CN108756163A - A kind of construction wall rendering robot - Google Patents
A kind of construction wall rendering robot Download PDFInfo
- Publication number
- CN108756163A CN108756163A CN201810669794.9A CN201810669794A CN108756163A CN 108756163 A CN108756163 A CN 108756163A CN 201810669794 A CN201810669794 A CN 201810669794A CN 108756163 A CN108756163 A CN 108756163A
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- fixedly mounted
- gear
- servo motor
- mechanical arm
- bearing
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Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/06—Implements for applying plaster, insulating material, or the like
- E04F21/08—Mechanical implements
Abstract
A kind of construction wall rendering robot of the present invention, including car body, turntable, series connection pedestal, intermediate series arm, terminal series arm, it is that two degrees of freedom double-helical screw mechanism series connection seven freedom mechanical arm is constituted to paint mechanism, depend on the car body with box of tricks and changement, totally ten one degree of freedom, working space is big, controls flexibly intelligence, and paints uniformly beautiful.The camera of vehicle body quadrangle can scan road conditions and metope information, automatically processed by processor and planned trajectory, realization are painted for the automation of different walls.Opening based on multiple-degree-of-freedom mechanism replaces different work heads, it can be achieved that painting, such as shade tree trunk, park fitness equipment etc. to different things.
Description
Technical field
The present invention relates to building decoration equipment technical field, more particularly to a kind of construction wall rendering robot.
Background technology
With the improvement of people's living standards, building maintenance and the frequency redecorated constantly are being accelerated, wall plaster city
Field just keeps and carries over vigorous demand, and investigation shows that wall decoration effect occupies 80% in the Integral decoration effect of room
Weight, that is to say, that the quality of indoor wall decorative effect directly determines the height of entire house fitting class.Existing wall
What flour brush was completed basically by artificial painting, but there are labor intensity by manually painting mode big, painting speed
Slowly, degree is uneven, the low defects such as low with the degree of automation of working efficiency for painting, since hand all can during manually painting
There are jitter phenomenons, and painting stability is poor, reduces painting quality.As Patent No. CN201610343885.4 is proposed
《A kind of building automatic wall flour brush device》, including it is fixinig plate, painting pillar, painting baffle, painting support plate, painting sliding block, straight
Line guide rail, hydraulic cylinder etc., advantage are simple in structure, and painting is uniform and efficient；The disadvantage is that painting is in the form of a single, it cannot be because of ground system
Preferably, and there is no mobile device, be not easy to the skyscraper that comes in and goes out.
Invention content
In view of the above-mentioned problems, a kind of construction wall rendering robot of the present invention, painting mechanism is two degrees of freedom twin-screw
Mechanisms in series seven freedom mechanical arm is constituted, and depends on the car body with box of tricks and changement, totally ten ones degree of freedom, work
It is big to make space, controls flexibly intelligence, and paints uniformly beautiful.The camera of vehicle body quadrangle can scan road conditions and metope information,
It is automatically processed by processor and planned trajectory, realization is painted for the automation of different walls.Opening based on multiple-degree-of-freedom mechanism
Putting property replaces different work heads, it can be achieved that painting, such as shade tree trunk, park fitness equipment etc. to different things.
Technical solution used in the present invention is：A kind of construction wall rendering robot, including car body, turntable, series connection base
Seat, intermediate series arm, terminal series arm, the terminal series arm are fixedly mounted on intermediate series arm；Intermediate series arm is solid
Dingan County is on series connection pedestal；Series connection pedestal is fixedly mounted on turntable；Turntable is installed on the car body.
The car body includes the first chassis, paint bucket seat, screw rod, camera, supporting rod, first servo motor, first
Gear, holder, nut, second gear, sliding block, wheel, wheel connecting rod, the first bearing, first connecting rod, second connecting rod, second
Seat, first bevel gear, the second servo motor, second bevel gear, third servo motor, third bearing, third hand tap gear, the 4th cone
Gear, the 5th bevel gear, the 6th bevel gear, the 4th bearing, be fixedly mounted above first chassis there are two paint bucket seat,
Two holders, four supporting rods, each side hinged a pair of intermeshing first gear and second gear, it is fixed below to pacify
For dress there are two the first bearing, second bearing, a third bearing, two the 4th bearings, front side is hinged with one second cone tooth
Wheel；There are four cameras, is respectively hinged at four supporting bar tops；There are two screw rods, and the flanged disk in one end is fixedly mounted respectively
In the second gear of the left and right sides；There are two nuts, coordinates respectively with the screw rod of the left and right sides, constitutes two screw pairs；It is sliding
There are two blocks, is respectively hinged in the axis hole of left side nut both ends；There are two first servo motors, is respectively and fixedly installed to both sides
On holder, and output shaft is connect with first gear；There are two wheel connecting rods, is respectively hinged on the first bearing of both sides, and each
It is hinged on the outside of wheel connecting rod that there are one wheels；First connecting rod both ends are hinged on the wheel connecting rod of both sides, and centre is hinged with one
Two connecting rods, the second connecting rod other end are hinged on second bevel gear outrigger shaft；Second servo motor is fixedly mounted on the second bearing
On；First bevel gear is fixedly mounted on the second servo motor outrigger shaft and is engaged with second bevel gear；Third servo motor is solid
Dingan County is on third bearing；Third hand tap gear is fixedly mounted on third servo motor output shaft；6th bevel gear band planet
Frame is hinged on the left of third bearing in endoporus, is engaged with third hand tap gear, and hingedly there are two the 5th cone teeth on its planet carrier
Wheel；There are two 4th bevel gears, is hinged on endoporus at left and right sides of third bearing and is each passed through in the 4th bearing of the left and right sides
Hole, and engaged respectively with two the 5th bevel gears, a box of tricks is constituted, and respectively outside is installed with a wheel.
The turntable includes the second chassis, fork shaft, crotch, dust cover, the 4th servo motor, third gear, the 4th tooth
Wheel, fork shaft, crotch are fixedly mounted on the second undersurface of bottom disc, and fork shaft and the nut on aforementioned right side are hinged, two overhanging cylinders of crotch
Coordinate respectively with the sliding block on the nut in aforementioned left side, constitutes two parallel cylindrical pairs；Dust cover is fixedly mounted on the second bottom
Above disk；4th servo motor is fixedly mounted on dust cover, and output shaft is connect with third gear；Third gear, the 4th tooth
Wheel is respectively hinged above the second chassis and is intermeshed.
The series connection pedestal includes third chassis, the 5th bearing, first harmonic decelerator, the 5th servo motor, first
Mechanical arm, second mechanical arm, second harmonic retarder, the 6th servo motor, the third chassis are fixedly mounted on above-mentioned
On third gear；5th bearing is fixedly mounted on third chassis；First harmonic decelerator is fixedly mounted on the 5th bearing side,
The 5th bearing other side is installed with one and inputs the 5th servo motor of axis connection with it；First mechanical arm is fixedly mounted on
On one harmonic speed reducer output shaft；6th servo motor is fixedly mounted on the first mechanical arm other end；Second harmonic retarder is solid
Dingan County is mounted in the first mechanical arm other end and input shaft is connect with the 6th servomotor；Second mechanical arm is fixedly mounted on second
On harmonic speed reducer output shaft.
The intermediate series arm include the 7th servo motor, third harmonic retarder, third mechanical arm, pry through port lid,
7th bevel gear, the 8th servo motor, the third harmonic retarder are fixedly mounted in second mechanical arm above-mentioned；7th
Servo motor is fixedly mounted on third harmonic reducer input shaft；It is defeated that third mechanical arm is fixedly mounted on third harmonic retarder
On shaft；Port lid is pried through to be fixedly mounted on third mechanical arm；8th servo motor is fixedly mounted in third mechanical arm, and its
One the 7th bevel gear is installed on output shaft.
The terminal series arm subtracts including the 4th harmonic speed reducer, the 4th mechanical arm, the 9th servo motor, the 5th harmonic wave
Fast device, the 5th mechanical arm, the 5th gear, cylinder round brush, round brush holder, the 6th gear, the tenth servo motor, the 8th bevel gear,
4th harmonic speed reducer is fixedly mounted on third mechanical arm above-mentioned；8th bevel gear is fixedly mounted on the 4th harmonic wave
On reducer input shaft, and engaged with aforementioned 7th bevel gear；4th mechanical arm one end is fixedly mounted on the 4th harmonic speed reducer
On output shaft, the other end is fixedly mounted on the 5th harmonic speed reducer input terminal；9th servo motor is fixedly mounted on the 4th machine
On tool arm, and output shaft and the 5th harmonic speed reducer input axis connection；5th mechanical arm is fixedly mounted on the 5th harmonic speed reducer
On output shaft；Tenth servo motor is fixedly mounted on the 5th mechanical arm；It is defeated that 5th gear is fixedly mounted on the tenth servo motor
On shaft；6th gear is hinged on the 5th mechanical arm；Round brush holder one end is flanged, is fixedly mounted on the 6th gear, separately
One end is hinged with a cylinder round brush.
Since present invention employs above-mentioned technical proposal, the present invention has the following advantages：（1）Nine-degree of freedom main body add two from
By degree vehicle body, working space is big；Robot is removable, controls more flexible intelligence, and paints uniformly beautiful；（2）Surrounding four
Camera incudes road conditions and metope distance, prevents from accidentally touching；（3）For different metopes, camera post-acquisition processor can mould
Quasi- painting track, then realizes whole-course automation painting；（4）Opening based on multiple-degree-of-freedom mechanism replaces different work
Head is, it can be achieved that painting, such as shade tree trunk, park fitness equipment etc. to different things；（5）Due to band wheel, convenient for moving
It is dynamic, and elevator can be entered, facilitate the indoor carry out operation into high-rise building.
Description of the drawings
Fig. 1, Fig. 2, Fig. 3 and Fig. 4 are the overall structure diagram of the present invention.
Fig. 5, Fig. 6 are the body construction schematic diagram of the present invention.
Fig. 7, Fig. 8 are the turntable structure schematic diagram of the present invention.
Fig. 9 is the series connection base construction schematic diagram of the present invention.
Figure 10 is the intermediate series arm structural schematic diagram of the present invention.
Figure 11, Figure 12 are the terminal series arm structural schematic diagram of the present invention.
Drawing reference numeral：1- car bodies；2- turntables；3- series connection pedestals；Series arm among 4-；5- terminal series arms；101- first
Chassis；102- paints bucket seat；103- screw rods；104- cameras；105- supporting rods；106- first servo motors；The first teeth of 107-
Wheel；108- holders；109- nuts；110- second gears；111- sliding blocks；112- wheels；113- wheel connecting rods；114- first
Seat；115- first connecting rods；116- second connecting rods；The second bearings of 117-；118- first bevel gears；The second servo motors of 119-；
120- second bevel gears；121- third servo motors；122- third bearings；123- third hand tap gears；The 4th bevel gears of 124-；
The 5th bevel gears of 125-；The 6th bevel gears of 126-；The 4th bearings of 127-；The second chassis 201-；202- fork shafts；203- crotch；
204- dust covers；The 4th servo motors of 205-；206- third gears；The 4th gears of 207-；301- thirds chassis；302- the 5th
Seat；303- first harmonic decelerators；The 5th servo motors of 304-；305- first mechanical arms；306- second mechanical arms；307- second
Harmonic speed reducer；The 6th servo motors of 308-；The 7th servo motors of 401-；402- third harmonic retarders；403- third machineries
Arm；404- pries through port lid；The 7th bevel gears of 405-；The 8th servo motors of 406-；The 4th harmonic speed reducers of 501-；The 4th machines of 502-
Tool arm；The 9th servo motors of 503-；The 5th harmonic speed reducers of 504-；The 5th mechanical arms of 505-；The 5th gears of 506-；507- cylinders
Round brush；508- round brush holders；The 6th gears of 509-；The tenth servo motors of 510-；The 8th bevel gears of 511-.
Specific implementation mode
With reference to specific embodiment, the invention will be further described, in the illustrative examples and explanation of the invention
For explaining the present invention, but it is not as a limitation of the invention.
Embodiment：As shown in Figure 1, Figure 2, a kind of shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12
Construction wall rendering robot, including car body 1, turntable 2, series connection pedestal 3, intermediate series arm 4, terminal series arm 5, terminal series connection
5 arms are fixedly mounted on intermediate series arm 4；Intermediate series arm 4 is fixedly mounted on series connection pedestal 3；Pedestal 3 of connecting is fixedly mounted
On turntable 2；Turntable 2 is mounted on car body 1.
Car body 1 includes the first chassis 101, paint bucket seat 102, screw rod 103, camera 104, supporting rod 105, the first servo
Motor 106, first gear 107, holder 108, nut 109, second gear 110, sliding block 111, wheel 112, wheel connecting rod 113,
First bearing 114, first connecting rod 115, second connecting rod 116, the second bearing 117, first bevel gear 118, the second servo motor
119, second bevel gear 120, third servo motor 121, third bearing 122, third hand tap gear 123, the 4th bevel gear 124,
Five bevel gears 125, the 6th bevel gear 126, the 4th bearing 127, it is characterised in that：First chassis 101 is installed with two above
108, four, the holder supporting rod 105 of a paint bucket seat 102, two, each side hinged a pair of intermeshing first gear
107 and second gear 110, it is fixedly mounted that there are two the first bearing 114, second bearings, 117, third bearings below
122, two the 4th bearings 127, front side are hinged with a second bevel gear 120；There are four cameras 104, is respectively hinged at four
105 top of supporting rod；There are two screw rods 103, the flanged disk in one end, is respectively and fixedly installed to the second gear 110 of the left and right sides
On；There are two nuts 109, coordinates respectively with the screw rod of the left and right sides 103, constitutes two screw pairs；There are two sliding blocks 111, point
It is not hinged in the 109 both ends axis hole of nut of left side；There are two first servo motors 106, is respectively and fixedly installed to the holder of both sides
On 108, and output shaft is connect with first gear 107；There are two wheel connecting rods 113, is respectively hinged at the first bearing of both sides 114
On, and hingedly there are one wheels 112 in each 113 outside of wheel connecting rod；115 both ends of first connecting rod are hinged on the wheel connecting rod of both sides
On 113, centre is hinged with a second connecting rod 116, and 116 other end of second connecting rod is hinged on 120 outrigger shaft of second bevel gear；The
Two servo motors 119 are fixedly mounted on the second bearing 117；First bevel gear 118 is fixedly mounted on outside the second servo motor 119
It stretches on axis and is engaged with second bevel gear 120；Third servo motor 121 is fixedly mounted on third bearing 122；Third hand tap gear
123 are fixedly mounted on 121 output shaft of third servo motor；6th bevel gear 126 is hinged on third bearing 122 with planet carrier
It in the endoporus of left side, is engaged with third hand tap gear 123, and hingedly there are two the 5th bevel gears 125 on its planet carrier；4th bevel gear
There are two 124, it is hinged on 122 left and right sides endoporus of third bearing and is each passed through 127 endoporus of the 4th bearing of the left and right sides, and
It is engaged respectively with two the 5th bevel gears 125, constitutes a box of tricks, and respectively outside is installed with a wheel 112.
Turntable 2 includes the second chassis 201, fork shaft 202, crotch 203, dust cover 204, the 4th servo motor 205, third tooth
Take turns the 206, the 4th gear 207, it is characterised in that：Fork shaft 202, crotch 203 are fixedly mounted on 201 bottom surface of the second chassis, fork shaft 202
It is hinged with the nut 109 on aforementioned right side, 203 two overhanging cylinders of crotch respectively with the sliding block 111 on the nut in aforementioned left side 109
Cooperation constitutes two parallel cylindrical pairs；Dust cover 204 is fixedly mounted on above the second chassis 201；4th servo motor 205
It is fixedly mounted on dust cover 204, and output shaft is connect with third gear 206；Third gear 206, the 4th gear 207 are cut with scissors respectively
It is connected on the second chassis 201 above and is intermeshed.
Pedestal 3 of connecting includes third chassis 301, the 5th bearing 302, first harmonic decelerator 303, the 5th servo motor
304, first mechanical arm 305, second mechanical arm 306, second harmonic retarder 307, the 6th servo motor 308, it is characterised in that：
Third chassis 301 is fixedly mounted on third gear 206 above-mentioned；5th bearing 302 is fixedly mounted on third chassis 301；
First harmonic decelerator 303 is fixedly mounted on 302 side of the 5th bearing, and 302 other side of the 5th bearing is installed with one and its
Input the 5th servo motor 304 of axis connection；First mechanical arm 305 is fixedly mounted on 303 output shaft of first harmonic decelerator；
6th servo motor 308 is fixedly mounted on the first mechanical 305 arm other ends；Second harmonic retarder 307 is fixedly mounted on first
305 other end of mechanical arm and input shaft is connect with the 6th servomotor 308；It is humorous that second mechanical arm 306 is fixedly mounted on second
On 307 output shaft of wave retarder.
Intermediate series arm 4 includes the 7th servo motor 401, third harmonic retarder 402, third mechanical arm 403, peep-hole
Lid 404, the 7th bevel gear 405, the 8th servo motor 406, it is characterised in that：Before third harmonic retarder 402 is fixedly mounted on
In the second mechanical arm 306 stated；7th servo motor 401 is fixedly mounted on 402 input shaft of third harmonic retarder；Third machine
Tool arm 403 is fixedly mounted on 402 output shaft of third harmonic retarder；It pries through port lid 404 and is fixedly mounted on third mechanical arm 403
On；8th servo motor 406 is fixedly mounted in third mechanical arm 403, and one the 7th cone tooth is installed on its output shaft
Wheel 405.
Terminal series arm 5 is humorous including the 4th harmonic speed reducer 501, the 4th mechanical arm 502, the 9th servo motor the 503, the 5th
Wave retarder 504, the 5th mechanical arm 505, the 5th gear 506, cylinder round brush 507, round brush holder 508, the 6th gear 509,
Ten servo motors 510, the 8th bevel gear 511, it is characterised in that：4th harmonic speed reducer 501 is fixedly mounted on third above-mentioned
On mechanical arm 403；8th bevel gear 511 is fixedly mounted on 501 input shaft of the 4th harmonic speed reducer, and bores tooth with the aforementioned 7th
405 engagement of wheel；4th mechanical arm, 502 one end is fixedly mounted on 501 output shaft of the 4th harmonic speed reducer, and the other end is fixedly mounted
On 504 input terminal of the 5th harmonic speed reducer；9th servo motor 503 is fixedly mounted on the 4th mechanical arm 502, and output shaft
Axis connection is inputted with the 5th harmonic speed reducer 504；5th mechanical arm 505 is fixedly mounted on 504 output shaft of the 5th harmonic speed reducer
On；Tenth servo motor 510 is fixedly mounted on the 5th mechanical arm 505；5th gear 506 is fixedly mounted on the tenth servo motor
On 510 output shafts；6th gear 509 is hinged on the 5th mechanical arm 505；508 one end of round brush holder is flanged, is fixedly mounted on
On 6th gear 509, the other end is hinged with a cylinder round brush 507.
Operation principle of the present invention：Ten one degree of freedom of complete machine of the present invention is specially：Two degree of freedom of car body on the ground
Movement, i.e. the second servo motor 119 drive four-bar linkage drive front vehicle wheel 112 steering and another second servo electricity
Machine 119 drives the advance of differential mechanism drive rear wheel 112；Turntable 2 is around the rotation of front side nut 109 and along two screw rods
103 move up and down as other two degree of freedom, drives double-helical screw mechanisms to realize by two first servo motors 106；Cascade machine
Tool arm is total to 7 degree of freedom, and one degree of freedom is that the third chassis 301 of the 4th servo motor 205 driving turns around its center
Dynamic, second degree of freedom is the first mechanical arm 305 of the 5th servo motor 304 driving around 303 axle center of first harmonic decelerator
Rotation, three degree of freedom are the second mechanical arm 306 of the 6th servo motor 308 driving around 307 axle center of second harmonic retarder
Rotation, the 4th degree of freedom is the third mechanical arm 403 of the 7th servo motor 401 driving around 402 axis of third harmonic retarder
The rotation of the heart, the 5th degree of freedom are the 4th mechanical arm 502 of the 8th servo motor 406 driving around the 4th harmonic speed reducer 501
The rotation at center, six-freedom degree are the 5th mechanical arm 505 of the 9th servo motor 503 driving around the 5th harmonic speed reducer
The rotation in 504 axle center, 7 degree of freedom are the round brush holder 508 of the tenth servo motor 510 driving around 509 axle center of the 6th gear
Rotation, it is above be the robot must ten ones degree of freedom.
104 adjustable angle of camera that four of first chassis, 101 surrounding are hinged on supporting rod 105, for scanning road
Condition and metope information realize the automation powder for different walls to instruct processor to automatically process and plan painting track
Brush.
Claims (1)
1. a kind of construction wall rendering robot, including car body（1）, turntable（2）, series connection pedestal（3）, intermediate series arm（4）, eventually
Hold series arm（5）, it is characterised in that：The terminal series connection（5）Arm is fixedly mounted on intermediate series arm（4）On；Centre series connection
Arm（4）It is fixedly mounted on series connection pedestal（3）On；Series connection pedestal（3）It is fixedly mounted on turntable（2）On；Turntable（2）Mounted on car body
（1）On；
The car body（1）Including the first chassis（101）, paint bucket seat（102）, screw rod（103）, camera（104）, supporting rod
（105）, first servo motor（106）, first gear（107）, holder（108）, nut（109）, second gear（110）, sliding block
（111）, wheel（112）, wheel connecting rod（113）, the first bearing（114）, first connecting rod（115）, second connecting rod（116）, second
Bearing（117）, first bevel gear（118）, the second servo motor（119）, second bevel gear（120）, third servo motor
（121）, third bearing（122）, third hand tap gear（123）, the 4th bevel gear（124）, the 5th bevel gear（125）, the 6th cone tooth
Wheel（126）, the 4th bearing（127）, first chassis（101）Bucket seat is painted there are two being fixedly mounted above（102）, two
Holder（108）, four pieces supporting rods（105）, each side hinged a pair of intermeshing first gear（107）And second gear
（110）, there are two the first bearings for fixed installation below（114）, second bearing（117）, a third bearing（122）, two
A 4th bearing（127）, front side is hinged with a second bevel gear（120）；Camera（104）There are four, it is respectively hinged at four
Supporting rod（105）Top；Screw rod（103）There are two, the flanged disk in one end is respectively and fixedly installed to the second gear of the left and right sides
（110）On；Nut（109）There are two, respectively with the screw rod of the left and right sides（103）Cooperation constitutes two screw pairs；Sliding block
（111）There are two, it is respectively hinged at left side nut（109）In the axis hole of both ends；First servo motor（106）There are two, it is solid respectively
Dingan County is mounted in the holder of both sides（108）On, and output shaft and first gear（107）Connection；Wheel connecting rod（113）There are two, point
It is not hinged on the first bearing of both sides（114）On, and each wheel connecting rod（113）Outside is hinged, and there are one wheels（112）；First connects
Bar（115）Both ends are hinged on the wheel connecting rod of both sides（113）On, centre is hinged with a second connecting rod（116）, second connecting rod
（116）The other end is hinged on second bevel gear（120）On outrigger shaft；Second servo motor（119）It is fixedly mounted on the second bearing
（117）On；First bevel gear（118）It is fixedly mounted on the second servo motor（119）On outrigger shaft and and second bevel gear（120）
Engagement；Third servo motor（121）It is fixedly mounted on third bearing（122）On；Third hand tap gear（123）It is fixedly mounted on third
Servo motor（121）On output shaft；6th bevel gear（126）Band planet carrier, is hinged on third bearing（122）In the endoporus of left side,
With third hand tap gear（123）Engagement, and hingedly there are two the 5th bevel gears on its planet carrier（125）；4th bevel gear（124）Have
Two, it is hinged on third bearing（122）Left and right sides endoporus and the 4th bearing for being each passed through the left and right sides（127）Endoporus, and
Respectively with two the 5th bevel gears（125）Engagement constitutes a box of tricks, and respectively outside is installed with a wheel（112）；
The turntable（2）Including the second chassis（201）, fork shaft（202）, crotch（203）, dust cover（204）, the 4th servo electricity
Machine（205）, third gear（206）, the 4th gear（207）, fork shaft（202）, crotch（203）It is fixedly mounted on the second chassis
（201）Bottom surface, fork shaft（202）With the nut on aforementioned right side（109）It is hinged, crotch（203）Two overhanging cylinders respectively with it is aforementioned
The nut in left side（109）On sliding block（111）Cooperation constitutes two parallel cylindrical pairs；Dust cover（204）It is fixedly mounted on
Two chassis（201）Above；4th servo motor（205）It is fixedly mounted on dust cover（204）On, and output shaft and third gear
（206）Connection；Third gear（206）, the 4th gear（207）It is respectively hinged at the second chassis（201）Above and it is intermeshed；
The series connection pedestal（3）Including third chassis（301）, the 5th bearing（302）, first harmonic decelerator（303）, the 5th
Servo motor（304）, first mechanical arm（305）, second mechanical arm（306）, second harmonic retarder（307）, the 6th servo electricity
Machine（308）, the third chassis（301）It is fixedly mounted on third gear above-mentioned（206）On；5th bearing（302）It is fixed
Mounted on third chassis（301）On；First harmonic decelerator（303）It is fixedly mounted on the 5th bearing（302）Side, the 5th bearing
（302）The other side is installed with one and inputs the 5th servo motor of axis connection with it（304）；First mechanical arm（305）It is fixed
Mounted on first harmonic decelerator（303）On output shaft；6th servo motor（308）It is fixedly mounted on the first machinery（305）Arm
The other end；Second harmonic retarder（307）It is fixedly mounted on first mechanical arm（305）The other end and input shaft and the 6th servo electricity
Motivation（308）Connection；Second mechanical arm（306）It is fixedly mounted on second harmonic retarder（307）On output shaft；
The intermediate series arm（4）Including the 7th servo motor（401）, third harmonic retarder（402）, third mechanical arm
（403）, pry through port lid（404）, the 7th bevel gear（405）, the 8th servo motor（406）, the third harmonic retarder
（402）It is fixedly mounted on second mechanical arm above-mentioned（306）On；7th servo motor（401）Third harmonic is fixedly mounted on to subtract
Fast device（402）On input shaft；Third mechanical arm（403）It is fixedly mounted on third harmonic retarder（402）On output shaft；Peep-hole
Lid（404）It is fixedly mounted on third mechanical arm（403）On；8th servo motor（406）It is fixedly mounted on third mechanical arm（403）
It is interior, and one the 7th bevel gear is installed on its output shaft（405）；
The terminal series arm（5）Including the 4th harmonic speed reducer（501）, the 4th mechanical arm（502）, the 9th servo motor
（503）, the 5th harmonic speed reducer（504）, the 5th mechanical arm（505）, the 5th gear（506）, cylinder round brush（507）, round brush branch
Frame（508）, the 6th gear（509）, the tenth servo motor（510）, the 8th bevel gear（511）, the 4th harmonic speed reducer
（501）It is fixedly mounted on third mechanical arm above-mentioned（403）On；8th bevel gear（511）It is fixedly mounted on the 4th harmonic reduction
Device（501）On input shaft, and with aforementioned 7th bevel gear（405）Engagement；4th mechanical arm（502）One end is fixedly mounted on the 4th
Harmonic speed reducer（501）On output shaft, the other end is fixedly mounted on the 5th harmonic speed reducer（504）On input terminal；9th servo
Motor（503）It is fixedly mounted on the 4th mechanical arm（502）On, and output shaft and the 5th harmonic speed reducer（504）Input axis connection；
5th mechanical arm（505）It is fixedly mounted on the 5th harmonic speed reducer（504）On output shaft；Tenth servo motor（510）Fixed peace
Mounted in the 5th mechanical arm（505）On；5th gear（506）It is fixedly mounted on the tenth servo motor（510）On output shaft；6th tooth
Wheel（509）It is hinged on the 5th mechanical arm（505）On；Round brush holder（508）One end is flanged, is fixedly mounted on the 6th gear
（509）On, the other end is hinged with a cylinder round brush 507.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810669794.9A CN108756163A (en) | 2018-06-26 | 2018-06-26 | A kind of construction wall rendering robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109057262A (en) * | 2018-08-10 | 2018-12-21 | 浙江帝恒实业有限公司 | A kind of automatic wall brush painting machine |
| CN110374307A (en) * | 2019-07-29 | 2019-10-25 | 中铁贵州工程有限公司 | A kind of intelligent robot can be used for construction |
| CN110778071A (en) * | 2019-11-06 | 2020-02-11 | 杭州中禄新材料有限公司 | Interior decoration is with automatic device of wipeing wall based on building engineering |
| CN110847571A (en) * | 2019-12-03 | 2020-02-28 | 北京克莱明科技有限公司 | Spraying robot for tall buildings |
| CN111101694A (en) * | 2020-01-17 | 2020-05-05 | 马海敏 | Building body outer wall spraying equipment for building |
| CN111571346A (en) * | 2020-06-15 | 2020-08-25 | 上海雅跃智能科技有限公司 | Multipurpose interior wall processing robot |
| CN112982915A (en) * | 2019-12-16 | 2021-06-18 | 广东博智林机器人有限公司 | Multi-degree-of-freedom mechanism, leveling device and floor tile paving machine |
| CN114319789A (en) * | 2020-09-29 | 2022-04-12 | 广东粤晟建设有限公司 | Automatic plastering robot |
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| CN109057262A (en) * | 2018-08-10 | 2018-12-21 | 浙江帝恒实业有限公司 | A kind of automatic wall brush painting machine |
| CN110374307A (en) * | 2019-07-29 | 2019-10-25 | 中铁贵州工程有限公司 | A kind of intelligent robot can be used for construction |
| CN110778071A (en) * | 2019-11-06 | 2020-02-11 | 杭州中禄新材料有限公司 | Interior decoration is with automatic device of wipeing wall based on building engineering |
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| CN110847571A (en) * | 2019-12-03 | 2020-02-28 | 北京克莱明科技有限公司 | Spraying robot for tall buildings |
| CN112982915A (en) * | 2019-12-16 | 2021-06-18 | 广东博智林机器人有限公司 | Multi-degree-of-freedom mechanism, leveling device and floor tile paving machine |
| CN112982915B (en) * | 2019-12-16 | 2023-03-14 | 广东博智林机器人有限公司 | Multi-degree-of-freedom mechanism, leveling device and floor tile paving machine |
| CN111101694A (en) * | 2020-01-17 | 2020-05-05 | 马海敏 | Building body outer wall spraying equipment for building |
| CN111571346A (en) * | 2020-06-15 | 2020-08-25 | 上海雅跃智能科技有限公司 | Multipurpose interior wall processing robot |
| CN114319789A (en) * | 2020-09-29 | 2022-04-12 | 广东粤晟建设有限公司 | Automatic plastering robot |
| CN114319789B (en) * | 2020-09-29 | 2023-09-19 | 广东粤晟建工集团有限公司 | Automatic plastering robot |
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Application publication date: 20181106 |