CN110670850B - Posture adjusting mechanism of wall surface processing robot and wall surface processing robot - Google Patents
Posture adjusting mechanism of wall surface processing robot and wall surface processing robot Download PDFInfo
- Publication number
- CN110670850B CN110670850B CN201910857094.7A CN201910857094A CN110670850B CN 110670850 B CN110670850 B CN 110670850B CN 201910857094 A CN201910857094 A CN 201910857094A CN 110670850 B CN110670850 B CN 110670850B
- Authority
- CN
- China
- Prior art keywords
- adjusting
- wall surface
- lifting mechanism
- surface processing
- processing robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a posture adjusting mechanism of a wall surface processing robot and the wall surface processing robot, wherein the posture adjusting mechanism comprises: a support frame; the lifting mechanism is provided with a moving end capable of lifting in a first direction; the first adjusting mechanism is arranged at one end of the support frame along the first direction and can reciprocate on the support frame along the second direction, and one end of the lifting mechanism is connected with the first adjusting mechanism through a spherical hinge; the second adjusting mechanism is arranged at the other end of the supporting frame along the first direction and comprises a plurality of telescopic adjusting rods, the uniform ends of the adjusting rods are pivotally arranged on the supporting frame, and the other ends of the adjusting rods are pivotally arranged at the other end of the lifting mechanism. According to the invention, through the matching of the lifting mechanism, the first adjusting mechanism and the second adjusting mechanism, the front-end processing mechanism can adjust multiple degrees of freedom, so that the posture adjustment is realized, the adjusting mode is more flexible, and the operation under various working conditions is favorably adapted.
Description
Technical Field
The invention relates to the technical field of construction equipment, in particular to a posture adjusting mechanism of a wall surface processing robot and the wall surface processing robot.
Background
Indoor wall processing robot, because reasons such as unevenness, navigation positioning deviation on ground lead to the front end processing mechanism of robot position and gesture before the operation to need accurate adjustment, at present, adopt the mode of dividing the adjustment to every degree of freedom more, adopt the form of guide rail module to space translation, and to gesture angular adjustment, adopt the mode that rotation axis and actuating mechanism combine more. Although the existing adjusting mode can meet the requirements, the overall mechanism is complex, the weight is greatly increased, and therefore the power of the motor for adjusting each position and posture is large. At the same time, due to the complexity of the mechanism, the adjustment function for certain degrees of freedom is in some cases dispensed with.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides an attitude adjusting mechanism of a wall surface processing robot, which aims to solve the problems of inflexible attitude adjustment, less freedom degree adjustment, complex mechanism and high requirement on motor power of a front end processing mechanism of the existing wall surface processing robot.
The invention also aims to provide a wall surface processing robot to apply the posture adjusting mechanism.
According to an embodiment of the present invention, a posture adjusting mechanism of a wall surface processing robot includes: a support frame; the lifting mechanism is provided with a moving end capable of lifting in a first direction and the other end opposite to the moving end, and a front end processing mechanism of the robot is arranged on the moving end; the first adjusting mechanism is arranged at one end of the supporting frame along the first direction and can reciprocate on the supporting frame along the second direction, and one end of the lifting mechanism is connected with the first adjusting mechanism through a spherical hinge; the second adjusting mechanism is arranged at the other end of the supporting frame along the first direction and comprises a plurality of telescopic adjusting rods, one end of each of the adjusting rods is arranged on the supporting frame in a pivoting mode, the other end of each of the adjusting rods is arranged at the other end of the lifting mechanism in a pivoting mode, and the adjusting rods are configured to drive the lifting mechanism to swing around any one direction of at least the first direction, the second direction and the third direction when at least one of the adjusting rods is extended or shortened; wherein the first direction, the second direction, and the third direction are all perpendicular to each other.
According to the posture adjusting mechanism of the wall surface processing robot, the front-end processing mechanism can adjust multiple degrees of freedom through the matching of the lifting mechanism, the first adjusting mechanism and the second adjusting mechanism, so that posture adjustment is realized, the adjusting mode is more flexible, and the posture adjusting mechanism is beneficial to adapting to operation under multiple working conditions. The whole mechanism is simple in structure and strong in adaptability, meets the requirement of high precision of wall surface treatment, and has good economical efficiency.
In some embodiments, the support frame comprises: the first adjusting mechanism is arranged on the top frame; the second adjusting mechanism is arranged on the bottom frame; and one end of the first connecting piece is connected to the top frame, and the other end of the first connecting piece is connected to the bottom frame.
Preferably, the first adjustment mechanism includes: the two linear driving pieces are arranged on the top frame at intervals along the third direction; the two ends of the guide shaft are respectively arranged on the two linear driving pieces; the second connecting piece is connected with the lifting mechanism and sleeved on the guide shaft; a first knuckle bearing disposed between the second connector and the guide shaft.
Preferably, bearing seats are arranged at two ends of the guide shaft, and the two bearing seats are respectively connected to the two linear driving pieces.
In some embodiments, the second adjustment mechanism further comprises: one end of the connecting rod is arranged on the lifting mechanism, and one of the adjusting rods is pivotally connected with the other end of the connecting rod; the connecting block is arranged on the lifting mechanism, and the rest of the adjusting rods are respectively connected with the connecting block in a pivoting manner.
Preferably, the connecting block is arranged in the middle of one side of the lifting mechanism along the third direction; the connecting rod is arranged at one end of one side of the lifting mechanism along the third direction.
Preferably, the number of the adjusting rods is three, and the adjusting rods comprise: the first adjusting rod is arranged on the support frame in a telescopic manner along a second direction, one end of the first adjusting rod is connected with one end of the connecting rod, and the other end of the first adjusting rod is connected with the support frame; the second adjusting rod is arranged between the bottom frame and the connecting block in a telescopic manner along a second direction, and the first adjusting rod and the second adjusting rod are arranged at intervals along a third direction; and the third adjusting rod is telescopically arranged between the bottom frame and the connecting block along the third direction.
Preferably, the two ends of the adjusting rod are respectively provided with a second joint bearing, one second joint bearing is arranged between the adjusting rod and the bottom frame, and the other second joint bearing is arranged between the adjusting rod and the connecting rod or the connecting block.
In some embodiments, a tilt sensor is provided on the lifting mechanism to measure the tilt of the lifting mechanism in real time.
A wall surface processing robot according to an embodiment of the present invention includes: a traveling device; the front-end processing mechanism is used for processing the wall surface; attitude adjusting mechanism, attitude adjusting mechanism is according to any one of the aforesaid wall processing robot's attitude adjusting mechanism, running gear establishes the below of support frame, front end processing mechanism establishes on the hoist mechanism.
According to the wall surface processing robot provided by the embodiment of the invention, the posture adjusting mechanism is arranged, so that the adjustment of multiple degrees of freedom can be carried out, the wall surface processing of the front end processing mechanism under different working conditions can be adapted, and the construction operation of the robot is facilitated.
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 wall surface processing robot according to an embodiment of the present invention;
FIG. 2 is a first schematic view of a partial structure of a wall treatment robot according to an embodiment of the present invention;
FIG. 3 is a schematic view of a partial structure of a wall surface processing robot according to an embodiment of the present invention;
fig. 4 is a schematic perspective view of an adjusting lever according to an embodiment of the present invention.
Reference numerals:
an attitude adjusting mechanism 100,
A supporting frame 10,
A top frame 11, a bottom frame 12, a first connecting piece 13,
A lifting mechanism 20,
A moving end 21,
A first adjusting mechanism 30,
A linear driving member 31, a guide shaft 32, a second connecting member 33, a first joint bearing 34, a bearing seat 35,
A second adjusting mechanism 40,
An adjusting rod 41, a first adjusting rod 411, a second adjusting rod 412, a third adjusting rod 413, a connecting rod 42, a connecting block 43, a second joint bearing 44,
An inclination sensor 50,
A wall surface processing robot 1000, a traveling device 200, a front end processing means 300,
A first direction a, a second direction b, and a third direction c.
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", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present 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 the posture adjustment mechanism 100 of the wall surface treating robot according to the embodiment of the present invention with reference to the drawings.
As shown in fig. 1, an attitude adjustment mechanism 100 of a wall surface processing robot according to an embodiment of the present invention includes: the device comprises a support frame 10, a lifting mechanism 20, a first adjusting mechanism 30 and a second adjusting mechanism 40.
The lifting mechanism 20 has a moving end 21 that can be raised and lowered in the first direction a and the other end opposite to the moving end 21, and the robot front end processing mechanism 300 is provided on the moving end 21. The first adjusting mechanism 30 is disposed at one end of the supporting frame 10 along the first direction a and can reciprocate on the supporting frame 10 along the second direction b, and one end of the lifting mechanism 20 is connected to the first adjusting mechanism 30 through a ball joint.
The second adjusting mechanism 40 is disposed at the other end of the supporting frame 10 along the first direction a, and the second adjusting mechanism 40 includes a plurality of adjustable rods 41. One end of each of the adjusting rods 41 is pivotally arranged on the supporting frame 10, the other end of each of the adjusting rods 41 is pivotally arranged on the other end of the lifting mechanism 20, and the two ends of each of the adjusting rods 41 are pivotally connected, so that the adjusting rods 41 can flexibly adapt to position changes in the telescopic process. The plurality of adjusting rods 41 are configured to drive the lifting mechanism 20 to swing around any one direction of at least a first direction a, a second direction b and a third direction c when at least one adjusting rod 41 extends or shortens; the first direction a, the second direction b and the third direction c are all perpendicular to each other.
For better understanding of the present invention, as shown in fig. 1, specifically, the first direction a may be an up-down direction, the second direction b may be a front-back direction, and the second direction c may be a left-right direction. It should be noted that the first direction a, the second direction b, and the third direction c are only used for understanding the present embodiment, and are not limited thereto.
It can be understood that, as shown in fig. 1, the lifting mechanism 20 moves the front end processing mechanism 300 up and down by the moving end 21, so that the front end processing mechanism 300 can be adjusted with one degree of freedom along the first direction a. Also, the first adjusting mechanism 30 can drive the lifting mechanism 20 to reciprocate back and forth, thereby enabling the front-end processing mechanism 300 to achieve adjustment of one degree of freedom in the second direction b. Secondly, because the lifting mechanism 20 is connected with the first adjusting mechanism 30 by means of a spherical hinge, the lifting mechanism 20 can swing in any direction around the contact point with the first adjusting mechanism 30, and as can be seen from the foregoing, the first adjusting mechanism 30 and the second adjusting mechanism 40 are respectively arranged at two ends of the lifting mechanism 20, so that the second adjusting mechanism 40 can provide thrust by the extension and retraction of the adjusting rod 41, and further drive the lifting mechanism 20 to swing around multiple directions respectively, thereby realizing the adjustment of multiple degrees of freedom of the front end processing mechanism 300.
For example, when a corresponding one of the adjusting rods 41 is extended, the adjusting rod 41 can drive the lifting mechanism 20 to swing clockwise around the first direction a as the rotation axis; when the adjustment lever 41 is shortened, the adjustment lever 41 can drive the lifting mechanism 20 to swing counterclockwise around the first direction a as the rotation axis. Or, when the corresponding other adjusting rod 41 is extended, the adjusting rod 41 can drive the lifting mechanism 20 to swing forward with the second direction b as the rotation axis; when the adjustment lever 41 is shortened, the adjustment lever 41 can drive the lifting mechanism 20 to swing backward with the second direction b as the rotation axis. Or, when the corresponding another adjusting rod 41 is extended, the adjusting rod 41 can drive the lifting mechanism 20 to swing to the right with the third direction c as the rotation axis; when the adjustment lever 41 is shortened, the adjustment lever 41 can drive the lifting mechanism 20 to swing leftward with the third direction c as the rotation axis. In this way, the plurality of adjustment levers 41 can achieve a plurality of degrees of freedom adjustment of the lifting mechanism 20, thereby completing a plurality of pose adjustments of the front-end processing mechanism 300.
According to the posture adjusting mechanism 100 of the wall surface processing robot of the embodiment of the invention, the front end processing mechanism 300 can adjust a plurality of degrees of freedom through the matching of the lifting mechanism 20, the first adjusting mechanism 30 and the second adjusting mechanism 40, so that the posture adjustment is realized, the adjusting mode is more flexible, and the posture adjusting mechanism is beneficial to adapting to the operation under various working conditions. The whole mechanism is simple in structure and strong in adaptability, meets the requirement of high precision of wall surface treatment, and has good economical efficiency.
In some embodiments, as shown in fig. 1, the support stand 10 includes: a top frame 11, a bottom frame 12 and a first connecting piece 13. The first adjusting mechanism 30 is disposed on the top frame 11, and the second adjusting mechanism 40 is disposed on the bottom frame 12, so that the first adjusting mechanism 30 and the second adjusting mechanism 40 are spaced apart from each other on the supporting frame 10, and the second adjusting mechanism 40 is disposed at the bottom of the supporting frame 10, so that the lower portion of the lifting mechanism 20 can swing upward relative to the upper portion. One end of the first connecting piece 13 is connected to the top frame 11, the other end of the first connecting piece is connected to the bottom frame 12, the top frame 11 is connected with the bottom frame 12 through the first connecting piece 13, and fixation between the top frame and the bottom frame is achieved.
In some embodiments, the first connecting members 13 are four bar members, and the top frame 11 and the bottom frame 12 are rectangular frames, and four bar members are disposed at four corners of the rectangular frames. By adopting the mode, the support frame 10 integrally forms a frame structure, saves materials, has light weight, is beneficial to saving cost, is simple to install and strong in stability, and can play a good supporting role. Of course, the shapes of the top frame 11, the bottom frame 12, and the first connecting member 13 are not limited thereto, and will not be described in detail here.
Preferably, as shown in fig. 2, the first adjustment mechanism 30 includes: two linear driving pieces 31, a guide shaft 32, a second connecting piece 33 and a first joint bearing 34. Two linear drivers 31 are provided on the top frame 11 at intervals in the third direction c for providing a driving force for reciprocating the lifting mechanism 20 in the second direction b. The guide shafts 32 are provided at both ends thereof on the two linear driving members 31, respectively, and can be used to support the lifting mechanism 20 via the guide shafts 32. A second link 33 is connected to the lifting mechanism 20 and is sleeved over the guide shaft 32 to provide a connection between the lifting mechanism 20 and the first adjustment mechanism 30. A first joint bearing 34 is provided between the second link 33 and the guide shaft 32, so that the lifting mechanism 20 can be rotated in any direction by the first joint bearing 34. When the first adjusting mechanism 30 works, the linear driving member 31 is started to drive the guide shaft 3 and the second connecting member 33 to move synchronously, so that the lifting mechanism 20 and the front end processing mechanism 300 thereon move reciprocally along the second direction b, and adjustment of the degree of freedom along the second direction b is realized.
In some embodiments, the linear driving member 31 is a rail module mechanism, which can provide stable and reliable linear movement. Of course, the form of the linear driving member 31 is not limited to this, and may be a linear sliding table, a linear motion module, a ball screw linear transmission mechanism, or the like, and will not be described in detail here.
Preferably, as shown in fig. 2, bearing seats 35 are provided at both ends of the guide shaft 32, and the two bearing seats 35 are respectively connected to the two linear driving members 31. In this way, the guide shaft 32 is rotatable in the two linear driving members 31 through the bearing seat 35, and the lifting mechanism 20 is facilitated to swing back and forth around the third direction c.
In some embodiments, as shown in fig. 1 and 3, the second adjustment mechanism 40 further comprises: a connecting rod 42 and a connecting block 43. One end of the connecting rod 42 is provided on the lifting mechanism 20, and one of the plurality of adjusting rods 41 is pivotally connected to the other end of the connecting rod 42. The connecting block 43 is provided on the lifting mechanism 20, and the remaining adjusting levers 41 of the plurality of adjusting levers 41 are pivotally connected to the connecting block 43, respectively. In this way, the connecting rod 42 and the connecting block 43 are associated with different adjustment levers 41, so as to adapt to the swinging of the lifting mechanism 20 around different directions. But adjust the pivoted joint of pole 41 with connecting rod 42 and connecting block 43 for adjust pole 41 can adapt to and promote the position change between the two in the hoist mechanism 20 swing process, plays certain rotation effect, avoids the motion to interfere, guarantees that hoist mechanism 20 swing can go on steadily.
Preferably, as shown in fig. 3, the connection block 43 is provided at the middle of one side of the lifting mechanism 20 in the third direction c, so that when a portion of the adjustment rod 41 telescopically pushes the connection block 43 in the second direction b, the lifting mechanism 20 is driven to swing with the rotation axis of the third direction c; when a part of the adjusting rod 41 telescopically pushes the connecting block 43 along the third direction c, the lifting mechanism 20 is driven to swing with the second direction b as a rotation axis. The connection rod 42 is provided at one end of the lifting mechanism 20 in the third direction c, so that the connection rod 42 may serve as a swing arm to swing the lifting mechanism 20 about the first direction a as a rotation axis when a portion of the adjustment rod 41 telescopically pushes the connection rod 42 in the second direction b.
Preferably, as shown in fig. 3, the number of the adjustment rods 41 is three, including: a first adjusting lever 411, a second adjusting lever 412, and a third adjusting lever 413. The first adjusting lever 411 is telescopically arranged on the supporting frame 10 along the second direction b, one end of the first adjusting lever 411 is connected with one end of the connecting rod 42, and the other end of the first adjusting lever 411 is connected with the supporting frame 10, so that the first adjusting lever 411 can provide a driving force for the connecting rod 42 to move along the second direction b. The second adjusting rod 412 is telescopically arranged between the base frame 12 and the connecting block 43 along the second direction b, the first adjusting rod 411 and the second adjusting rod 412 are arranged at intervals along the third direction c, although the second adjusting rod 412 and the first adjusting rod 411 are also arranged along the third direction c, the effects generated by the two are different, the first adjusting rod 41 drives the connecting rod 42 to enable the lifting mechanism 20 to swing around the first direction a, and the second adjusting rod 412 drives the connecting block 43 to enable the lifting mechanism 20 to swing around the third direction c. The third adjustment lever 413 is telescopically disposed between the base frame 12 and the connection block 43 in the third direction c for providing a driving force of the connection block 43 in the third direction c. By adopting the mode, the lifting mechanism 20 can swing around the first direction a, the second direction b and the third direction c through the three adjusting rods 41, the structure is simplified, the working efficiency is high, and the economical efficiency is high.
Preferably, as shown in fig. 3 and 4, both ends of the adjustment lever 41 are provided with second joint bearings 44. The second joint bearing 44 is arranged between the adjusting rod 41 and the bottom frame 12, and the second joint bearing 44 has the characteristic of rotating in any direction, so that the adjusting rod 41 can better adapt to the position change between the adjusting rod 41 and the bottom frame 12 in the telescopic process, and the normal work of the adjusting rod 41 is ensured. Another second knuckle bearing 44 is provided between the adjusting lever 41 and the connecting rod 42 or the connecting block 43, for example, when the adjusting lever 41 is connected to the connecting rod 42, the second knuckle bearing 44 can make the adjusting lever 41 better adapt to the position change between the adjusting lever 41 and the connecting rod 42 during the telescoping process; when the adjusting lever 41 is coupled to the connecting block 43, the second joint bearing 44 enables the adjusting lever 41 to better accommodate a positional change with the connecting block 43 during the extension and contraction.
In some embodiments, the adjustable rod 41 is any one of an electric cylinder, an air cylinder, and an oil cylinder, so that an adjustable linear drive can be provided. Of course, the telescopic adjustment lever 41 can also be another drive element, which will not be described in detail here.
In some embodiments, as shown in fig. 1 and 3, a tilt sensor 50 is provided on the lifting mechanism 20 to measure the tilt of the lifting mechanism 20 in real time. Because the accuracy provided by navigation positioning and the like cannot meet the requirement, the relative position between the front-end processing mechanism 300 and the wall surface can be measured more accurately through the cooperation of the tilt sensor 50 and other auxiliary measuring equipment. In some embodiments, the tilt sensor 50 is positioned above the connection block 43 to facilitate measurement.
As shown in fig. 1, a wall surface treating robot 1000 according to an embodiment of the present invention includes: a traveling device 200, a front end processing mechanism 300, and a posture adjusting mechanism 100. The front-end processing mechanism 300 is used for wall processing. The posture adjustment mechanism 100, the posture adjustment mechanism 100 being the posture adjustment mechanism 100 of the wall surface treating robot according to any one of the above, the traveling device 200 being provided below the support frame 10, and the front end treating mechanism 300 being provided on the lifting mechanism 20.
The wall surface processing robot 1000 moves to the wall surface under the action of the walking device 200, and the front end processing mechanism 300 is close to the wall surface to be constructed, and performs processing including plastering, putty scraping, wallpaper paving, wall brick paving and the like. During the processing, the position posture of the front-end processing mechanism 300, such as the front-back displacement and pitch angle, the left-right displacement and roll angle, the torsion angle around the vertical direction, and the like, can be adjusted by the posture adjustment mechanism 100.
According to the wall surface processing robot 1000 of the embodiment of the present invention, by providing the posture adjustment mechanism 100, adjustment of a plurality of degrees of freedom can be performed, and the robot can adapt to wall surface processing of the front end processing mechanism 300 under different working conditions, which is beneficial to construction work of the robot.
In some embodiments, the running gear 200 provides a flexible travel drive for the AGV, controlled by the control system of the robot. Of course, the running gear 200 is not limited thereto and will not be described in detail here.
A specific embodiment of the wall surface treating robot 1000 of the present invention will be described with reference to fig. 1 to 4.
The invention provides a posture adjusting mechanism 100 of a wall surface processing robot, which is a high-precision five-degree-of-freedom adjusting mechanism suitable for an indoor wall surface processing robot, and a front-end processing mechanism 300 comprises plastering, putty scraping, wallpaper paving, wall brick paving and the like. The wall surface processing robot 1000 mainly includes a chassis AGV cart, a front end processing mechanism 300, a support frame 10, a lifting mechanism 20, a first adjusting mechanism 30, a high-precision tilt sensor 50, a second adjusting mechanism 40, and the like.
During operation, through chassis AGV dolly motion to the assigned position, because the precision that navigation location etc. provided can't satisfy the requirement, inclination sensor 50 and other auxiliary measuring equipment carry out more accurate measurement to the relative position between front end processing mechanism 300 and the wall, realize accurate adjustment through the first guiding mechanism 30 of upper end and the second guiding mechanism 40 of lower extreme, then realize the top and bottom operation by hoist mechanism 20, carry out the regulation of five degrees of freedom. The posture adjusting mechanism 100 is simple, efficient and stable in structure, and can be adjusted to be close to the horizontal direction, so that the requirement on the power of the motor is low.
The first adjusting mechanism 30 comprises a guide rail module mechanism, a bearing seat 35, a guide shaft 32, a first joint bearing 34 and a second connecting piece 33, and the second adjusting mechanism 40 comprises a connecting rod 42 which is adjusted in a twisting mode in the vertical direction, three electric cylinder mechanisms (a first adjusting rod 411, a second adjusting rod 412 and a third adjusting rod 413) and a connecting block 43. The movement of the first adjustment mechanism 30 in both directions can be precisely controlled by means of a servo motor and a lead screw. The combined action of the guide rail module mechanism and the second adjusting lever 412 can effectively control the front-back displacement and the pitch angle of the lifting mechanism 20, the combined action of the guide shaft 32 and the third adjusting lever 413 can control the left-right displacement and the roll angle of the lifting mechanism 4, and the first adjusting lever 411 can effectively adjust the torsion angle around the vertical direction. The high-precision tilt sensor 50 and other auxiliary measuring devices provide position information, and the five-degree-of-freedom adjusting mechanism can realize high-precision adjustment. The first adjusting rod 411, the second adjusting rod 412 and the third adjusting rod 413 are all electric cylinder mechanisms, and each electric cylinder mechanism comprises a joint bearing at two ends, an electric cylinder, a servo motor and the like.
In summary, the present invention is to provide a position and posture adjusting mechanism suitable for wall processing, which can precisely adjust five degrees of freedom simultaneously, and the missing degree of freedom is the unidirectional movement of the front end mechanism. Compared with a common mechanism, the mechanism has a simple structure, has lower power requirement on the servo motor, can simultaneously adjust five degrees of freedom, meets the requirement of high precision of wall surface treatment, and has good economy.
Other constructions of the wall treatment robot 1000, such as the running gear 200 and the front end treatment mechanism 300, and operations thereof, according to embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.
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. A posture adjustment mechanism of a wall surface processing robot is characterized by comprising:
the supporting frame is defined with a first upper end and a first lower end along a first direction;
the lifting mechanism is provided with a second upper end and a second lower end along the first direction, the lifting mechanism comprises a moving end, the moving end is lifted between the second upper end and the second lower end, and a front-end processing mechanism of the robot is arranged on the moving end;
the first adjusting mechanism comprises a guide shaft, the guide shaft is arranged at the first upper end of the support frame and can move back and forth relative to the support frame along a second direction, and the second upper end of the lifting mechanism is in spherical hinge with the guide shaft;
the second adjusting mechanism is arranged on the first lower end of the supporting frame and comprises a plurality of telescopic adjusting rods, one ends of the adjusting rods are pivotally arranged on the first lower end of the supporting frame, the other ends of the adjusting rods are pivotally arranged on the second lower end of the lifting mechanism, and the adjusting rods are configured to drive the lifting mechanism to swing around any one direction of at least the first direction, the second direction and the third direction when at least one adjusting rod is extended or shortened; wherein the first direction, the second direction, and the third direction are all perpendicular to each other.
2. The attitude adjustment mechanism of a wall surface processing robot according to claim 1, wherein the support frame includes:
the first adjusting mechanism is arranged on the top frame;
the second adjusting mechanism is arranged on the bottom frame;
and one end of the first connecting piece is connected to the top frame, and the other end of the first connecting piece is connected to the bottom frame.
3. The attitude adjustment mechanism for a wall surface processing robot according to claim 2, wherein the first adjustment mechanism includes:
the two linear driving pieces are arranged on the top frame at intervals along the third direction, and two ends of the guide shaft are respectively arranged on the two linear driving pieces;
the second connecting piece is connected with the lifting mechanism and sleeved on the guide shaft;
a first knuckle bearing disposed between the second connector and the guide shaft.
4. A posture adjusting mechanism of a wall processing robot as claimed in claim 3, wherein bearing seats are provided at both ends of the guide shaft, and the two bearing seats are respectively connected to the two linear driving members.
5. The attitude adjustment mechanism for a wall surface processing robot according to claim 3, wherein the second adjustment mechanism further comprises:
one end of the connecting rod is arranged on the lifting mechanism, and one of the adjusting rods is pivotally connected with the other end of the connecting rod;
the connecting block is arranged on the lifting mechanism, and the rest of the adjusting rods are respectively connected with the connecting block in a pivoting manner.
6. A posture adjustment mechanism of a wall surface processing robot according to claim 5,
the connecting block is arranged in the middle of one side of the lifting mechanism along the third direction;
the connecting rod is arranged at one end of one side of the lifting mechanism along the third direction.
7. The attitude adjusting mechanism of a wall surface processing robot according to claim 6, wherein the number of the adjusting levers is three, including:
the first adjusting rod is arranged on the support frame in a telescopic manner along a second direction, one end of the first adjusting rod is connected with one end of the connecting rod, and the other end of the first adjusting rod is connected with the support frame;
the second adjusting rod is arranged between the bottom frame and the connecting block in a telescopic manner along a second direction, and the first adjusting rod and the second adjusting rod are arranged at intervals along a third direction;
and the third adjusting rod is telescopically arranged between the bottom frame and the connecting block along the third direction.
8. An attitude adjustment mechanism for a wall processing robot according to claim 7, wherein second joint bearings are provided at both ends of the adjustment lever, one of the second joint bearings is provided between the adjustment lever and the base frame, and the other of the second joint bearings is provided between the adjustment lever and the connecting rod or the connecting block.
9. An attitude adjustment mechanism for a wall surface processing robot according to claim 1, wherein said elevating mechanism is provided with an inclination sensor for measuring an inclination of said elevating mechanism in real time.
10. A wall surface processing robot, comprising:
a traveling device;
the front-end processing mechanism is used for processing the wall surface;
an attitude adjusting mechanism of the wall surface processing robot according to any one of claims 1 to 9, wherein the traveling device is provided below the support frame, and the front end processing mechanism is provided on the lifting mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910857094.7A CN110670850B (en) | 2019-09-11 | 2019-09-11 | Posture adjusting mechanism of wall surface processing robot and wall surface processing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910857094.7A CN110670850B (en) | 2019-09-11 | 2019-09-11 | Posture adjusting mechanism of wall surface processing robot and wall surface processing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110670850A CN110670850A (en) | 2020-01-10 |
| CN110670850B true CN110670850B (en) | 2021-04-27 |
Family
ID=69077870
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910857094.7A Active CN110670850B (en) | 2019-09-11 | 2019-09-11 | Posture adjusting mechanism of wall surface processing robot and wall surface processing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110670850B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114075865B (en) * | 2020-08-12 | 2023-04-07 | 广东博智林机器人有限公司 | Door system installation tool |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203285025U (en) * | 2013-05-02 | 2013-11-13 | 付光华 | Perpendicularity adjusting device of wall body and wall face automatic construction device |
| CN106812291A (en) * | 2015-12-02 | 2017-06-09 | 郁祥兴 | Fully-automatic bionical plastering machine |
| CN206568151U (en) * | 2017-01-12 | 2017-10-20 | 上海交通大学 | Posture is adjustable, the seven-degree of freedom robot of coordinate decoupling |
| CN206646777U (en) * | 2017-04-19 | 2017-11-17 | 黑龙江海存鑫科技有限公司 | A kind of elevating mechanism for plaster head |
-
2019
- 2019-09-11 CN CN201910857094.7A patent/CN110670850B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203285025U (en) * | 2013-05-02 | 2013-11-13 | 付光华 | Perpendicularity adjusting device of wall body and wall face automatic construction device |
| CN106812291A (en) * | 2015-12-02 | 2017-06-09 | 郁祥兴 | Fully-automatic bionical plastering machine |
| CN206568151U (en) * | 2017-01-12 | 2017-10-20 | 上海交通大学 | Posture is adjustable, the seven-degree of freedom robot of coordinate decoupling |
| CN206646777U (en) * | 2017-04-19 | 2017-11-17 | 黑龙江海存鑫科技有限公司 | A kind of elevating mechanism for plaster head |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110670850A (en) | 2020-01-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101710791B1 (en) | Operating table column for an operating table | |
| CN110195506B (en) | Floating robot | |
| JPH10296563A (en) | Device for generating predetermined positioning and orientation for at least one platform | |
| CN103579046B (en) | The kinematics of the placement head of place apparatus keeps system | |
| CN110670850B (en) | Posture adjusting mechanism of wall surface processing robot and wall surface processing robot | |
| JPH10124122A (en) | Parallel structure-type robot | |
| CN111219579A (en) | Universal removal and stable base structure who supports level (l) ing | |
| CN108382473A (en) | A kind of non-rice habitats operation chassis active balancing device and its application method | |
| CN109703272A (en) | A kind of wall paper spreading robot | |
| CN109911060A (en) | A kind of universal chassis of mobile robot | |
| CN111270839A (en) | Ground processing robot capable of flexibly turning | |
| US6312211B2 (en) | Semi-automated load balancing mechanism | |
| CN101543991B (en) | Three-dimensional mechanical hand | |
| CN210483079U (en) | Troweling machine | |
| CN219854577U (en) | Automatic change shrink arm | |
| CN110158964B (en) | Trowelling machine control method | |
| CN110499898A (en) | A kind of leveling device and the construction robot with it | |
| CN217371299U (en) | Large-load double-shaft posture adjusting mechanism with horizontal transverse movement | |
| JP4412833B2 (en) | Hydraulic jack | |
| CN213616417U (en) | Support adjusting device for automatic butt joint assembly of large inclined guide rail cylinder | |
| CN101863438B (en) | Spatial dual degree-of-freedom (DOF) swinging articulated boom support | |
| CN212388932U (en) | Floor tile laying device and floor tile laying robot | |
| CN111502213B (en) | Adjusting device of ground troweling machine troweling plate and ground troweling machine comprising same | |
| CN113585782B (en) | Bricklaying equipment | |
| CN210483081U (en) | Troweling machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |