CN107975245A - Building decoration numerically controlled intelligent multi-function robot - Google Patents
Building decoration numerically controlled intelligent multi-function robot Download PDFInfo
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- CN107975245A CN107975245A CN201711444096.0A CN201711444096A CN107975245A CN 107975245 A CN107975245 A CN 107975245A CN 201711444096 A CN201711444096 A CN 201711444096A CN 107975245 A CN107975245 A CN 107975245A
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- 238000005034 decoration Methods 0.000 title claims abstract description 28
- 230000001360 synchronised effect Effects 0.000 claims abstract description 34
- 230000001105 regulatory effect Effects 0.000 claims abstract description 19
- 230000007423 decrease Effects 0.000 claims abstract description 10
- 238000004891 communication Methods 0.000 claims description 14
- 239000004973 liquid crystal related substance Substances 0.000 claims description 10
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 2
- 241000237858 Gastropoda Species 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract description 40
- 230000000694 effects Effects 0.000 abstract description 10
- 230000008901 benefit Effects 0.000 abstract description 5
- 238000009434 installation Methods 0.000 abstract description 2
- 239000004576 sand Substances 0.000 description 9
- 230000008859 change Effects 0.000 description 8
- 238000006073 displacement reaction Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 239000011248 coating agent Substances 0.000 description 4
- 238000000576 coating method Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 239000004570 mortar (masonry) Substances 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 3
- 238000003801 milling Methods 0.000 description 3
- 238000005507 spraying Methods 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
- 239000011083 cement mortar Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N ferric oxide Chemical compound O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000011112 process operation Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000009877 rendering Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
- E04G21/22—Tools or apparatus for setting building elements with mortar, e.g. bricklaying machines
-
- 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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/06—Implements for applying plaster, insulating material, or the like
- E04F21/08—Mechanical implements
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/16—Implements for after-treatment of plaster or the like before it has hardened or dried, e.g. smoothing-tools, profile trowels
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of building decoration numerically controlled intelligent multi-function robot, including hydraulic walking device, turn round rotation table device, support post, folding and unfolding adjusting mechanical arm, multi-functional constructing device, synchronous swinging device, upper top declines regulating device and control device, revolution rotation table device is arranged on hydraulic walking device, support post is arranged on revolution rotation table device, folding and unfolding adjusting mechanical arm is arranged at the upper middle part of support post, synchronous swinging device is arranged at the front end of folding and unfolding adjusting mechanical arm with multi-functional constructing device, hydraulic walking device, turn round rotation table device, folding and unfolding adjusting mechanical arm, synchronous swinging device, multi-functional constructing device and upper top decline regulating device and communicate connection with control device.Building decoration numerically controlled intelligent multi-function robot provided by the present invention have the advantages that it is simple in structure it is light and handy, the degree of automation is high, construction precision is high and work efficiency is high, can realize that a Fast Installation completes the multinomial construction effect in a room.
Description
Technical field
The invention belongs to building machinery technical field, and in particular to a kind of building decoration numerically controlled intelligent multi-function robot.
Background technology
In building construction, body of building a wall, the plastering, is levelling, sanding flat reality of metope, engineering of coating are bricklayer projects in building
The important engineering that quantities is big, expense is more, quality requirement is high.For a long time, both at home and abroad in building engineering, it is built a wall,
The mortar of metope, which smoothes out, sands flat reality and coating rendering, is all to be completed by manual operation, eminence also needs scaffolding.Thus band
Come the problem of be：Occupy that labour is more, work efficiency is low, quality is unstable, long construction period, seriously affects project progress and quality.
Meanwhile in view of architecture indoor narrow space, construction robot must reach compact design, it is necessary to optimize machine in detail
The mechanical mechanism of device people, realizes robot normal operation on coarse ground, the precise positioning of working face, coordinates host row
Walk, rotate, working face rotation, multiple frees degree such as joint complete various linear movements in the three dimensions of reverie, complete more
Class works, and all overall optimization design problems are relatively difficult.
At present, a series of (note of bricklayers after the completion of building body:Milling metope, the plastering, is levelling of metope, sand are real, coating
Deng) although the building bricklayer Robot Design achievement that work has different institutions at present is announced, so far without building bricklayer machine
The commercialization approved product of people is sold, trace it to its cause be existing building bricklayer robot in itself there are technical defect, such as smear
After ash it is levelling, sand flat it is real still manually complete, planning sheet one, no continuity completes whole flow chart, as flush coater is made
Industry, does not simply have flatness to say in wall surface spraying mortar, the mortar of spraying yet, and follow-up work is levelling, sand is also manually in fact
Complete, levelling, sand is real workload is far longer than the workload of plastering and spraying operation.The obvious work effect so band is not able to come
Benefit, the rail plastering robot and infrared ray just now announced automatically control plastering machine ball people, cumbersome, the construction of rail
Technique can produce human error in itself, what infrared ray automatically controlled, wall face itself is uneven, ground is uneven, influence caused
The point detected also generates certain error, ultimately results in plastering quality and do not reach defined flatness, verticality away from difference
And smoothness requirements, do not reach once quick placement, come complete a room plastering, it is levelling, sand flat reality, build a wall, wall covering etc..
Not reaching makes the completion of whole process operation construction, produces planning sheet one, wall plastering hollowing phenomenon, quality is unstable, benefit
Low product is impracticable, can not be easily accepted by a user.
The content of the invention
It is contemplated that solve at least some of the technical problems in related technologies.For this reason, the present invention
Main purpose is to provide a kind of building decoration numerical control light and handy, the degree of automation is high, construction precision is high, work efficiency is high simple in structure
Intelligent multifunctional robot.
The purpose of the present invention is what is be achieved through the following technical solutions：
A kind of building decoration numerically controlled intelligent multi-function robot, including：Hydraulic walking device, revolution rotation table device, support
Column, angle oscillating device, folding and unfolding adjusting mechanical arm, multi-functional constructing device, upper top decline regulating device and control device,
The hydraulic walking device, including handle assembly, hydraulic system, frame assembly, bogey, and it is arranged at institute
Multiple rotating wheels below frame assembly are stated, the handle assembly is arranged at the front of the frame assembly, the hydraulic system
Be arranged between the handle assembly and bogey, the bogey be set up in the top of the frame assembly and with it is described
Hydraulic system connects, and be arranged in parallel with multiple Horizon fixations on the bogey is followed closely with adjusting screw, in the hydraulic system
It is provided with plunger moving up and down, the bogey is fixedly connected on the upper end of the plunger and synchronous with the plunger
It is mobile；
The revolution rotation table device includes the revolving support being arranged on the bogey, is installed on the revolving support
There is a revolution turntable, the revolution turntable is provided with the first driving means of its revolution of driving, and the first driving means include the
One driving motor and the self-locking Worm and worm-wheel gearing being connected with the described first driving motor；
The support post is fixedly installed on the central point of the revolution rotation table device；
The folding and unfolding adjusting mechanical arm includes the fixing bracket for being fixedly installed on middle part on the support post, the fixation
The cantilever mounted being horizontally mounted and the second driving device being electrically connected with cantilever mounted are fixedly installed on stent, described second drives
Dynamic device is ball screw driving device, and the ball screw driving device includes ball screw and can be movably coupled to the rolling
Ball nut on ballscrew, the ball nut are fixedly connected with sliding gib, and horizontal cunning is provided with the cantilever mounted
Groove, further includes the sliding gib being arranged above the cantilever mounted, is provided with below the sliding gib and the transverse direction
The matched sliding block of sliding slot；
The synchronous swinging device is arranged at the top of sliding gib, the synchronous swinging device and the revolution turntable dress
The rotational angle put is synchronous；
The multi-functional constructing device is arranged at the front end of the synchronous swinging device, and the multi-functional constructing device includes
Supporting rack, the front end of support frame as described above are provided with vertical axis rail, and two side ends are both provided with upright slide rail on the vertical axis rail, institute
The 3rd driving device that Multi-function working head is additionally provided with vertical axis rail and drives the Multi-function working head to move up and down is stated,
It is provided with the Multi-function working head and the matched sliding slot of the upright slide rail；
The upper top declines regulating device and is arranged on the top dead center position of the support post, the hydraulic moving dress
Put, turn round rotation table device, synchronous swinging device, folding and unfolding adjusting mechanical arm and multi-functional constructing device and upper top decline regulating device
Communicate and connect with the control device.
Preferably, wherein the self-locking Worm and worm-wheel gearing, on be provided with back lash collocation structure.
Preferably, wherein the multi-functional constructing device is additionally provided with the elastic protection device of protection Multi-function working head, institute
The rear end that elastic protection device is arranged at Multi-function working head is stated, the 3rd driving device connects with control device communication
Connect.
Preferably, wherein the Multi-function working head includes Quick-mounting working mechanical arm and is arranged at the Quick-mounting working machinery
The work head of arm front end, the work head are struck off, sand flat roller to be levelling, and metope, which is scraped, to be coated, facing cutter, upper apparatus for ash and
One kind in screeding device.
Preferably, wherein the hydraulic walking device, revolution rotation table device, synchronous swinging device, folding and unfolding adjusting mechanical arm
Be both provided with remote control sensing device on multi-functional constructing device, the remote control sensing device is connected with remote controler communication, described
Remote controler is connected with control device communication.
Preferably, wherein the hydraulic walking device, revolution rotation table device, folding and unfolding adjusting mechanical arm and multi-functional construction dress
Put and be both provided with alarm device, the sound and light alarm module that the alarm device forms for buzzer and luminous tube, the alarm
Module is connected with control panel communication.
Preferably, wherein the control device includes shell and is arranged at the control panel of case surface, the control
Panel includes mainboard, liquid crystal display panel and touch key-press panel, and liquid crystal display panel and the touch key-press panel is and institute
Mainboard communication connection is stated, the mainboard is arranged in the shell, and pilot hole, the liquid crystal display are further opened with the shell
Panel and touch key-press panel are installed on case surface by pilot hole.
Preferably, wherein the support post includes the U that vertical column is fixedly connected with the upper surface of the vertical column
Type frame, the lower end of the vertical column are arranged on the central point of revolution rotation table device, and the upper top declines regulating device and consolidates
Surely the upper surface of the U-shaped framework is arranged at, the folding and unfolding adjusting mechanical arm is arranged at the upper surface of the vertical column and wears
In U-shaped framework.
Compared with prior art, the present invention has at least the following advantages：
Building decoration numerically controlled intelligent multi-function robot disclosed in this invention, has the following advantages that effect：
(1) hydraulic walking device make building decoration numerically controlled intelligent multi-function robot complete machine walking, displacement, by
Revolving support on bogey, installs back platform of walking around on revolving support, and revolution driving dress is installed on revolution turntable
Put, realize building decoration numerically controlled intelligent multi-function robot can realize 360 ° of rotations, and pass through HYDRAULIC CONTROL SYSTEM
Bogey rises or falls so that the upper top decline regulating device for being arranged at support post top is contacted with ceiling, and is held
Carry to put to be arranged in parallel with multiple Horizon fixations and followed closely with adjusting screw and contact with ground, the effect that realization is quickly held out against, and then
Realize Fast Installation and once mounting, complete the required working procedure in a room, it is convenient and efficient, greatly improve the effect of construction
Rate.
(2) when constructing, by control device building decoration numerically controlled intelligent multi-function robot, survey multi-functional constructing device
Determine the data size above and below the equipment center point to the straight line of metope and side after the equipment is installed, surveyed dimension data is passed
Transport in control device, start the mortar pump being used cooperatively with the equipment, while start the operating switch of this equipment, pass through second
Driving device driving sliding gib realizes the function of elongating or shortening, since the equipment is motionless in situ, revolution turntable dress
Put and rotated in the range of 360 °, change is generated in order to compensate for the distance of multi-functional constructing device and metope, by outstanding in slip
The top fixed setting synchronous swinging device of arm, the angle synchronous hunting of synchronous swinging device and revolution rotation table device so that more
The swing angle of function constructing device is consistent with the rotation angle for turning round rotation table device, so that multi-functional constructing device is in work
As when remain with required work metope apart from constant, by the 3rd driving device drive Multi-function working head realize rise or
The construction operation of decline, and then the construction working up and down of metope is completed, the coordinate operation of said structure, ensures the construction of the equipment
Quality and construction efficiency；After construction, multi-functional constructing device can leave construction from inside to outside and complete metope, avoid multi-functional
Constructing device scrapes the metope just constructed during declining, and by being raised and lowered of bogey, cantilever mounted and
The cooperation transmission of sliding gib, and sliding gib elongate or shorten, and 360 ° of rotations of revolution rotation table device and hydraulic pressure
Walking, the displacement of running gear so that the building decoration numerically controlled intelligent multi-function robot can construct in less space,
And construction quality is stable, reliable.
(3) when constructing, the several times metope in a room can in the about central part in a room a, fast unit, be completed
Construction, is struck off to complete on the metope in a room ash, look for fast quick change construction working head, sands flat reality, milling metope, coating etc..
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Structure according to these attached drawings obtains other attached drawings.
Fig. 1 is the main structure chart of building decoration numerically controlled intelligent multi-function robot provided by the present invention；
Fig. 2 is the left view of building decoration numerically controlled intelligent multi-function robot provided by the present invention；
Fig. 3 is the operation principle of control device in building decoration numerically controlled intelligent multi-function robot provided by the present invention
Figure.
Wherein, 1, hydraulic walking device；11st, handle assembly；12nd, hydraulic system；13rd, frame assembly；14th, bogey；
15th, rotating wheel；16th, driving power；17th, charging unit；18th, adjusting screw is followed closely；2nd, rotation table device is turned round；3rd, support post；4、
Folding and unfolding adjusting mechanical arm；41st, cantilever mounted；42nd, the second driving device；43rd, sliding gib；44th, synchronous swinging device；5th, more work(
Can constructing device；51st, supporting rack；52nd, vertical axis rail；53rd, Multi-function working head；54th, the 3rd driving device；6th, falling tone under upper top
Regulating device；7th, control device；8th, remote controler.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only the part of the embodiment of the present invention, instead of all the embodiments.
Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without creative efforts
The every other embodiment obtained, belongs to the scope of protection of the invention.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute is only used in the embodiment of the present invention
In explaining the relative position relation under a certain particular pose (as shown in drawings) between each component, motion conditions etc., if should
When particular pose changes, then directionality instruction also correspondingly changes correspondingly.
In the present invention such as relating to the description of " first ", " second " etc. is only used for description purpose, and it is not intended that instruction
Or imply its relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, " first ", " second " are defined
Feature can express or implicitly include at least one this feature.
In the description of the present invention, " multiple " are meant that at least two, such as two, three etc., unless otherwise clear and definite
It is specific to limit.
In the present invention, unless otherwise clearly defined and limited, term " connection ", " fixation " etc. should be interpreted broadly,
For example, " fixation " can be fixedly connected or be detachably connected, or integrally；Can be mechanically connect or
It is electrically connected；It can be directly connected, can also be indirectly connected by intermediary, can be the connection inside two elements or two
The interaction relationship of a element, unless otherwise restricted clearly.For the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term in the present invention.
Embodiment 1：
As shown in Figure 1, Figure 2 and Figure 3, a kind of building decoration numerically controlled intelligent multi-function robot provided by the present invention, bag
Include：Hydraulic walking device 1, revolution rotation table device 2, support post 3, folding and unfolding adjusting mechanical arm 4, multi-functional constructing device 5, upper top
Decline regulating device 6 and control device 7：
The hydraulic walking device 1, including handle assembly 11, hydraulic system 12, frame assembly 13, bogey 14, with
And multiple rotating wheels 15 of the lower section of frame assembly 13 are arranged at, handle assembly 11 is arranged at the front of frame assembly 13, hydraulic pressure system
System 12 is arranged between handle assembly 11 and bogey 14, and multiple Horizon fixations are arranged in parallel with bogey 14 and are adjusted
Screw 18 is saved, bogey 14 is set up in the top of frame assembly 13 and is connected with hydraulic system 12, set in hydraulic system 12
Be equipped with plunger moving up and down, bogey 14 be fixedly connected on the upper end of plunger and with plunger synchronizing moving；The handle
Assembly 11 is used for the hydraulic jack of hydraulic system 12, and handle assembly 11 is fixedly installed in hydraulic jack, hydraulic jack
Plunger moving up and down, swinging handle assembly 11 are inside provided with, the plunger being arranged in hydraulic jack can rise, and open
Check valve in hydraulic jack can decline plunger, and bogey 14 is fixedly connected on the upper end of plunger, bogey 14
It can correspondingly be moved up and down with moving up and down for plunger, when specifically used, pass through operation handle assembly 11 so that vehicle frame
Assembly 13 is moved by moving up and down for hydraulic system, and is provided with multiple rotating wheels 15 of the lower section of frame assembly 13,
It can realize that the building decoration numerically controlled intelligent multi-function robot moves in space, walks, it is convenient and efficient；
Revolution rotation table device 2 includes the revolving support being arranged on bogey 14, and being provided with revolution on revolving support turns
Platform, revolution turntable be provided with driving its revolution first driving means, first driving means include first driving motor and with
The self-locking Worm and worm-wheel gearing of first driving motor connection, the main effect of revolution rotation table device 2 are to drive support vertical
Column 3, folding and unfolding adjusting mechanical arm 4 and multi-functional constructing device 5 rotate in 360 ° of space, and then complete each in whole space
The construction working at the positions such as metope, ceiling.The self-locking Worm and worm-wheel gearing plays deceleration, torque power, the work(of self-locking
Can, when specifically used, first driving motor is connected to worm screw in the revolution rotation table device 2, and worm screw drives worm gear rotation so that should
The rotation of revolution rotation table device 2 has higher running accuracy, in addition, the Worm and worm-wheel gearing is provided with protective cover, carries
The high safe handling of the equipment.
Wherein, turn round between turntable and frame assembly 13 and be equipped with angle of revolution sensor, the signal of angle of revolution sensor
Control device 7 is passed to, control device 7 is according to control instruction and combines the signal of angle of revolution sensor, and turntable is turned round in control
The corner of relatively described frame assembly 13, to realize the various needs of work of the present embodiment.
Support post 3 is fixedly installed on the central point of revolution rotation table device 2, and support post 3, which primarily serves, to be held under the first line of a couplet
The function of increasing, when specifically used, climbs away ground, so that being arranged at by 12 bogey 14 of hydraulic system
Support post 3 on bogey 14 is also with rise, until the upper top on 3 top of support post declines the upper end of regulating device 6
Face has held out against the effect of fixation with ceiling, and the setting that support post 3 declines regulating device 6 with upper top fully achieves automatically
Change, it is convenient and efficient, improve the stability and construction precision of complete machine.
Folding and unfolding adjusting mechanical arm 4 includes the fixing bracket for being fixedly installed on middle part on support post 3, is fixed on fixing bracket
It is provided with the cantilever mounted 41 being horizontally mounted and the second driving device 42 being electrically connected with cantilever mounted 41, the second driving device 42
For ball screw driving device, ball screw driving device includes ball screw and can be movably coupled to the ball on ball screw
Nut, ball nut are fixedly connected with sliding gib 43, and self-locking device is also equiped with ball screw, by the way that the second driving is filled
The 42 cooperation linkings for being designed to ball screw and ball nut are put, improve the transmission efficiency of sliding gib 43, while to slide
Cantilever 43 is elongated or shortened to reach and is accurately controlled, and further increases the construction operation precision of the equipment；In cantilever mounted 41
Horizontal concrete chute is provided with, further includes the sliding gib 43 for being arranged at the top of the cantilever mounted 41, under the sliding gib 43
Side be provided with the matched sliding block of horizontal concrete chute, pass through the cooperation sliding gib 43 of horizontal concrete chute and sliding block realize elongation
Or shorten；The top of sliding gib 43 is additionally provided with synchronous swinging device 44, which is provided with individual motor,
And the front end of sliding gib is arranged at, synchronous swinging device 44 is synchronous with the rotational angle of the revolution rotation table device 2；
Multi-functional constructing device 5 is arranged at the front end of synchronous swinging device 44, and upper top declines regulating device 6 and is arranged at support
On the top dead center position of column 3, stretched by the left and right of sliding gib 43 drive multi-functional constructing device 5 left and right extend or
Shorten, which includes supporting rack 51, the front end of supporting rack 51 is provided with vertical axis rail 52, vertical axis rail 52
Upper two side ends are both provided with upright slide rail, and Multi-function working head 53 and driving Multi-function working head are additionally provided with vertical axis rail 52
53 the 3rd driving devices 54 moved up and down, are provided with and the matched sliding slot of upright slide rail on Multi-function working head 53；Specifically
During use, Multi-function working head 53 is realized and realized on upright slide rail by the driving effect of the 3rd driving device 54
Lower movement, and then complete the construction operation above and below wall；During specifically used, since the equipment is motionless in situ, revolution
The rotation angle of rotation table device 2 is different so that the distance of multi-functional constructing device 5 and metope generates change, by outstanding in slip
The top of arm 43 sets synchronous swinging device 44, and synchronous swinging device 44 is electrically connected with first driving means, synchronous swinging device
44 setting makes multi-functional constructing device 5 remain at work with required work metope apart from constant, ensure that the equipment
Construction quality and construction efficiency；
Hydraulic walking device 1, revolution rotation table device 2, folding and unfolding adjusting mechanical arm 4, multi-functional constructing device 5 and synchronous hunting
Device 44 is communicated with control device 7 and connected, which may be disposed on support post 3, by by hydraulic walking device
1st, turn round rotation table device 2, folding and unfolding adjusting mechanical arm 4, multi-functional constructing device 5 and synchronous swinging device 44 with control device 7
Communication connection so that the building decoration numerically controlled intelligent multi-function robot realizes full automation, and imitates manually apply completely
Work mode, construction quality is good, stability and construction efficiency are high.
In an optimal technical scheme of the present embodiment, driving power 16 can also be set, driving electricity in the equipment
Source 16 is electrically connected with hydraulic walking device 1, while is communicated and connected with control device 7, when specifically used, by control device 7, is made
Driving power 16 drives hydraulic walking device 1 all around to walk, and complete machine such as is raised and lowered at the function, fully automated
Change, without manual promotion；And the driving power 16 is additionally provided with charging unit 17, when specifically used, charging unit 17 is to the drive
Dynamic power supply 16 charges, convenient and practical.
Embodiment 2：
In order to further improve the precision of the construction operation of the equipment, it is preferable that the present embodiment is on the basis of embodiment 1
On, wherein self-locking Worm and worm-wheel gearing is provided with back lash collocation structure, and the setting of back lash collocation structure is main
If the abrasion that worm and gear produces during use is adjusted compensation, and then to 360 ° of revolution rotation table device 2
Rotation angle, which reaches, accurately to be controlled, and then improves the construction operation precision of the equipment；
In another optimal technical scheme of the present embodiment, it is preferable that wherein first driving means, the second driving device
42 and the 3rd driving device 54 be stepper motor or servomotor, wherein servomotor refers to the control machinery in servo-drive system
The engine of element operating, is a kind of subsidy indirect speed change gear of motor, it can make control speed, and positional precision is very accurate,
Voltage signal can be converted into torque and rotating speed with drive control object.Servo motor rotor rotating speed is controlled by input signal,
And energy fast reaction, in automatic control system, as executive component, and with electromechanical time constant is small, the linearity is high, initiating
The characteristics such as voltage, can received electric signal be converted into angular displacement on motor reel or angular speed exports；Stepper motor is
Electric impulse signal is changed into the opened loop control element of angular displacement or displacement of the lines.In the case of non-overload, the rotating speed of motor, stop
Position only is solely dependent upon the frequency and umber of pulse of pulse signal, and from the influence of load change, when step actuator receives
As soon as to a pulse signal, its Driving Stepping Motor rotates a fixed angle by the direction of setting, is known as " step angle ", it
Rotation be to be run step by step with fixed angle.Angular displacement can be controlled by controlling pulse number, so as to reach
To the purpose of accurate positionin；The speed and acceleration of motor rotation can be controlled by controlling pulse frequency at the same time, so as to reach
To the purpose of speed governing, in the present invention, the use of servomotor or stepper motor further increases the building decoration numerical control
The construction quality and job stability of intelligent multifunctional robot.
Embodiment 3：
The present embodiment is on the basis of embodiment 1 or embodiment 2, it is preferable that wherein described multi-functional constructing device 5 is also set
The elastic protection device of protection Multi-function working head 53 is equipped with, after which is arranged at Multi-function working head 53
End, the 3rd driving device 54 is connected with the communication of control device 7, when specifically used, when multi-functional constructing device 5 is in the process of construction
In, the part that metope protrudes is run into, which can be tightened so that multi-functional constructing device withdraws and plays protection
Effect, treat that multi-functional constructing device has passed through the projection of metope, which can reset into work shape automatically
State so that construction operation continues, and ensure that construction quality and construction efficiency.
In an optimal technical scheme of the present embodiment, it is preferable that wherein Multi-function working head 53 includes Quick-mounting working
Mechanical arm and the work head for being arranged at Quick-mounting working mechanical arm front end, the setting of Quick-mounting working mechanical arm can realize work head
Quick-replaceable, realizes that the replacement of multiple functions uses, convenient and efficient；Work head for it is levelling, strike off, sand flat roller, facing cutter, on
One kind in apparatus for ash and screeding device, work head can realize it is levelling, strike off, sand flat, scraping and coat, and upper ash etc. construction
Process, which can be replaced at any time according to the needs of construction, convenient and efficient, flexible and changeable.The present invention is with milling cutter
Exemplified by disk, facing cutter is installed by Quick-mounting working mechanical arm in the left end of sliding gib, during Specific construction, operating personnel are in wall
The pocket of preliminary metope spreads ash on body, then inputs work in every parameter, the building decoration numerical control intelligence by control device
Can multi-function robot can quick mill off be higher by the plastering of metope, then as datum line sand flat it is real i.e. number, using the equipment
Construction technology can save material i.e. cement mortar 30%-50%, cost-effective, and be people by construction metope without hollowing phenomenon
The work efficiency of 5-10 times of work old technique.
Embodiment 4：
On the basis of above-described embodiment 1, embodiment 2 and embodiment 3, it is preferable that wherein hydraulic walking device 1, revolution
Remote control sensing dress is both provided with rotation table device 2, synchronous swinging device 44, folding and unfolding adjusting mechanical arm 4 and multi-functional constructing device 5
To put, remote control sensing device is connected with the communication of remote controler 8, and remote controler 8 is connected with the communication of control device 7, when specifically used, Ke Yitong
Remote controler 8 is crossed to control hydraulic walking device 1, revolution rotation table device 2, folding and unfolding adjusting mechanical arm 4 and multi-functional constructing device 5
System, during for the big job space of dust or smell, operating personnel may be located remotely from construction space, ensure the safety of operating personnel
Health.
In an optimal technical scheme of the present embodiment, it is preferable that wherein hydraulic walking device 1, revolution rotation table device
2nd, alarm device, alarm device are both provided with synchronous swinging device 44, folding and unfolding adjusting mechanical arm 4 and multi-functional constructing device 5
The sound and light alarm module formed for buzzer and luminous tube, alarm module is connected with control panel communication, when specifically used,
The work in every parameter of the equipment is set by control panel, when the equipment, there are running parameter during operation
During more than setting value, control panel will control LED flash and buzzer warning to operating parameter values overrun condition into
Row alarm so that operating personnel's scientific discovery abnormal conditions, take appropriate measures as early as possible, reduce loss and ensure construction effect
Rate.
In an optimal technical scheme of the present embodiment, it is preferable that wherein control device 7 includes shell and sets
In the control panel of case surface, control panel includes mainboard, liquid crystal display panel and touch key-press panel, liquid crystal display panel
Communicated to connect with touch key-press panel with mainboard, mainboard is arranged in shell, and pilot hole, liquid crystal display are further opened with shell
Panel and touch key-press panel are installed on case surface by pilot hole, when specifically used, pass through 7 input service of control device
Every technical parameter, convenient and efficient needed for journey, and the data for testing gained can be directly real on liquid crystal display panel, directly
See.
Embodiment 5：
Referring again to Fig. 2, on the basis of above-described embodiment, it is preferable that wherein support post 3 includes vertical column and erects
The U-shaped framework that the upper surface of right cylinder is fixedly connected, the lower end of vertical column are arranged on the central point of revolution rotation table device 2,
Upper top declines the upper surface that regulating device 6 is fixedly installed on U-shaped framework, and it is removable that upper top, which declines regulating device 6 with support post 3,
Connection is unloaded,, can be by top on this in order to adapt to the size in the disengaging such as doorframe space during carrying during use
Decline regulating device to remove, installed again when reaching place to use, practical and convenient, folding and unfolding adjusting mechanical arm 4 is set
In the upper surface of vertical column and it is arranged in U-shaped framework, this is provided with beneficial to the overall space for further saving the equipment, with
And the stability in use of the equipment.
In an optimal technical scheme of the present embodiment, it is preferable that wherein upper top decline regulating device 6 include screw rod and
Be arranged on screw tip and with the matched screw of the screw rod, can be by adjusting screw in screw rod when specifically used
Move up and down and achieve the purpose that fine setting to ceiling is held out against.
More than, it is merely preferred embodiments of the present invention, but the protection domain invented is not limited thereto, and it is any ripe
Know those skilled in the art the invention discloses technical scope in, the change or replacement that can readily occur in should all be contained
Cover within protection scope of the present invention.Therefore, protection scope of the present invention should be subject to the protection domain of claims.
Claims (8)
- A kind of 1. building decoration numerically controlled intelligent multi-function robot, it is characterised in that including：Hydraulic walking device, revolution turntable Device, support post, folding and unfolding adjusting mechanical arm, synchronous swinging device, multi-functional constructing device, upper top decline regulating device and control Device processed,The hydraulic walking device, including handle assembly, hydraulic system, frame assembly, bogey, and it is arranged at the car Multiple rotating wheels below frame assembly, the handle assembly are arranged at the front of the frame assembly, and the hydraulic system is set Between the handle assembly and bogey, the bogey be set up in the top of the frame assembly and with the hydraulic pressure System connects, and be arranged in parallel with multiple Horizon fixations on the bogey is followed closely with adjusting screw, is set in the hydraulic system There is plunger moving up and down, the bogey is fixedly connected on the upper end of the plunger and shifting synchronous with the plunger It is dynamic；The revolution rotation table device includes the revolving support being arranged on the bogey, is provided with back on the revolving support Walk around platform, the revolution turntable is provided with the first driving means of its revolution of driving, and the first driving means include first and drive Dynamic motor and the self-locking Worm and worm-wheel gearing being connected with the described first driving motor；The support post is fixedly installed on the central point of the revolution rotation table device；The folding and unfolding adjusting mechanical arm includes the fixing bracket for being fixedly installed on middle part on the support post, the fixing bracket On be fixedly installed the cantilever mounted being horizontally mounted and the second driving device being electrically connected with cantilever mounted, the second driving dress Ball screw driving device is set to, the ball screw driving device includes ball screw and can be movably coupled to the ball wire Ball nut on bar, the ball nut are fixedly connected with sliding gib, and horizontal concrete chute is provided with the cantilever mounted, also Including the sliding gib being arranged above the cantilever mounted, it is provided with below the sliding gib and the horizontal concrete chute phase The sliding block of cooperation；The synchronous swinging device is arranged at the top of sliding gib, the synchronous swinging device and the revolution rotation table device Rotational angle is synchronous；The multi-functional constructing device is arranged at the front end of the synchronous swinging device, and the multi-functional constructing device includes support Frame, the front end of support frame as described above are provided with vertical axis rail, and two side ends are both provided with upright slide rail on the vertical axis rail, described to hang down The 3rd driving device that Multi-function working head is additionally provided with d-axis rail and drives the Multi-function working head to move up and down, it is described It is provided with Multi-function working head and the matched sliding slot of the upright slide rail；The upper top declines regulating device and is arranged on the top dead center position of the support post, the hydraulic walking device, Rotation table device, folding and unfolding adjusting mechanical arm, multi-functional constructing device and synchronous swinging device is turned round to communicate with the control device Connection.
- 2. building decoration numerically controlled intelligent multi-function robot according to claim 1, it is characterised in that the self-locking snail Back lash collocation structure is provided with worm and gear transmission mechanism.
- 3. building decoration numerically controlled intelligent multi-function robot according to claim 1, it is characterised in that described multi-functional to apply Frock puts the elastic protection device for being additionally provided with protection Multi-function working head, and the elastic protection device is arranged at Multi-function working head Rear end, the communication of the 3rd driving device and the control device connects.
- 4. building decoration numerically controlled intelligent multi-function robot according to claim 1, it is characterised in that the multi-functional work Making head includes Quick-mounting working mechanical arm and the work head for being arranged at the Quick-mounting working mechanical arm front end, and the work head is to look for Put down, strike off, sanding flat roller, metope, which is scraped, to be coated, facing cutter, one kind in upper apparatus for ash and screeding device.
- 5. building decoration numerically controlled intelligent multi-function robot according to claim 1, it is characterised in that the hydraulic moving Remote control sense is both provided with device, revolution rotation table device, synchronous swinging device, folding and unfolding adjusting mechanical arm and multi-functional constructing device Device is answered, the remote control sensing device is connected with remote controler communication, and the remote controler is connected with control device communication.
- 6. building decoration numerically controlled intelligent multi-function robot according to claim 1 or 5, it is characterised in that the hydraulic pressure Police is both provided with running gear, revolution rotation table device, synchronous swinging device folding and unfolding adjusting mechanical arm and multi-functional constructing device Reporting device, the sound and light alarm module that the alarm device forms for buzzer and luminous tube, the alarm module and the control Panel communication connection.
- 7. building decoration numerically controlled intelligent multi-function robot according to claim 1, it is characterised in that the control device Including shell and the control panel of case surface is arranged at, the control panel includes mainboard, liquid crystal display panel and touch Key panel, liquid crystal display panel and the touch key-press panel are communicated to connect with the mainboard, and the mainboard is arranged at institute State in shell, pilot hole is further opened with the shell, liquid crystal display panel and the touch key-press panel is pacified by pilot hole Loaded on case surface.
- 8. building decoration numerically controlled intelligent multi-function robot according to claim 1, it is characterised in that the support post The U-shaped framework that upper surface including vertical column with the vertical column is fixedly connected, the lower end of the vertical column are arranged at Turn round on the central point of rotation table device, the upper top declines the upper surface that regulating device is fixedly installed on the U-shaped framework, described Folding and unfolding adjusting mechanical arm is arranged at the upper surface of the vertical column and is arranged in U-shaped framework.
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| CN201711444096.0A CN107975245B (en) | 2017-12-27 | 2017-12-27 | Numerical control intelligent multifunctional robot for architectural decoration |
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| CN201711444096.0A CN107975245B (en) | 2017-12-27 | 2017-12-27 | Numerical control intelligent multifunctional robot for architectural decoration |
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