CN108149936B - Building tile worker numerical control intelligent multifunctional robot - Google Patents
Building tile worker numerical control intelligent multifunctional robot Download PDFInfo
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- CN108149936B CN108149936B CN201711444764.XA CN201711444764A CN108149936B CN 108149936 B CN108149936 B CN 108149936B CN 201711444764 A CN201711444764 A CN 201711444764A CN 108149936 B CN108149936 B CN 108149936B
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- 238000010276 construction Methods 0.000 claims abstract description 93
- 230000001360 synchronised effect Effects 0.000 claims abstract description 27
- 238000004891 communication Methods 0.000 claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims description 31
- 230000005540 biological transmission Effects 0.000 claims description 19
- 239000004973 liquid crystal related substance Substances 0.000 claims description 10
- 239000011449 brick Substances 0.000 claims description 5
- 238000007790 scraping Methods 0.000 claims description 5
- 230000000007 visual effect Effects 0.000 claims description 4
- 238000010422 painting Methods 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 6
- 238000009434 installation Methods 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 14
- 230000008569 process Effects 0.000 description 10
- 239000004576 sand Substances 0.000 description 9
- 239000011248 coating agent Substances 0.000 description 6
- 238000000576 coating method Methods 0.000 description 6
- 238000005056 compaction Methods 0.000 description 4
- 238000003801 milling Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 239000004570 mortar (masonry) Substances 0.000 description 3
- 238000004904 shortening Methods 0.000 description 3
- 238000010586 diagram 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
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 239000000428 dust Substances 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
- 238000005457 optimization Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000011112 process operation Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 230000008054 signal transmission Effects 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
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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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- Civil Engineering (AREA)
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Abstract
The invention discloses a numerical control intelligent multifunctional robot for a building tile worker, which comprises a hydraulic walking device, a rotary turntable device, a supporting upright post, an angle swinging device, a retraction adjusting mechanical arm, a synchronous swinging device, a multifunctional construction device, an upper top descending adjusting device and a control device, wherein the rotary turntable device is arranged on the hydraulic walking device, the supporting upright post is arranged on the rotary turntable device, the angle swinging device is arranged at the upper middle part of the supporting upright post, the retraction adjusting mechanical arm is arranged above the angle swinging device, the synchronous swinging device and the multifunctional construction device are arranged at the front end of the retraction adjusting mechanical arm, and the hydraulic walking device, the rotary turntable device, the angle swinging device, the retraction adjusting mechanical arm and the multifunctional construction device are all in communication connection with the control device. The numerical control intelligent multifunctional robot for the building tile industry has the advantages of simple and light structure, high automation degree, high construction precision and high work efficiency, and can realize one-time quick installation and complete multiple construction effects of one building.
Description
Technical Field
The invention belongs to the technical field of building machinery, and particularly relates to a numerical control intelligent multifunctional robot for a building tile worker.
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 and coating) work after the building main body is completed is published in spite of the design results of the building tile work robots with different mechanisms at present, but no commercial shaping products of the building tile work robots are sold until now, the technical defects exist in the existing building tile work robots, such as leveling and sand compaction after plastering are finished manually, the whole working procedure is completed in a single procedure without continuity, such as spraying machine operation, mortar is sprayed on the wall surface, the mortar sprayed has no flatness, the subsequent work leveling and sand compaction are finished manually, and the workload of leveling and sand compaction is far greater than the workload 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 the construction tile worker, 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 digitally controlled intelligent multi-functional robot for a construction tile, 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 synchronous swinging device, a multifunctional construction device, an upper-top descending adjusting device and a control device,
the hydraulic traveling device comprises a handle assembly, a hydraulic system, a frame assembly, a bearing device and a plurality of traveling 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 first 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 angle swinging device comprises an angle swinging mechanism fixedly arranged at the upper end of the supporting upright post, a second driving device for driving the angle swinging mechanism to swing up and down, and a swinging arm arranged above the angle swinging mechanism, wherein the second driving device comprises a second driving motor and a second self-locking worm gear transmission mechanism connected with the second driving motor, the swinging arm is connected with the center of a worm gear in the second worm gear transmission mechanism, and a first transverse chute is arranged on the swinging arm;
the retraction adjusting mechanical arm comprises a first sliding arm arranged above the swinging arm and a third driving device for driving the first sliding arm, a sliding block matched with the first transverse sliding groove is arranged below the first sliding arm, a second transverse sliding groove is further arranged above the first sliding arm, a second sliding arm and a fourth driving device for driving the second sliding arm are arranged above the first sliding arm, and a second sliding block matched with the second transverse sliding groove is arranged below the second sliding arm;
the synchronous swinging device is arranged above the second sliding arm 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, the jacking descending adjusting device is arranged at the center position of the top end of the supporting upright post, and the hydraulic traveling device, the rotary turntable device, the angle swinging device, the retraction adjusting mechanical arm, the synchronous swinging device, the multifunctional construction device and the jacking descending adjusting device are all in communication connection with the control device.
Preferably, the first self-locking worm gear and worm transmission mechanism and the second self-locking worm gear and worm transmission mechanism are respectively provided with a meshing clearance compensation structure.
Preferably, the swing arm is further provided with a fifth driving device, the third driving device and the fifth driving device are ball screw driving devices, the ball screw driving devices comprise a ball screw and a ball nut movably arranged on the ball screw, and the ball screw is further provided with a self-locking device.
Preferably, the rear end of the swing arm is further provided with a weight balancing weight device or a spring tension weight device.
Preferably, the multifunctional construction device comprises a multifunctional working head, a sixth driving device for driving the multifunctional working head and an elastic protection device for protecting the multifunctional working head, wherein the sixth driving device and the elastic protection device are 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, scraping and sand-leveling roller, a brick picking mechanical arm, a wall coating, a plastering device and a scraping plate 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 synchronous swinging 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 angle swinging device and the retraction adjusting mechanical arm are arranged on the upper end face of the vertical upright and penetrate through the U-shaped frame.
Compared with the prior art, the invention has at least the following advantages:
compared with the prior art, the numerical control intelligent multifunctional robot for the construction bricklayers has the following advantages:
(1) The hydraulic traveling device enables the construction tile worker numerical control intelligent multifunctional robot to travel and carry people to travel, shifts, and through the rotary support on the bearing device, the rotary turntable is installed on the rotary support, and the first driving device is installed on the rotary turntable, so that 360-degree rotation of the construction tile worker numerical control intelligent multifunctional robot is achieved, the bearing device is controlled to ascend or descend through the hydraulic system, the upper top descending adjusting device arranged at the top end of the supporting upright post is enabled to be in contact with the ceiling, a plurality of adjusting screws for horizontal fixing are arranged on the bearing device in parallel to be in contact with the ground, rapid jacking is achieved, rapid installation and one-time installation are further achieved, required construction procedures of a room are completed, convenience and rapidness are achieved, and construction efficiency is greatly improved.
(2) During construction, the control device is used for building a tile worker 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 and the side edge up and down of the wall surface after the equipment is installed, the measured size data is transmitted to the control device, a mortar pump matched with the equipment is started, a working switch of the equipment is started, the angle swinging mechanism is driven by the second driving device to swing up and down, the swinging arm is driven by the worm and gear transmission structure to swing up and down, the first sliding arm is driven by the third driving device to realize the function of stretching or shortening, the equipment is fixed in place, the distance between the multifunctional construction device and the wall surface is changed due to the fact that the equipment is fixed in place, the second sliding arm is driven by the fourth driving device to move on the first sliding arm, and a synchronous swinging device is fixedly arranged above the second sliding arm, the rotating angle of the synchronous swinging device and the rotary turntable device is synchronous, the swinging angle of the multifunctional construction device is consistent with the swinging angle of the rotary turntable device and the swinging angle of the angle swinging device, and the multifunctional construction device is enabled to keep unchanged with the required working quality and the required construction quality of the wall surface when the multifunctional construction device works; 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 construction quality is stable and reliable by the lifting or lowering of the bearing device, the angle swinging device, the swinging arm, the extension or shortening of the first sliding arm and the second sliding arm, the 360-degree rotation of the rotary table device and the walking and shifting of the hydraulic walking device.
(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 construction tile numerical control intelligent multifunctional robot provided by the invention;
FIG. 2 is a right side view of the construction tile numerical control intelligent multifunctional robot provided by the invention;
fig. 3 is a working schematic diagram of a control device in the construction tile worker numerical control intelligent multifunctional robot.
1, a hydraulic walking device; 11. a handle assembly; 12. a hydraulic system; 13. a frame assembly; 14. A carrying device; 15. a walking wheel; 16. a driving power supply; 17. a charging device; 18. adjusting a screw; 2. A rotary table device; 3. a support column; 4. an angle swinging device; 41. an angle swinging mechanism; 42. a second driving device; 43. a swing arm; 44. a fifth driving device; 5. a retraction and extension adjusting mechanical arm; 51. a first slide arm; 52. a third driving device; 53. a second slide arm; 54. a synchronous swinging device; 6. a multifunctional construction device; 7. an upper-top descending adjusting device; 8. a control device; 9. 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 numerical control intelligent multifunctional robot for a construction tile provided by the invention comprises: the hydraulic traveling device 1, the rotary turntable device 2, the supporting upright post 3, the angle swinging device 4, the retraction and extension adjusting mechanical arm 5, the multifunctional construction device 6, the overhead descending adjusting device 7 and the control device 8:
the hydraulic traveling device 1 comprises a handle assembly 11, a hydraulic system 12, a frame assembly 13, a bearing device 14 and a plurality of traveling 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, the bearing device 14 is erected above the frame assembly 13 and is connected with the hydraulic system 12, a plurality of horizontal fixing adjusting screws 18 are arranged on the bearing device 14 in parallel, 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 be lifted, 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 when the hydraulic intelligent multifunctional numerical control robot is particularly used, the frame assembly 13 can move through the up-and-down movement of the hydraulic system 12 by operating the handle assembly 11, and the plurality of travelling wheels 15 arranged below the frame assembly 13 can realize the movement and the running of the multifunctional numerical control intelligent multifunctional numerical control robot for the building tile in space, so that the multifunctional numerical control intelligent robot for the building tile is convenient and rapid;
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 first 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 supporting upright post 3, the angle swinging device 4, the retraction and adjustment mechanical arm 5 and the multifunctional construction device 6 to rotate in a 360-degree space, so that the 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 and worm transmission mechanism has the functions of reducing speed, increasing torsion and self-locking, and when the self-locking worm gear and 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, and in addition, the worm gear and worm are both provided with protective covers, so that the safety usability of the equipment is improved.
Wherein, be equipped with the gyration angle sensor between gyration revolving stage and the frame assembly 13, the signal transmission of gyration angle sensor gives controlling means 8, and controlling means 8 combines the signal of gyration angle sensor according to the control command, control the revolving stage relative the corner of frame assembly to realize the various work needs of this 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 7 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 7 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 angle swinging device 4 comprises an angle swinging mechanism 41 fixedly arranged at the upper end of the supporting upright post 3, a second driving device 42 driving the angle swinging mechanism 41 to swing up and down, and a swinging arm 43 arranged above the angle swinging mechanism 41, the second driving device 42 comprises a second driving motor and a second self-locking worm gear transmission mechanism connected with the second driving motor, the swinging arm 43 is connected with the center of a worm wheel in the second worm gear transmission mechanism, a first transverse chute is arranged on the swinging arm 43, the angle swinging device 4 mainly aims at controlling the construction head of the multifunctional construction device 6 to swing up and down, relevant operation work is completed, and when the angle swinging device is particularly used, the worm is driven by the second driving motor to rotate by a worm in the second worm gear mechanism, and then the swinging arm 43 is driven to swing up and down.
The retraction adjusting mechanical arm 5 comprises a first sliding arm 51 arranged above the swinging arm 43 and a third driving device 52 for driving the first sliding arm 51, a sliding block matched with the first transverse sliding groove is arranged below the first sliding arm 51, and the first sliding arm 51 is enabled to extend or shorten through the matching of the sliding groove and the sliding block; a second transverse sliding groove is further formed above the first sliding arm 51, a second sliding arm 53 and a fourth driving device (not shown in the figure) for driving the second sliding arm are arranged above the first sliding arm 51, a second sliding block matched with the second transverse sliding groove is arranged below the second sliding arm 53, and the second sliding arm 53 is enabled to extend or shorten through the matching of the sliding groove and the sliding block;
the multifunctional construction device 6 is arranged at the front end of the synchronous swinging device 54, the upper top descending adjusting device 7 is arranged at the center position of the top end of the supporting upright post 3, in the specific use process, as the equipment is fixed in place, the swinging angles of the swinging arms 43 are different, so that the distance between the multifunctional construction device 6 and a wall surface is changed, the synchronous swinging device 54 is arranged above the second sliding arm 53, the synchronous swinging device 54 is provided with an independent motor and is arranged at the front end of the second sliding arm 53, the synchronous swinging device 54 is synchronous with the rotating angle of the rotary turntable device 2, and the arrangement of the synchronous swinging device 54 ensures that the multifunctional construction device 6 always keeps unchanged from the required working wall surface distance during working, so that the construction quality and the construction efficiency of the equipment are ensured;
the hydraulic traveling device 1, the rotary turntable device 2, the angle swinging device 4, the retraction and adjustment mechanical arm 5, the synchronous swinging device 54 and the multifunctional construction device 6 are all in communication connection with the control device 8, the control device can be arranged on the support upright 3, and the hydraulic traveling device 1, the rotary turntable device 2, the angle swinging device 4, the retraction and adjustment mechanical arm 5, the multifunctional construction device 6 and the overhead descent adjustment device 7 are all in communication connection with the control device 8, so that the full automation is realized for the construction tile worker numerical control intelligent multifunctional robot, 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 8, and in specific use, the driving power supply 16 drives the hydraulic traveling device 1 to travel back and forth, left and right, and the whole machine is lifted or lowered, and the like through the control device 8, so that the equipment is completely automatic 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 the embodiment 1, wherein the first self-locking worm gear transmission mechanism and the second self-locking worm gear transmission mechanism are respectively provided with a meshing clearance compensation structure, and the arrangement of the meshing clearance compensation structures mainly adjusts and compensates the abrasion generated by the worm gear in the using process, so that the precision of 360-degree rotation of the rotary turntable device 2 and the precision of the up-down swinging angle of the angle swinging device 4 are accurately controlled, and the construction operation precision of the equipment is further improved;
in a preferred technical solution of the present embodiment, preferably, the swing arm 43 is further provided with a fifth driving device 44, and the third driving device 52 and the fifth driving device 44 are ball screw driving devices, where the ball screw driving devices include a ball screw and a ball nut movably mounted on the ball screw, the ball nut in the fifth driving device is fixedly connected with the first sliding arm, and the ball nut in the third driving device is fixedly connected with the second sliding arm, and in specific use, the ball nut is driven to move left and right by rotation of the ball screw in the fifth driving device, so as to drive the first sliding arm to move left and right; the ball screw in the third driving device rotates to drive the ball nut to move left and right, so as to drive the second sliding arm to move left and right, the ball screw is further provided with a self-locking device, the third driving device 52 and the fifth driving device 44 are matched and connected by the ball screw and the ball nut, the transmission efficiency of the first sliding arm and the second sliding arm is improved, meanwhile, the extension or shortening of the first sliding arm 51 and the second sliding arm 53 is accurately controlled, and the construction operation precision of the equipment is further improved.
In another preferred technical solution of the present embodiment, preferably, the rear end of the swing arm 43 is further provided with a weight-increasing balance weight device or a spring tension balance weight device, which is beneficial to maintaining balance of the swing arm 43 when swinging up and down at an angle, and further improving construction precision of the apparatus.
In another preferred embodiment of the present embodiment, preferably, the first driving device 23, the third driving device 52, the fourth driving device, the fifth driving device 44 are stepper motors or servo motors, wherein the servo motors are motors for controlling the operation of mechanical elements in a servo system, and are auxiliary motor indirect speed changing devices, which can make the control speed and the position accuracy very accurate, and can convert voltage signals into torque and rotation speed to drive a 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:
the present embodiment is based on embodiment 1 or embodiment 2, preferably, wherein the multifunctional construction device 6 includes a multifunctional working head, a sixth driving device for driving the multifunctional working head, and an elastic protection device for protecting the multifunctional working head, and the sixth driving device and the elastic protection device are both in communication connection with the control device 8; when the multifunctional construction device 6 is specifically used, when encountering a convex part of a wall surface in the construction process, the elastic protection device can tighten, so that the multifunctional construction device 6 is retracted to play a role in protection, and when the multifunctional construction device 6 passes through the convex part of the wall surface, the elastic protection device can automatically recover to a working state, so that construction operation is continued, and the construction quality and the construction efficiency are ensured.
In a preferred technical scheme of the embodiment, 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, and the quick-change working mechanical arm can realize quick change of the working head, realize replacement and use of multiple functions, and is convenient and quick; the working head is one of leveling, strickling, sand-leveling roller, milling cutter dish, brick picking manipulator, wall coating, go up ash device and scraper means, and the working head can realize the construction processes such as leveling, strickling, sand-leveling, pick up the brick, build bricks and go up ash, and this working head can be changed at any time according to the needs of construction, convenient and fast, and is nimble changeable. In the invention, the milling cutter disc is taken as an example, the left end of the second sliding arm is provided with the milling cutter disc through the quick-change working mechanical arm, when in concrete construction, an operator smears ash on the low recess of the preliminary wall surface on the wall body, then, various working parameters are input through the control device, the numerical control intelligent multifunctional robot for the building tile worker can quickly mill off the plastering higher than the wall surface, and the plastering is used as a reference line sand plain mark.
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 angle swinging device 4, the retraction and adjustment mechanical arm 5 and the multifunctional construction device 6 are all provided with remote control sensing devices, the remote control sensing devices are in communication connection with the remote control 9, the remote control 9 is in communication connection with the control device 8, and in specific use, the hydraulic walking device 1, the rotary turntable device 2, the angle swinging device 4, the retraction and adjustment mechanical arm 5 and the multifunctional construction device 6 can be controlled through the remote control 9, 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 turntable device 2, the angle swinging device 4, the retraction and adjustment mechanical arm 5 and the multifunctional construction device 6, 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 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, the liquid crystal display panel and the touch key panel are arranged on the surface of the shell through the assembly hole, and when the device is specifically used, various technical parameters required in the working process are input through the control device, the device is convenient and fast, and the tested data can be directly realized on the liquid crystal display panel and is visual.
Example 5:
on the basis of the above embodiment, preferably, the supporting upright 3 includes a vertical upright and a U-shaped frame fixedly connected to an upper end surface of the vertical upright, a lower end of the vertical upright is disposed on a center point of the revolving stage device 2, the upper-top descending adjustment device 7 is fixedly disposed on an upper end surface of the U-shaped frame, the upper-top descending adjustment device 7 is detachably connected with the supporting upright 3, in a use process, in order to adapt to a size of an in-out space such as a door frame in a carrying process, the upper-top descending adjustment device can be taken down, and the upper-top descending adjustment device is mounted again when reaching a use place, so that the device is practical and convenient, the angle swinging device 4 and the retraction adjustment mechanical arm 5 are disposed on the upper end surface of the vertical upright and penetrate through the U-shaped frame, and the arrangement is favorable for further saving an integral space of the device and 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 building tile worker numerical control intelligent multifunctional robot which characterized in that includes: a hydraulic walking device, a rotary turntable device, a supporting upright post, an angle swinging device, a retraction and extension adjusting mechanical arm, a synchronous swinging device, a multifunctional construction device, an upper-top descending adjusting device and a control device,
the hydraulic traveling device comprises a handle assembly, a hydraulic system, a frame assembly, a bearing device and a plurality of traveling 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 first 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 angle swinging device comprises an angle swinging mechanism fixedly arranged at the upper end of the supporting upright post, a second driving device for driving the angle swinging mechanism to swing up and down, and a swinging arm arranged above the angle swinging mechanism, wherein the second driving device comprises a second driving motor and a second self-locking worm gear transmission mechanism connected with the second driving motor, the swinging arm is connected with the center of a worm gear in the second worm gear transmission mechanism, and a first transverse chute is arranged on the swinging arm;
the retraction adjusting mechanical arm comprises a first sliding arm arranged above the swinging arm and a third driving device for driving the first sliding arm, a sliding block matched with the first transverse sliding groove is arranged below the first sliding arm, a second transverse sliding groove is further arranged above the first sliding arm, a second sliding arm and a fourth driving device for driving the second sliding arm are arranged above the first sliding arm, and a second sliding block matched with the second transverse sliding groove is arranged below the second sliding arm;
the synchronous swinging device is arranged above the second sliding arm 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, the overhead descending adjusting device is arranged at the center position of the top end of the supporting upright post, and the hydraulic traveling device, the rotary turntable device, the angle swinging device, the retraction adjusting mechanical arm, the synchronous swinging angle and the multifunctional construction device are all in communication connection with the control device;
the multifunctional construction device comprises a multifunctional working head, a sixth driving device for driving the multifunctional working head and an elastic protection device for protecting the multifunctional working head, wherein the sixth driving device and the elastic protection device are both in communication connection with the control device;
the hydraulic walking device, the rotary turntable device, the synchronous swinging device, the retraction and extension 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;
the hydraulic traveling device, the rotary turntable device, the synchronous swinging 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 consisting of buzzers and luminous tubes, and the alarm modules are in communication connection with the control panel;
the control device comprises a shell and a control panel arranged on the surface of the shell, wherein 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.
2. The numerical control intelligent multifunctional robot for construction bricklayers according to claim 1, wherein the first self-locking worm gear transmission mechanism and the second self-locking worm gear transmission mechanism are respectively provided with a meshing clearance compensation structure.
3. The numerical control intelligent multifunctional robot for construction bricklayers according to claim 1, wherein the swinging arm is further provided with a fifth driving device, the third driving device and the fifth driving device are ball screw driving devices, the ball screw driving devices comprise a ball screw and a ball nut movably arranged on the ball screw, and the ball screw is further provided with a self-locking device.
4. The construction tile numerical control intelligent multifunctional robot according to claim 1, wherein the rear end of the swing arm is further provided with a weight-increasing balance weight device or a spring tension weight device.
5. The numerical control intelligent multifunctional robot for construction tile work according to claim 1, wherein 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, and the working head is one of a leveling, scraping and sand-leveling roller, a brick picking mechanical arm, a wall painting and plastering device and a scraping plate device.
6. The numerical control intelligent multifunctional robot for construction bricklayers 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 angle swinging device and the retraction adjusting mechanical arm are arranged on the upper end face of the vertical upright post and penetrate through the U-shaped frame.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711444764.XA CN108149936B (en) | 2017-12-27 | 2017-12-27 | Building tile worker numerical control intelligent multifunctional robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711444764.XA CN108149936B (en) | 2017-12-27 | 2017-12-27 | Building tile worker numerical control intelligent multifunctional robot |
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| CN108149936B true CN108149936B (en) | 2024-04-09 |
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| CN111287475A (en) * | 2020-02-13 | 2020-06-16 | 广东博智林机器人有限公司 | Plastering device, plastering robot and masonry equipment |
| CN111236659B (en) * | 2020-02-18 | 2022-05-13 | 平湖宏兴机械设备制造有限公司 | Composition of auxiliary equipment for steel assembly |
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| KR100674215B1 (en) * | 2005-11-21 | 2007-01-25 | 정제용 | Loadcell controlled nongravitational electric motor driven self-movable lifter |
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| CN108149936A (en) | 2018-06-12 |
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