CN107975245B - Numerical control intelligent multifunctional robot for architectural decoration - Google Patents
Numerical control intelligent multifunctional robot for architectural decoration Download PDFInfo
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- CN107975245B CN107975245B CN201711444096.0A CN201711444096A CN107975245B CN 107975245 B CN107975245 B CN 107975245B CN 201711444096 A CN201711444096 A CN 201711444096A CN 107975245 B CN107975245 B CN 107975245B
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- 238000005034 decoration Methods 0.000 title claims abstract description 24
- 238000010276 construction Methods 0.000 claims abstract description 86
- 230000001360 synchronised effect Effects 0.000 claims abstract description 30
- 238000004891 communication Methods 0.000 claims abstract description 22
- 239000004576 sand Substances 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 10
- 239000004973 liquid crystal related substance Substances 0.000 claims description 10
- 230000007246 mechanism Effects 0.000 claims description 10
- 238000003801 milling Methods 0.000 claims description 6
- 238000007790 scraping Methods 0.000 claims description 6
- 239000003973 paint Substances 0.000 claims description 4
- 239000000428 dust Substances 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 6
- 238000009434 installation Methods 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 17
- 230000008569 process Effects 0.000 description 13
- 239000011248 coating agent Substances 0.000 description 4
- 238000000576 coating method Methods 0.000 description 4
- 238000005056 compaction Methods 0.000 description 4
- 238000004904 shortening Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 239000004570 mortar (masonry) Substances 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 238000005507 spraying Methods 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
- 230000009471 action Effects 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
- 239000011083 cement mortar Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000036541 health 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
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000011112 process operation Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 238000006467 substitution reaction 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
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- 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
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- 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
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- 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
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- 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
Abstract
The invention discloses a numerical control intelligent multifunctional robot for building decoration, which comprises a hydraulic traveling device, a rotary turntable device, a support column, a retraction and extension adjusting mechanical arm, a multifunctional construction device, a synchronous swinging device, an upper-top descending adjusting device and a control device, wherein the rotary turntable device is arranged on the hydraulic traveling device, the support column is arranged on the rotary turntable device, the retraction and extension adjusting mechanical arm is arranged at the upper middle part of the support column, the synchronous swinging device and the multifunctional construction device are arranged at the front end of the retraction and extension adjusting mechanical arm, and the hydraulic traveling device, the rotary turntable device, the retraction and extension adjusting mechanical arm, the synchronous swinging device, the multifunctional construction device and the upper-top descending adjusting device are all in communication connection with the control device. The numerical control intelligent multifunctional robot for building decoration has the advantages of simple and light structure, high automation degree, high construction precision and high work efficiency, and can realize multiple construction effects of completing one room by one-time quick installation.
Description
Technical Field
The invention belongs to the technical field of building machinery, and particularly relates to a numerical control intelligent multifunctional robot for building decoration.
Background
In house construction, plastering, leveling, sand leveling and coating engineering of wall and wall surfaces are important engineering with large engineering quantity, high cost and high quality requirement of tile engineering project in the construction. For a long time, in domestic and foreign building construction engineering, the plastering, sand leveling and paint plastering of the wall surface and the plastering of the wall surface are completed by means of manual operation, and a scaffold is required to be erected at a high place. The problems with this are: the labor is occupied, the work efficiency is low, the quality is unstable, the construction period is long, and the engineering progress and quality are seriously affected.
Meanwhile, in view of the narrow indoor space of a building, the construction robot must achieve a compact design, the mechanical mechanism of the robot needs to be optimized in detail, the robot can work normally on rough ground, the working face is positioned accurately, the host machine is coordinated to walk, rotate, the working face rotates, joints and other degrees of freedom complete various linear movements in a virtual three-dimensional space, various kinds of work are completed, and all overall optimization design problems are difficult.
At present, a series of tile work (grouting: plastering, leveling, sand compaction, paint and the like of a wall surface and the wall surface) after the construction main body is finished works, although the design results of the construction tile work robots of different mechanisms are published at present, no commercialized shaping products of the construction tile work robots are sold until now, the technical defects exist in the existing construction tile work robots, such as leveling and sand compaction after plastering are finished manually or the whole working procedure is finished by manpower, the working procedure is single and is not consistent, such as the operation of a spraying machine, the mortar is sprayed on the wall surface, the flatness of the sprayed mortar is not known, the subsequent work leveling and sand compaction are finished manually, and the workload of leveling and sand compaction is far greater than that of plastering and spraying operation. Therefore, obvious working benefits are not brought, the rail plastering robot and the infrared automatic control plastering robot ball robot are disclosed, the rail operation is complex, the construction process can generate personal errors, the infrared automatic control is carried out, the wall surface is uneven, the ground is uneven, the detected point distances are different, a certain error is generated, the plastering quality finally cannot meet the requirements of specified flatness, perpendicularity and smoothness, and the plastering quality cannot be quickly placed once, so that one room plastering, leveling, sand leveling, wall building, wall coating and the like are completed. The completion of the whole process operation construction can not be achieved, the working procedure is single, the wall plastering hollowing phenomenon is generated, the quality is unstable, the benefit is low, and the product is not practical and can not be accepted by users.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems in the related art to some extent. Therefore, the invention mainly aims to provide the numerical control intelligent multifunctional robot for building decoration, which has the advantages of simple and light structure, high automation degree, high construction precision and high work efficiency.
The invention aims at realizing the following technical scheme:
a numerically controlled intelligent multi-functional robot for architectural decoration, comprising: a hydraulic walking device, a rotary turntable device, a supporting upright post, an angle swinging device, a retraction and extension adjusting mechanical arm, a multifunctional construction device, an upper-top descending adjusting device and a control device,
the hydraulic walking device comprises a handle assembly, a hydraulic system, a frame assembly, a bearing device and a plurality of rotating wheels arranged below the frame assembly, wherein the handle assembly is arranged in front of the frame assembly, the hydraulic system is arranged between the handle assembly and the bearing device, the bearing device is arranged above the frame assembly and is connected with the hydraulic system, a plurality of horizontal fixing adjusting screws are arranged on the bearing device in parallel, a plunger capable of moving up and down is arranged in the hydraulic system, and the bearing device is fixedly connected to the upper end part of the plunger and moves synchronously with the plunger;
the rotary turntable device comprises a rotary support arranged on the bearing device, a rotary turntable is arranged on the rotary support, a first driving device for driving the rotary turntable to rotate is arranged on the rotary turntable, and the first driving device comprises a first driving motor and a self-locking worm and gear transmission mechanism connected with the first driving motor;
the support upright post is fixedly arranged on the center point of the rotary turntable device;
the retraction adjusting mechanical arm comprises a fixed bracket fixedly arranged at the upper middle part of the supporting upright post, a fixed cantilever which is horizontally installed and a second driving device which is electrically connected with the fixed cantilever are fixedly arranged on the fixed bracket, the second driving device is a ball screw driving device, the ball screw driving device comprises a ball screw and a ball nut which is movably arranged on the ball screw, the ball nut is fixedly connected with the sliding cantilever, a transverse chute is arranged on the fixed cantilever, the retraction adjusting mechanical arm also comprises a sliding cantilever which is arranged above the fixed cantilever, and a sliding block which is matched with the transverse chute is arranged below the sliding cantilever;
the synchronous swinging device is arranged above the sliding cantilever and is synchronous with the rotation angle of the rotary table device;
the multifunctional construction device is arranged at the front end of the synchronous swinging device and comprises a support frame, a vertical shaft rail is arranged at the front end of the support frame, vertical sliding rails are arranged at the two side ends on the vertical shaft rail, a multifunctional working head and a third driving device for driving the multifunctional working head to move up and down are further arranged on the vertical shaft rail, and a sliding groove matched with the vertical sliding rails is formed in the multifunctional working head;
the lifting and descending adjusting device is arranged on the center of the top end of the supporting upright post, and the hydraulic traveling device, the rotary turntable device, the synchronous swinging device, the retraction and extension adjusting mechanical arm, the multifunctional construction device and the lifting and descending adjusting device are all in communication connection with the control device.
Preferably, the self-locking worm and gear transmission mechanism is provided with a meshing clearance compensation structure.
Preferably, the multifunctional construction device is further provided with an elastic protection device for protecting the multifunctional working head, the elastic protection device is arranged at the rear end of the multifunctional working head, and the third driving device is in communication connection with the control device.
Preferably, the multifunctional working head comprises a quick-change working mechanical arm and a working head arranged at the front end of the quick-change working mechanical arm, wherein the working head is one of a leveling device, a scraping device, a sand leveling roller, a wall surface paint scraping device, a milling cutter disc, a dust feeding device and a scraping device.
Preferably, the hydraulic walking device, the rotary table device, the synchronous swinging device, the retraction and adjustment mechanical arm and the multifunctional construction device are all provided with remote control sensing devices, the remote control sensing devices are in communication connection with a remote controller, and the remote controller is in communication connection with the control device.
Preferably, the hydraulic walking device, the rotary turntable device, the retraction and extension adjusting mechanical arm and the multifunctional construction device are all provided with alarm devices, the alarm devices are audible and visual alarm modules formed by buzzers and luminous tubes, and the alarm modules are in communication connection with the control panel.
Preferably, the control device comprises a shell and a control panel arranged on the surface of the shell, the control panel comprises a main board, a liquid crystal display panel and a touch key panel, the liquid crystal display panel and the touch key panel are all in communication connection with the main board, the main board is arranged in the shell, the shell is further provided with an assembly hole, and the liquid crystal display panel and the touch key panel are arranged on the surface of the shell through the assembly hole.
Preferably, the supporting upright comprises a vertical upright and a U-shaped frame fixedly connected with the upper end face of the vertical upright, the lower end of the vertical upright is arranged on the central point of the rotary table device, the upper-top descending adjusting device is fixedly arranged on the upper end face of the U-shaped frame, and the retraction adjusting mechanical arm is arranged on the upper end face of the vertical upright and penetrates through the U-shaped frame.
Compared with the prior art, the invention has at least the following advantages:
the numerical control intelligent multifunctional robot for building decoration disclosed by the invention has the following advantages and effects:
(1) The hydraulic traveling device enables the whole machine of the numerical control intelligent multifunctional robot for building decoration to travel and shift, the rotary turntable is installed on the rotary turntable through the rotary support on the bearing device, and the rotary driving device is installed on the rotary turntable, so that 360-degree rotation of the numerical control intelligent multifunctional robot for building decoration is achieved, the bearing device is controlled to ascend or descend through the hydraulic system, the jacking descending adjusting device arranged at the top end of the supporting upright post is in contact with the ceiling, a plurality of adjusting screws for horizontal fixing are parallelly arranged on the bearing device and are in contact with the ground, rapid jacking is achieved, rapid installation and one-time installation are achieved, a required construction procedure of a room is completed, and the efficiency of construction is convenient and rapid and greatly improved.
(2) During construction, the control device is used for building and decorating the numerical control intelligent multifunctional robot, the multifunctional construction device is used for measuring the data size from the center point of the equipment to the straight line of the wall surface and the upper and lower data sizes of the side edges of the equipment, the measured size data are transmitted to the control device, a mortar pump matched with the equipment is started, meanwhile, a working switch of the equipment is started, the sliding cantilever is driven by the second driving device to realize the function of extension or shortening, the equipment is fixed in situ, the rotary turntable device rotates within the range of 360 degrees, in order to compensate the change of the distance between the multifunctional construction device and the wall surface, the synchronous swinging device is fixedly arranged above the sliding cantilever, the angle of the synchronous swinging device and the angle of the rotary turntable device synchronously swings, so that the swinging angle of the multifunctional construction device is consistent with the rotating angle of the rotary turntable device, the multifunctional construction device always keeps unchanged with the required working distance during working, the construction work of the multifunctional working head is driven by the third driving device, the construction work of the upper and lower construction work of the wall surface is finished, and the construction quality and construction efficiency of the equipment are guaranteed; after the construction is finished, the multifunctional construction device can leave the construction completion wall from inside to outside, the wall just constructed is prevented from being scraped in the descending process of the multifunctional construction device, and the lifting or lowering of the bearing device, the cooperation transmission of the fixed cantilever and the sliding cantilever, the extension or shortening of the sliding cantilever, the 360-degree rotation of the rotary table device and the walking and shifting of the hydraulic walking device are avoided, so that the numerical control intelligent multifunctional robot for building decoration can be constructed in a small space, and the construction quality is stable and reliable.
(3) When in construction, the construction of a plurality of wall surfaces of a room can be completed by one-time quick installation at the approximate central part of the room, and the construction working head is quickly replaced to complete the wall surface plastering, the scraping, the sand leveling, the wall surface milling, the coating and the like of the room.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a main body structure diagram of a numerical control intelligent multifunctional robot for architectural decoration provided by the invention;
FIG. 2 is a left side view of the numerical control intelligent multifunctional robot for building decoration provided by the invention;
fig. 3 is a working schematic diagram of a control device in the numerical control intelligent multifunctional robot for building decoration.
1, a hydraulic walking device; 11. a handle assembly; 12. a hydraulic system; 13. a frame assembly; 14. a carrying device; 15. a rotating wheel; 16. a driving power supply; 17. a charging device; 18. adjusting a screw; 2. a rotary table device; 3. a support column; 4. a retraction and extension adjusting mechanical arm; 41. fixing the cantilever; 42. a second driving device; 43. a sliding cantilever; 44. a synchronous swinging device; 5. a multifunctional construction device; 51. a support frame; 52. a vertical axis rail; 53. a multifunctional working head; 54. a third driving device; 6. an upper-top descending adjusting device; 7. a control device; 8. and a remote controller.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention.
All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
The description as it relates to "first", "second", etc. in the present invention is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature.
In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Example 1:
as shown in fig. 1, 2 and 3, the present invention provides a numerically controlled intelligent multifunctional robot for architectural decoration, comprising: the hydraulic traveling device 1, the rotary turntable device 2, the supporting upright post 3, the retraction and extension adjusting mechanical arm 4, the multifunctional construction device 5, the overhead descending adjusting device 6 and the control device 7:
the hydraulic walking device 1 comprises a handle assembly 11, a hydraulic system 12, a frame assembly 13, a bearing device 14 and a plurality of rotating wheels 15 arranged below the frame assembly 13, wherein the handle assembly 11 is arranged in front of the frame assembly 13, the hydraulic system 12 is arranged between the handle assembly 11 and the bearing device 14, a plurality of horizontal fixing adjusting screws 18 are arranged on the bearing device 14 in parallel, the bearing device 14 is erected above the frame assembly 13 and is connected with the hydraulic system 12, a plunger capable of moving up and down is arranged in the hydraulic system 12, and the bearing device 14 is fixedly connected to the upper end part of the plunger and moves synchronously with the plunger; the handle assembly 11 is used for a hydraulic jack of the hydraulic system 12, the handle assembly 11 is fixedly arranged on the hydraulic jack, a plunger capable of moving up and down is arranged in the hydraulic jack, the handle assembly 11 is rocked, the plunger arranged in the hydraulic jack can ascend, a one-way valve in the hydraulic jack is opened to enable the plunger to descend, the bearing device 14 is fixedly connected to the upper end part of the plunger, the bearing device 14 can correspondingly move up and down along with the up-and-down movement of the plunger, and in particular use, the frame assembly 13 moves through the up-and-down movement of the hydraulic system by operating the handle assembly 11, and a plurality of rotating wheels 15 arranged below the frame assembly 13 can realize the movement and the running of the numerical control intelligent multifunctional robot for building decoration in space, so that the multifunctional robot is convenient and quick;
the rotary turntable device 2 comprises a rotary support arranged on the bearing device 14, the rotary support is provided with a rotary turntable, the rotary turntable is provided with a first driving device for driving the rotary turntable to rotate, the first driving device comprises a first driving motor and a self-locking worm gear transmission mechanism connected with the first driving motor, and the rotary turntable device 2 mainly has the effect of driving the support upright post 3, the retraction and adjustment mechanical arm 4 and the multifunctional construction device 5 to rotate in a 360-degree space, so that construction work of all the parts such as a wall surface, a ceiling and the like in the whole space is completed. The self-locking worm gear transmission mechanism has the functions of reducing speed, increasing torsion and self-locking, and when the self-locking worm gear transmission mechanism is specifically used, the first driving motor in the rotary turntable device 2 is connected to the worm, and the worm drives the worm wheel to rotate, so that the rotation of the rotary turntable device 2 has higher rotation precision.
Wherein, a rotation angle sensor is arranged between the rotation turntable and the frame assembly 13, the signal of the rotation angle sensor is transmitted to the control device 7, and the control device 7 controls the rotation angle of the rotation turntable relative to the frame assembly 13 according to the control instruction and combined with the signal of the rotation angle sensor, so as to realize various working requirements of the embodiment.
The support column 3 is fixedly arranged on the central point of the rotary table device 2, the support column 3 mainly plays a role in supporting the upper part and the lower part, and when the rotary table device is specifically used, the bearing device 14 is lifted and separated from the ground through the hydraulic system 12, so that the support column 3 arranged on the bearing device 14 is lifted along with the lifting until the upper end face of the upper jacking descending adjusting device 6 at the top end of the support column 3 is tightly fixed with the ceiling, the support column 3 and the upper jacking descending adjusting device 6 are completely and automatically arranged, and the rotary table device is convenient and quick, and improves the stability and construction precision of the whole machine.
The retraction adjusting mechanical arm 4 comprises a fixed bracket fixedly arranged at the upper middle part of the supporting upright 3, a fixed cantilever 41 horizontally installed and a second driving device 42 electrically connected with the fixed cantilever 41 are fixedly arranged on the fixed bracket, the second driving device 42 is a ball screw driving device, the ball screw driving device comprises a ball screw and a ball nut movably arranged on the ball screw, the ball nut is fixedly connected with the sliding cantilever 43, the ball screw is also provided with a self-locking device, and the second driving device 42 is designed to be matched and connected with the ball screw and the ball nut, so that the transmission efficiency of the sliding cantilever 43 is improved, meanwhile, the extension or shortening of the sliding cantilever 43 is controlled accurately, and the construction operation precision of the device is further improved; the fixed cantilever 41 is provided with a transverse chute and further comprises a sliding cantilever 43 arranged above the fixed cantilever 41, a sliding block matched with the transverse chute is arranged below the sliding cantilever 43, and the sliding cantilever 43 is lengthened or shortened through the matching of the transverse chute and the sliding block; a synchronous swinging device 44 is arranged above the sliding cantilever 43, the synchronous swinging device 44 is provided with an independent motor and is arranged at the front end of the sliding cantilever, and the synchronous swinging device 44 is synchronous with the rotation angle of the rotary table device 2;
the multifunctional construction device 5 is arranged at the front end of the synchronous swinging device 44, the upper top descending adjusting device 6 is arranged at the center of the top end of the supporting upright post 3, the left and right extension of the sliding cantilever 43 drives the left and right extension or shortening of the multifunctional construction device 5, the multifunctional construction device 5 comprises a supporting frame 51, a vertical shaft rail 52 is arranged at the front end of the supporting frame 51, vertical sliding rails are arranged at the two side ends of the vertical shaft rail 52, a multifunctional working head 53 and a third driving device 54 for driving the multifunctional working head 53 to move up and down are arranged on the vertical shaft rail 52, and a sliding groove matched with the vertical sliding rails is arranged on the multifunctional working head 53; in the specific use process, the multifunctional working head 53 realizes up-and-down movement on the vertical sliding rail through the driving action of the third driving device 54, so as to finish up-and-down construction operation of the wall body; in a specific use process, as the equipment is fixed in situ, the rotating angles of the rotary table device 2 are different, so that the distance between the multifunctional construction device 5 and the wall surface is changed, and the synchronous swinging device 44 is electrically connected with the first driving device by arranging the synchronous swinging device 44 above the sliding cantilever 43, the multifunctional construction device 5 always keeps the distance from the required working wall surface unchanged when in operation due to the arrangement of the synchronous swinging device 44, and the construction quality and the construction efficiency of the equipment are ensured;
the hydraulic traveling device 1, the rotary table device 2, the retraction and extension adjusting mechanical arm 4, the multifunctional construction device 5 and the synchronous swinging device 44 are all in communication connection with the control device 7, the control device 7 can be arranged on the supporting upright 3, and the retraction and extension adjusting mechanical arm 4, the multifunctional construction device 5 and the synchronous swinging device 44 are all in communication connection with the control device 7 through the hydraulic traveling device 1, the rotary table device 2, the retraction and extension adjusting mechanical arm 4, the multifunctional construction device 5 and the synchronous swinging device 44, so that the full automation of the intelligent multifunctional robot for building decoration is realized, the manual construction mode is completely simulated, the construction quality is good, the stability and the construction efficiency are high.
In a preferred technical scheme of the embodiment, the equipment can be further provided with a driving power supply 16, the driving power supply 16 is electrically connected with the hydraulic traveling device 1 and is simultaneously in communication connection with the control device 7, and when the equipment is particularly used, the driving power supply 16 drives the hydraulic traveling device 1 to travel forwards, backwards, leftwards, rightwards, upwards, downwards and the like through the control device 7, and the whole equipment is fully automatic in lifting or lowering and the like, and does not need manual pushing; and this drive power supply 16 still is provided with charging device 17, and when specifically using, charging device 17 charges this drive power supply 16, convenient and practical.
Example 2:
in order to further improve the precision of the construction operation of the equipment, preferably, the embodiment is based on embodiment 1, wherein the self-locking worm and gear transmission mechanism is provided with a meshing clearance compensation structure, and the setting of the meshing clearance compensation structure mainly adjusts and compensates the abrasion generated by the worm and gear in the using process, thereby achieving precise control on the 360-degree rotation angle of the rotary turntable device 2 and further improving the construction operation precision of the equipment;
in another preferred embodiment of the present embodiment, preferably, the first driving device, the second driving device 42 and the third driving device 54 are stepper motors or servo motors, wherein the servo motors are motors for controlling the mechanical elements in the servo system to operate, and are auxiliary motor indirect speed changing devices, which can make the control speed and the position accuracy very accurate, and can convert the voltage signals into the torque and the rotation speed to drive the control object. The rotation speed of the rotor of the servo motor is controlled by an input signal, can react rapidly, is used as an executive component in an automatic control system, has the characteristics of small electromechanical time constant, high linearity, starting voltage and the like, and can convert a received electric signal into angular displacement or angular speed on the motor shaft for output; stepper motors are open loop control elements that convert an electrical pulse signal into angular or linear displacement. In the case of non-overload, the rotational speed of the motor, the position of stopping, is only dependent on the frequency and number of pulses of the pulse signal, and is not affected by load variations, when the step driver receives a pulse signal, it drives the step motor to rotate a fixed angle in a set direction, called "pitch angle", and its rotation is operated step by step at a fixed angle. The angular displacement can be controlled by controlling the number of pulses, so that the aim of accurate positioning is fulfilled; meanwhile, the rotating speed and the acceleration of the motor can be controlled by controlling the pulse frequency, so that the aim of speed regulation is fulfilled.
Example 3:
in this embodiment, on the basis of embodiment 1 or embodiment 2, preferably, the multifunctional construction device 5 is further provided with an elastic protection device for protecting the multifunctional working head 53, where the elastic protection device is disposed at the rear end of the multifunctional working head 53, and the third driving device 54 is in communication with the control device 7, and when the multifunctional construction device 5 is specifically used, during construction, the elastic protection device can tighten when encountering a protruding portion of the wall surface, so that the multifunctional construction device withdraws to play a role of protection, and when the multifunctional construction device passes through the protruding portion of the wall surface, the elastic protection device can automatically restore to a working state, so that construction operation is continued, and construction quality and construction efficiency are ensured.
In a preferred technical solution of the present embodiment, preferably, the multifunctional working head 53 includes a quick-change working mechanical arm and a working head disposed at a front end of the quick-change working mechanical arm, where the quick-change working mechanical arm can implement quick-change of the working head, and implement replacement of multiple functions, which is convenient and quick; the working head is one of leveling, strickling, sand flat roller, milling cutter dish, go up ash device and scraper means, and the working head can realize the construction processes such as leveling, strickling, sand flat, scrape the coating, go up ash, and this working head can change at any time according to the needs of construction, convenient and fast, and is nimble changeable. The invention takes a milling cutter disc as an example, the left end of the sliding cantilever is provided with the milling cutter disc through the quick-change working mechanical arm, in the concrete construction process, an operator smears ash on the concave part of the preliminary wall surface on the wall body, then inputs various working parameters through the control device, the numerical control intelligent multifunctional robot for building decoration can quickly mill off plastering higher than the wall surface, and the plastering is smooth and real by taking the plastering as the datum line sand, and the construction process adopting the equipment can save materials, namely 30% -50% of cement mortar, save cost, and the wall surface to be constructed has no hollowing phenomenon, and has the working efficiency which is 5-10 times that of the manual old process.
Example 4:
on the basis of the above embodiment 1, embodiment 2 and embodiment 3, preferably, the hydraulic walking device 1, the rotary turntable device 2, the synchronous swinging device 44, the retraction and adjustment mechanical arm 4 and the multifunctional construction device 5 are all provided with remote control sensing devices, the remote control sensing devices are in communication connection with the remote control 8, the remote control 8 is in communication connection with the control device 7, and in specific use, the hydraulic walking device 1, the rotary turntable device 2, the retraction and adjustment mechanical arm 4 and the multifunctional construction device 5 can be controlled through the remote control 8, so that operators can be far away from the construction space when working in a space with large dust or smell, and the safety and the health of the operators are ensured.
In a preferred technical scheme of the embodiment, preferably, alarm devices are arranged on the hydraulic walking device 1, the rotary table device 2, the synchronous swinging device 44, the retraction and adjustment mechanical arm 4 and the multifunctional construction device 5, the alarm devices are audible and visual alarm modules consisting of buzzers and luminous tubes, the alarm modules are in communication connection with the control panel, when the equipment is particularly used, all working parameters of the equipment are set through the control panel, when the working parameters of the equipment in the running process exceed set values, the control panel controls the light emitting diode to flash and the buzzers alarm the condition of the working parameter value overrun, so that operators can find abnormal conditions technically and take corresponding measures as soon as possible, loss is reduced, and construction efficiency is ensured.
In a preferred technical scheme of the embodiment, preferably, the control device 7 includes a housing and a control panel disposed on a surface of the housing, the control panel includes a main board, a liquid crystal display panel and a touch key panel, the liquid crystal display panel and the touch key panel are all in communication connection with the main board, the main board is disposed in the housing, an assembly hole is further formed in the housing, the liquid crystal display panel and the touch key panel are mounted on the surface of the housing through the assembly hole, and when the device is specifically used, various technical parameters required in a working process are input through the control device 7, the device is convenient and fast, and data obtained through testing can be directly implemented on the liquid crystal display panel and is intuitive.
Example 5:
referring to fig. 2 again, on the basis of the above embodiment, preferably, the supporting upright 3 includes a vertical upright and a U-shaped frame fixedly connected to the upper end surface of the vertical upright, the lower end of the vertical upright is disposed on the center point of the revolving stage device 2, the upper-top descending adjustment device 6 is fixedly disposed on the upper end surface of the U-shaped frame, the upper-top descending adjustment device 6 is detachably connected with the supporting upright 3, in the use process, in order to adapt to the size of the in-out space such as a door frame in the carrying process, the upper-top descending adjustment device can be taken down, and the device is installed again when reaching the use place, which is practical and convenient, the folding and unfolding adjustment mechanical arm 4 is disposed on the upper end surface of the vertical upright and penetrating in the U-shaped frame, which is favorable for further saving the whole space of the device, and the use stability of the device.
In a preferred technical scheme of the embodiment, preferably, the top-down adjusting device 6 comprises a screw rod and a screw rod arranged at the top of the screw rod and matched with the screw rod, and in specific use, the purpose of fine adjustment to the top of the ceiling can be achieved by up-down movement of the adjusting screw rod in the screw rod.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention should be included in the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
Claims (6)
1. The utility model provides a multi-functional robot of architectural decoration numerical control intelligence which characterized in that includes: the hydraulic traveling device comprises a handle assembly, a hydraulic system, a frame assembly, a bearing device and a plurality of rotating wheels arranged below the frame assembly, wherein the handle assembly is arranged in front of the frame assembly, the hydraulic system is arranged between the handle assembly and the bearing device, the bearing device is arranged above the frame assembly and is connected with the hydraulic system, a plurality of horizontally fixed adjusting screws are arranged on the bearing device in parallel, and a plunger capable of moving up and down is arranged in the hydraulic system and is fixedly connected to the upper end part of the plunger and synchronously moves with the plunger;
the rotary turntable device comprises a rotary support arranged on the bearing device, a rotary turntable is arranged on the rotary support, a first driving device for driving the rotary turntable to rotate is arranged on the rotary turntable, and the first driving device comprises a first driving motor and a self-locking worm and gear transmission mechanism connected with the first driving motor;
the support upright post is fixedly arranged on the center point of the rotary turntable device;
the retraction adjusting mechanical arm comprises a fixed bracket fixedly arranged at the upper middle part of the supporting upright post, a fixed cantilever which is horizontally installed and a second driving device which is electrically connected with the fixed cantilever are fixedly arranged on the fixed bracket, the second driving device is a ball screw driving device, the ball screw driving device comprises a ball screw and a ball nut which is movably arranged on the ball screw, the ball nut is fixedly connected with the sliding cantilever, a transverse chute is arranged on the fixed cantilever, the retraction adjusting mechanical arm also comprises a sliding cantilever which is arranged above the fixed cantilever, and a sliding block which is matched with the transverse chute is arranged below the sliding cantilever;
the synchronous swinging device is arranged above the sliding cantilever and is synchronous with the rotation angle of the rotary table device;
the multifunctional construction device is arranged at the front end of the synchronous swinging device and comprises a support frame, a vertical shaft rail is arranged at the front end of the support frame, vertical sliding rails are arranged at the two side ends on the vertical shaft rail, a multifunctional working head and a third driving device for driving the multifunctional working head to move up and down are further arranged on the vertical shaft rail, and a sliding groove matched with the vertical sliding rails is formed in the multifunctional working head;
the hydraulic traveling device, the rotary turntable device, the retraction and release adjusting mechanical arm, the multifunctional construction device and the synchronous swinging device are all in communication connection with the control device;
the multifunctional construction device is also provided with an elastic protection device for protecting the multifunctional working head, the elastic protection device is arranged at the rear end of the multifunctional working head, and the third driving device is in communication connection with the control device;
the multifunctional working head comprises a quick-change working mechanical arm and a working head arranged at the front end of the quick-change working mechanical arm, wherein the working head is one of a leveling roller, a sand leveling roller, a wall surface paint scraping roller, a milling cutter disc, a dust feeding device and a scraping plate device.
2. The numerical control intelligent multifunctional robot for architectural decoration according to claim 1, wherein the self-locking worm gear transmission mechanism is provided with a meshing clearance compensation structure.
3. The numerical control intelligent multifunctional robot for building decoration according to claim 1, wherein the hydraulic walking device, the rotary turntable device, the synchronous swinging device, the retraction adjusting mechanical arm and the multifunctional construction device are all provided with remote control sensing devices, the remote control sensing devices are in communication connection with a remote controller, and the remote controller is in communication connection with the control device.
4. The numerical control intelligent multifunctional robot for building decoration according to claim 1, wherein the control device comprises a shell and a control panel arranged on the surface of the shell, the control panel comprises a main board, a liquid crystal display panel and a touch key panel, the liquid crystal display panel and the touch key panel are all in communication connection with the main board, the main board is arranged in the shell, the shell is further provided with an assembly hole, and the liquid crystal display panel and the touch key panel are arranged on the surface of the shell through the assembly hole.
5. The numerical control intelligent multifunctional robot for building decoration according to claim 4, wherein the hydraulic walking device, the rotary turntable device, the synchronous swinging device, the retraction and adjustment mechanical arm and the multifunctional construction device are all provided with alarm devices, the alarm devices are audible and visual alarm modules consisting of buzzers and luminous tubes, and the alarm modules are in communication connection with the control panel.
6. The numerical control intelligent multifunctional robot for architectural decoration according to claim 1, wherein the supporting upright post comprises a vertical upright post and a U-shaped frame fixedly connected with the upper end face of the vertical upright post, the lower end of the vertical upright post is arranged on the central point of the rotary table device, the upper-top descending adjusting device is fixedly arranged on the upper end face of the U-shaped frame, and the retraction adjusting mechanical arm is arranged on the upper end face of the vertical upright post and penetrates through the U-shaped frame.
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| TWI801805B (en) * | 2021-02-02 | 2023-05-11 | 伍隆國際有限公司 | Coating system and its application method |
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