CN110654160B - Close mechanism and wall paper shop paste robot are pasted to wall paper shop - Google Patents
Close mechanism and wall paper shop paste robot are pasted to wall paper shop Download PDFInfo
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- CN110654160B CN110654160B CN201910865598.3A CN201910865598A CN110654160B CN 110654160 B CN110654160 B CN 110654160B CN 201910865598 A CN201910865598 A CN 201910865598A CN 110654160 B CN110654160 B CN 110654160B
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- rotating
- bottom plate
- paving
- wallpaper
- translation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B44—DECORATIVE ARTS
- B44C—PRODUCING DECORATIVE EFFECTS; MOSAICS; TARSIA WORK; PAPERHANGING
- B44C7/00—Paperhanging
- B44C7/02—Machines, apparatus, tools or accessories therefor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B44—DECORATIVE ARTS
- B44C—PRODUCING DECORATIVE EFFECTS; MOSAICS; TARSIA WORK; PAPERHANGING
- B44C7/00—Paperhanging
- B44C7/02—Machines, apparatus, tools or accessories therefor
- B44C7/06—Machines, apparatus, tools or accessories therefor for applying the paper to the surface to be covered
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- Road Paving Machines (AREA)
Abstract
The invention discloses a close-fitting mechanism of a wallpaper paving and pasting robot and the wallpaper paving and pasting robot, wherein the close-fitting mechanism comprises: a fixed mount; the translation mechanism is arranged on the fixed frame and can reciprocate on the fixed frame in a first direction close to and far away from the base surface to be paved; the rotating mechanism is rotatably arranged on the translation mechanism; the paving roller is used for rolling the wallpaper onto a base surface to be paved, the paving roller is rotatably arranged on the rotating mechanism around the second direction of the axis of the paving roller, and the paving roller can rotate around the third direction under the driving of the rotating mechanism; wherein the first direction, the second direction and the third direction are perpendicular to each other. The position state of the paving roller can be adjusted in a self-adaptive mode, the paving roller is ensured to be always parallel to a base surface to be paved in the wallpaper paving process, wrinkles and bubbles are avoided in the wallpaper paving process, and the wallpaper paving effect is improved.
Description
Technical Field
The invention relates to the technical field of construction equipment, in particular to a pasting mechanism of a wallpaper pasting robot and the wallpaper pasting robot.
Background
At present, wallpaper is laid and pasted manually by workers, so that the labor intensity is high, the efficiency is low, and the labor cost is high. The use of robots to spread wallpaper is a future development trend.
When the wallpaper paving and pasting robot works, the robot navigates and positions to a working position, the parallelism between the robot and a wall surface is detected by a sensor, the robot is adjusted to the parallel position by an electric rotating platform, and the wallpaper paving and pasting robot lays and pastes wallpaper from bottom to top. The roller for paving the wallpaper needs to be always parallel to the wall surface in the rising process, and has certain pressure with the wall surface, and the position of the feedback adjustment is not an ideal parallel position due to the influence of the detection precision of the sensor and the precision of the electric rotating platform, so that the guide rail for the wallpaper paving robot to rise is not parallel to the wall surface, and the wall surface is not an absolute plane.
Therefore, when the paving roller ascends to pave and paste the wallpaper, the parallel relation with the wall surface fluctuates, the situation that one side is tight and the other side is loose is easy to occur, the paved wallpaper is likely to have wrinkles and bubbles, the paving effect is poor, and the wallpaper paving and pasting requirement cannot be met.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a pasting mechanism of a wallpaper pasting robot, which aims to solve the problem that a wallpaper pasting effect is poor due to the fact that a pasting roller in the wallpaper pasting robot is not parallel to a wall surface.
The invention also aims to provide a wallpaper laying robot, which is applied to the pasting mechanism of the wallpaper laying robot.
According to the embodiment of the invention, the tight attaching mechanism of the wallpaper paving and attaching robot comprises: a fixed mount; the translation mechanism is arranged on the fixed frame and can reciprocate on the fixed frame in a first direction close to and far away from a base surface to be paved; the rotating mechanism is rotatably arranged on the translation mechanism; the paving roller is used for rolling the wallpaper onto the base surface to be paved, the paving roller is rotatably arranged on the rotating mechanism around the second direction of the axis of the paving roller, and the paving roller can rotate around the third direction under the driving of the rotating mechanism; wherein the first direction, the second direction, and the third direction are perpendicular to each other.
According to the pasting mechanism of the wallpaper pasting robot, the position state of the pasting rollers can be adjusted in a self-adaptive mode by arranging the translation mechanism and the rotation mechanism, so that the pasting rollers are ensured to be parallel to a base surface to be pasted all the time in the wallpaper pasting process, wrinkles and bubbles are avoided in the wallpaper pasting process, the wallpaper pasting effect is improved, the whole mechanism is simple and reliable, the operation is convenient, and the manual labor intensity is favorably reduced.
In some embodiments, the mount comprises: the guide rail assembly comprises a side plate extending vertically and a mounting plate extending horizontally, wherein the mounting plate is connected to the side plate and is provided with a plurality of spaced guide rails; the translation mechanism includes: the translation bottom plate, the translation bottom plate be close to one side of mounting panel is equipped with a plurality of sliders, and is a plurality of slider slidable ground cooperation is in a plurality of on the guide rail.
Preferably, the rotating mechanism includes: the paving roller is connected to the rotating bottom plate; the rotating shaft module, the one end of rotating shaft module is established on the translation bottom plate and the other end is established on the rotating bottom plate, the rotating shaft module can drive the rotating bottom plate is in rotate on the translation bottom plate.
Preferably, a support structure is arranged between the rotating bottom plate and the translation bottom plate, and the support structure includes: a plurality of sliding plates which are arranged on the translation bottom plate at intervals; the rotary bottom plate is provided with a plurality of sliding plates, a plurality of bushings are arranged in one-to-one correspondence with the sliding plates, a plurality of bushings are sleeved with glands, the glands are arranged on the rotary bottom plate, and compression springs are arranged between the glands and the bushings.
Preferably, a limiting hole is formed in the rotating bottom plate; the translation bottom plate is provided with a limiting column, and the limiting column is arranged in the limiting hole in a matched mode so as to limit the rotational degree of freedom of the rotating mechanism.
In some embodiments, the rotation axis module includes: the bearing seat is connected to the translation bottom plate; the rotating shaft is connected to the rotating bottom plate; the first bearing is sleeved on the bearing seat and sleeved on the rotating shaft; the second bearing is sleeved at one end, far away from the rotating bottom plate, of the rotating shaft, a locking ring is arranged between one side of the second bearing and the bearing seat, a locking nut is arranged at the other side of the second bearing, and the locking nut is matched with the second bearing to adjust the rotating resistance of the rotating shaft.
In some embodiments, at least one elastic pressing module is arranged between the fixed frame and the rotating mechanism so as to press the paving roller on a base surface to be paved.
Preferably, the elastic pressing module includes: the first mounting seat is connected to the side plate and provided with a first mounting groove; the second mounting seat is connected to the rotary bottom plate and provided with a second mounting groove; and one end of the spring is arranged in the first mounting groove, and the other end of the spring is arranged in the second mounting groove.
Preferably, the elastic pressing module further includes: the adjusting screw is arranged on the first mounting seat, one end of the adjusting screw, which penetrates through the first mounting seat, is connected with a gasket, and the gasket is positioned in the first mounting groove and is abutted against the spring; the one end of guiding axle is established in the second mounting groove and the other end stretches out the second mounting groove, the spring housing is established on the guiding axle.
According to an embodiment of the present invention, a wallpaper pasting robot includes: a frame; the traveling device is arranged below the rack and used for driving the rack to travel; and the tight attaching mechanism is a tight attaching mechanism of the wallpaper paving and attaching robot according to any one of the above.
According to the wallpaper paving and pasting robot provided by the embodiment of the invention, the pasting mechanism is arranged, so that the robot can automatically adjust the paving roller to be clung to the base surface to be paved and pasted in the wallpaper paving and pasting operation, the manual adjusting process is omitted, the operation process is simplified, the working efficiency is improved, and the wallpaper paving and pasting effect is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic perspective view of a fastening mechanism according to an embodiment of the present invention;
FIG. 2 is an exploded view of a tightening mechanism according to an embodiment of the present invention;
FIG. 3 is a top view of a tightening mechanism according to an embodiment of the present invention;
FIG. 4 is a first perspective view of a fixing frame according to an embodiment of the present invention;
FIG. 5 is a schematic perspective view of a fixing frame according to an embodiment of the present invention;
FIG. 6 is a first perspective view of a translation mechanism according to an embodiment of the present invention;
FIG. 7 is a schematic perspective view of a second embodiment of a translation mechanism according to the present invention;
fig. 8 is an exploded view of a rotating shaft module according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of an internal structure of a rotating shaft module according to an embodiment of the present invention;
FIG. 10 is a schematic structural diagram of an elastic compression module according to an embodiment of the present invention;
FIG. 11 is a schematic structural diagram of a rotating base plate according to an embodiment of the present invention;
fig. 12 is a schematic view of an assembly structure of the bush, the gland, and the compression spring according to the embodiment of the present invention.
Reference numerals:
a sticking mechanism 100,
A fixed frame 10,
A translation mechanism 20,
A translation bottom plate 21, a slide block 211, a limit column 212,
A rotating mechanism 30,
A rotating bottom plate 31, a limit hole 311,
A rotating shaft module 32, a bearing seat 321, a rotating shaft 322, a first bearing 323, a second bearing 324, a locking ring 325, a locking nut 326, a first screw 327, a second screw 328, a third screw 329, a,
A paving roller 40,
A supporting structure 50,
A slide plate 51, a bush 52, a gland 53, a compression spring 54,
An elastic pressing module 60,
A first direction a, a second direction b, a third direction c, a base surface to be tiled 70.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center," "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing and simplifying the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered as limiting the invention. Furthermore, features defined as "first" and "second" may explicitly or implicitly include one or more of the features for distinguishing between descriptive features, non-sequential, non-trivial and non-trivial.
In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The following describes a pasting mechanism 100 of a wallpaper pasting robot according to an embodiment of the present invention, with reference to the drawings.
As shown in fig. 1, a close mechanism 100 of a wallpaper pasting robot according to an embodiment of the present invention includes: a fixed frame 10, a translation mechanism 20, a rotation mechanism 30 and a paving roller 40.
The translation mechanism 20 is provided on the mount 10, and the translation mechanism 20 is reciprocally movable on the mount 10 in a first direction a toward and away from the base surface 70 to be laid. The rotating mechanism 30 is rotatably provided on the translating mechanism 20. The paving roller 40 is used for rolling the wallpaper onto the base surface 70 to be paved, the paving roller 40 is rotatably arranged on the rotating mechanism 30 around the second direction b where the axis of the paving roller is located, and the paving roller 40 can rotate around the third direction c under the driving of the rotating mechanism 30; wherein the first direction a, the second direction b and the third direction c are perpendicular to each other.
It should be noted that, for better understanding of the present embodiment, as shown in fig. 1, the first direction a may be specifically a front-back direction, the second direction b may be specifically a left-right direction, and the third direction c may be specifically an up-down direction. As shown in fig. 3, when the robot approaches the wall surface at a certain angle, one end of the paving roller 40 necessarily contacts the base surface 70 to be paved first, for example, the right end of the paving roller 40 contacts the base surface 70 to be paved, at this time, the contact point provides a counter-thrust, and the rotating mechanism 30 can perform a slight counterclockwise rotating motion around the third direction c as an axis, so that the paving roller 40 is parallel to the base surface 70 to be paved. Similarly, when the left end of the paving roller 40 contacts the base surface 70 to be paved first, the rotating mechanism 30 can generate a slight clockwise rotation motion, and the paving roller 40 is parallel to the base surface 70 to be paved.
Since one end of the paving roller 40 contacts the base surface 70 to be paved first, the paving roller 40 can be considered to rotate around the contact point in the rotation process of the rotating mechanism 30, and at this time, as the robot advances, one end of the paving roller 40 is stressed greatly, which is easy to damage the wall surface and the paving roller 40. By adding the translation mechanism 20, in the process that the robot continues to be close to the wall surface, the part formed by the rotation mechanism 30 and the paving roller 40 can rotate and can translate, the rotation mechanism 30 can move backwards on the fixed frame 10 through the translation mechanism 20, the stress condition of the contact point of the paving roller 40 is relieved, the contact point is prevented from being stressed too much, the rotation mechanism 30 rotates on the translation mechanism 20 firstly, the position of the paving roller 40 is adjusted and then is contacted with the base surface 70 to be paved, and the working safety is improved.
According to the pasting mechanism 100 of the wallpaper paving and pasting robot, the translation mechanism 20 and the rotation mechanism 30 are arranged, the position state of the paving rollers 40 can be adjusted in a self-adaptive mode, so that the paving rollers 40 are ensured to be always parallel to the base surface 70 to be paved and pasted in the wallpaper paving and pasting process, wrinkles and bubbles are avoided in the wallpaper paving and pasting process, the wallpaper paving and pasting effect is improved, the whole mechanism is simple and reliable, the operation is convenient, and the manual labor intensity is reduced.
In some embodiments, as shown in fig. 4, the holder 10 includes: the lateral plate 11 of vertical extension and the mounting panel 12 of horizontal extension, mounting panel 12 are connected on lateral plate 11, are equipped with a plurality of spaced apart guide rails 121 on the mounting panel 12, and lateral plate 11 can be installed on the elevating system of robot, and along the vertical lift of wall to make the operation of pasting the wall paper of roller 40 on waiting to paste the base face 70 of pasting. As shown in fig. 7, the translation mechanism 20 includes: the translation bottom plate 21, a side of the translation bottom plate 21 close to the mounting plate 12 is provided with a plurality of sliding blocks 211, and the plurality of sliding blocks 211 are slidably fitted on the plurality of guide rails 121. Through the cooperation of slider 211 and guide rail 121, translation bottom plate 21 can realize back and forth reciprocating motion on mounting panel 12, and this kind of simple structure is reliable, and stability is strong.
In some embodiments, as shown in fig. 4 and 7, there are two guide rails 121, four sliders 211, and four sliders 211 divided into two groups, wherein one group of sliders 211 is correspondingly fitted on one guide rail 121, so as to achieve better sliding effect. Of course, the matching manner of the guide rail 121 and the slider 211 is not limited thereto, and will not be described in detail here.
In some embodiments, as shown in fig. 4, the end of the guide rail 121 away from the side plate 11 is provided with a slider stopper 124 to prevent the slider 211 from sliding out of the guide rail 121 during translation. Be equipped with blotter 125 on the spacing seat 124 of slider for avoid the direct collision of slider 211 with the spacing seat 124 of slider, cushioning effect when providing spacing improves the security.
In some embodiments, as shown in fig. 5, the mounting plate 12 is provided with side ribs 122 connected to the side plates 11 at both ends in the longitudinal direction, and a bottom rib 123 connected to the side plates 11 is provided below the mounting plate 12. By arranging the side reinforcing ribs 122 and the bottom reinforcing ribs 123, the connection strength between the mounting plate 12 and the side plate 11 can be improved, the fixing frame 10 is guaranteed to have sufficient supporting strength, and the mounting of the translation mechanism 20 is guaranteed to be safer.
Preferably, as shown in fig. 2, the rotation mechanism 30 includes: a rotating base plate 31 and a rotating shaft module 32. The paving roller 40 is connected on the rotating bottom plate 31; one end of the rotation axis module 32 is disposed on the translation bottom plate 21 and the other end is disposed on the rotation bottom plate 31, and the rotation axis module 32 can drive the rotation bottom plate 31 to rotate on the translation bottom plate 21. For example, the rotation axis module 32 is disposed at the center of the translation bottom plate 21, and the top of the rotation axis module 32 is connected to the rotation bottom plate 31, so that when the paving roller 40 contacts the base surface 70 to be paved, the rotation bottom plate 31 rotates on the translation bottom plate 21 along with the rotation axis module 32.
In some embodiments, as shown in fig. 2 and 4, the mounting plate 12 is provided with a plurality of leveling bumpers 126, and the leveling bumpers 126 enable two ends of the rotating mechanism 30 to abut against the rotating mechanism, so that the position of the paving roller 40 is consistent with that of the fixing frame 10 during each operation.
Preferably, as shown in fig. 2, a support structure 50 is disposed between the rotating base plate 31 and the translating base plate 21, and the support structure 50 includes: a plurality of sliding plates 51 and a plurality of bushings 52. As shown in fig. 6, a plurality of sliding plates 51 are provided on the translation base plate 21 at intervals; the plurality of bushes 52 are provided in one-to-one correspondence with the plurality of sliding plates 51, and as shown in fig. 11 and 12, a press cover 53 is fitted over each of the plurality of bushes 52, each of the press covers 53 is provided on the rotating base plate 31, and a compression spring 54 is provided between each of the press covers 53 and the bush 52. Because the entire rotating mechanism 30 is fixedly connected to the translation base plate 21 only at the intermediate position through the rotating shaft module 32, the rigidity and strength of the rotating base plate 31 are insufficient. And by adding a plurality of sliding plates 51 and a plurality of bushings 52 on the periphery, in addition to the connection function of the rotating shaft module 32 during the rotation of the rotating base plate 31, the bottom of the rotating base plate 31 can also support the rotating base plate 31 to rotate through the sliding contact of the bushings 52 and the sliding plates 51, thereby improving the stability during the rotation and enhancing the rigidity and strength of the rotating mechanism 30. The bush 52 can be floated up and down in the gland 53 by the compression spring 54, and has good adaptability.
In some embodiments, the slide 51 is the oilless linear slide, and the bush 52 is the oilless bush, and the oilless linear slide is the brass material, inlays graphite on the slide, can play the lubrication action, guarantees the good contact of slide 51 and bush 52, ensures that rotating bottom plate 31 rotates the in-process resistance and reduces, and rotatory process is smooth and easy.
Preferably, as shown in fig. 2, the rotating base plate 31 is provided with a limiting hole 311; the translation bottom plate 21 is provided with a limiting post 212, and the limiting post 212 is disposed in the limiting hole 311 in a matching manner to limit the rotational degree of freedom of the rotating mechanism 30. Through the cooperation of the limiting column 212 and the limiting hole 311, the rotation angle of the whole rotation mechanism 30 can be limited, and a limiting effect is achieved.
In some embodiments, the limiting hole 311 may be a sector hole (not shown), such that the limiting post 212 is in contact with the rounded corner of the sector hole after rotating a certain angle, thereby performing a limiting function and realizing a rotation within a small range.
In some embodiments, as shown in fig. 8, the rotation axis module 32 includes: bearing support 321, rotation axis 322, first bearing 323, second bearing 324. The bearing block 321 can be connected to the translation base plate 21 by a third screw 329; the rotating shaft 322 is connected to the rotating base plate 31; the first bearing 323 is fitted over the bearing housing 321 and fitted over the rotary shaft 322. The rotation of the rotating base plate 31 on the translating base plate 21 is achieved by the rotation of the rotating shaft 322 in the first bearing 323. The second bearing 324 is sleeved on one end of the rotating shaft 322 far away from the rotating base plate 31, and a locking ring 325 is arranged between one side of the second bearing 324 and the bearing seat 321. One side of the locking ring 325 may be fixed to the bearing seat 321 by a first screw 327, and the other side of the locking ring 325 may serve as a support for the second bearing 324. The other side of the second bearing 324 is provided with a lock nut 326, and the lock nut 326 is engaged with the second bearing 324 to adjust the rotation resistance of the rotation shaft 322. For example, the second bearing 324 may be a thrust ball bearing, a race of the thrust ball bearing on a side close to the lock nut 326 rotates together with the lock nut 326 and the rotating shaft 322, a ball play inside the thrust ball bearing may be adjusted by a magnitude of a locking force of the lock nut 326, resistance when the rotating shaft 322 rotates may be indirectly adjusted, and finally the lock nut 326 may be fixed by the second screw 328 to prevent it from being loosened.
In some embodiments, the first bearing 323 may be a needle thrust ball bearing having a needle in an axial direction and a ball at an end surface, and may receive axial and radial loads in combination with the needle bearing and the thrust ball bearing, and may also secure the outer race by a second screw 328.
In some embodiments, the first 327 and third 329 screws are socket cap screws and the second 328 screw may be a set screw, with which installation is simple to use.
In some embodiments, the translating bottom plate 21 is provided with a central circular hole (not shown) and six small holes (not shown) distributed in the middle of the circular hole for fixing the fixed end of the rotating mechanism 30.
In some embodiments, as shown in fig. 1, at least one elastic pressing module 60 is disposed between the fixing frame 10 and the rotating mechanism 30 to press the paving roller 40 against the base surface 70 to be paved to provide pressing force to the base surface 70 to be paved during wallpaper paving. For example, the elastic pressing module 60 may be one and disposed at the middle of the fixing frame 10, or, as shown in fig. 3, the two elastic pressing modules 60 may be disposed at the two ends of the fixing frame 10 and the rotating mechanism 30, respectively, so that the two elastic pressing modules 60 provide uniform elastic force to press the paving roller 40 against the base surface 70 to be paved.
Preferably, as shown in fig. 10, 4 and 11, the elastic pressing module 60 includes: a first mounting seat 61, a second mounting seat 62 and a spring 63. The first mounting seat 61 is connected to the side plate 11 and has a first mounting groove 611; the second mounting seat 62 is connected to the rotating base plate 31 and has a second mounting groove 621; one end of the spring 63 is disposed in the first mounting groove 611 and the other end is disposed in the second mounting groove 621. The first mounting groove 611 and the second mounting groove 621 enable the spring 63 to be firmly disposed between the side plate 11 and the rotating base plate 31, when one end of the paving roller 40 contacts the base surface 70 to be paved, the rotating mechanism 30 rotates and drives the translating mechanism 20 to move backward, the spring 63 is compressed to generate a forward pushing force, and the paving roller 40 is tightly attached to the wall surface to be paved.
In some embodiments, as shown in fig. 10, an end of the first mounting seat 61 close to the second mounting seat 62 is provided with a mounting seat cushion 66, and the mounting seat cushion 66 plays a role of buffering to avoid collision between the first mounting seat 61 and the second mounting seat 62.
Preferably, as shown in fig. 10, the elastic pressing module 60 further includes: an adjusting screw 64 and a guide shaft 65. The adjusting screw 64 is arranged on the first mounting seat 61, one end of the adjusting screw 64 penetrating through the first mounting seat 61 is connected with a gasket 67, and the gasket 67 is positioned in the first mounting groove 611 and is stopped against the spring 63. Since the adjusting screw 64 is screwed on the first mounting seat 61, the position of the adjusting screw 64 is adjustable, and rotating the adjusting screw 64 can change the position of the gasket 67 in the first mounting groove 611, so as to adjust the compression amount of the spring 63, so that the elastic force reaches a proper position, and a proper pressing force is obtained. One end of the guide shaft 65 is arranged in the second mounting groove 621, the other end of the guide shaft 65 extends out of the second mounting groove 621, the spring 63 is sleeved on the guide shaft 65, the guide shaft 65 can improve guiding and supporting for the telescopic process of the spring 63, the spring 63 is prevented from bending to one side at the second mounting seat 62, and the working reliability of the spring 63 is ensured.
In conclusion, the whole pasting mechanism 100 is simple and reliable, the position and the posture of the wallpaper pasting robot can be adjusted without an electric rotating platform, and the pasting roller 40 is pressed against the wall surface all the time in the wallpaper pasting process.
An embodiment of the attaching mechanism 100 of the wallpaper pasting robot according to the present invention will be described below with reference to the accompanying drawings.
As shown in fig. 1 to 12, a pasting mechanism 100 of a wallpaper pasting robot includes: a fixed frame 10, a translation mechanism 20, a rotation mechanism 30 and a paving roller 40.
The translation mechanism 20 is provided on the mount 10, and the translation mechanism 20 is reciprocally movable on the mount 10 in a first direction a toward and away from the base surface 70 to be laid. The rotating mechanism 30 is rotatably provided on the translating mechanism 20. The paving roller 40 is used for rolling the wallpaper onto the base surface 70 to be paved, the paving roller 40 is rotatably arranged on the rotating mechanism 30 around the second direction b where the axis of the paving roller is located, and the paving roller 40 can rotate around the third direction c under the driving of the rotating mechanism 30; wherein the first direction a, the second direction b and the third direction c are perpendicular to each other.
The fixing frame 10 includes: a side plate 11 extending vertically and a mounting plate 12 extending horizontally, the mounting plate 12 being connected to the side plate 11, the mounting plate 12 being provided with two spaced apart guide rails 121. The whole fixing frame 10 is designed symmetrically, and parts and structures on two sides are consistent.
The translation mechanism 20 includes: the translation bottom plate 21, one side of the translation bottom plate 21 that is close to the mounting plate 12 is provided with four sliders 211, the four sliders 211 are divided into two groups, and each group of sliders 211 is correspondingly and slidably matched on one guide rail 121.
The one end of keeping away from curb plate 11 of guide rail 121 is equipped with the spacing seat of slider 124 to prevent at translation in-process slider 211 roll-off guide rail 121, be equipped with blotter 125 on the spacing seat of slider 124, be used for avoiding the direct collision of slider 211 with the spacing seat of slider 124, cushioning effect when providing spacing. The left end and the right end of the mounting plate 12 are both provided with a side reinforcing rib 122 connected with the side plate 11, and a bottom reinforcing rib 123 connected with the side plate 11 is arranged below the mounting plate 12.
The rotation mechanism 30 includes: a rotating base plate 31 and a rotating shaft module 32. The paving roller 40 is connected on the rotating bottom plate 31; one end of the rotation axis module 32 is disposed on the translation bottom plate 21 and the other end is disposed on the rotation bottom plate 31, and the rotation axis module 32 can drive the rotation bottom plate 31 to rotate on the translation bottom plate 21. Wherein, two leveling buffer blocks 126 are arranged on the mounting plate 12 at intervals, and the leveling buffer blocks 126 make the two ends of the rotating mechanism 30 close to the rotating mechanism.
A support structure 50 is provided between the rotating base plate 31 and the translating base plate 21, the support structure 50 comprising: six sliding plates 51 and six bushings 52. The six sliding plates 51 are arranged on the translation bottom plate 21 at intervals and can be distributed on the translation bottom plate 21 along the circumferential direction; six bushes 52 are provided in one-to-one correspondence with the plurality of sliding plates 51, a press cover 53 is fitted over each of the six bushes 52, each of the press covers 53 is provided on the rotating base plate 31, and a compression spring 54 is provided between each of the press covers 53 and the bush 52. Wherein, slide 51 is the linear slide of oilless, and bush 52 is the oilless bush, and the linear slide of oilless is the brass material, inlays graphite on the slide, can play lubricated effect.
The rotating base plate 31 is provided with a limiting hole 311, and the limiting hole 311 may be a fan-shaped hole. Be equipped with spacing post 212 on the translation bottom plate 21, spacing post 212 cooperation is located in spacing hole 311, and spacing post 212 will be with the contact of the fillet position on fan-shaped hole limit after rotatory certain angle like this at fan-shaped downthehole to play limiting displacement, realize the rotation in the small scope.
The rotation axis module 32 includes: bearing support 321, rotation axis 322, first bearing 323, second bearing 324. The bearing block 321 can be connected to the translation base plate 21 by a third screw 329; the rotating shaft 322 is connected to the rotating base plate 31; the first bearing 323 is sleeved on the bearing seat 321 and sleeved on the rotating shaft 322, the second bearing 324 is sleeved on one end of the rotating shaft 322 far away from the rotating base plate 31, a locking ring 325 is arranged between one side of the second bearing 324 and the bearing seat 321, a locking nut 326 is arranged on the other side of the second bearing 324, and the locking nut 326 is matched with the second bearing 324 to adjust the rotating resistance of the rotating shaft 322. The first bearing 323 may be a needle thrust ball bearing, and the second bearing 324 may be a thrust ball bearing.
Two elastic pressing modules 60 are arranged between the fixed frame 10 and the rotating mechanism 30, and the two elastic pressing modules 60 are arranged on the left side and the right side of the fixed frame 10 and the rotating mechanism 30. The elastic pressing module 60 includes: first mount 61, second mount 62, spring 63, adjusting screw 64, gasket 67, guide shaft 65, mount cushion 66. The first mounting seat 61 is connected to the side plate 11 and has a first mounting groove 611; the second mounting seat 62 is connected to the rotating base plate 31 and has a second mounting groove 621; one end of the spring 63 is disposed in the first mounting groove 611 and the other end is disposed in the second mounting groove 621. The adjusting screw 64 is arranged on the first mounting seat 61, one end of the adjusting screw 64 penetrating through the first mounting seat 61 is connected with a gasket 67, and the gasket 67 is positioned in the first mounting groove 611 and is stopped against the spring 63. One end of the guide shaft 65 is disposed in the second mounting groove 621, and the other end extends out of the second mounting groove 621, and the spring 63 is sleeved on the guide shaft 65. A mount cushion 66 is provided at an end of the first mount 61 adjacent the second mount 62.
The wallpaper paving and pasting robot comprises a rack, a walking device and a pasting mechanism.
The walking device is arranged below the frame to drive the frame to walk. The adhering mechanism 100 is the adhering mechanism 100 of the wallpaper laying robot according to any one of the above, and is used for adhering a wall surface to perform wallpaper laying operation.
According to the wallpaper paving and pasting robot provided by the embodiment of the invention, the pasting mechanism 100 is arranged, so that the robot can automatically adjust the paving rollers 40 to be clung to the base surface 70 to be paved and pasted in the wallpaper paving and pasting operation, the manual adjusting process is omitted, the operation process is simplified, the working efficiency is improved, and the wallpaper paving and pasting effect is improved.
Other constructions of the wallpaper pasting robot according to embodiments of the invention, such as the running gear and the lifting mechanism etc. and the operation are known to a person skilled in the art and will not be described in detail here.
In the description herein, references to the description of the terms "embodiment," "example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. The utility model provides a wall paper is spread and is pasted tight mechanism of subsides of robot which characterized in that includes:
a fixed mount;
the translation mechanism is arranged on the fixed frame and can reciprocate on the fixed frame in a first direction close to and far away from a base surface to be paved;
the rotating mechanism is rotatably arranged on the translation mechanism and is positioned at the center of the translation mechanism;
the paving roller is used for rolling the wallpaper onto the base surface to be paved, the paving roller is rotatably arranged on the rotating mechanism around the second direction of the axis of the paving roller, and the paving roller can rotate around the third direction under the driving of the rotating mechanism; wherein the first direction, the second direction, and the third direction are perpendicular to each other, the third direction passes through a center of the translation mechanism, and the pasting rollers are symmetrically disposed about the third direction.
2. The cling mechanism of a wallpaper paving robot as recited in claim 1,
the mount includes: the guide rail assembly comprises a side plate extending vertically and a mounting plate extending horizontally, wherein the mounting plate is connected to the side plate and is provided with a plurality of spaced guide rails;
the translation mechanism includes: the translation bottom plate, the translation bottom plate be close to one side of mounting panel is equipped with a plurality of sliders, and is a plurality of slider slidable ground cooperation is in a plurality of on the guide rail.
3. The cling mechanism of a wallpaper paving robot as claimed in claim 2, wherein the rotation mechanism comprises:
the paving roller is connected to the rotating bottom plate;
the rotating shaft module, the one end of rotating shaft module is established on the translation bottom plate and the other end is established on the rotating bottom plate, the rotating shaft module can drive the rotating bottom plate is in rotate on the translation bottom plate.
4. The cling mechanism of a wallpaper paving robot as recited in claim 3, wherein a support structure is provided between the rotating base plate and the translating base plate, the support structure comprising:
a plurality of sliding plates which are arranged on the translation bottom plate at intervals;
the rotary bottom plate is provided with a plurality of sliding plates, a plurality of bushings are arranged in one-to-one correspondence with the sliding plates, a plurality of bushings are sleeved with glands, the glands are arranged on the rotary bottom plate, and compression springs are arranged between the glands and the bushings.
5. The cling mechanism of a wallpaper paving robot as recited in claim 4,
the rotating bottom plate is provided with a limiting hole;
the translation bottom plate is provided with a limiting column, and the limiting column is arranged in the limiting hole in a matched mode so as to limit the rotational degree of freedom of the rotating mechanism.
6. The cling mechanism of a wallpaper paving robot as recited in claim 3, wherein the rotating shaft module comprises:
the bearing seat is connected to the translation bottom plate;
the rotating shaft is connected to the rotating bottom plate;
the first bearing is sleeved on the bearing seat and sleeved on the rotating shaft;
the second bearing is sleeved at one end, far away from the rotating bottom plate, of the rotating shaft, a locking ring is arranged between one side of the second bearing and the bearing seat, a locking nut is arranged at the other side of the second bearing, and the locking nut is matched with the second bearing to adjust the rotating resistance of the rotating shaft.
7. The close mechanism of a wallpaper paving robot as claimed in claim 3, wherein at least one elastic pressing module is arranged between the fixed frame and the rotating mechanism so as to press the paving roller on a base surface to be paved.
8. The cling mechanism of a wallpaper paving robot as claimed in claim 7, wherein the elastic compression module comprises:
the first mounting seat is connected to the side plate and provided with a first mounting groove;
the second mounting seat is connected to the rotary bottom plate and provided with a second mounting groove;
and one end of the spring is arranged in the first mounting groove, and the other end of the spring is arranged in the second mounting groove.
9. The cling mechanism of a wallpaper paving robot as recited in claim 8, further comprising:
the adjusting screw is arranged on the first mounting seat, one end of the adjusting screw, which penetrates through the first mounting seat, is connected with a gasket, and the gasket is positioned in the first mounting groove and is abutted against the spring;
the one end of guiding axle is established in the second mounting groove and the other end stretches out the second mounting groove, the spring housing is established on the guiding axle.
10. A wallpaper paving robot, comprising:
a frame;
the traveling device is arranged below the rack and used for driving the rack to travel;
a cling mechanism, the cling mechanism being a cling mechanism of a wallpaper layup robot as claimed in any one of claims 1 to 9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910865598.3A CN110654160B (en) | 2019-09-12 | 2019-09-12 | Close mechanism and wall paper shop paste robot are pasted to wall paper shop |
| PCT/CN2020/107500 WO2021047335A1 (en) | 2019-09-12 | 2020-08-06 | Smoothing mechanism for wallpaper installation robot, and wallpaper installation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910865598.3A CN110654160B (en) | 2019-09-12 | 2019-09-12 | Close mechanism and wall paper shop paste robot are pasted to wall paper shop |
Publications (2)
| Publication Number | Publication Date |
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| CN110654160A CN110654160A (en) | 2020-01-07 |
| CN110654160B true CN110654160B (en) | 2021-07-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910865598.3A Active CN110654160B (en) | 2019-09-12 | 2019-09-12 | Close mechanism and wall paper shop paste robot are pasted to wall paper shop |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110654160B (en) |
| WO (1) | WO2021047335A1 (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110654160B (en) * | 2019-09-12 | 2021-07-27 | 广东博智林机器人有限公司 | Close mechanism and wall paper shop paste robot are pasted to wall paper shop |
| WO2022174835A1 (en) * | 2021-02-22 | 2022-08-25 | 广东博智林机器人有限公司 | Cutting device and wallpapering robot |
| CN114953826B (en) * | 2021-02-22 | 2023-06-20 | 广东博智林机器人有限公司 | Wallpaper paving robot |
| CN113479012B (en) * | 2021-08-16 | 2022-05-10 | 广东博智林机器人有限公司 | Front end execution device and front end paving and pasting robot |
| CN113942337B (en) * | 2021-11-03 | 2023-08-25 | 重庆龙昌网络科技有限公司 | Drum-type wallpaper pasting vehicle for building decoration |
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| CN109760464B (en) * | 2018-12-29 | 2021-05-07 | 广东博智林机器人有限公司 | Wallpaper paving robot and wallpaper paving method |
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| US4828647A (en) * | 1988-03-11 | 1989-05-09 | Premier Drywall Tool Co. | Dry wall taper |
| CN206826297U (en) * | 2017-03-20 | 2018-01-02 | 四川建筑职业技术学院 | A kind of Semi-automatic lining machine of wallpaper fitting |
| CN106864155A (en) * | 2017-04-24 | 2017-06-20 | 佛山市腾逸科技有限公司 | A kind of device pasted for wallpaper |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN110654160A (en) | 2020-01-07 |
| WO2021047335A1 (en) | 2021-03-18 |
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