CN108789424A - A kind of furred ceiling decoration construction robot - Google Patents
A kind of furred ceiling decoration construction robot Download PDFInfo
- Publication number
- CN108789424A CN108789424A CN201710299145.XA CN201710299145A CN108789424A CN 108789424 A CN108789424 A CN 108789424A CN 201710299145 A CN201710299145 A CN 201710299145A CN 108789424 A CN108789424 A CN 108789424A
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- China
- Prior art keywords
- axis
- translator
- straight line
- slide unit
- line slide
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Classifications
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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
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/06—Implements for applying plaster, insulating material, or the like
- E04F21/08—Mechanical implements
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of furred ceiling decoration construction robots, including high foot box body, the universal wheel of strap retainer, control host module, battery module, vertical thick bar part, horizontal bars, oblique rod piece, touch screen, the X-axis straight line slide unit of translator, the Y-axis straight line slide unit of translator and the Z axis straight line slide unit of translator form three axis rectangular co-ordinate automatic manipulator of H-type, the height and levelness of three axis rectangular co-ordinate automatic manipulator of H-type can be controlled by adjusting the height of vertical thin bar part, then vertical thin bar part is fixed with fastening bolt, three axis rectangular co-ordinate automation of the H-type is equipped with range sensor on hand, different power tools is installed on the Z axis straight line slide unit of translator, robot realizes different types of automation decoration construction operation.
Description
Technical field
The present invention relates to construction and decoration construction field in intelligent robotics, specially a kind of furred ceiling decoration construction machines
People.
Background technology
Intelligent industrial robot is largely used in the industry-by-industry of society extensively, repeated instead of being accomplished manually various height,
The operation of strong muscle power, high request；Furred ceiling decoration construction in construction and decoration is the operation of operation in the air, operating personnel's
Physical demands is big, inefficiency, with certain danger, therefore, it is artificial complete to replace that there is an urgent need to a kind of intelligent robots
At this work；Lifting structure is pitched using scissors by existing furred ceiling decoration construction robot, is easy to shake in work progress,
Construction error is caused, the not high smallpox spraying of some required precisions and bore operation can only be carried out；Furred ceiling decoration construction machine
Device people is assembled into triangle rock-steady structure as a kind of fitting-out work mechanical robot using assembled rod piece；Four vertical bars
Part can be arbitrarily flexible up and down, can adjust the height and levelness of job platform, and top is automatic using three axis rectangular co-ordinate of H-type
Manipulator, can improve running precision, operation stability, it is easy to maintain, have good dilatancy and versatility, can be engaged in
Including but not limited to printing patterns of high precision is taken in day or high-precision assembles the operation of suspended ceiling pinch plate.
Invention content
The purpose of the present invention is to provide a kind of robot of furred ceiling decoration construction, have that structure is reliable, stability
The advantages of good, construction precision height, low cost, there is good dilatancy and versatility, artificial fitment operation can be replaced, and make
Industry precision is higher than artificial.
To achieve the above object, the present invention provides the following technical solutions：A kind of robot of furred ceiling decoration construction, packet
Robot body is included, the lower part of the robot body is high leg babinet, the upper symmetrical peace of four your pupil of bottom of the high leg babinet
Universal wheel equipped with strap retainer, high foot box body lower section clear height, which can accommodate, bears type AGV trolleies, so as to AGV trolleies
Assist human body shift position can also manually push robot body to precalculated position, the inside of the high leg babinet
Battery module and control host module be installed, the middle part of the robot body is by vertical thick bar part, horizontal bars, oblique
The triangular structure skeleton of rod piece assembling, hangs with one piece of touch screen in the horizontal bars, with the control master in high foot box body
Electric cable connects, and can be socketed the vertical thin bar part of the small No.1 of size inside the vertical thick bar part, vertical thin bar part can more than
Lower movement, can be tightened to fix with bolt makes vertical thick bar part form a liptinite, the robot body with vertical thin bar part
Top three axis rectangular co-ordinate automatic manipulator of H-type is installed, the control circuit of the automatic manipulator is connected to the high foot in lower section
On host in babinet, the X-axis straight line slide unit of the translator of the automatic manipulator, the Y-axis straight line slide unit of translator and electrification
Range sensor, the distance of robot measurement ontology to wall and smallpox, to converse machine are housed on the Z axis straight line slide unit of machine
The spatial coordinate location of device human body can install different power tools on the Z axis straight line slide unit of the translator, including
But it is not limited to paint nozzle, grooved bit, screw gun and inkjet print head, multiple use can be extended.
Preferably, the robot body has wireless communication function, can transmit instruction to neighbouring AGV trolleies, guidance
AGV trolleies, which bear robot body, is moved to formulation job position.
Preferably, the lower part clear height of the robot body is larger, can accommodate AGV trolleies and enter under robot body
Side.
Preferably, the vertical thick bar part, horizontal bars, oblique rod piece and vertical thin bar part use general common rod piece,
It is the triangle skeleton stable structure of assembling, at low cost.
Preferably, the robot body is stably connected with three axis right angle of the H-type seat on support top using four vertical rod pieces
Automatic manipulator is marked, the height and levelness of manipulator, and uniform force can be adjusted.
Preferably, three axis rectangular co-ordinate automation of the H-type is equipped with range sensor on hand, can real-time measuring machine
The spatial coordinate location of device human body can be calculated by controlling host module and be installed on the Z axis straight line slide unit of translator
The real-time spatial coordinate location of power tool.
Compared with prior art, beneficial effects of the present invention are as follows：
1, the present invention by by the automatic travelling device of robot body be changed to can human assistance walking universal wheel unit and object
Networking calling AGV trolleies assist movement, can significantly reduce the cost of robot, can be with other AGV trolley work compounds.
2, the present invention assembles triangular structure skeleton by using universal rod piece, can improve structural stability, significantly
Reduce cost.
3, the present invention supports three axis rectangular co-ordinate automatic manipulator of H-type by four vertical rod pieces, can adjust manipulator
Height and levelness, make automatic manipulator there are one stablize basic platform.
4, the present invention passes through three axis rectangular co-ordinate automation of H-type range sensor robot measurement ontology on hand to wall
The distance of wall and smallpox can converse the high-precision spatial coordinate of robot body, can be calculated by controlling host module
Go out the real-time spatial coordinate location for the power tool installed on the Z axis straight line slide unit of translator.
5, the present invention can manipulate the spatial coordinate location that power tool is moved to program setting by software, this space is sat
Cursor position precision height is, it can be achieved that high-precision decoration construction operation.
6, the present invention on the Z axis straight line slide unit of translator by that can install different power tools, including but not limited to
Paint nozzle, grooved bit, screw gun and inkjet print head can extend multiple use.
Description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is side structure schematic diagram of the present invention；
Fig. 3 is three axis rectangular co-ordinate automatic manipulator schematic diagram of H-type of the present invention；
In figure：The universal wheel of 1 strap retainer, 2 high foot box bodies, 3 control host modules, 4 battery modules, 5 vertical thick bar parts, 6
The X-axis straight line cunning of oblique rod piece, 7 horizontal bars, 8 vertical thin bar parts, 9 range sensors, 10 horizontal support bars, 11 translators
Platform, the Y-axis straight line slide unit of 12 translators, the Z axis straight line slide unit of 13 translators, 14 touch screens, 51 fastening bolts.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clearly and completely
Description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, shall fall within the protection scope of the present invention.
Please refer to Fig.1-3, a kind of robot of furred ceiling decoration construction, including high foot box body 2,2 lower section of high foot box body
It is provided with the universal wheel 1 of fixator, the inside of high foot box body 2 is placed with control host module 3 and battery module 4 respectively,
The top of high foot box body 2 is equipped with the triangular structure skeleton that vertical thick bar part 5, horizontal bars 7, oblique rod piece 6 form, horizontal
Touch screen 14 is hung on rod piece, three axis rectangular co-ordinate automatic manipulator of H-type is by the X-axis straight line slide unit 11 of translator, the Y of translator
The Z axis straight line slide unit 13 of axis straight line slide unit 12 and translator forms, the Distance-sensing of three axis rectangular co-ordinate automation of H-type on hand
Device robot measurement ontology can converse the high-precision spatial coordinate of robot body, pass through to the distance of wall and smallpox
The height and levelness of three axis rectangular co-ordinate automatic manipulator of H-type can be controlled by adjusting the height of vertical thin bar part 8, then be used tight
Fixing bolt 51 fixes vertical thin bar part 8, and corresponding tool is installed on the Z axis straight line slide unit of translator, is sat at three axis right angle of H-type
It marks and carries out construction operation in the job area of automatic manipulator, after the completion of the job area construction operation, robot body passes through
Sound, picture cues will go to next position to carry out operation, can human assistance push robot to next position, touch at this time
The real-time spatial coordinate location of 14 display robot body of screen, and the space displacement length value of display distance planned position are touched,
Robot body can also send out wireless signal by controlling host module 3 and call AGV trolleies in same Internet of Things, guidance
Position is moved in the assistance of AGV trolleies, and after robot body enters next position, construction operation restarts, the construction of this region
After the completion of operation, the above-mentioned operation for moving position is repeated, repeats constructing operation, until the construction task of planning is completed.
In summary：This is used for the robot of furred ceiling decoration construction, is measured precisely in real time by range sensor 9
The spatial position of robot body is three axis rectangular co-ordinate automatic manipulator of H-type by the triangular structure skeleton of general rod piece
Stable operation platform is provided, the Z axis by the X-axis straight line slide unit 11 of translator, the Y-axis straight line slide unit 12 of translator and translator is straight
Line slide unit 13 form H-type three axis rectangular co-ordinate automatic manipulator can high-precision carry out construction operation, while there is function expansion
Malleability solves the problems, such as the automated construction of furred ceiling finishing robot.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (6)
1. a kind of furred ceiling decoration construction robot, including high foot box body（2）, high foot box body（2）Lower section is provided with fixation
The universal wheel of device（1）, high foot box body（2）Inside be placed with control host module respectively（3）And battery module（4）, high foot
Babinet（2）Top vertical thick bar part is installed（5）, horizontal bars（7）, oblique rod piece（6）The triangular structure skeleton of composition,
Horizontal bars（7）On hang with touch screen（14）, the X-axis straight line slide unit of translator（11）, translator Y-axis straight line slide unit（12）With
The Z axis straight line slide unit of translator（13）Three axis rectangular co-ordinate automatic manipulator of H-type is formed, by adjusting vertical thin bar part（8）'s
Height can control the height and levelness of three axis rectangular co-ordinate automatic manipulator of H-type, then use fastening bolt（51）It will be vertical
Thin bar part（8）Fixed, three axis rectangular co-ordinate automation of the H-type is equipped with range sensor on hand（9）, the Z axis of translator
Straight line slide unit（13）The different power tool of upper installation.
2. a kind of furred ceiling decoration construction robot according to claim 1, it is characterised in that：Three axis of the H-type is straight
Angular coordinate automation is equipped with range sensor on hand（9）, can robot measurement ontology in real time high-precision spatial coordinate
Position can calculate the Z axis straight line slide unit of translator by controlling host module（13）The power tool of upper installation it is real-time
Spatial coordinate location.
3. a kind of furred ceiling decoration construction robot according to claim 1, it is characterised in that：The strap retainer
Universal wheel（1）, can human assistance robot body is moved into planned position.
4. a kind of furred ceiling decoration construction robot according to claim 1, it is characterised in that：The high foot box body
（2）The clear height of lower section can accommodate the entrance of AGV trolleies, control host module（3）By wireless signal and type AGV trolleies can be born
Data connection is carried out, instructs AGV trolleies that robot body is moved planned position.
5. a kind of furred ceiling decoration construction robot according to claim 1, it is characterised in that：The Z of the translator
Axis straight line slide unit（13）On different power tools can be installed, carry out different types of construction operation.
6. a kind of furred ceiling decoration construction robot according to claim 1, it is characterised in that：The vertical thick bar part
（5）, horizontal bars（7）With oblique rod piece（6）The triangular structure skeleton of composition, the vertical thin bar part（8）And fastening bolt
（51）Composition height and levelness regulating device can stablize effective support three axis rectangular co-ordinate automatic manipulator of top H-type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710299145.XA CN108789424A (en) | 2017-05-01 | 2017-05-01 | A kind of furred ceiling decoration construction robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710299145.XA CN108789424A (en) | 2017-05-01 | 2017-05-01 | A kind of furred ceiling decoration construction robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108789424A true CN108789424A (en) | 2018-11-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710299145.XA Pending CN108789424A (en) | 2017-05-01 | 2017-05-01 | A kind of furred ceiling decoration construction robot |
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| Country | Link |
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| CN (1) | CN108789424A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109356390A (en) * | 2018-11-29 | 2019-02-19 | 上海大界机器人科技有限公司 | A kind of construction equipment, system and its control method |
-
2017
- 2017-05-01 CN CN201710299145.XA patent/CN108789424A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109356390A (en) * | 2018-11-29 | 2019-02-19 | 上海大界机器人科技有限公司 | A kind of construction equipment, system and its control method |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181113 |