CN106087672A - Ground, a kind of road surface brick masonry Work robot - Google Patents
Ground, a kind of road surface brick masonry Work robot Download PDFInfo
- Publication number
- CN106087672A CN106087672A CN201610459341.4A CN201610459341A CN106087672A CN 106087672 A CN106087672 A CN 106087672A CN 201610459341 A CN201610459341 A CN 201610459341A CN 106087672 A CN106087672 A CN 106087672A
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- walking
- fillers
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- fixed
- regulation
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- 239000011449 brick Substances 0.000 title claims abstract description 16
- 230000009184 walking Effects 0.000 claims abstract description 136
- 239000000945 filler Substances 0.000 claims abstract description 89
- 230000033228 biological regulation Effects 0.000 claims description 67
- 230000033001 locomotion Effects 0.000 claims description 57
- 230000007246 mechanism Effects 0.000 claims description 52
- 238000010521 absorption reaction Methods 0.000 claims description 39
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 25
- 230000003028 elevating effect Effects 0.000 claims description 17
- 229910000831 Steel Inorganic materials 0.000 claims description 16
- 239000010959 steel Substances 0.000 claims description 16
- 230000002457 bidirectional effect Effects 0.000 claims description 11
- 230000006698 induction Effects 0.000 claims description 10
- 239000000463 material Substances 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 8
- 230000008602 contraction Effects 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 4
- 239000004744 fabric Substances 0.000 claims 1
- 230000001105 regulatory effect Effects 0.000 claims 1
- 150000001875 compounds Chemical class 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 8
- 230000006872 improvement Effects 0.000 description 8
- 238000013519 translation Methods 0.000 description 6
- 230000014616 translation Effects 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000013016 damping Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 239000004568 cement Substances 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000005034 decoration Methods 0.000 description 2
- 230000006742 locomotor activity Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 239000004927 clay Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000004630 mental health Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/52—Apparatus for laying individual preformed surfacing elements, e.g. kerbstones
- E01C19/524—Apparatus for laying individual preformed surfacing elements, e.g. kerbstones using suction devices
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/52—Apparatus for laying individual preformed surfacing elements, e.g. kerbstones
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/52—Apparatus for laying individual preformed surfacing elements, e.g. kerbstones
- E01C19/522—Apparatus for laying the elements by rolling or unfolding, e.g. for temporary pavings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C2301/00—Machine characteristics, parts or accessories not otherwise provided for
- E01C2301/20—Screed or paver accessories for paving joint or edge treatment
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to ground, a kind of road surface brick masonry Work robot, including crawler unit, running gear system, electrical turntable, delta parallel institution, suction means and brickwork joint filler device, running gear system is respectively symmetrically and is arranged in the crawler unit left and right sides, electrical turntable is positioned at crawler unit upper end center position, delta parallel institution is between electrical turntable and suction means, and delta parallel institution lower end is connected with electrical turntable, delta parallel institution upper end is connected with suction means, the brickwork joint device that fillers is positioned at directly over suction means.The several functions such as it is fixing that the present invention integrates compound walking, multiple degrees of freedom orientation regulates, floor tile is drawn and brickwork joint fillers, municipal administration footpath can be carried out ground tile paving operation, and automaticity is high, it is fast to lay speed and it is good to lay aesthetics, solve existing ground tile paving appropriation of labour power big, laying efficiency is low, lays the problems such as cost is big.
Description
Technical field
The present invention relates to road work mechanical field, ground, a kind of road surface brick masonry Work robot.
Background technology
Floor tile is a kind of floor decorative material, is also floor tile, fires with clay and form, and specification is multiple, and matter is hard, pressure resistance to
Mill, can be moistureproof, have through glazing treatment, there is decoration function, be used for the ground and floor of public building and civil buildings；Ground
Brick designs and varieties are the most, and alternative leeway is very big, can be divided into glazed tile, all-body tile (anti-skid brick), polished bricks by material
With vitrified tile etc., the floor tile of unlike material is applicable to different occasions, and the occasion that floor tile is mainly applied has the People's Bank of China of municipal works
Road, the surrounding edge of street greening, the ground of gardens construction, the ground of interior decoration, surface of the street, the safe edge etc. of highway.
More laying for floor tile at present uses and manually lays operation, and the most not only laying cost is high, laying speed is slow, paving
If efficiency is low and occupies substantial amounts of labour force, and workers with long time bends over to be engaged in ground tile paving operation, easily causes lumbar vertebra neck
The occupation disease such as vertebra, are unfavorable for the physical and mental health of human body.In consideration of it, the invention provides ground, a kind of road surface brick masonry work machine
People.
Summary of the invention
In order to make up the deficiencies in the prior art, the invention provides ground, a kind of road surface brick masonry Work robot.
The present invention to solve its technical problem and realize by the following technical solutions.
Ground, a kind of road surface brick masonry Work robot, including crawler unit, running gear system, electrical turntable,
Delta parallel institution, suction means and brickwork joint filler device；Described running gear system quantity is four, and running on wheels dress
Putting to be respectively symmetrically and be arranged in the crawler unit left and right sides, electrical turntable is positioned at crawler unit upper end center position,
And electrical turntable is connected with crawler unit, delta parallel institution is between electrical turntable and suction means, and delta
Parallel institution lower end is connected with electrical turntable, and delta parallel institution upper end is connected with suction means, and brickwork joint fillers device position
Directly over suction means.
As a further improvement on the present invention, described crawler unit includes chassis, drives motor, drive shaft, OK
Walk belt wheel, tight locking button and traveling crawler, and drive the quantity of motor, tight locking button and traveling crawler to be two, drive shaft and walking
Belt wheel quantity is four；Described chassis is in rectangular configuration, and rear and front end, chassis offers mounting groove respectively, drives motor solid respectively
Be scheduled on before and after chassis in the mounting groove of both sides, and drive motor to use Biaxial synchronous output motor, drive shaft one end with drive electricity
Machine output shaft is connected, and the drive shaft other end is connected with walking belt wheel, and passes through tight locking button between drive shaft and walking belt wheel
Being fixed, traveling crawler two ends are rotating around being enclosed within walking belt wheel, and are evenly arranged with semicircle anti-skidding outside traveling crawler
Bar.
As a further improvement on the present invention, described running gear system includes walk fixed plate, walking slide rail, walking
Slide block, walking ear mount, rotating shaft, mobile roof support, No. two rotating shafts, walking support bar, moving block, movable motor, movable motors
Frame, walking axle and walking runner；Described walking slide rail is fixed on walking fixed plate lower surface, and walking slide block is arranged on walking
On slide rail, and walking upper end of slide block is concave structure, and walking slide block lower end is the U-shape structure stood upside down, and walking ear mount is positioned at walking
Sliding rail rear end position, and walking ear mount is connected with walking fixed plate, mobile roof support upper end is by a rotating shaft and walking ear mount
Being connected, be provided with walking connecting rod at mobile roof support medium position, walking support bar one end is sliding with walking by No. two rotating shafts
Block lower end is connected, and the walking support bar other end is connected with the walking connecting rod in the middle part of mobile roof support by moving block, and row
Walking support bar is pneumatic telescopic structure, and movable motor is fixed on mobile roof support lateral wall by movable motor frame, and row
Walking electric machine main shaft to be connected with walking axle, walking axle two ends are separately fixed on the medial wall, left and right of mobile roof support lower end, walking
Runner is arranged at walking axle medium position.
When the present invention advances, when walking in flat road surface, by the motion laterally on walking slide rail of the walking slide block
Drive walking support bar stretching the most laterally, and walking support bar links with mobile roof support, thus drive walking
Frame carries out rotary motion laterally counterclockwise with rotating shaft for center of rotation, when on walking rotatable wheel contacts ground, and whole crawler belt
Running gear separates with ground, is in and is lifted dummy status, is driven the rotation of walking runner by movable motor simultaneously, it is achieved
The walking of running gear system is moved, and the speed of travel is fast, overcomes the problem that the crawler unit speed of travel is slow；Work as chance
During to hogwallow, received inside walking support bar clockwise direction by walking slide block driving to medial motion on walking slide rail
Contracting motion, and walk support bar and mobile roof support linkage, thus drive mobile roof support to carry out suitable with a rotating shaft for center of rotation
Hour hands inside side rotary motion, it is achieved that the contraction of running gear system, when runner of walking departs from ground, whole crawler travel
Device contacts with ground, by driving the rotation rotating drive treads wheel of motor, thus drives the motion of traveling crawler, carries out
It is mainly used in the walking of the present invention, movement with running gear and turns to, and crawler unit is by using track structure more
Add the walking being easy to hollow physical features ground condition so that the suitability of the present invention is higher；Filled by crawler unit and running on wheels
The cooperation conversion put, improves the locomotor activity of the present invention.
As a further improvement on the present invention, described delta parallel institution include fixed platform, moving platform, motor cabinet and
Connection motor, the first rotating shaft, first connecting rod, rotational pin, second connecting rod, the second rotating shaft, rotating basis and limit spring；Described determines
Platform and moving platform the most rounded shape structure, moving platform is positioned at directly over fixed platform, and the quantity of motor cabinet and rotating basis is
Three, motor cabinet is fixed on fixed platform upper surface in equilateral triangle shape centered by the center of circle of fixed platform, and rotating basis is with dynamic flat
It is arranged on moving platform lower surface in equilateral triangle shape centered by the center of circle of platform, and motor cabinet installation site and rotating basis are installed
Position one_to_one corresponding respectively, parallel-connected induction motors is fixed installation by motor cabinet, and parallel-connected induction motors uses the output of adjustable speed twin shaft
Motor, first rotating shaft one end is connected with parallel-connected induction motors main shaft, and the first rotating shaft other end is connected with first connecting rod upper end, and first
Using rotational pin to be attached between connecting rod lower end and second connecting rod upper end, second connecting rod lower end is connected with second rotating shaft one end
Connecing, the second rotating shaft other end is arranged on rotating basis, and rotating basis lower end is provided with swivel bearing, and swivel bearing is flat with dynamic
Platform upper surface fixes, and rotating basis upper end is provided with the double end sleeve matched with the second rotating shaft, first connecting rod middle inside
Be provided with the first mounting seat and the second mounting seat respectively with second connecting rod middle inside, limit spring be positioned at the first mounting seat and
Between second mounting seat, and limit spring upper end is connected with the first mounting seat, and limit spring lower end is connected with the second mounting seat
Connect；During specific works, the rotation rotating drive the first rotating shaft of motor, and first connecting rod in parallel and the first coaxial phase of rotating shaft
Connect, thus by the rotation rotating drive second connecting rod of first connecting rod, and then the motion of drive moving platform, and by spacing
Jitter when spring reduces the motion of delta parallel institution, adds the stationarity of delta parallel institution motion, and delta is in parallel
Mechanism is big with serial mechanism phase specific stiffness, and flexibly, Stability Analysis of Structures, bearing capacity is strong and fine motion precision is high, delta parallel machine in motion
Structure can carry out three translations three in space and rotate the motion in six-freedom degree direction altogether, and space is little, movement velocity fast, fortune
Dynamic motility is good, is applied in the present invention by delta parallel institution, on the one hand serves the device that fillers suction means and brickwork joint
The regulation of overall orientation angles, it is simple to the carrying out of the various attitude of the present invention omnibearing high accuracy tile work operation, on the other hand
The device that fillers suction means and brickwork joint serves the effect of damping so that suction means and brickwork joint filler device at row of the present invention
Walk and under jounce condition, be in horizontal plateau all the time, prevent jitter excessive thus affect suction means and brickwork joint fillers device
Tile work efficiency and accuracy.
As a further improvement on the present invention, described suction means include draw pedestal, draw slide rail, draw slide,
Draw rotating disk, draw support, angle adjusting mechanism, holding mechanism and delivery device；Described absorption pedestal lower end is provided with even
Flange, absorption pedestal upper end is provided with between fixed station, and connection dish and fixed station and is provided with connection post, draws slide rail quantity and is
Two, absorption slide rail is respectively symmetrically along the central transverse axis drawing pedestal and is arranged in both sides before and after fixed station upper surface, draws sliding
Seat rear and front end is separately mounted to draw on slide rail, draws slide and is made up of horizontal plate and perpendicular plate, and horizontal plate and perpendicular plate
Between be provided with connection floor, draw rotating disk and be fixed on absorption slide upper surface center position, draw support and be fixed on absorption
Directly over rotating disk, angle adjusting mechanism is positioned at above absorption support, and holding mechanism is arranged on the positive front end of angle adjusting mechanism, pushes
Mechanism is positioned at absorption sliding base rear end；Angle adjusting mechanism and sticking machine can be driven in the slip drawn on slide rail by drawing slide
The side-to-side movement of structure, thus realize the regulation of extension elongation during holding mechanism sticking floor tile, angle can be driven by drawing rotating disk
The rotary motion in the horizontal plane of governor motion and holding mechanism, thus the regulation of holding mechanism local horizontal para-position can be realized.
As a further improvement on the present invention, described angle adjusting mechanism includes that regulation hinge, regulation support plate, motor prop up
Post, Bidirectional output electric machine, contraction wheel, regulation steel wire rope and regulation ear mount；Described regulation support plate is positioned at absorption support front end, and
Being attached by regulation hinge between regulation support plate and absorption support, motor pillar is positioned at absorption back-end support center
Locating, and motor pillar bottom is connected with drawing pedestal upper end face, motor pillar top is connected with in the middle part of Bidirectional output electric machine,
The quantity shrinking wheel, regulation steel wire rope and regulation ear mount is two, shrinks wheel and is fixed on Bidirectional output electric machine main shaft, regulates steel
Cord one end is fixed on contraction wheel, and the regulation steel wire rope other end is wrapped in regulation ear mount, and regulation ear mount is fixed on regulation
On plate upper surface；Driven the positive and negative rotation shrinking wheel by the positive and negative rotation of Bidirectional output electric machine, thus drive regulation steel wire rope
Folding and unfolding, and regulation steel wire rope with regulation ear mount be connected, and then drive regulation support plate with regulate hinge just carrying out for rotary shaft
Reverse turn, it is achieved that the angular adjustment on holding mechanism vertical, easily facilitates the carrying out of tile work operation, also achieves horizontal plane
With the ground tile paving function of inclined plane, the suitability is strong.
As a further improvement on the present invention, described holding mechanism includes vacuum generator, lifting air-leg and true
Suction dish；Described vacuum generator is through regulation support plate center, and fixes with regulation support plate in the middle part of vacuum generator,
Vacuum generator lower end is connected with vacuum cup, and lifting air-leg one end is connected with regulation support plate, lifts air-leg
The other end is connected with vacuum cup, and vacuum cup is the square hollow shell structure of lower ending opening, and vacuum cup lower end is uniform
It is provided with suction nozzle, and vacuum cup material is flexible rubber material；When vacuum cup is close to mutually with floor tile upper surface, by very
The effect of empty generator is evacuated state in making vacuum cup, and under the effect of interior extraneous pressure differential, floor tile is by vacuum
Sucker tightly holds, and can be driven the vertical movement up and down of vacuum cup by lifting air-leg, it is achieved that lifting of floor tile
With the function transferred.
As a further improvement on the present invention, described delivery device includes pushing support plate, pushing push rod and returning spring；
Described propelling movement support plate bottom is fixed on absorption pedestal, pushes push rod and is positioned on propelling movement support plate lateral surface, pushes push rod front end
With draw slide be connected, push putting back-end with push support plate be connected, and push push rod along propelling movement support plate longitudinal direction in
Straight line is equally spaced, and returning spring is around being enclosed within propelling movement push rod front position；Suction means can be realized left by delivery device
The regulation of right bit.
During operation, first pass through delivery device and absorption slide can drive angular adjustment machine in the slip drawn on slide rail
Structure and the side-to-side movement of holding mechanism, thus realize the regulation of extension elongation during holding mechanism sticking floor tile, by drawing rotating disk
The rotary motion in the horizontal plane of angle adjusting mechanism and holding mechanism can be driven, thus holding mechanism local horizontal pair can be realized
The regulation of position；Then realize the absorption to floor tile by holding mechanism to clamp；Can be realized level by angle adjusting mechanism again
Ground and the laying of inclined plane floor tile, strong adaptability, manipulating object is wide.
As a further improvement on the present invention, described brickwork joint filler device include fillering support, the turntable that fillers, flexible
Frame, tightening cover, the elevating lever that fillers, vibration extension spring, vibration mounting, filler slide block and the leakage basket that fillers；The described pedestal lower end that fillers
Four drift angles at be provided with the support bar that fillers, the pedestal upper end that fillers is provided with mounting platform, and the turntable that fillers is fixed on and fillers
The center position of frame upper end mounting platform, telescope support rear end is arranged on fillers on turntable, and telescope support and the turntable that fillers
Between use tightening cover be fixed locking, the elevating lever that fillers is positioned at immediately below telescope support front end, and elevating lever upper end of fillering
Being connected with telescope support, elevating lever lower end of fillering fixes with vibration mounting, and vibrating spring is positioned at telescope support and vibration
Between Zuo, and vibrating spring is that circumference is evenly arranged along the elevating lever that fillers, and vibrating spring upper end is connected with telescope support, vibration
Lower spring end is connected with vibration mounting, and vibration mounting upper end is in the U-shape structure stood upside down, its longitudinal center of vibration mounting lower end edge
Axis is respectively symmetrically and is provided with guiding slide bar, and the slide block that fillers is arranged on the guiding slide bar of vibration mounting lower end, and the Lou basket that fillers is solid
Be scheduled on immediately below the slide block that fillers, and the Lou basket that fillers be the hollow rectangle box body structure of upper end open, filler Lou on basket bottom face all
Even offer discharge opening.After floor tile is placed into paved surface, first pass through joining of the turntable that fillers, telescope support and the elevating lever that fillers
Resultant motion can realize brickwork joint and filler device motion in two translation one rotation altogether three degree of freedom directions in space, such that it is able to office
Portion regulates the Lou basket that fillers and is directed at the accurate location in gap between floor tile；Then the Lou basket that fillers can be driven to vibrate by the slide block that fillers
Bearing lower end guide moving back and forth back and forth on slide bar, and by fillering elevating lever and vibrating spring can increase the Lou basket of fillering
Jitter, the cement paste stored in the Lou basket of fillering is spilt by the discharge opening of the Lou basket bottom of fillering under vibrating conditions, it is achieved
Gap between floor tile is filled up and floor tile is fixed, and brickwork joint filler device motion flexibly, para-position is accurate, working performance
High.
Compared with prior art, the invention have the advantages that
(1) several functions such as it is fixing that the present invention collects compound walking, multiple degrees of freedom orientation regulates, floor tile is drawn and brickwork joint fillers
In one, municipal administration footpath can be carried out ground tile paving operation, and automaticity is high, it is fast to lay speed and lays aesthetics
Good, solve existing ground tile paving appropriation of labour power big, lay the problems such as efficiency is low, and laying cost is big.
(2) crawler unit and the running gear system of the present invention coordinates conversion to use, and changes convenient and swift, can fit
The walking of Ying Yu differently condition, crawler unit is mainly used in the walking of hogwallow, and running gear system is mainly used in putting down
The walking on smooth ground, the speed of travel is fast.
(3) the delta parallel institution of the present invention can carry out three translations three rotation six-freedom degree directions altogether in space
Motion, and space is little, movement velocity is fast, kinematic dexterity is good, is applied in the present invention by delta parallel institution, a side
Face serves the regulation of the overall orientation angles of the device that fillers suction means and brickwork joint, it is simple to the various attitude of the present invention is comprehensive
The carrying out of high accuracy tile work operation, the device that on the other hand fillers suction means and brickwork joint serves the effect of damping so that
Suction means and the brickwork joint device that fillers is in horizontal plateau under the present invention walks jounce condition all the time, prevents jitter mistake
Big thus affect suction means and brickwork joint fillers the tile work efficiency of device and accuracy.
(4) suction means of the present invention uses vacuum pressure difference principle to achieve the clamping of the absorption to floor tile, capture velocity
Hurry up, draw fastness high, and it can realize the absorption of the position floor tile to horizontal plane and inclined plane by angle adjusting mechanism, suitable
Strong by property, manipulating object is wide.
(5) brickwork joint of the present invention device that fillers can carry out two translations one in space and rotates the fortune in altogether three degree of freedom directions
Dynamic, such that it is able to local modulation is fillered, Lou basket is directed at the accurate location in gap between floor tile, and achieves water by shake principle
The discharging that mud is stuck with paste, it is achieved that gap between floor tile is filled up and floor tile fix, and brickwork joint device motion of fillering is flexible,
Para-position is accurate, and working performance is high.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the perspective view of the present invention；
Fig. 2 is perspective view when crawler unit of the present invention and running gear system cooperation；
Fig. 3 is the perspective view of running gear system of the present invention；
Fig. 4 be delta parallel institution of the present invention, suction means and brickwork joint filler device coordinate time stereochemical structure signal
Figure；
Fig. 5 is the perspective view of delta parallel institution of the present invention；
The perspective view that Fig. 6 is suction means of the present invention and brickwork joint fillers time device coordinates；
Fig. 7 is the perspective view (viewed from above) of suction means of the present invention；
Fig. 8 is the perspective view (seeing from the bottom up) of suction means of the present invention；
Fig. 9 is that brickwork joint of the present invention fillers the perspective view of device；
Figure 10 is vibration mounting of the present invention, filler slide block and perspective view when fillering that Lou basket coordinates.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below knot
Conjunction is specifically illustrating, and the present invention is expanded on further.
As shown in Figures 1 to 10, ground, a kind of road surface brick masonry Work robot, including crawler unit 1, running on wheels
Device 2, electrical turntable 3, delta parallel institution 4, suction means 5 and brickwork joint filler device 6；Described running gear system 2 number
Amount is four, and running gear system 5 is respectively symmetrically and is arranged in crawler unit 1 left and right sides, and electrical turntable 3 is positioned at crawler belt row
Walking apparatus 1 upper end center position, and electrical turntable 3 is connected with crawler unit 1, delta parallel institution 4 is positioned at electric rotating
Between platform 3 and suction means 5, and delta parallel institution 4 lower end is connected with electrical turntable 3, delta parallel institution 4 upper end with
Suction means 5 is connected, and the brickwork joint device 6 that fillers is positioned at directly over suction means 5.
As in figure 2 it is shown, described crawler unit 1 includes chassis 11, drives motor 12, drive shaft 13, walking belt wheel
14, tight locking button 15 and traveling crawler 16, and drive the quantity of motor 12, tight locking button 15 and traveling crawler 16 to be two, drive shaft
13 and walking belt wheel 14 quantity be four；Described chassis 11 is in rectangular configuration, and rear and front end, chassis 11 offers mounting groove respectively,
Drive motor 12 to be separately fixed in the mounting groove of both sides front and back, chassis 11, and drive motor 12 to use Biaxial synchronous output electricity
Machine, drive shaft 13 one end is connected with driving motor 12 output shaft, and drive shaft 13 other end is connected with walking belt wheel 14, and drives
Being fixed by tight locking button 15 between moving axis 13 and walking belt wheel 14, traveling crawler 16 two ends are rotating around being enclosed within walking belt wheel 14
On, and outside traveling crawler 16, it is evenly arranged with semicircle tread plate.
As shown in Figures 2 and 3, described running gear system 2 includes that walking fixed plate 21, walking slide rail 22, walking are slided
Block 23, walking 24, rotating shaft 25 of ear mount, 26, No. two rotating shafts 27 of mobile roof support, walking support bar 28, moving block 29, walking electricity
Machine 210, movable motor frame 211, walking axle 212 and walking runner 213；Described walking slide rail 22 is fixed on walking fixed plate 21
On lower surface, walking slide block 23 is arranged on walking slide rail 22, and walking slide block 23 upper end is concave structure, walking slide block 23 times
The U-shape structure for standing upside down, walking ear mount 24 is held to be positioned at walking slide rail 22 back-end location, and walk ear mount 24 and walking fixed plate
21 are connected, and mobile roof support 26 upper end is connected with walking ear mount 24 by a rotating shaft 25, sets at mobile roof support 26 medium position
Being equipped with walking connecting rod, walking support bar 28 one end is connected with walking slide block 23 lower end by No. two rotating shafts 27, and walking supports
Bar 28 other end is connected with the walking connecting rod in the middle part of mobile roof support 26 by moving block 29, and walking support bar 28 is pneumatic
Telescopic structure, movable motor 210 is fixed on mobile roof support 26 lateral wall by movable motor frame 211, and movable motor
210 main shafts are connected with walking axle 212, and walking axle 212 two ends are separately fixed on the medial wall, left and right of mobile roof support 26 lower end,
Walking runner 213 is arranged at walking axle 212 medium position.
As shown in Figure 1 to Figure 3, when the present invention advances, when walking in flat road surface, sliding in walking by walking slide block 23
Motion laterally on rail 22 drives walking support bar 28 stretching the most laterally, and walk support bar 28 and walking
Frame 26 links, thus drives mobile roof support 26 to carry out rotary motion laterally counterclockwise with a rotating shaft 25 for center of rotation, when
Walking runner 213 contacts on ground, and whole crawler unit 1 separates with ground, is in and is lifted dummy status, passes through simultaneously
Movable motor 210 drives the rotation of walking runner 213, it is achieved that the walking of running gear system 2 is moved, and the speed of travel is fast,
Overcome the problem that crawler unit 1 speed of travel is slow；When running into hogwallow, by walking slide block 23 at walking slide rail
Contractile motion inside medial motion drive walking support bar 28 clockwise direction on 22, and walk support bar 28 and mobile roof support
26 linkages, thus drive mobile roof support 26 to carry out rotary motion inside clockwise direction with a rotating shaft 25 for center of rotation, it is achieved
The contraction of running gear system 2, when runner 213 of walking departs from ground, whole crawler unit 1 contacts with ground, leads to
That overdrives motor 12 rotates the rotation driving treads wheel 14, thus drives the motion of traveling crawler 16, crawler unit 1
It is mainly used in the walking of the present invention, movement and turns to, and crawler unit 1 is by using track structure to easily facilitate hollow
The walking of physical features ground condition so that the suitability of the present invention is higher；By crawler unit 1 and the cooperation of running gear system 2
Conversion, improves the locomotor activity of the present invention.
As shown in Figure 4 and Figure 5, described delta parallel institution 4 include fixed platform 41, moving platform 42, motor cabinet 43 and
Connection motor the 44, first rotating shaft 45, first connecting rod 46, rotational pin 47, second connecting rod the 48, second rotating shaft 49, rotating basis 410 and limit
Position spring 411；Described fixed platform 41 and moving platform 42 the most rounded shape structure, moving platform 42 is positioned at directly over fixed platform 41,
The quantity of motor cabinet 43 and rotating basis 410 is three, motor cabinet 43 centered by the center of circle of fixed platform 41 in equilateral triangle shape
Being fixed on fixed platform 41 upper surface, rotating basis 410 is arranged in dynamic in equilateral triangle shape centered by the center of circle of moving platform 42
On platform 42 lower surface, and motor cabinet 43 installation site and rotating basis 410 installation site one_to_one corresponding, parallel-connected induction motors 44 respectively
Be fixed installation by motor cabinet 43, and parallel-connected induction motors 44 use adjustable speed twin shaft output motor, first rotating shaft 45 one end with
Parallel-connected induction motors 44 main shaft is connected, and first rotating shaft 45 other end is connected with first connecting rod 46 upper end, first connecting rod 46 lower end with
Using rotational pin 47 to be attached between second connecting rod 48 upper end, second connecting rod 48 lower end is connected with second rotating shaft 49 one end,
Second rotating shaft 49 other end is arranged on rotating basis 410, and rotating basis 410 lower end is provided with swivel bearing, and swivel bearing
Fixing with moving platform 42 upper surface, rotating basis 410 upper end is provided with the double end sleeve matched with the second rotating shaft 49, and first
Connecting rod 46 middle inside and second connecting rod 48 middle inside are provided with the first mounting seat and the second mounting seat, limit spring respectively
411 between the first mounting seat and the second mounting seat, and limit spring 411 upper end is connected with the first mounting seat, spacing bullet
Spring 411 lower end is connected with the second mounting seat；During specific works, the rotation rotating drive the first rotating shaft 45 of motor 44 in parallel
Turn, and first connecting rod 46 is coaxially connected with the first rotating shaft 45, thus drive second connecting rod 48 by the rotation of first connecting rod 46
Rotation, and then drive moving platform 42 motion, and by limit spring 411 reduce when delta parallel institution 4 moves shake
Property, adding the stationarity of delta parallel institution 4 motion, delta parallel institution 4 is big with serial mechanism phase specific stiffness, motion spirit
Living, Stability Analysis of Structures, bearing capacity is strong and fine motion precision is high, and delta parallel institution 4 can carry out three translations three in space and rotate altogether
The motion in six-freedom degree direction, and space is little, movement velocity is fast, kinematic dexterity is good；Should by delta parallel institution 4
Use in the present invention, on the one hand serve the regulation of the overall orientation angles of device 6 that suction means 5 and brickwork joint are fillered, it is simple to
The carrying out of the various attitude of the present invention omnibearing high accuracy tile work operation, on the other hand filler device 6 to suction means 5 and brickwork joint
Serve the effect of damping so that suction means 5 and the brickwork joint device 6 that fillers is in water under the present invention walks jounce condition all the time
Flat plateau, prevents jitter excessive thus affects suction means 5 and brickwork joint fillers the tile work efficiency of device 6 and accuracy.
As shown in Figure 6 to 8, described suction means 5 includes drawing pedestal 51, drawing slide rail 52, absorption slide 53, suction
Take rotating disk 54, draw support 55, angle adjusting mechanism 56, holding mechanism 57 and delivery device 58；Described absorption pedestal 51 times
End is provided with connection dish, and absorption pedestal 51 upper end is provided with between fixed station, and connection dish and fixed station and is provided with connection post, inhales
Taking slide rail 52 quantity is two, and absorption slide rail 52 is respectively symmetrically along the central transverse axis drawing pedestal 51 and is arranged in fixed station upper end
Both sides after in front, draw slide 51 rear and front end and are separately mounted to draw on slide rail 52, draw slide 53 by horizontal plate with vertical
Plate forms, and is provided with connection floor between horizontal plate and perpendicular plate, draws rotating disk 54 and is fixed in absorption slide 53 upper surface
Heart position, draws support 55 and is fixed on directly over absorption rotating disk 54, and angle adjusting mechanism 56 is positioned at above absorption support 55, inhales
Holding mechanism 57 and be arranged on the positive front end of angle adjusting mechanism 56, delivery device 58 is positioned at absorption slide 53 rear end；By drawing slide
53 can drive angle adjusting mechanism 56 and the side-to-side movement of holding mechanism 57 in the slip drawn on slide rail 52, thus realize sticking
The regulation of extension elongation during mechanism 57 sticking floor tile, can drive angle adjusting mechanism 56 and holding mechanism 57 by drawing rotating disk 54
Rotary motion in the horizontal plane, thus the regulation of holding mechanism 57 local horizontal para-position can be realized.
As shown in Figure 6 to 8, described angle adjusting mechanism 56 includes that regulation hinge 561, regulation support plate 562, motor prop up
Post 563, Bidirectional output electric machine 564, contraction wheel 565, regulation steel wire rope 566 and regulation ear mount 567；Described regulation support plate 562
It is positioned between absorption support 55 front end, and regulation support plate 562 and absorption support 55 and is attached by regulation hinge 561, motor
Pillar 563 is positioned at absorption support 55 back-end central position, and motor pillar 563 bottom is connected with drawing support 55 upper surface
Connecing, motor pillar 563 top is connected in the middle part of Bidirectional output electric machine 564, shrinks wheel 565, regulation steel wire rope 566 and regulation ear
The quantity of seat 567 is two, shrinks wheel 565 and is fixed on Bidirectional output electric machine 564 main shaft, and regulation steel wire rope 566 one end is fixed
Shrinking on wheel 565, regulation steel wire rope 566 other end is wrapped in regulation ear mount 567, and regulation ear mount 567 is fixed on regulation
On plate 562 upper surface；Driven the positive and negative rotation shrinking wheel 565 by the positive and negative rotation of Bidirectional output electric machine 564, thus drive tune
Save the folding and unfolding of steel wire rope 566, and regulation steel wire rope 566 is connected with regulation ear mount 567, and then drive regulation support plate 562 with tune
Joint hinge 561 carries out positive and negative rotation for rotary shaft, it is achieved that the angular adjustment on holding mechanism 57 vertical, easily facilitates tile work
The carrying out of operation, also achieves the ground tile paving function of horizontal plane and inclined plane, and the suitability is strong.
As shown in Figure 6 to 8, described holding mechanism 57 includes vacuum generator 571, lifting air-leg 572 and true
Suction dish 573；Described vacuum generator 571 through regulation support plate 562 center, and in the middle part of vacuum generator 571 with tune
Joint support plate 562 fixes, and vacuum generator 571 lower end is connected with vacuum cup 573, lifting air-leg 572 one end and tune
Joint support plate 562 is connected, and lifting air-leg 572 other end is connected with vacuum cup 573, and vacuum cup 573 is opened in lower end
The square hollow shell structure of mouth, vacuum cup 573 lower end is evenly arranged with suction nozzle, and vacuum cup 573 material is flexible rubber
Glue material；When vacuum cup 573 is close to mutually with floor tile upper surface, make vacuum cup by the effect of vacuum generator 571
Being evacuated state in 573, under the effect of interior extraneous pressure differential, floor tile is tightly held by vacuum cup 573, and by rising
Fall air-leg 572 can drive the vertical movement up and down of vacuum cup 573, it is achieved that the function lifted and transfer of floor tile.
As shown in Figure 6 to 8, described delivery device 58 includes pushing support plate 581, pushing push rod 582 and returning spring
583；Described propelling movement support plate 581 bottom is fixed on absorption pedestal 51, pushes push rod 582 and is positioned at propelling movement support plate 581 lateral surface
On, push push rod 582 front end and be connected with drawing slide 53, push push rod 582 rear end and be connected with pushing support plate 581, and push away
Sending push rod 582 to be linearly equally spaced along pushing support plate 581 longitudinal direction, returning spring 583 is before being enclosed within propelling movement push rod 582
At end position；The regulation in suction means about 5 orientation can be realized by delivery device 58.
As shown in Figure 6 to 8, during operation, first pass through delivery device 58 and draw slide 53 on absorption slide rail 52
Slip can drive angle adjusting mechanism 56 and the side-to-side movement of holding mechanism 57, thus when realizing holding mechanism 57 sticking floor tile
The regulation of extension elongation, can drive angle adjusting mechanism 56 and holding mechanism 57 rotation in the horizontal plane by drawing rotating disk 54
Motion, thus the regulation of holding mechanism 57 local horizontal para-position can be realized；Then the suction to floor tile is realized by holding mechanism 57
Take clamping；Can be realized level ground and the laying of inclined plane floor tile, strong adaptability, operation pair by angle adjusting mechanism 56 again
As extensively.
As shown in Figure 9 and Figure 10, described brickwork joint filler device 6 include fillering support 61, filler turntable 62, telescope support
63, tightening cover 64, the elevating lever 65 that fillers, vibration extension spring 66, vibration mounting 67, filler slide block 68 and Lou basket 69 of fillering；Described
Fillering and be provided with the support bar that fillers at four drift angles of support 61 lower end, support 61 upper end of fillering is provided with mounting platform, fillers
Turntable 62 is fixed on the center position of the support 61 upper end mounting platform that fillers, and telescope support 63 rear end is arranged on the turntable 62 that fillers
On, and telescope support 63 and filler between turntable 62 use tightening cover 64 be fixed locking, the elevating lever 65 that fillers is positioned at flexible
Immediately below support 61 front end, and elevating lever 65 upper end of fillering is connected with telescope support 63, filler elevating lever 65 lower end and vibration
Bearing 67 fixes, and vibrating spring 66 is between telescope support 63 and vibration mounting 67, and vibrating spring 66 is along lifting of fillering
Bar 65 is evenly arranged in circumference, and vibrating spring 66 upper end is connected with telescope support 63, vibrating spring 66 lower end and vibration mounting
67 are connected, and vibration mounting 67 upper end is in the U-shape structure stood upside down, and its longitudinal center's axis of vibration mounting 67 lower end edge is respectively symmetrically
Being provided with guiding slide bar, the slide block 68 that fillers is arranged on the guiding slide bar of vibration mounting 67 lower end, and the Lou basket 69 that fillers is fixed on to be filled out
Immediately below muddy and slippery piece 68, and the Lou basket 69 hollow rectangle box body structure in upper end open of fillering, filler Lou on basket 69 bottom face all
Even offer discharge opening.After floor tile is placed into paved surface, first pass through the turntable 62 that fillers, telescope support 63 and the elevating lever that fillers
The routing motion of 65 can realize brickwork joint and filler device 6 motion in two translation one rotation altogether three degree of freedom directions in space, from
And the accurate location in gap between floor tile can be directed at the local modulation Lou basket 69 that fillers；Then can be driven by the slide block 68 that fillers and fill out
Mud leakage basket 69 moving back and forth back and forth on the guiding slide bar of vibration mounting 67 lower end, and by elevating lever 65 and the vibration bullet of fillering
Spring 66 can increase the jitter of the Lou basket 69 of fillering, and the cement paste stored in the Lou basket 69 of fillering is under vibrating conditions by fillering Lou
The discharge opening of basket 69 bottom spills, it is achieved that fills up gap between floor tile and fixes floor tile, and brickwork joint fillers device 6
Flexibly, para-position is accurate in motion, and working performance is high.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.The technical staff of the industry should
Understanding, the present invention is not restricted to the described embodiments, the simply explanation present invention's of the description in above-described embodiment and description
Principle, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, and these change and change
Enter to both fall within scope of the claimed invention.Claimed scope is by appending claims and equivalent thereof
Define.
Claims (6)
1. ground, road surface brick masonry Work robot, it is characterised in that: include crawler unit, running gear system, electricity
Dynamic turntable, delta parallel institution, suction means and brickwork joint filler device；Described running gear system quantity is four, and wheeled
Running gear is respectively symmetrically and is arranged in the crawler unit left and right sides, and electrical turntable is positioned at crawler unit upper end center position
Put place, and electrical turntable be connected with crawler unit, delta parallel institution between electrical turntable and suction means, and
Delta parallel institution lower end is connected with electrical turntable, and delta parallel institution upper end is connected with suction means, and brickwork joint fillers
Device is positioned at directly over suction means, wherein:
Described delta parallel institution includes fixed platform, moving platform, motor cabinet, parallel-connected induction motors, the first rotating shaft, first connecting rod, turns
Untie-sell, second connecting rod, the second rotating shaft, rotating basis and limit spring；Described fixed platform and moving platform the most rounded shape structure,
Moving platform is positioned at directly over fixed platform, and the quantity of motor cabinet and rotating basis is three, during motor cabinet with the center of circle of fixed platform is
The heart is that equilateral triangle shape is fixed on fixed platform upper surface, rotating basis centered by the center of circle of moving platform in equilateral triangle shape cloth
Put on moving platform lower surface, and motor cabinet installation site and rotating basis installation site one_to_one corresponding respectively, parallel-connected induction motors leads to
Cross motor cabinet and be fixed installation, and parallel-connected induction motors uses adjustable speed twin shaft output motor, the first rotating shaft one end and parallel-connected induction motors
Main shaft is connected, and the first rotating shaft other end is connected with first connecting rod upper end, between first connecting rod lower end and second connecting rod upper end
Employing rotational pin is attached, and second connecting rod lower end is connected with second rotating shaft one end, and the second rotating shaft other end is arranged on rotation
On pedestal, rotating basis lower end is provided with swivel bearing, and swivel bearing fixes with moving platform upper surface, rotating basis upper end
It is provided with the double end sleeve matched with the second rotating shaft, first connecting rod middle inside and second connecting rod middle inside to arrange respectively
Having the first mounting seat and the second mounting seat, limit spring is between the first mounting seat and the second mounting seat, and in limit spring
End is connected with the first mounting seat, and limit spring lower end is connected with the second mounting seat；
Described suction means includes drawing pedestal, drawing slide rail, absorption slide, absorption rotating disk, absorption support, angular adjustment machine
Structure, holding mechanism and delivery device；Described absorption pedestal lower end is provided with connection dish, draws pedestal upper end and is provided with fixing
Being provided with connection post between platform, and connection dish and fixed station, drawing slide rail quantity is two, draws slide rail along drawing the horizontal of pedestal
Central axis is respectively symmetrically and is arranged in both sides before and after fixed station upper surface, draws slide rear and front end and is separately mounted to draw slide rail
On, draw slide and be made up of horizontal plate and perpendicular plate, and between horizontal plate and perpendicular plate, be provided with connection floor, draw rotating disk solid
Being scheduled on absorption slide upper surface center position, draw support and be fixed on directly over absorption rotating disk, angle adjusting mechanism is positioned at suction
Taking above support, holding mechanism is arranged on the positive front end of angle adjusting mechanism, and delivery device is positioned at absorption sliding base rear end；
Device include fillering support, the turntable that fillers, telescope support, tightening cover, the elevating lever that fillers, the vibration of fillering of described brickwork joint is drawn
Spring, vibration mounting, filler slide block and the leakage basket that fillers；It is provided with, at four drift angles of the described pedestal lower end that fillers, support of fillering
Bar, the pedestal upper end that fillers is provided with mounting platform, and the turntable that fillers is fixed on the center position of the pedestal upper end mounting platform that fillers,
Telescope support rear end is arranged on fillers on turntable, and telescope support and the employing tightening cover between turntable that fillers are fixed locking,
The elevating lever that fillers is positioned at immediately below telescope support front end, and elevating lever upper end of fillering is connected with telescope support, and filler elevating lever
Lower end fixes with vibration mounting, and vibrating spring is between telescope support and vibration mounting, and vibrating spring is along fillering lifting
Bar is that circumference is evenly arranged, and vibrating spring upper end is connected with telescope support, and vibrating spring lower end is connected with vibration mounting, shakes
Dynamic bearing upper end is in the U-shape structure stood upside down, and its longitudinal center's axis of vibration mounting lower end edge is respectively symmetrically and is provided with guiding slide bar,
The slide block that fillers is arranged on the guiding slide bar of vibration mounting lower end, and the Lou basket that fillers is fixed on immediately below the slide block that fillers, and fillers Lou
Basket is the hollow rectangle box body structure of upper end open, fillers and Lou uniformly offers discharge opening on basket bottom face.
Ground, a kind of road surface the most according to claim 1 brick masonry Work robot, it is characterised in that: described crawler travel
Device includes chassis, drives motor, drive shaft, walking belt wheel, tight locking button and traveling crawler, and drives motor, tight locking button and row
The quantity walking crawler belt is two, and drive shaft and walking belt wheel quantity are four；Described chassis is in rectangular configuration, rear and front end, chassis
Offer mounting groove respectively, drive motor to be separately fixed at before and after chassis in the mounting groove of both sides, and drive motor to use twin shaft
Synchronism output motor, drive shaft one end is connected with driving motor output shaft, and the drive shaft other end is connected with walking belt wheel, and
Being fixed by tight locking button between drive shaft and walking belt wheel, traveling crawler two ends are rotating around being enclosed within walking belt wheel, and row
Walk and outside crawler belt, be evenly arranged with semicircle tread plate.
Ground, a kind of road surface the most according to claim 1 brick masonry Work robot, it is characterised in that: described running on wheels
Device includes walk fixed plate, walking slide rail, walking slide block, walking ear mount, rotating shaft, mobile roof support, No. two rotating shafts, walkings
Support bar, moving block, movable motor, movable motor frame, walking axle and walking runner；It is solid that described walking slide rail is fixed on walking
Determining on plate lower surface, walking slide block is arranged on walking slide rail, and walking upper end of slide block is concave structure, and walking slide block lower end is
The U-shape structure stood upside down, walking ear mount is positioned at walking sliding rail rear end position, and walking ear mount is connected with walking fixed plate, walking
Pedestal upper end is connected with walking ear mount by a rotating shaft, is provided with walking connecting rod at mobile roof support medium position, walking
Support bar one end is connected with walking slide block lower end by No. two rotating shafts, and the walking support bar other end is by moving block and walking
Walking connecting rod in the middle part of frame is connected, and walking support bar is pneumatic telescopic structure, and movable motor passes through movable motor
Frame is fixed on mobile roof support lateral wall, and movable motor main shaft is connected with walking axle, and walking axle two ends are separately fixed at row
Walking on the medial wall, left and right of pedestal lower end, walking runner is arranged at walking axle medium position.
Ground, a kind of road surface the most according to claim 1 brick masonry Work robot, it is characterised in that: described angular adjustment
Mechanism includes regulating hinge, regulation support plate, motor pillar, Bidirectional output electric machine, contraction wheel, regulation steel wire rope and regulation ear mount；
Described regulation support plate is positioned between absorption support front end, and regulation support plate and absorption support and is attached by regulation hinge,
Motor pillar is positioned at absorption back-end support center position, and motor pillar bottom is connected with drawing pedestal upper end face, motor
Pillar top is connected with in the middle part of Bidirectional output electric machine, and the quantity shrinking wheel, regulation steel wire rope and regulation ear mount is two, shrinks
Wheel is fixed on Bidirectional output electric machine main shaft, and regulation steel wire rope one end is fixed on contraction wheel, and the regulation steel wire rope other end is wound around
In regulation ear mount, regulation ear mount is fixed on regulation support plate upper surface.
Ground, a kind of road surface the most according to claim 1 brick masonry Work robot, it is characterised in that: described holding mechanism
Including vacuum generator, lifting air-leg and vacuum cup；Described vacuum generator passes regulation support plate center, and
Fixing with regulation support plate in the middle part of vacuum generator, vacuum generator lower end is connected with vacuum cup, lifts air-leg one
Holding and be connected with regulation support plate, the lifting air-leg other end is connected with vacuum cup, and vacuum cup is the side of lower ending opening
Shape hollow shell structure, vacuum cup lower end is evenly arranged with suction nozzle, and vacuum cup material is flexible rubber material.
Ground, a kind of road surface the most according to claim 1 brick masonry Work robot, it is characterised in that: described delivery device
Including pushing support plate, pushing push rod and returning spring；Described propelling movement support plate bottom is fixed on absorption pedestal, pushes push rod position
In pushing on support plate lateral surface, push push rod front end and be connected with drawing slide, push putting back-end and be connected with pushing support plate,
And propelling movement push rod is linearly equally spaced along pushing support plate longitudinal direction, returning spring is around being enclosed within propelling movement push rod front position
Place.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810279149.6A CN108487012B (en) | 2016-06-23 | 2016-06-23 | Automatic change high road surface ceramic tile of degree and build operation robot by laying bricks or stones |
| CN201810279171.0A CN108468266A (en) | 2016-06-23 | 2016-06-23 | Using robot progress road surface the construction method of brick masonry operation |
| CN201610459341.4A CN106087672B (en) | 2016-06-23 | 2016-06-23 | A kind of road surface ground brick masonry Work robot |
| CN201810279168.9A CN108457159A (en) | 2016-06-23 | 2016-06-23 | Using robot progress road surface the method for brick masonry operation |
| CN201810279186.7A CN108487013B (en) | 2016-06-23 | 2016-06-23 | High-automation-degree robot for road surface floor tile masonry operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610459341.4A CN106087672B (en) | 2016-06-23 | 2016-06-23 | A kind of road surface ground brick masonry Work robot |
Related Child Applications (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810279171.0A Division CN108468266A (en) | 2016-06-23 | 2016-06-23 | Using robot progress road surface the construction method of brick masonry operation |
| CN201810279168.9A Division CN108457159A (en) | 2016-06-23 | 2016-06-23 | Using robot progress road surface the method for brick masonry operation |
| CN201810279149.6A Division CN108487012B (en) | 2016-06-23 | 2016-06-23 | Automatic change high road surface ceramic tile of degree and build operation robot by laying bricks or stones |
| CN201810279186.7A Division CN108487013B (en) | 2016-06-23 | 2016-06-23 | High-automation-degree robot for road surface floor tile masonry operation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106087672A true CN106087672A (en) | 2016-11-09 |
| CN106087672B CN106087672B (en) | 2018-06-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610459341.4A Active CN106087672B (en) | 2016-06-23 | 2016-06-23 | A kind of road surface ground brick masonry Work robot |
| CN201810279149.6A Active CN108487012B (en) | 2016-06-23 | 2016-06-23 | Automatic change high road surface ceramic tile of degree and build operation robot by laying bricks or stones |
| CN201810279171.0A Withdrawn CN108468266A (en) | 2016-06-23 | 2016-06-23 | Using robot progress road surface the construction method of brick masonry operation |
| CN201810279168.9A Withdrawn CN108457159A (en) | 2016-06-23 | 2016-06-23 | Using robot progress road surface the method for brick masonry operation |
| CN201810279186.7A Active CN108487013B (en) | 2016-06-23 | 2016-06-23 | High-automation-degree robot for road surface floor tile masonry operation |
Family Applications After (4)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810279149.6A Active CN108487012B (en) | 2016-06-23 | 2016-06-23 | Automatic change high road surface ceramic tile of degree and build operation robot by laying bricks or stones |
| CN201810279171.0A Withdrawn CN108468266A (en) | 2016-06-23 | 2016-06-23 | Using robot progress road surface the construction method of brick masonry operation |
| CN201810279168.9A Withdrawn CN108457159A (en) | 2016-06-23 | 2016-06-23 | Using robot progress road surface the method for brick masonry operation |
| CN201810279186.7A Active CN108487013B (en) | 2016-06-23 | 2016-06-23 | High-automation-degree robot for road surface floor tile masonry operation |
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| Country | Link |
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| CN (5) | CN106087672B (en) |
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| CN112758200A (en) * | 2021-02-04 | 2021-05-07 | 深圳市壹通道科技有限公司 | 5G message intelligent robot |
| WO2024027605A1 (en) * | 2022-08-04 | 2024-02-08 | 中国一冶集团有限公司 | Coke oven body building system |
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| CN110685426B (en) * | 2019-10-23 | 2020-11-20 | 熊振 | Intelligent ceramic tile joint repairing machine |
| CN113135507A (en) * | 2020-01-19 | 2021-07-20 | 中冶宝钢技术服务有限公司 | Manipulator for converter masonry |
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- 2016-06-23 CN CN201810279149.6A patent/CN108487012B/en active Active
- 2016-06-23 CN CN201810279171.0A patent/CN108468266A/en not_active Withdrawn
- 2016-06-23 CN CN201810279168.9A patent/CN108457159A/en not_active Withdrawn
- 2016-06-23 CN CN201810279186.7A patent/CN108487013B/en active Active
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| JPH0820908A (en) * | 1994-07-05 | 1996-01-23 | Kiyoueishiya:Kk | Construction car equipped with sand sprayer for paving block |
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| CN101832019A (en) * | 2010-05-20 | 2010-09-15 | 锦宸集团有限公司 | Ceramic floor tile paving device |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106988549A (en) * | 2017-06-08 | 2017-07-28 | 合肥集知网信息技术有限公司 | A kind of architecture indoor finishing metope sweeps processor automatically |
| CN106988549B (en) * | 2017-06-08 | 2019-05-24 | 成都煜明装饰工程有限公司 | A kind of architecture indoor finishing metope sweeps processor automatically |
| CN108000483A (en) * | 2017-08-30 | 2018-05-08 | 安徽工程大学 | A kind of collaboration carrying platform and control method based on series parallel type mobile robot |
| CN111305532A (en) * | 2020-03-08 | 2020-06-19 | 大国重器自动化设 备(山东)股份有限公司 | Floor tile paving robot and tile taking method |
| CN112758200A (en) * | 2021-02-04 | 2021-05-07 | 深圳市壹通道科技有限公司 | 5G message intelligent robot |
| CN112758200B (en) * | 2021-02-04 | 2022-09-09 | 深圳市壹通道科技有限公司 | 5G message intelligent robot |
| WO2024027605A1 (en) * | 2022-08-04 | 2024-02-08 | 中国一冶集团有限公司 | Coke oven body building system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108487013B (en) | 2019-12-24 |
| CN108457159A (en) | 2018-08-28 |
| CN108468266A (en) | 2018-08-31 |
| CN108487012B (en) | 2019-12-20 |
| CN106087672B (en) | 2018-06-26 |
| CN108487012A (en) | 2018-09-04 |
| CN108487013A (en) | 2018-09-04 |
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