders is separately fixed on the fixing seat of four Z-types, and the bottom of four fixing seats of Z-type is symmetrically mounted on locking erecting bed by screw；The top of described four No. two hydraulic cylinders is provided with rhombus elevator, four sides of rhombus elevator are symmetrically welded with four locking side chains, it is connected each through adjustment side chain between four locking side chains and locking erecting bed, the fixing locking angle of correspondence locking side chain is regulated by regulating side chain, when the support zone that required cleaning is local is skewed or irregular, have only to, by adjustment side chain, locking side chain is adjusted to suitable fixing and lock angle, fix the situation of random movement in the work process preventing the present invention afterwards, cleanup crew stand in above can be bold be cleaned function, improve work efficiency；Described locking side chain includes the straight connecting rod being welded in rhombus elevator corresponding side surface, the top of straight connecting rod is provided with two hangers, by bearing pin, No. two hangers are installed between two hangers, No. two hangers are welded on a L-type connecting rod, the top of a number L-type connecting rod is welded with square installation sheet, square installation sheet is symmetrically arranged with four installing holes, by four installing holes, the present invention is movably fixed to the support zone in required cleaning place；Described adjustment side chain includes No. two ear mount being welded on locking erecting bed, is provided with No. three hydraulic cylinders by bearing pin between No. two ear mount, and the top of No. three hydraulic cylinders is arranged between No. three ear mount by bearing pin, and No. three ear mount are welded on the sidewall of a L-type connecting rod；Described rhombus elevator upper surface is symmetrically welded with four fore-sets, and four fore-set upper ends are provided with locking round platform, and four fore-sets play the effect locking round platform round platform in rigid support, and upper locking round platform 211 has been stood street cleaner.During work, first street cleaner stands on upper locking round platform 211, then suitable operating angle is determined according to practical situation street cleaner, electric rotating machine is started working, owing to the spacing assisted movement of four L-type gag lever posts Yu convex annular edge makes locking erecting bed can stably be rotated under the drive of electric rotating machine, locking erecting bed synchronizes to drive four locking side chains to rotate, and when the present invention arrives the operating angle of suitable cleaning, electric rotating machine quits work；Then the fixing locking angle of side chain is locked according to the support zone shape adjustment that required cleaning is local, have only to regulate the locking side chain of required fixed-direction according to nearby principle, corresponding No. three hydraulic cylinders regulated on side chain are started working, No. three hydraulic cylinders drive a L-type connecting rod to rotate on straight connecting rod by No. three ear mount, when the square installation sheet medial surface being welded on a L-type connecting rod top is parallel to the support zone in required cleaning place, No. three hydraulic cylinders quit work, finally by four installing holes, the present invention is movably fixed to the support zone in required cleaning place, fix the situation of random movement in the work process preventing the present invention afterwards, cleanup crew stand in can be bold above locking round platform be cleaned function, improve work efficiency.
During use, first pass through four universal wheels the present invention to be moved to cleaning place needed for interior architecture, then street cleaner stands on upper locking round platform, suitable operating angle is determined further according to practical situation street cleaner, electric rotating machine is started working, owing to the spacing assisted movement of four L-type gag lever posts Yu convex annular edge makes locking erecting bed can stably be rotated under the drive of electric rotating machine, locking erecting bed synchronizes to drive four locking side chains to rotate, and when the present invention arrives the operating angle of suitable cleaning, electric rotating machine quits work；nullThen the fixing locking angle of side chain is locked according to the support zone shape adjustment that required cleaning is local，Have only to regulate the locking side chain of required fixed-direction according to nearby principle，Corresponding No. three hydraulic cylinders regulated on side chain are started working，No. three hydraulic cylinders drive a L-type connecting rod to rotate on straight connecting rod by No. three ear mount，When the square installation sheet medial surface being welded on a L-type connecting rod top is parallel to the support zone in required cleaning place, No. three hydraulic cylinders quit work，Finally by four installing holes, the present invention is movably fixed to the support zone in required cleaning place，Fix the situation of random movement in the work process preventing the present invention afterwards，Cleanup crew stand in can be bold above locking round platform be cleaned function，Improve work efficiency，After regulating, cleanup crew stands in and quickly clears up interior architecture ceramic tile above locking round platform、Furred ceiling or ceiling，And an ear mount defines R pair when rotating in the present invention、P pair is defined during a number hydraulic cylinder、S pair is defined during spherical hinge work，Thus defining a side chain in parallel of RPS type，Eventually through a fixed platform、A number side chain in parallel of three RPS types、A number moving platform defines 3-RPS parallel institution，It is 3-RPS parallel institution that parallel connection in the present invention supports side chain，It is good that 3-RPS parallel institution has dynamic response、Rigidity is high、Bearing capacity is big、Good stability and kinematic accuracy advantages of higher，The advantage present invention by parallel institution realizes rigid support function stable when interior architecture of the present invention cleans by four 3-RPS parallel institutions，Advantage by parallel institution also makes the present invention have good stability and good damping performance simultaneously.
The invention has the beneficial effects as follows:
1, the parallel connection in the present invention supports side chain is 3-RPS parallel institution, 3-RPS parallel institution has that dynamic response is good, rigidity is high, bearing capacity is big, good stability and kinematic accuracy advantages of higher, the advantage present invention by parallel institution realizes rigid support function stable when interior architecture of the present invention cleans by four 3-RPS parallel institutions, and the advantage by parallel institution also makes the present invention have good stability and good damping performance simultaneously；
2, the present invention makes the street cleaner above locking erecting bed can do stable rotary motion by electric rotating machine in the spacing assisted movement of four L-type gag lever posts Yu convex annular edge, achieve anglec of rotation adjustable function of the present invention, and the present invention drives the square installation sheet on a L-type connecting rod to rotate on straight connecting rod by regulating No. three hydraulic cylinders on side chain, thus effectively have adjusted the fixing locking angle of locking side chain, realize the adjustable function of fixed angle of the present invention, fix the situation of random movement in the work process preventing the present invention afterwards, cleanup crew stand in above can be bold be cleaned function, improve work efficiency；
3, the invention solves existing Clean-height auxiliary equipment exist equipment rigid support poor performance, stabilization of equipment performance can poor, equipment damping performance is poor, fixed angle is unadjustable, the anglec of rotation is unadjustable, the scope of application is little and the inferior difficult problem of inefficiency, achieve stable rigid support function during interior architecture cleaning, have that equipment rigid support performance is good, stabilization of equipment performance can good, equipment damping performance is good, fixed angle is adjustable, the anglec of rotation is adjustable, the scope of application is big and work efficiency advantages of higher.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the present invention structural representation from a steady support arrangement；
Fig. 3 is the present invention full sectional view from a steady support arrangement；
Fig. 4 is the structural representation of locking and regulating device of the present invention；
Fig. 5 is the full sectional view of locking and regulating device of the present invention.
Specific embodiment
For the technological means making the present invention realize, creation characteristic, reach purpose and effect and be easy to understand, below in conjunction with being specifically illustrating, the present invention is expanded on further.
nullAs shown in Figures 1 to 5，A kind of building decoration based on 3-freedom parallel mechanism supports robot,Including from a steady support arrangement 1，From a steady support arrangement 1, there is good rigid support performance、Stability and damping performance，In the middle part of described certainly steady support arrangement 1 upper surface, locking and regulating device 2 is installed，Fixed angle and the anglec of rotation of locking and regulating device 2 are adjustable，A described certainly steady support arrangement 1 includes fixing round platform 11，The lower surface of described fixing round platform 11 is symmetrically arranged with four universal wheels 12，The present invention is moved to cleaning place needed for interior architecture by the present invention by four universal wheels 12，The upper surface of fixing round platform 11 is uniformly provided with four support side chains 13 in parallel in the axial direction，Four in parallel supports are symmetrically installed with four L-type pillars 14 in the middle part of side chain 13 upper surface，The end of four L-type pillars 14 is respectively arranged with four and installs disk 14a，Four disk 14a is installed to be separately mounted on four connection sheet 15a by screw，Four connect sheet 15a and are symmetrically welded at the lower surface of square erecting bed 15，The effect of stable support square erecting bed 15 is played by four side chains 13 that support in parallel，Location hollow axle 16 it is welded with in the middle part of the lower surface of square erecting bed 15，Hollow axle 16 lower end, location is set on main locating shaft 17，Location hollow axle 16 can move vertically on main locating shaft 17，Main locating shaft 17 plays spacing effect，Make square erecting bed 15 location hollow axle 16 spacing under can only move vertically，Without the phenomenon moved that rolls occurs，Improve the stability of equipment，Main locating shaft 17 bottom is welded in the middle part of the upper surface of fixing round platform 11；The lower surface of described square erecting bed 15 is symmetrically welded with four upper locating shaft 15b, four upper locating shaft 15b are arranged with four limit spring 18 respectively, four limit spring 18 lower ends are respectively sleeved on four lower locating shaft 11a, four lower locating shaft 11a are symmetrically welded on the upper surface of fixing round platform 11, lower locating shaft 11a and upper locating shaft 15b plays the effect limiting limit spring 18 position, and limit spring 18 makes the present invention have good damping performance；Described support side chain 13 in parallel includes the fixed platform 131 being welded on fixing round platform 11 upper surface, number fixed platform 131 upper surface uniformly installs three side chains 132 in parallel in the axial direction, three No. one side chain 132 upper end in parallel is uniformly arranged on a moving platform 133, is provided with the L-type pillar 14 of correspondence in the middle part of moving platform 133 upper surface；A described side chain 132 in parallel includes the ear mount 1321 that lower end is welded on fixed platform 131 upper surface, by bearing pin, a number hydraulic cylinder 1322 is installed between a number ear mount 1321, the top of a number hydraulic cylinder 1322 has been threaded connection connecting cylinder 1323, connecting cylinder 1323 has been threaded connection spherical hinge 1324, spherical hinge 1324 upper end is by being threadably mounted on Triangulum 1325, and Triangulum 1325 is welded on the lower surface of a moving platform 133.nullIn the present invention, an ear mount 1321 defines R pair when rotating、A number hydraulic cylinder 1322 defines P pair when moving、Spherical hinge 1324 defines S pair when working，Thus the side chain 132 in parallel defining RPS type，Eventually through a fixed platform 131、A number side chain 132 in parallel of three RPS types、A number moving platform 133 defines 3-RPS parallel institution，It is 3-RPS parallel institution that parallel connection in the present invention supports side chain 13，It is good that 3-RPS parallel institution has dynamic response、Rigidity is high、Bearing capacity is big、Good stability and kinematic accuracy advantages of higher，The advantage present invention by parallel institution realizes rigid support function stable when interior architecture cleans by four 3-RPS parallel institutions，Advantage by parallel institution also makes the present invention have good stability and good damping performance simultaneously.
nullDescribed locking and regulating device 2 includes the lower locking round platform 21 that lower surface is welded on square erecting bed 15，By motor cabinet, electric rotating machine 22 is installed in the middle part of lower locking round platform 21，The output shaft of electric rotating machine 22 is fixedly connected with on locking erecting bed 23，The lower surface of locking erecting bed 23 is evenly arranged with four L-type gag lever post 23a in the axial direction，Four L-type gag lever post 23a are all connected by sliding matching mode between 24 with convex annular，Convex annular is welded on lower locking round platform 21 along the lower end of 24，Four L-type gag lever post 23a and convex annular make locking erecting bed 23 can stably be rotated under the drive of electric rotating machine 22 along the spaced motion of 24，So that the present invention has rotates the function regulated，Cleaning workman is without manual adjustments operating angle when operating，Easy and simple to handle，Work efficiency is high；Described locking erecting bed 23 upper surface is symmetrically installed with four No. two hydraulic cylinders 25, and the middle part of four No. two hydraulic cylinders 25 is separately fixed on the fixing seat 26 of four Z-types, and the bottom of four fixing seats 26 of Z-type is symmetrically mounted on locking erecting bed 23 by screw；The top of described four No. two hydraulic cylinders 25 is provided with rhombus elevator 27, four sides of rhombus elevator 27 are symmetrically welded with four locking side chains 28, it is connected each through adjustment side chain 29 between four locking side chains 28 and locking erecting bed 23, the fixing locking angle of corresponding locking side chain 28 is regulated by regulating side chain 29, when the support zone that required cleaning is local is skewed or irregular, have only to, by adjustment side chain 29, locking side chain 28 is adjusted to suitable fixing and lock angle, fix the situation of random movement in the work process preventing the present invention afterwards, cleanup crew stand in above can be bold be cleaned function, improve work efficiency；Described locking side chain 28 includes the straight connecting rod 281 being welded in rhombus elevator 27 corresponding side surface, the top of straight connecting rod 281 is provided with two hanger 281a, by bearing pin, No. two hanger 282a are installed between two hanger 281a, No. two hanger 282a are welded on a L-type connecting rod 282, the top of a number L-type connecting rod 282 is welded with square installation sheet 283, square installation sheet 283 is symmetrically arranged with four installing holes, by four installing holes, the present invention is movably fixed to the support zone in required cleaning place；Described adjustment side chain 29 includes No. two ear mount 291 being welded on locking erecting bed 23, by bearing pin, No. three hydraulic cylinders 292 are installed between No. two ear mount 291, the top of No. three hydraulic cylinders 292 is arranged between No. three ear mount 293 by bearing pin, and No. three ear mount 293 are welded on the sidewall of a L-type connecting rod 282；Described rhombus elevator 27 upper surface is symmetrically welded with four fore-sets 210, and four fore-set 210 upper ends are provided with locking round platform 211, and four fore-sets 210 play the effect locking round platform 211 round platform in rigid support, and upper locking round platform 211 has been stood street cleaner.During work, first street cleaner stands on upper locking round platform 211, then suitable operating angle is determined according to practical situation street cleaner, electric rotating machine 22 is started working, owing to the spacing assisted movement along 24 of four L-type gag lever post 23a and convex annular makes locking erecting bed 23 can stably be rotated under the drive of electric rotating machine 22, locking erecting bed 23 synchronizes to drive four locking side chains 28 to rotate, and when the present invention arrives the operating angle of suitable cleaning, electric rotating machine 22 quits work；nullThen the fixing locking angle of side chain 28 is locked according to the support zone shape adjustment that required cleaning is local，Have only to regulate the locking side chain 28 of required fixed-direction according to nearby principle，Corresponding No. three hydraulic cylinders 292 regulated on side chain 29 are started working，No. three hydraulic cylinders 292 drive a L-type connecting rod 282 to rotate on straight connecting rod 281 by No. three ear mount 293，When square installation sheet 283 medial surface being welded on L-type connecting rod 282 top is parallel to the support zone in required cleaning place, No. three hydraulic cylinders 292 quit work，Finally by four installing holes, the present invention is movably fixed to the support zone in required cleaning place，Fix the situation of random movement in the work process preventing the present invention afterwards，Cleanup crew stand in can be bold above locking round platform 211 be cleaned function，Improve work efficiency.
During use, first pass through four universal wheels 12 present invention to be moved to cleaning place needed for interior architecture, then street cleaner stands on upper locking round platform 211, suitable operating angle is determined further according to practical situation street cleaner, electric rotating machine 22 is started working, owing to the spacing assisted movement along 24 of four L-type gag lever post 23a and convex annular makes locking erecting bed 23 can stably be rotated under the drive of electric rotating machine 22, locking erecting bed 23 synchronizes to drive four locking side chains 28 to rotate, when the present invention arrives the operating angle of suitable cleaning, electric rotating machine 22 quits work；nullThen the fixing locking angle of side chain 28 is locked according to the support zone shape adjustment that required cleaning is local，Have only to regulate the locking side chain 28 of required fixed-direction according to nearby principle，Corresponding No. three hydraulic cylinders 292 regulated on side chain 29 are started working，No. three hydraulic cylinders 292 drive a L-type connecting rod 282 to rotate on straight connecting rod 281 by No. three ear mount 293，When square installation sheet 283 medial surface being welded on L-type connecting rod 282 top is parallel to the support zone in required cleaning place, No. three hydraulic cylinders 292 quit work，Finally by four installing holes, the present invention is movably fixed to the support zone in required cleaning place，Fix the situation of random movement in the work process preventing the present invention afterwards，Cleanup crew stand in can be bold above locking round platform 211 be cleaned function，Improve work efficiency，After regulating, cleanup crew stands in locking round platform 211 and quickly clears up interior architecture ceramic tile above、Furred ceiling or ceiling，And an ear mount 1321 defines R pair when rotating in the present invention、A number hydraulic cylinder 1322 defines P pair when moving、Spherical hinge 1324 defines S pair when working，Thus the side chain 132 in parallel defining RPS type，Eventually through a fixed platform 131、A number side chain 132 in parallel of three RPS types、A number moving platform 133 defines 3-RPS parallel institution，It is 3-RPS parallel institution that parallel connection in the present invention supports side chain 13，It is good that 3-RPS parallel institution has dynamic response、Rigidity is high、Bearing capacity is big、Good stability and kinematic accuracy advantages of higher，The advantage present invention by parallel institution realizes rigid support function stable when interior architecture cleans by four 3-RPS parallel institutions，Advantage by parallel institution also makes the present invention have good stability and good damping performance simultaneously，Solve the equipment rigid support poor performance that existing Clean-height auxiliary equipment exists、Stabilization of equipment performance can be poor、Equipment damping performance is poor、Fixed angle is unadjustable、The anglec of rotation is unadjustable、The scope of application is little and the inferior difficult problem of inefficiency，Reach purpose.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.Skilled person will appreciate that of the industry; the present invention is not restricted to the described embodiments; description in above-described embodiment and description is that principles of the invention is described; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements both fall within the claimed scope of the invention.Claimed scope is defined by appending claims and equivalent thereof.
Claims (5)
1. the building decoration based on 3-freedom parallel mechanism supports robot, it is characterised in that: include from a steady support arrangement (1), in the middle part of described certainly steady support arrangement (1) upper surface, locking and regulating device (2) is installed；nullA described certainly steady support arrangement (1) includes fixing round platform (11)，The lower surface of described fixing round platform (11) is symmetrically arranged with four universal wheels (12)，The upper surface of fixing round platform (11) is uniformly provided with four supports side chain (13) in parallel in the axial direction，Four in parallel supports are symmetrically installed with four L-type pillars (14) in the middle part of side chain (13) upper surface，The end of four L-type pillars (14) is respectively arranged with four and installs disk (14a)，Four disk (14a) is installed to be separately mounted on four connections sheet (15a) by screw，Four connect sheet (15a) and are symmetrically welded at the lower surface of square erecting bed (15)，Location hollow axle (16) it is welded with in the middle part of the lower surface of square erecting bed (15)，Hollow axle (16) lower end, location is set on main locating shaft (17)，Main locating shaft (17) bottom is welded in the middle part of the upper surface of fixing round platform (11)；The lower surface of described square erecting bed (15) is symmetrically welded with four upper locating shafts (15b), four upper locating shafts (15b) are arranged with four limit spring (18) respectively, four limit spring (18) lower ends are respectively sleeved on four lower locating shafts (11a), and four lower locating shafts (11a) are symmetrically welded on the upper surface of fixing round platform (11)；
Described locking and regulating device (2) includes the lower locking round platform (21) that lower surface is welded on square erecting bed (15), lower locking round platform (21) middle part is provided with electric rotating machine (22) by motor cabinet, the output shaft of electric rotating machine (22) is fixedly connected with in locking erecting bed (23), the lower surface of locking erecting bed (23) is evenly arranged with four L-type gag lever posts (23a) in the axial direction, four L-type gag lever posts (23a) are all connected by sliding matching mode between (24) with convex annular, convex annular is welded on lower locking round platform (21) along the lower end of (24)；Described locking erecting bed (23) upper surface is symmetrically installed with four No. two hydraulic cylinders (25), the middle part of four No. two hydraulic cylinders (25) is separately fixed on the fixing seat (26) of four Z-types, and the bottom of four fixing seats (26) of Z-type is symmetrically mounted in locking erecting bed (23) by screw；The top of described four No. two hydraulic cylinders (25) is provided with rhombus elevator (27), four sides of rhombus elevator (27) are symmetrically welded with four lockings side chain (28), are connected each through adjustment side chain (29) between four lockings side chain (28) and locking erecting bed (23)；Described rhombus elevator (27) upper surface is symmetrically welded with four fore-sets (210), and four fore-set (210) upper ends are provided with locking round platform (211).
2. a kind of building decoration based on 3-freedom parallel mechanism according to claim 1 supports robot, it is characterized in that: described support side chain (13) in parallel includes the fixed platform (131) being welded on fixing round platform (11) upper surface, number fixed platform (131) upper surface uniformly installs three No. one side chain in parallel (132) in the axial direction, three No. one side chain in parallel (132) upper end is uniformly arranged on a moving platform (133), is provided with the L-type pillar (14) of correspondence in the middle part of moving platform (133) upper surface.
3. a kind of building decoration based on 3-freedom parallel mechanism according to claim 2 supports robot, it is characterized in that: a described side chain in parallel (132) includes the ear mount (1321) that lower end is welded on fixed platform (131) upper surface, by bearing pin, a number hydraulic cylinder (1322) is installed between a number ear mount (1321), the top of a number hydraulic cylinder (1322) has been threaded connection connecting cylinder (1323), connecting cylinder (1323) has been threaded connection spherical hinge (1324), spherical hinge (1324) upper end is by being threadably mounted on Triangulum (1325), Triangulum (1325) is welded on the lower surface of a moving platform (133).
4. a kind of building decoration based on 3-freedom parallel mechanism according to claim 1 supports robot, it is characterized in that: described locking side chain (28) includes the straight connecting rod (281) being welded in rhombus elevator (27) corresponding side surface, the top of straight connecting rod (281) is provided with two No. one hanger (281a), by bearing pin, No. two hangers (282a) are installed between two No. one hanger (281a), No. two hangers (282a) are welded on a L-type connecting rod (282), the top of a number L-type connecting rod (282) is welded with square installation sheet (283), square installation sheet (283) is symmetrically arranged with four installing holes.
5. a kind of building decoration based on 3-freedom parallel mechanism according to claim 1 supports robot, it is characterized in that: described adjustment side chain (29) includes No. two ear mount (291) being welded in locking erecting bed (23), by bearing pin, No. three hydraulic cylinders (292) are installed between No. two ear mount (291), the top of No. three hydraulic cylinders (292) is arranged between No. three ear mount (293) by bearing pin, and No. three ear mount (293) are welded on the sidewall of a L-type connecting rod (282).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610327891.0A CN105798885B (en) | 2016-05-17 | 2016-05-17 | A kind of building decoration support robot based on 3-freedom parallel mechanism |
Applications Claiming Priority (1)
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| CN107152587A (en) * | 2017-05-22 | 2017-09-12 | 刘旭玲 | A kind of base of dyeing and printing process equipment |
| CN108581594A (en) * | 2016-08-23 | 2018-09-28 | 长泰县爱菲社机械科技有限公司 | A kind of mobile foundation |
| CN108644234A (en) * | 2016-08-23 | 2018-10-12 | 陈文英 | It can be from the bearing outside surface processor surely moved |
| CN109278020A (en) * | 2018-09-28 | 2019-01-29 | 张庆华 | A kind of high-end equipment manufacturing mechanical arm bracket |
| CN112320190A (en) * | 2020-12-04 | 2021-02-05 | 芜湖哈特机器人产业技术研究院有限公司 | Parallel lifting mechanism type miniature AGV trolley |
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| CN109278020A (en) * | 2018-09-28 | 2019-01-29 | 张庆华 | A kind of high-end equipment manufacturing mechanical arm bracket |
| CN112320190A (en) * | 2020-12-04 | 2021-02-05 | 芜湖哈特机器人产业技术研究院有限公司 | Parallel lifting mechanism type miniature AGV trolley |
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