CN108505736B - A kind of mobile robot - Google Patents
A kind of mobile robot Download PDFInfo
- Publication number
- CN108505736B CN108505736B CN201810279892.1A CN201810279892A CN108505736B CN 108505736 B CN108505736 B CN 108505736B CN 201810279892 A CN201810279892 A CN 201810279892A CN 108505736 B CN108505736 B CN 108505736B
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- hydraulic cylinder
- plate
- bottom plate
- gears
- wall brick
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- 239000011449 brick Substances 0.000 claims abstract description 66
- 238000001514 detection method Methods 0.000 claims abstract description 47
- 239000000853 adhesive Substances 0.000 claims abstract description 31
- 230000001070 adhesive effect Effects 0.000 claims abstract description 31
- 239000004568 cement Substances 0.000 claims abstract description 12
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims description 13
- 238000003491 array Methods 0.000 claims description 10
- 241000252254 Catostomidae Species 0.000 claims description 8
- 239000011049 pearl Substances 0.000 claims description 8
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 238000003860 storage Methods 0.000 claims description 6
- 239000007788 liquid Substances 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims description 2
- 230000014759 maintenance of location Effects 0.000 claims 1
- 239000000758 substrate Substances 0.000 description 9
- 238000010586 diagram Methods 0.000 description 6
- 241000167880 Hirundinidae Species 0.000 description 2
- 241000222712 Kinetoplastida Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000009184 walking Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/18—Implements for finishing work on buildings for setting wall or ceiling slabs or plates
Abstract
A kind of mobile robot, including pedestal, wall brick adhesive portion, two fixed parts, detection amendment part, four running gears, it is characterized by: two the first sliding blocks of the wall brick adhesive portion are slidably mounted on respectively in two the first dovetail grooves, two first gears are intermeshed with the first rack gear respectively；Four the second sliding blocks of two fixed parts are slidably mounted on respectively in four third dovetail grooves, and two the 4th gears and two the first rack gears are intermeshed；The round plank of four second of four running gears is respectively and fixedly installed on the motor shaft of four the first steering engines, and four ring grooves are slidably mounted on respectively on four groups of balls；Automation smearing cement is realized by wall brick adhesive portion and wall brick is attached on wall, improves patch block efficiency and quality；It is detected above wall brick and is posted by detection amendment part, improve sticking Quality.
Description
Technical field
The present invention relates to robotic technology field, in particular to a kind of mobile robot.
Background technique
Wall brick is when pasting, it usually needs pastes worker for one piece one piece of wall brick and is attached to wall up, reduces stickup effect
Rate, causes to paste at high cost since wage for workmen is relatively high, is badly in need of a kind of robot that can paste wall brick automatically.
Summary of the invention
In view of the above-mentioned problems, realizing automation by wall brick adhesive portion the present invention provides a kind of mobile robot
It smears cement and wall brick is attached on wall, improve patch block efficiency and quality；Wall brick is detected by detection amendment part
Top posts, and improves sticking Quality.
Technical solution used in the present invention is: a kind of mobile robot, including pedestal, wall brick adhesive portion, two it is solid
Fixed part, detection amendment part, four running gears, it is characterised in that: two the first sliding blocks of the wall brick adhesive portion
It is slidably mounted in two the first dovetail grooves respectively, two first gears are intermeshed with the first rack gear respectively；Described two
Four the second sliding blocks of fixed part are slidably mounted on respectively in four third dovetail grooves, two the 4th gears and two the second teeth
Item intermeshing；Two third sliding blocks of the detection amendment part are slidably mounted on respectively in two the second dovetail grooves, are examined
Amendment part backplane side plate is surveyed to be fixedly connected with the piston rod end of two second hydraulic cylinders；The four of four running gears
A second round plank is respectively and fixedly installed on the motor shaft of four the first steering engines, and four ring grooves are slidably mounted on respectively
On four groups of balls；
The pedestal includes bottom plate, two the first dovetail grooves, the first rack gear, four first hydraulic cylinders, first hydraulic cylinders
Top plate, two wall bricks storage grooves, two springs, two wall brick top plates, two the second dovetail grooves, second hydraulic cylinder bottom plate, the
Two hydraulic cylinders, four the first round planks, 44 balls, four the first steering engines, four third dovetail grooves, two the second teeth
Item, the bottom plate are a rectangle planks, and left side above it sets that there are two the second dovetail groove, upper lefts above it
Second hydraulic cylinder bottom plate is equipped at angle, the cylinder base of two second hydraulic cylinders is fixedly mounted on second hydraulic cylinder bottom plate
Below；First dovetail groove and the first rack gear there are two setting on the right side of substrate, first rack gear is in two the first swallows
Behind stern notch；Four first hydraulic cylinder rectangular arrays, cylinder base are fixedly mounted on the forward position of substrate
It sets, is fixedly connected below piston rod end and first hydraulic cylinder top plate；Wall brick there are two being set on first hydraulic cylinder top plate
Groove is stored, one end of two springs is respectively and fixedly installed in the support plate above two first hydraulic cylinder top plates,
Its other end is fixedly connected with two wall brick top plates respectively, and two wall brick top plates are slidably mounted on two wall bricks respectively and deposit
It puts in groove；Four third dovetail grooves and two the second rack gears are arranged below in bottom plate, divide equally two groups, every group includes two the
Three dovetail grooves and second rack gear, two groups of left and right sides being respectively provided at below bottom plate, two the second rack gears difference
In the left and right sides of four third dovetail grooves；One first round plank is respectively provided at four angles below bottom plate, each
Intermediate below first round plank to be equipped with a rectangular recess, four first steering engines are placed straight down, position
Respectively in the groove below four first round planks；The first round plank be arranged below 11 circumferentially array half
Circular hole, 11 balls are rotatably installed in 11 below the first round plank circumferentially in the semicircle orifice of array respectively；
The wall brick adhesive portion include wall brick adhesive portion bottom plate, two the first sliding blocks, two the first stepper motors,
Two first gears, two support plates, two third rack gears, the 4th rack gear, two the 4th dovetail grooves, fixed plate, two second
Stepper motor, two second gears, transmission belt, 32 third hydraulic cylinders, 16 third hydraulic cylinder top plates, 64
First sucker, two rotation axis, two third gears, two the 4th hydraulic cylinder bottom plates, four the 4th hydraulic cylinders, two L-type plates
Son, four the 5th hydraulic cylinders, two cement are laid with part, and the wall brick adhesive portion bottom plate is a rectangle plank,
It is set below there are two the first sliding block, two first sliding blocks are slidably mounted on respectively in two the first dovetail grooves；It is described
Two the first stepper motors it is horizontal positioned, side is respectively and fixedly installed to wall brick adhesive portion substrate position rearward
The left and right sides, motor shaft are fixedly connected with two first gears respectively, two first gears respectively with the first rack gear
Intermeshing；Support plate there are two setting in wall brick adhesive portion substrate, is respectively equipped with third on front side of two support plates
Rack gear, is respectively provided with the 4th dovetail groove on the inside of two support plates, and the sliding block of left and right two of the fixed plate slides respectively
It is mounted in two the 4th dovetail grooves, two rotation axis are rotatably installed in the support plate of fixed plate or more two sides respectively
On, two third gears are respectively and fixedly installed to the right side of rotation axis；The 4th is equipped with before the support plate on right side
Rack gear, two third gears are intermeshed with the 4th rack gear respectively；The transmission belt is mounted in two rotation axis；
32 third hydraulic cylinders are divided into eight groups, and every group of four linear arrays of third hydraulic cylinder, cylinder base is divided
Be not fixedly mounted on above transmission belt in the support plate of linear array, piston rod end respectively with 16 third liquid
It is fixedly connected on the inside of cylinder pressure top plate；64 first suckers are divided into 16 groups, every group of four the first suckers
It is respectively and fixedly installed at four angles on the outside of third hydraulic cylinder top plate；Top position is each among behind two support plates
Equipped with a 4th hydraulic cylinder bottom plate, four the 4th hydraulic cylinders are divided into two groups, the cylinder of every group of two the 4th hydraulic cylinders
Body bottom is respectively and fixedly installed to two the 4th hydraulic cylinder substrates, is fixedly connected below piston rod end and L-type plank,
Four the 5th hydraulic cylinders divide equally two groups, and the cylinder base of every group of the 5th hydraulic cylinder is respectively and fixedly installed to two L-type plates
Sub- inside, piston rod end are laid with part Backside support plate with two cement respectively and are fixedly connected；
The fixed part includes fixed part bottom plate, two the second sliding blocks, third stepper motor, the 4th gear,
One extension sleeve fixed plate, the first extension sleeve, the 6th hydraulic cylinder, the first telescopic rod, the second sucker top plate, four the second suctions
Disk, the fixed part bottom plate are a rectangle planks, are set in its lower section there are two the second sliding block, described two second
Sliding block is slidably mounted on respectively in two third dovetail grooves；The third stepper motor is horizontal positioned, and side is fixedly mounted
In fixed part substrate, motor shaft is fixedly connected with the 4th gear, and the 4th gear is mutually nibbled with the second rack gear
It closes；It is equipped with the first extension sleeve fixed plate in fixed part substrate, the first extension sleeve inner end is fixedly mounted
In the first extension sleeve fixed plate side, the first telescopic rod inner end is slidably mounted on recessed on the outside of the first extension sleeve
In slot, outboard end is fixedly connected with the second sucker top plate；The 6th hydraulic cylinder body bottom is fixedly mounted on first and stretches
In support plate above contracting sleeve, piston rod end is fixedly connected with the support plate above the first telescopic rod；Described four
Second sucker is respectively and fixedly installed at four angles on the outside of the second sucker top plate；
The detection correction portion is divided to including detection amendment part backplane, two third sliding blocks, detection amendment part backplane
Side plate, two positioning strips, two positioning columns, the 5th rack gear, slide mass, the 4th stepper motor, the 5th gear, the 7th cylinder bottom
Plate, four detecting instruments, four detection pearls, eight the 7th hydraulic cylinders, two the 7th hydraulic cylinder top plates, eight pushing blocks, it is described
Detection amendment part backplane be a rectangle plank, set in its lower section there are two third sliding block, two thirds are sliding
Block is slidably mounted on respectively in two the first dovetail grooves, is equipped with detection amendment part backplane side in detection amendment part substrate
Plate, the detection amendment part backplane side plate are fixedly mounted on the cylinder ends of two second hydraulic cylinders；Described two are fixed
Position item and two positioning column lower end surfaces are respectively and fixedly installed to detection amendment part substrate, and two positioning strips are two
On the outside of a positioning column；It is equipped with the 5th rack gear in the front side of the positioning strip on right side, the slide mass is slidably mounted on two positioning
On item and two positioning columns, the 4th stepper motor is horizontal positioned, and side is fixedly mounted on before slide mass, motor
Axis is fixedly connected with the 5th gear, and the 5th gear passes through the groove of slide mass and the 5th rack gear is intermeshed；Described
7th hydraulic cylinder bottom plate is fixedly mounted on behind slide mass；Four linear arrays of detecting instrument, are fixedly mounted on
The left side of 7th hydraulic cylinder bottom plate；Four detection pearls are respectively and fixedly installed to detecting instrument outboard end；Described eight
7th hydraulic cylinder is divided into two groups, every group of four the 7th hydraulic cylinder rectangular arrays, piston rod end respectively with two the 7th
Hydraulic cylinder top plate is fixedly connected, and eight pushing blocks are divided into two groups, and every group of four pushing blocks are respectively and fixedly installed to
At four angles on the outside of seven hydraulic cylinder top plates；
The running gear includes the second round plank, ring groove, the first support base, the rotation of the second extension sleeve
Axis, the second steering engine, the second extension sleeve, the second telescopic rod, the 8th hydraulic cylinder, the second support base, third steering engine, Wheel housings, wheel
Stroma connecting shaft, the 5th stepper motor connecting shaft, the 5th stepper motor, wheel, third steering engine fixed plate, described second is round
It is fixedly mounted on above plank on the steering engine axis of the first steering engine；The ring groove is rotatably installed on 11 balls；?
The first support base is arranged below in second round plank, the second extension sleeve rotation axis rotation above second extension sleeve
It is mounted in the first support base；Second steering engine is fixedly mounted on the first support base lateral bolster fagging, motor shaft with
Second extension sleeve rotation axis is fixedly connected by shaft coupling；Second telescopic rod, which slides over, is mounted on the second telescopic
In groove below cylinder, it is equipped with the second support base below；The cylinder base of 8th hydraulic cylinder is fixedly mounted on second
In support plate above extension sleeve, piston rod end is fixedly connected with support plate above the second telescopic rod；On Wheel housings
Face is equipped with Wheel housings connecting shaft, and the Wheel housings connecting shaft is rotatably installed in the groove below the second support base, described
Third steering engine is horizontal positioned, and side is fixedly mounted in the support plate of the second support base side, and motor shaft and Wheel housings connect
Spindle is fixedly connected；It is equipped with third steering engine fixed plate in Wheel housings side, the 5th stepper motor is horizontal positioned, side
Third steering engine fixed plate is fixedly mounted in the following, its motor shaft is fixedly connected with the 5th stepper motor connecting shaft by shaft coupling,
The 5th stepper motor connecting shaft is rotatably installed in the groove of Wheel housings two sides, and the wheel is fixedly mounted on the 5th
In stepper motor connecting shaft, position is in Wheel housings.
Beneficial effects of the present invention: automation smearing cement is realized by wall brick adhesive portion and wall brick is attached to wall
On wall, patch block efficiency and quality are improved；It is detected above wall brick and is posted by detection amendment part, improve sticking Quality.
Detailed description of the invention
Fig. 1, Fig. 2, Fig. 3 are overall structure diagram of the invention.
Fig. 4, Fig. 5 are the structural schematic diagram of pedestal of the invention.
Fig. 6, Fig. 7, Fig. 8 are the structural schematic diagram of wall brick adhesive portion of the invention.
Fig. 9 is the structural schematic diagram of fixed part of the invention.
Figure 10, Figure 11 are the structural schematic diagram of detection amendment part of the invention.
Figure 12, Figure 13 are the structural schematic diagram of running gear of the invention.
Drawing reference numeral: 1- pedestal, 2- wall brick adhesive portion, 3- fixed part, 4- detection amendment part, 5- running gear,
101- bottom plate, the first dovetail groove of 102-, the first rack gear of 103-, 104- first hydraulic cylinder, 105- first hydraulic cylinder top plate, 106- wall
Brick stores groove, 107- spring, 108- wall brick top plate, the second dovetail groove of 109-, 110- second hydraulic cylinder bottom plate, the second liquid of 111-
Cylinder pressure, 112- first round plank, 113- ball, the first steering engine of 114-, 115- third dovetail groove, the second rack gear of 116-, 201-
Wall brick adhesive portion bottom plate, the first sliding block of 202-, the first stepper motor of 203-, 204- first gear, 205- support plate, 206-
Three rack gears, the 4th rack gear of 207-, the 4th dovetail groove of 208-, 209- fixed plate, 210- second stepper motor, 211- second gear,
212- transmission belt, 213- third hydraulic cylinder, 214- third hydraulic cylinder top plate, the first sucker of 215-, 216- rotation axis, 217- third
Gear, the 4th hydraulic cylinder bottom plate of 218-, the 4th hydraulic cylinder of 219-, 220-L template, the 5th hydraulic cylinder of 221-, 222- cement are laid with
Partially, 301- fixed part bottom plate, the second sliding block of 302-, 303- third stepper motor, the 4th gear of 304-, 305- first are flexible
Sleeve fixed plate, the first extension sleeve of 306-, the 6th hydraulic cylinder of 307-, the first telescopic rod of 308-, the second sucker of 309- top plate,
The second sucker of 310-, 401- detection amendment part backplane, 402- third sliding block, 403- detection amendment part backplane side plate, 404-
Positioning strip, 405- positioning column, the 5th rack gear of 406-, 407- slide mass, the 4th stepper motor of 408-, the 5th gear of 409-, 410-
7th hydraulic cylinder bottom plate, 411- detecting instrument, 412- detect pearl, the 7th hydraulic cylinder of 413-, the 7th hydraulic cylinder top plate of 414-, 415-
The round plank of pushing block, 501- second, 502- ring groove, the first support base of 503-, the second extension sleeve of 504- rotation axis,
The second steering engine of 505-, the second extension sleeve of 506-, the second telescopic rod of 507-, the 8th hydraulic cylinder of 508-, the second support base of 509-,
510- third steering engine, 511- Wheel housings, 512- Wheel housings connecting shaft, the 5th stepper motor connecting shaft of 513-, the 5th stepping of 514-
Motor, 515- wheel, 516- third steering engine fixed plate.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13,
A kind of mobile robot, including pedestal 1,2, two fixed parts 3 of wall brick adhesive portion, the detection amendment running part of part 4, four
Divide 5, it is characterised in that: two the first sliding blocks 202 of the wall brick adhesive portion 2 are slidably mounted on two the first dovetails respectively
In slot 102, two first gears 204 are intermeshed with the first rack gear 103 respectively；Four of two fixed parts 3
Two sliding blocks 302 are slidably mounted on respectively in four third dovetail grooves 115, two the 4th gears 304 and two 116 phases of the second rack gear
Mutually engagement；Two third sliding blocks 402 of the detection amendment part 4 are slidably mounted on respectively in two the second dovetail grooves 109,
Detection amendment part backplane side plate 403 is fixedly connected with the piston rod end of two second hydraulic cylinders 111；Four walkings
The round plank 501 of four second of part 5 is respectively and fixedly installed on the motor shaft of four the first steering engines 114, and four annulus are recessed
Slot 502 is slidably mounted on respectively on four groups of balls 113；
The pedestal 1 includes 103, four 101, two the first dovetail grooves 102 of bottom plate, the first rack gear first hydraulic cylinders
104,105, two wall bricks of first hydraulic cylinder top plate storage, 107, two, the spring of groove 106, two wall brick top plates 108, two the
Two dovetail grooves 109, second hydraulic cylinder bottom plate 110, second hydraulic cylinder 111, four first round planks, 112,44 balls
113, four the second rack gears 116 of third dovetail groove 115, two of the first steering engine 114, four, the bottom plate 101 is one rectangular
Shape plank, left side above it are set there are two the second dovetail groove 109, and left upper above it is equipped with second hydraulic cylinder bottom
The cylinder base of plate 110, two second hydraulic cylinders 111 is fixedly mounted on behind second hydraulic cylinder bottom plate 110；In bottom plate
Right side above 101 is set there are two the first dovetail groove 102 and the first rack gear 103, and first rack gear 103 is in two the first swallows
Behind stern notch 102；Four 104 rectangular arrays of first hydraulic cylinder, cylinder base are fixedly mounted on above bottom plate 101
Forward position, piston rod end are fixedly connected below with first hydraulic cylinder top plate 105；On first hydraulic cylinder top plate 105
Face is set there are two wall brick storage groove 106, and one end of two springs 107 is respectively and fixedly installed to two first hydraulic cylinders
In support plate above top plate 105, the other end is fixedly connected with two wall brick top plates 108 respectively, two wall brick tops
Plate 108 is slidably mounted on respectively in two wall brick storage grooves 106；Four 115 Hes of third dovetail groove are arranged below in bottom plate 101
Two the second rack gears 116 divide equally two groups, and every group includes two third dovetail grooves 115 and second rack gear 116, two components
It is not located at the left and right sides below bottom plate 101, two second rack gears 116 are respectively on a left side for four third dovetail grooves 115
Right two sides；One first round plank 112 is respectively provided at four angles below bottom plate 101, in each first round plank 112
Intermediate below to be equipped with a rectangular recess, four first steering engines 114 are placed straight down, and position is respectively at four
In groove below first round plank 112；The semicircle of 11 circumferentially arrays is arranged below in the first round plank 112
Hole, 11 balls 113 are rotatably installed in the semicircle orifice of 11 below the first round plank 112 circumferentially arrays respectively
In；
The wall brick adhesive portion 2 includes 201, two the first sliding blocks of wall brick adhesive portion bottom plate, 202, two first steps
Into 203, two, the motor support plate of first gear 204, two, 205, two third rack gears 206, the 4th rack gear 207, two the 4th
Dovetail groove 208, the second stepper motor 210, two of fixed plate 209, two second gear 211, transmission belt 212,32
Three 215, two rotation axis of the first sucker of 214,64, third hydraulic cylinder top plate of hydraulic cylinder 213,16 216, two
The three L-type planks 220, four the 5th of the 4th hydraulic cylinder 219, two of the 4th hydraulic cylinder bottom plate 218, four of gear 217, two are hydraulic
221, two cement of cylinder are laid with part 222, and the wall brick adhesive portion bottom plate 201 is a rectangle plank, in its lower section
If there are two the first sliding block 202, two first sliding blocks 202 are slidably mounted on respectively in two the first dovetail grooves 102；Institute
Two the first stepper motors 203 stated are horizontal positioned, and side is respectively and fixedly installed to wall brick adhesive portion bottom plate 201 and leans on above
The left and right sides of position afterwards, motor shaft are fixedly connected with two first gears 204 respectively, two first gears 204
It is intermeshed respectively with the first rack gear 103；Support plate 205 there are two being set on wall brick adhesive portion bottom plate 201, in two branch
The front side of fagging 205 is respectively equipped with third rack gear 206, and the 4th dovetail groove 208 is respectively provided on the inside of two support plates 205,
The sliding block of left and right two of the fixed plate 209 is slidably mounted on respectively in two the 4th dovetail grooves 208, two rotations
Axis 216 is rotatably installed in respectively in the support plate of about 209 two sides of fixed plate, and two third gears 217 are fixed respectively
It is mounted on the right side of rotation axis 216；The 4th rack gear 207, two third teeth are equipped with before the support plate 205 on right side
Wheel 217 is intermeshed with the 4th rack gear 207 respectively；The transmission belt 212 is mounted in two rotation axis 216；Described three
12 third hydraulic cylinders 213 are divided into eight groups, and every group of linear array of four third hydraulic cylinders 213, cylinder base is distinguished
Transmission belt 212 is fixedly mounted on above in the support plate of linear array, piston rod end respectively with 16 thirds
It is fixedly connected on the inside of hydraulic cylinder top plate 214；64 first suckers 215 are divided into 16 groups, four of every group
First sucker 215 is respectively and fixedly installed at four angles in 214 outside of third hydraulic cylinder top plate；After two support plates 205
Top position is respectively provided with a 4th hydraulic cylinder bottom plate 218 among face, and four the 4th hydraulic cylinders 219 are divided into two
Group, the cylinder base of every group of two the 4th hydraulic cylinders 219 are respectively and fixedly installed to above two the 4th hydraulic cylinder bottom plates 218,
Piston rod end is fixedly connected below with L-type plank 220, and four the 5th hydraulic cylinders 221 divide equally two groups, every group of the 5th liquid
The cylinder base of cylinder pressure 221 is respectively and fixedly installed to the inside of two L-type planks 220, piston rod end respectively with two cement
222 Backside support plate of part is laid with to be fixedly connected；
The fixed part 3 includes 301, two the second sliding blocks 302 of fixed part bottom plate, third stepper motor 303, the
Four gears 304, the first extension sleeve fixed plate 305, the first extension sleeve 306, the 6th hydraulic cylinder 307, the first telescopic rod 308,
Second the second sucker 310 of 309, four, sucker top plate, the fixed part bottom plate 301 is a rectangle plank, under it
Face is set there are two the second sliding block 302, and two second sliding blocks 302 are slidably mounted on respectively in two third dovetail grooves 115；
The third stepper motor 303 is horizontal positioned, and side is fixedly mounted on above fixed part bottom plate 301, motor shaft with
4th gear 304 is fixedly connected, and the 4th gear 304 and the second rack gear 116 are intermeshed；In fixed part bottom plate 301
It is equipped with the first extension sleeve fixed plate 305 above, 306 inner end of the first extension sleeve is fixedly mounted on the first telescopic
305 side of cylinder fixed plate, 308 inner end of the first telescopic rod are slidably mounted on the groove in 306 outside of the first extension sleeve
In, outboard end is fixedly connected with the second sucker top plate 309；6th hydraulic cylinder, 307 cylinder base is fixedly mounted on
In support plate above one extension sleeve 306, piston rod end is fixedly connected with the support plate above the first telescopic rod 308；
Four second suckers 310 are respectively and fixedly installed at four angles in 309 outside of the second sucker top plate；
The detection amendment part 4 includes detection amendment 401, two third sliding blocks 402 of part backplane, detection correction portion
It is divided to bottom plate side plate 403, two positioning strip 404, two positioning column 405, the 5th rack gear 406, slide mass 407, the 4th stepper motor
408, the 5th gear 409,412, eight, the detection of detecting instrument 411, four of the 7th hydraulic cylinder bottom plate 410, four pearl the 7th are hydraulic
Cylinder 413, two the 7th hydraulic cylinder top plates, 414, eight pushing blocks 415, the detection amendment part backplane 401 is one rectangular
Shape plank is set in its lower section there are two third sliding block 402, and two third sliding blocks 402 are slidably mounted on two the respectively
In one dovetail groove 102, detection amendment part backplane side plate 403, the detection are equipped on detection amendment part backplane 401
Amendment part backplane side plate 403 is fixedly mounted on the cylinder ends of two second hydraulic cylinders 111；Two positioning strips 404
It is respectively and fixedly installed to above detection amendment part backplane 401 with two 405 lower end surfaces of positioning column, two positioning strips
404 in two 405 outsides of positioning column；The 5th rack gear 406, the slide mass 407 are equipped in the front side of the positioning strip 404 on right side
It is slidably mounted on two positioning strips 404 and two positioning columns 405, the 4th stepper motor 408 is horizontal positioned, side
It is fixedly mounted on 407 front of slide mass, motor shaft is fixedly connected with the 5th gear 409, and the 5th gear 409, which passes through, to be slided
The groove of kinetoplast 407 and the 5th rack gear 406 are intermeshed；The 7th hydraulic cylinder bottom plate 410 is fixedly mounted on slide mass 407
Below；The linear array of four detecting instruments 411, is fixedly mounted on the left side of the 7th hydraulic cylinder bottom plate 410；It is described
Four detection pearls 412 be respectively and fixedly installed to 411 outboard end of detecting instrument；Eight the 7th hydraulic cylinders 413 are divided into
Two groups, every group of four 413 rectangular arrays of the 7th hydraulic cylinder, piston rod end respectively with two the 7th hydraulic cylinder top plates 414
It is fixedly connected, eight pushing blocks 415 are divided into two groups, and every group of four pushing blocks 415 are respectively and fixedly installed to the 7th liquid
At four angles in 414 outside of cylinder pressure top plate；
The running gear 5 is flexible including the second round plank 501, ring groove 502, the first support base 503, second
Sleeve rotation axis 504, the second steering engine 505, the second extension sleeve 506, the second telescopic rod 507, the 8th hydraulic cylinder 508, second
Support seat 509, third steering engine 510, Wheel housings 511, Wheel housings connecting shaft 512, the 5th stepper motor connecting shaft 513, the 5th stepping
Motor 514, wheel 515, third steering engine fixed plate 516, the described second round plank 501 are fixedly mounted on the first steering engine above
On 114 steering engine axis；The ring groove 502 is rotatably installed on 11 balls 113；Under the second round plank 501
Face is equipped with the first support base 503, the second extension sleeve rotation axis 504 rotational installation above second extension sleeve 506
In the first support base 503；Second steering engine 505 is fixedly mounted on 503 lateral bolster fagging of the first support base, motor
Axis is fixedly connected with the second extension sleeve rotation axis 504 by shaft coupling；Second telescopic rod 507, which slides over, to be mounted on
In groove below second extension sleeve 506, it is equipped with the second support base 509 below；The cylinder body of 8th hydraulic cylinder 508
Bottom is fixedly mounted in the support plate above the second extension sleeve 506, and piston rod end is propped up above with the second telescopic rod 507
Fagging is fixedly connected；Wheel housings connecting shaft 512 is equipped on Wheel housings 511, the Wheel housings connecting shaft 512 is rotatablely installed
In the groove below the second support base 509, the third steering engine 510 is horizontal positioned, and side is fixedly mounted on second
In the support plate for supportting 509 side of seat, motor shaft is fixedly connected with Wheel housings connecting shaft 512；The is equipped in 511 side of Wheel housings
Three steering engine fixed plates 516, the 5th stepper motor 514 is horizontal positioned, and side is fixedly mounted on third steering engine fixed plate
516 in the following, its motor shaft is fixedly connected with the 5th stepper motor connecting shaft 513 by shaft coupling, the 5th stepper motor
Connecting shaft 513 is rotatably installed in the groove of 511 two sides of Wheel housings, and the wheel 515 is fixedly mounted on the 5th stepper motor
In connecting shaft 513, position is in Wheel housings 511.
Working principle of the present invention: the vertical array of wallboard is placed on two wall brick storage grooves first when in use by the present invention
In 106, the direction of four running gears 5 is adjusted by four the first steering engines 114 in next step, passes through four the second steering engines 505, four
A 8th hydraulic cylinder 508 and four third steering engines 510 cooperate to adjust the height of four wheels 515, pass through four the 5th
Stepper motor 514 drives four wheels 515 and then entire machine is driven to reach before the wall of Wall brick；Pass through two in next step
Third stepper motor 303 drives two the 4th gears 304 and then two fixed parts 3 is driven to move forward, and passes through two the 6th
The elongation of hydraulic cylinder 307 drives eight the second suckers 310 that wall is sucked, and passes through two the 6th hydraulic cylinders 307 and two third stepping electricity
Machine 303 adjusts the distance between machine and wall；Pass through two 203 bands of the first stepper motor of wall brick adhesive portion 2 in next step
It dynamic two first gears 204 and then drives wall brick adhesive portion 2 mobile, drives two the by two second stepper motors 210
Two gears 211 drive fixed plate 209 that transmission belt 212 is driven to move up and down in turn, while driving two by two third gears 217
A rotation axis 216 and then drive transmission belt 212 drive 16 group of first movement of sucker 215；In next step by before wall brick top plate 108
Four third hydraulic cylinders 213 elongation in face drives two group of first sucker 215 that two blocks of wallboards are sucked, and passes through transmission belt 212 in next step
It drives wallboard to reach on front side of machine, while making two by four the 4th hydraulic cylinders 219 and four 221 co-ordinations of the 5th hydraulic cylinder
A cement is laid with part 222 and cement is taped against on wall；Two wallboards are spread by four elongations of third hydraulic cylinder 213 in next step
Onto wall；It will test amendment part 4 by two elongations of second hydraulic cylinder 111 in next step to push, be examined by four detection pearls 412
Survey whether wall brick has protrusion, if it find that the wall brick of protrusion drives two groups of pushing blocks 415 by two group of the 7th elongation of hydraulic cylinder 413
The wall brick of protrusion is pressed down.
In the description of the present invention, it should be noted that term " on ", "lower", "front", "rear", "left", "right" etc. refer to
The orientation or positional relationship shown is to be based on the orientation or positional relationship shown in the drawings or when invention product use usually puts
The orientation or positional relationship put, is merely for convenience of description of the present invention and simplification of the description, rather than the dress of indication or suggestion meaning
It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to limit of the invention
System.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, it is not understood to indicate or imply relatively heavy
The property wanted.
Claims (3)
1. a kind of mobile robot, including pedestal (1), wall brick adhesive portion (2), two fixed parts (3), detection amendment part
(4), four running gears (5), it is characterised in that: two the first sliding blocks (202) of the wall brick adhesive portion (2) slide respectively
It is dynamic to be mounted on that two the first dovetail grooves (102) are inner, and two first gears (204) are intermeshed with the first rack gear (103) respectively；Institute
It is inner that four the second sliding blocks (302) of two fixed parts (3) stated are slidably mounted on four third dovetail grooves (115) respectively, and two
A 4th gear (304) is intermeshed with two the second rack gears (116)；Two thirds of the detection amendment part (4) are sliding
It is inner that block (402) is slidably mounted on two the second dovetail grooves (109) respectively, detection amendment part backplane side plate (403) with two the
The piston rod end of two hydraulic cylinders (111) is fixedly connected；The round plank of four second of four running gears (5)
(501) it is respectively and fixedly installed on the motor shaft of four the first steering engines (114), four ring grooves (502) are slidably installed respectively
On four groups of balls (113)；
The pedestal (1) include bottom plate (101), two the first dovetail grooves (102), the first rack gear (103), four it is first hydraulic
Cylinder (104), first hydraulic cylinder top plate (105), two wall bricks store groove (106), two springs (107), two wall brick top plates
(108), two the second dovetail grooves (109), second hydraulic cylinder bottom plate (110), second hydraulic cylinder (111), four the first circular slabs
Sub (112), 44 balls (113), four the first steering engines (114), four third dovetail grooves (115), two the second rack gears
(116), the bottom plate (101) is a rectangle plank, and left side above it is set there are two the second dovetail groove (109),
Left upper above it is equipped with second hydraulic cylinder bottom plate (110), the cylinder base of two second hydraulic cylinders (111)
It is fixedly mounted on second hydraulic cylinder bottom plate (110) below；First dovetail groove there are two being set on the right side of bottom plate (101) above
(102) and the first rack gear (103), first rack gear (103) two the first dovetail grooves (102) below；Described four
First hydraulic cylinder (104) rectangular array, cylinder base are fixedly mounted on position forward above bottom plate (101), piston
Boom end is fixedly connected below with first hydraulic cylinder top plate (105)；Wall brick there are two being set on first hydraulic cylinder top plate (105)
It stores groove (106), one end of two springs (107) is respectively and fixedly installed to two first hydraulic cylinder top plates (105)
In support plate above, the other end is fixedly connected with two wall brick top plates (108) respectively, two wall brick top plates
(108) it is inner that it is slidably mounted on two wall brick storages groove (106) respectively；Four third dovetail grooves are arranged below in bottom plate (101)
(115) and two the second rack gears (116), divide equally two groups, every group includes two third dovetail grooves (115) and second rack gear
(116), it is respectively provided at the left and right sides of bottom plate (101) below for two groups, two second rack gears (116) are respectively at four
The left and right sides of three dovetail grooves (115)；One first round plank (112) is respectively provided at four angles of bottom plate (101) below,
Intermediate equipped with a rectangular recess below in each first round plank (112), four first steering engines (114) are vertical
It places downwards, position is respectively in the following groove of four first round planks (112)；Under the first round plank (112)
Face is equipped with the semicircle orifice of 11 circumferentially arrays, and 11 balls (113) are rotatably installed in the first round plank (112) respectively
Following 11 are circumferentially in the semicircle orifice of array；
The wall brick adhesive portion (2) includes wall brick adhesive portion bottom plate (201), two the first sliding blocks (202), two first
Stepper motor (203), two first gears (204), two support plates (205), two third rack gears (206), the 4th rack gears
(207), two the 4th dovetail grooves (208), fixed plate (209), two second stepper motors (210), two second gears
(211), transmission belt (212), 32 third hydraulic cylinders (213), 16 third hydraulic cylinder top plates (214), 64
First sucker (215), two rotation axis (216), two third gears (217), two the 4th hydraulic cylinder bottom plates (218), four
4th hydraulic cylinder (219), two L-type planks (220), four the 5th hydraulic cylinders (221), two cement are laid with part (222), institute
The wall brick adhesive portion bottom plate (201) stated is a rectangle plank, is set in its lower section there are two the first sliding block (202), described
Two the first sliding blocks (202) to be slidably mounted on two the first dovetail grooves (102) respectively inner；Two first stepper motors
(203) it is horizontally arranged, side is respectively and fixedly installed to wall brick adhesive portion bottom plate (201) left and right two of position rearward above
Side, motor shaft are fixedly connected with two first gears (204) respectively, and two first gears (204) are respectively with first
Rack gear (103) intermeshing；There are two being set on wall brick adhesive portion bottom plate (201) support plate (205), in two support plates
(205) it is respectively equipped with third rack gear (206) on front side of, is respectively provided with the 4th dovetail groove on the inside of two support plates (205)
(208), it is inner to be slidably mounted on two the 4th dovetail grooves (208) respectively for the sliding block of the left and right of the fixed plate (209) two, described
Two rotation axis (216) be rotatably installed in fixed plate (209) respectively up and down in the support plate of two sides, two third teeth
Wheel (217) is respectively and fixedly installed to the right side of rotation axis (216)；The 4th rack gear is equipped with before the support plate (205) on right side
(207), two third gears (217) are intermeshed with the 4th rack gear (207) respectively；Transmission belt (212) peace
On two rotation axis (216)；32 third hydraulic cylinders (213) are divided into eight groups, every group of four third liquid
Cylinder pressure (213) linear array, cylinder base are respectively and fixedly installed to the support plate of transmission belt (212) linear array above
On, piston rod end is fixedly connected on the inside of 16 third hydraulic cylinder top plates (214) respectively；Described 64
First sucker (215) is divided into 16 groups, and every group of four the first suckers (215) are respectively and fixedly installed to third hydraulic cylinder top
At four angles on the outside of plate (214)；Behind two support plates (205) intermediate top position be respectively provided with one it is the 4th hydraulic
Cylinder bottom plate (218), four the 4th hydraulic cylinders (219) are divided into two groups, the cylinder body of every group two the 4th hydraulic cylinders (219)
Bottom is respectively and fixedly installed to two the 4th hydraulic cylinder bottom plates (218) above, and piston rod end and L-type plank (220) are below
It is fixedly connected, four the 5th hydraulic cylinders (221) divide equally two groups, the cylinder base difference of every group of the 5th hydraulic cylinder (221)
It is fixedly mounted on the inside of two L-type planks (220), piston rod end is laid on rear side of part (222) with two cement props up respectively
Fagging is fixedly connected；
The fixed part (3) includes fixed part bottom plate (301), two the second sliding blocks (302), third stepper motors
(303), the 4th gear (304), the first extension sleeve fixed plate (305), the first extension sleeve (306), the 6th hydraulic cylinder
(307), the first telescopic rod (308), the second sucker top plate (309), four the second suckers (310), the fixed part bottom plate
(301) it is a rectangle plank, is set in its lower section there are two the second sliding block (302), two second sliding blocks (302) are divided
It is inner that it is not slidably mounted on two third dovetail grooves (115)；The third stepper motor (303) is horizontal positioned, and side is fixed
It is mounted on fixed part bottom plate (301) above, motor shaft is fixedly connected with the 4th gear (304), the 4th gear
(304) it is intermeshed with the second rack gear (116)；It is equipped with the first extension sleeve fixed plate above in fixed part bottom plate (301)
(305), described the first extension sleeve (306) inner end is fixedly mounted on first extension sleeve fixed plate (305) side, described
The first telescopic rod (308) inner end be slidably mounted in the groove on the outside of the first extension sleeve (306), outboard end and second
Sucker top plate (309) is fixedly connected；The 6th described hydraulic cylinder (307) cylinder base is fixedly mounted on the first extension sleeve
(306) in support plate above, piston rod end is fixedly connected with the support plate of the first telescopic rod (308) above；Described
Four the second suckers (310) are respectively and fixedly installed at four angles on the outside of the second sucker top plate (309).
2. a kind of mobile robot according to claim 1, it is characterised in that: the detection amendment part (4) includes
Detection amendment part backplane (401), two third sliding blocks (402), detection amendment part backplane side plate (403), two positioning strips
(404), two positioning columns (405), the 5th rack gear (406), slide mass (407), the 4th stepper motor (408), the 5th gear
(409), the 7th hydraulic cylinder bottom plate (410), four detecting instruments (411), four detection pearls (412), eight the 7th hydraulic cylinders
(413), two the 7th hydraulic cylinder top plates (414), eight pushing blocks (415), detection amendment part backplane (401) is one
A rectangle plank is set in its lower section there are two third sliding block (402), and two third sliding blocks (402) slide peace respectively
It is inner mounted in two the first dovetail grooves (102), it is equipped with detection amendment part backplane side plate above in detection amendment part backplane (401)
(403), detection amendment part backplane side plate (403) is fixedly mounted on the cylinder ends of two second hydraulic cylinders (111)；
Two positioning strips (404) and two positioning column (405) lower end surfaces are respectively and fixedly installed to detection amendment part backplane
(401) above, two positioning strips (404) are on the outside of two positioning columns (405)；Before the positioning strip (404) on right side
Side is equipped with the 5th rack gear (406), and the slide mass (407) is slidably mounted on two positioning strips (404) and two positioning columns
(405) on, the 4th stepper motor (408) is horizontal positioned, and side is fixedly mounted on before slide mass (407), electricity
Arbor is fixedly connected with the 5th gear (409), and the 5th gear (409) passes through the groove and the 5th tooth of slide mass (407)
Item (406) intermeshing；The 7th hydraulic cylinder bottom plate (410) is fixedly mounted on slide mass (407) below；Described four
Detecting instrument (411) linear array, is fixedly mounted on the left side of the 7th hydraulic cylinder bottom plate (410)；Four detections
Pearl (412) is respectively and fixedly installed to detecting instrument (411) outboard end；Eight the 7th hydraulic cylinders (413) are divided into two groups,
Every group four the 7th hydraulic cylinder (413) rectangular arrays, piston rod end are solid with two the 7th hydraulic cylinder top plates (414) respectively
Fixed connection, eight pushing blocks (415) are divided into two groups, and every group of four pushing blocks (415) are respectively and fixedly installed to the 7th
At four angles on the outside of hydraulic cylinder top plate (414).
3. a kind of mobile robot according to claim 1, it is characterised in that: the running gear (5) includes second
Round plank (501), ring groove (502), the first support base (503), the second extension sleeve rotation axis (504), the second steering engine
(505), the second extension sleeve (506), the second telescopic rod (507), the 8th hydraulic cylinder (508), the second support base (509), third
Steering engine (510), Wheel housings (511), Wheel housings connecting shaft (512), the 5th stepper motor connecting shaft (513), the 5th stepper motor
(514), wheel (515), third steering engine fixed plate (516), the described second round plank (501) are fixedly mounted on first above
On the steering engine axis of steering engine (114)；The ring groove (502) is rotatably installed on 11 balls (113)；In the second circle
Plank (501) is arranged below the first support base (503), and the second extension sleeve of second extension sleeve (506) above turns
It is inner that moving axis (504) is rotatably installed in the first support base (503)；Second steering engine (505) is fixedly mounted on the first support base
(503) on lateral bolster fagging, motor shaft is fixedly connected with the second extension sleeve rotation axis (504) by shaft coupling；Described
Second telescopic rod (507), which slides over, to be mounted in the groove of the second extension sleeve (506) below, is equipped with the second support below
Seat (509)；The cylinder base of 8th hydraulic cylinder (508) is fixedly mounted on the support of the second extension sleeve (506) above
On plate, support plate is fixedly connected above with the second telescopic rod (507) for piston rod end；It is equipped with wheel above in Wheel housings (511)
Stroma connecting shaft (512), the Wheel housings connecting shaft (512) are rotatably installed in the groove of the second support base (509) below,
The third steering engine (510) is horizontal positioned, and side is fixedly mounted in the support plate of the second support base (509) side,
Motor shaft is fixedly connected with Wheel housings connecting shaft (512)；Third steering engine fixed plate (516), institute are equipped in Wheel housings (511) side
The 5th stepper motor (514) stated is horizontal positioned, and side is fixedly mounted on third steering engine fixed plate (516) in the following, its motor
Axis is fixedly connected with the 5th stepper motor connecting shaft (513) by shaft coupling, and the 5th stepper motor connecting shaft (513) turns
Dynamic to be mounted in the groove of Wheel housings (511) two sides, the wheel (515) is fixedly mounted on the 5th stepper motor connecting shaft
(513) on, position is inner in Wheel housings (511).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810279892.1A CN108505736B (en) | 2018-04-01 | 2018-04-01 | A kind of mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810279892.1A CN108505736B (en) | 2018-04-01 | 2018-04-01 | A kind of mobile robot |
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| Publication Number | Publication Date |
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| CN108505736A CN108505736A (en) | 2018-09-07 |
| CN108505736B true CN108505736B (en) | 2019-10-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810279892.1A Active CN108505736B (en) | 2018-04-01 | 2018-04-01 | A kind of mobile robot |
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| Country | Link |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109914763B (en) * | 2018-12-06 | 2020-07-28 | 宋少琦 | Combined laying equipment for external wall tiles |
| CN109719747A (en) * | 2019-03-06 | 2019-05-07 | 潍坊科技学院 | A kind of artificial intelligence food and beverage sevice robot |
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|---|---|---|---|---|
| CN205777392U (en) * | 2016-06-22 | 2016-12-07 | 李秉京 | A kind of wall brick for building is pieced together and is covered device |
| CN106284952A (en) * | 2016-09-25 | 2017-01-04 | 郑运长 | A kind of intelligence ceramic tile stickers machine people |
| CN107351097A (en) * | 2017-08-31 | 2017-11-17 | 王凯盛 | A kind of glass mounting robot |
| CN107035119B (en) * | 2017-04-21 | 2018-03-27 | 广州市黄埔建筑工程总公司 | A kind of vertical automatic Wall brick device of construction |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0633592A (en) * | 1992-07-15 | 1994-02-08 | Zenkoku Tairugiyou Kyokai | Plate-like surface finishing material sticking device |
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2018
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205777392U (en) * | 2016-06-22 | 2016-12-07 | 李秉京 | A kind of wall brick for building is pieced together and is covered device |
| CN106284952A (en) * | 2016-09-25 | 2017-01-04 | 郑运长 | A kind of intelligence ceramic tile stickers machine people |
| CN107035119B (en) * | 2017-04-21 | 2018-03-27 | 广州市黄埔建筑工程总公司 | A kind of vertical automatic Wall brick device of construction |
| CN107351097A (en) * | 2017-08-31 | 2017-11-17 | 王凯盛 | A kind of glass mounting robot |
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| CN108505736A (en) | 2018-09-07 |
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