CN111022855A - Lower margin supporting mechanism and beat and glue robot - Google Patents
Lower margin supporting mechanism and beat and glue robot Download PDFInfo
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- CN111022855A CN111022855A CN201911319498.7A CN201911319498A CN111022855A CN 111022855 A CN111022855 A CN 111022855A CN 201911319498 A CN201911319498 A CN 201911319498A CN 111022855 A CN111022855 A CN 111022855A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 68
- 239000003292 glue Substances 0.000 title description 5
- 238000004026 adhesive bonding Methods 0.000 claims description 25
- 238000001514 detection method Methods 0.000 claims description 19
- 238000005520 cutting process Methods 0.000 claims description 8
- 210000001503 joint Anatomy 0.000 claims description 4
- 238000010276 construction Methods 0.000 description 4
- 238000003032 molecular docking Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
- F16M11/26—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other by telescoping, with or without folding
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M7/00—Details of attaching or adjusting engine beds, frames, or supporting-legs on foundation or base; Attaching non-moving engine parts, e.g. cylinder blocks
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/22—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The application relates to architectural equipment technical field, and this application provides a lower margin supporting mechanism and beats gluey robot, lower margin supporting mechanism includes: an equipment fixing plate; the push rod device is fixedly connected to the equipment fixing plate and comprises a driving part driven in the vertical direction, a telescopic rod connected with the driving part and a connecting rod connected with the telescopic rod, and the middle part of the connecting rod is movably connected with the tail end of the telescopic rod; the anchor device comprises anchors which are arranged at the tail ends of two sides of the connecting rod and movably connected. The ground foot supporting mechanism is suitable for operation sites with uneven ground and obstacles, stably supports on the operation ground and provides a foundation for accurate operation.
Description
[ technical field ] A method for producing a semiconductor device
The application relates to the technical field of construction equipment, in particular to a ground foot supporting mechanism and a gluing robot.
[ background of the invention ]
With the rapid development of the robot technology, the robot is more and more widely applied. The mobile chassis of the robot has various forms. Robots are also increasingly used in conjunction with mobile chassis. The driving mode of the movable chassis is mostly that the driving wheel is matched with the auxiliary wheel. When the robot on the movable chassis is constructed, the chassis can shake under the influence of inertia along with the movement of the robot. In addition, the chassis can incline due to uneven ground of some fields. This situation results in the robot construction accuracy not being guaranteed.
In order to improve the construction precision, the prior anchor supporting mechanism is mostly used for supporting. In order to use less floor space, an electric foot support mechanism may be used. However, in a working place, particularly a construction or decoration site, the ground is uneven and many obstacles exist, and the conventional electric anchor supporting mechanism has unbalanced corresponding equipment support, so that the working precision is influenced; but also causes the problem that the application range of the corresponding equipment is not high.
[ summary of the invention ]
In order to overcome the problems that the existing electric ground foot supporting mode and the existing building equipment are difficult to be suitable for the operation site with uneven ground and obstacles, the following technical scheme is specially provided:
in a first aspect, the present application provides a ground foot support mechanism comprising:
an equipment fixing plate;
the push rod device is fixedly connected to the equipment fixing plate and comprises a driving part driven in the vertical direction, a telescopic rod connected with the driving part and a connecting rod connected with the telescopic rod, and the middle part of the connecting rod is movably connected with the tail end of the telescopic rod;
the anchor device comprises anchors which are arranged at the tail ends of two sides of the connecting rod and movably connected.
In one embodiment, the tail end of the telescopic rod is provided with a sleeving ring, and the middle part of the connecting rod is movably connected with the sleeving ring through a pin shaft.
In one embodiment, the anchor device further comprises connecting pieces, and the anchors are movably connected with the connecting rods through the connecting pieces respectively;
the tail ends of the two sides of the connecting rod are connected with the corresponding connecting pieces through the rotary connecting parts.
In one embodiment, the ground feet are movably connected with the connecting piece through universal joints.
In one embodiment, the ground pin supporting mechanism further includes:
a guide device;
the guide device comprises a guide rod arranged along the vertical direction and guide seats which are arranged at two ends of the guide rod and fixedly connected with the equipment fixing plate;
the connecting piece is connected with the guide rod in a sliding mode and drives the ground foot device to move up and down along the direction of the guide rod.
In one embodiment, the connecting piece is an L-shaped plate which comprises an upper connecting plate and a lower connecting plate;
two feet of the foot margin device are correspondingly connected and arranged below the lower connecting plate.
In one embodiment, the foot margin device further comprises an abutting part, the foot margin is arranged on the lower surface of the abutting part, and the upper surface of the foot margin device is arranged corresponding to the lower connecting plate;
the butt joint piece and the lower connecting plate are provided with elastic structures.
In one embodiment, the ground pin supporting mechanism further includes:
a pressure detection switch;
the pressure detection switch is connected with the elastic structure and used for controlling the push rod device to be closed, and when the ground feet are supported on the ground and the pressure detection switch sends signals to the push rod device, the push rod is controlled to stop pushing the ground feet.
In one embodiment, a limit detection switch is arranged on the guide seat;
the limit detection switch is electrically connected with the push rod device and used for detecting the telescopic limit position of the electric push rod, and when the telescopic rod is located at the telescopic limit position, the driving part is controlled to be closed.
In one embodiment, the ground pin supporting mechanism further includes:
a connecting rod limiting device;
the connecting rod limiting device is fixed on the equipment fixing plate and is arranged above the connecting rod,
for defining the swing height of said connecting rod.
In a second aspect, the application provides a gluing robot, which comprises a chassis, two rows of universal wheels and steering wheels arranged on the front side and the rear side of the bottom of the chassis, and a ground foot supporting mechanism arranged on the front side wall of the chassis, wherein the two rows of universal wheels and steering wheels are arranged on the front side and the rear side of the bottom of the chassis;
when the ground supporting mechanism supports the ground, the front-row universal wheels and the front-row steering wheels close to the ground supporting mechanism leave the ground, and the rear-row universal wheels and the rear-row steering wheels far away from the ground supporting mechanism and the ground supporting mechanism are jointly supported on the ground.
In one embodiment, the gluing robot further includes:
the gluing mechanism is fixed on the front side above the chassis;
the rubber tube cutting device comprises a rubber tube bin, a cutting mechanism and a control box, wherein the rubber tube bin, the cutting mechanism and the control box are fixed on the rear side above a chassis; and
a battery mounted at the rear of the chassis.
Compared with the prior art, the method has the following advantages:
the utility model provides a lower margin supporting mechanism, through adjusting the height of lower margin, every lower margin direct contact and fixed stay make whole equipment can be applicable to the ground unevenness, have the operation scene of barrier in the regional subaerial of place, steadily support in operation ground, provide the basis for accurate operation.
The application still provides a beat and glue robot, through right ground foot supporting mechanism's setting can realize realizing steadily supporting at the operation scene of ground unevenness, existence barrier. Furthermore, for the gluing robot with unbalanced weight on the front side and the rear side, the arrangement of the foot supporting mechanism ensures the stability of the gluing robot in gluing operation and ensures the operation quality.
[ description of the drawings ]
FIG. 1 is a schematic perspective view of an anchor support mechanism according to an embodiment of the present application;
fig. 2 is a schematic structural perspective view of a gluing robot according to an embodiment of the present application.
[ detailed description ] embodiments
Reference will now be made in detail to embodiments of the present application, 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 drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.
Referring to fig. 1, fig. 1 is a schematic perspective view illustrating a structure of an anchor support mechanism 100 according to an embodiment of the present disclosure. The present application provides a ground support mechanism 100 for supporting a device to which it is attached. The lower leg supporting mechanism 100 includes at least an apparatus fixing plate 110, a pusher apparatus 120, and a lower leg apparatus 130. The anchor assembly 130 includes an anchor 131 for direct fixed support to a target area. In this embodiment, feet 131 are respectively provided at both sides of the pusher apparatus 120.
The pusher assembly 120 and the foot assembly 130 are disposed on the same side of the equipment fixing plate 110, and the equipment fixing plate 110 is used to fix the entire foot support mechanism 100 to the equipment.
The pusher device 120 includes a telescopic bar 121 disposed in a vertical direction, a driving part 122 driving the telescopic bar 121, and a connecting rod 123 connected to the telescopic bar 121. Wherein, the middle part of the connecting rod 123 is movably connected with the tail end of the telescopic rod 121. In this embodiment, the connecting rod 123 can swing around its connecting point with the telescopic rod 121 to adjust the height positions of the two ends of the connecting rod 123. In the present embodiment, the driving portion 122 is an electric driving device.
The anchor assembly 130 includes anchors 131 movably connected to ends of both sides of the connecting rod. When the ground of the target area is uneven or an obstacle exists, the telescopic rod 121 is driven by the driving part 122 to lower the feet 131, and the corresponding feet 131 are driven to be supported in the respective fixedly supported areas under the movable adjustment of the connecting rod 123 and the telescopic rod 121 according to the height of the ground of the feet 131 at the two ends of the connecting rod 123.
The utility model provides an anchor supporting mechanism through the height of adjusting lower margin 131, every lower margin direct contact and fixed stay make whole equipment can be applicable to the ground unevenness, have the operation scene of barrier in regional subaerial the place of place, steadily support on operation ground, provide the basis for accurate operation.
In this embodiment, the end of the telescopic rod 121 is provided with a sleeve ring 124, and the middle of the connecting rod 123 is movably connected to the sleeve ring 124 through a pin 125. The sleeving ring 124 is arranged at the connecting point of the telescopic rod 121 and the connecting rod 123 and used for fixing the relative positions of the telescopic rod 121 and the connecting rod 123. The outer shape of the set ring 124 matches the shape of the connecting point of the connecting rod 123, and the connecting rod 123 can swing at the connecting point. In this embodiment, the outer shape of the sleeving ring 124 and the shape of the connection position of the connecting rod 123 are both vertical planes. The pin 125 sequentially penetrates through the connecting rod 123, the sleeving ring 124 and the telescopic rod 121, and the connecting rod 123 can swing around the pin 125 because the pin 125 has no thread.
A limit detection switch 150 is provided on the guide base 142, and in the present embodiment, the limit detection switch 150 is provided on one of the guide bases 142. The limit detection switch 150 is electrically connected to the push rod device 120, detects the telescopic limit position of the electric push rod, and when the telescopic rod 121 is located at the telescopic limit position, the control point driving mechanism is turned off. Specifically, when the extension rod 121 is located at the extended extreme position, even if the ground feet 131 are not in contact with the ground or are not fully supported on the ground, a signal for stopping the operation is sent to the push rod device 120, so that the extension rod 121 stops extending. When the telescopic rod 121 is located at the retracted extreme position, a signal for stopping the operation is sent to the push rod device 120, so that the telescopic rod 121 is retracted. In this way, it is possible to ensure that the entire anchor supporting mechanism 100 can be safely operated.
On the basis of the limit detection switch 150, the foot supporting mechanism 100 further includes a link limiting device 160. The link stopper 160 is fixed to the device fixing plate 110 and disposed above the link 123 to limit the height of the link 123 swinging upward. Since the connecting rod 123 can swing up and down around the connecting point of the connecting rod 123 and the telescopic rod 121, the height of the swing of the connecting rod 123 is not limited by the stop of the telescopic rod 121. The link limiting device 160 is disposed to prevent the equipment, the link 123, the guide device 140 connected to the link, and the anchor device 130 from being damaged easily due to the swing range of the link 123 exceeding the set range.
The link limiting means 160 includes a limiting bar 161, and the limiting bar 161 can be fixed on the device fixing plate 110 through a connecting rod or directly. In this embodiment, a stopper 162 is provided at a contact portion between the stopper 161 and the connecting rod 123 to adjust the vertical position. The stopper 162 is provided with a U-shaped hole, and the stopper 162 is coupled to an end of the stopper bar 161 by a fastener through the U-shaped hole. The fixing position of the fastener is adjusted along the lengthwise direction of the U-shaped hole to realize the adjustment of the swing limit height of the connecting rod 123.
The anchor assembly 130 further includes a connecting member 132, and the anchors 131 are movably connected to the connecting rods 123 through the connecting member 132, respectively. The connecting member 132 slides up and down along the guide direction of the guide rod 141 by a sliding bearing sleeved on the guide rod 141.
The connecting members 132 are respectively disposed at both side ends of the connecting rod 123, and both side ends of the connecting rod 123 are connected to the respective corresponding connecting members 132 by rotating connecting members.
Since the guide rod 141 and the telescopic rod 121 are arranged in parallel, the foot device 130 moves up and down along the guiding direction of the guiding device 140 under the driving of the telescopic rod 121. When the target area is reached, the foot device 130 is driven by the push rod device 120, and the connecting member 132 moves downward along the guide direction of the guide rod 141 until the foot 131 is completely and fixedly supported on the ground. When the equipment fixed by the anchor supporting mechanism 100 needs to be moved, the anchor device 130 is driven by the push rod device 120, and the connecting piece 132 moves upwards along the guiding direction of the guide rod 141 until the anchor 131 completely leaves the ground fixedly supported. The ground legs 131 can be more smoothly operated and supported on the ground by the guide of the guide device 140.
The ground feet 131 are movably connected with the connecting piece 132 through universal joints, the ground feet 131 adapt to the inclination of the supporting surface, and the angle of the ground feet 131 supporting the ground is adjusted, so that the ground feet supporting mechanism can be stably supported on the supporting ground with different inclinations.
In this embodiment, the connecting member 132 is an L-shaped plate, wherein the vertical portion is an upper connecting plate 133 and the parallel ground portion is a lower connecting plate 134.
The connecting member 132 is rotatably connected to the connecting rod 123 through an upper connecting plate 133. In this embodiment, the rotating connection member is a screw that connects the connecting rod 123 and the upper connection plate 133. And the whole section of the screw rod of the screw is only provided with threads at partial positions. Specifically, there may be two cases in parallel:
in the first case, the screw is threaded at the portion fixed to the connecting rod 123, so that the screw is fixedly connected to the connecting rod 123 and also rotatably connected to the connecting member 142.
In the second case, the screw is threaded at the portion fixed to the upper connecting plate 133, so that the screw is fixedly connected to the connecting member 142 and rotatably connected to the connecting rod 123.
And foot assembly 130 is correspondingly connected below lower connecting plate 134. Specifically, the lower leg unit 130 includes an abutment 135 provided corresponding to the lower connection plate 134. Since the foot unit 130 is disposed under the lower coupling plate 134, the upper surface of the docking piece 135 is disposed to correspond to the lower coupling plate 134, and the foot 131 is coupled to the lower surface of the docking piece 135. At this time, the universal joint of foot margin 131 is connected to the lower surface of docking piece 135.
An elastic member is disposed between the docking member 132 and the lower connection plate 134 to elastically connect.
In this embodiment, a plurality of elastic members are uniformly distributed between the areas of the abutting pieces 132 opposite to the lower connecting plate 134, so that the ground foot device 130 and the guide device 140 are uniformly stressed, and the devices are prevented from being easily damaged due to uneven stress.
The ground pin support mechanism 100 further includes a pressure detection switch 150. The compression degree of the elastic component can be detected, the operation of the push rod device 120 can be controlled by utilizing the deformation length of the elastic component, and the change degree of the pressure can be detected more easily, so that the push rod device 120 can respond to the supporting stress condition of the ground feet 131 and the ground more easily.
When the anchor legs 131 contact and are supported on the ground of the target area, the anchor legs 131 receive a supporting pressure from the ground, and a corresponding detection result is obtained through the pressure detection switch 170. When the detection result reaches a set value, that is, when the ground leg 131 completely supports the equipment fixed thereto on the ground, the push rod device 120 stops operating by sending a signal to the push rod device 120 to stop pushing the ground leg 131. And the set value of the pressure detection switch 170 is correspondingly adjusted according to the fixedly supported equipment.
Referring to fig. 2, fig. 2 is a schematic structural perspective view of a gluing robot according to an embodiment of the present application.
The present application further provides a gluing robot 1000, which includes the foot support mechanism 100, the chassis 200, and two rows of universal wheels 210 and two rows of steering wheels 220 installed at the front and rear sides of the bottom of the chassis 200 according to any one of the embodiments provided above. The foot support mechanism 100 is mounted on the front side wall of the chassis 200, and is close to the front row universal wheels 211 and the front row steering wheels 221. When ground is supported by ground support mechanism 100, front-row universal wheels 211 and front-row steering wheels 221 close to ground support mechanism 100 are separated from the ground, and rear-row universal wheels 212 and rear-row steering wheels 222 far from ground support mechanism 100 are supported on the ground together with ground support mechanism 100. Achieving a smooth support in the target area. When the gluing robot 1000 needs to leave the target area, the anchor 131 is controlled to ascend until leaving the ground. In this embodiment, the gluing robot 1000 is a six-axis robot. The gluing robot 1000 provided by the application can realize stable support on the operation site with uneven ground and obstacles by arranging the ground supporting mechanism 100.
Should beat and glue robot 1000 and still include: the gluing mechanism 300 is arranged on the front side above the base plate 200, and the glue cylinder bin 400, the cutting mechanism 500 and the control box 600 are fixed on the rear side above the base plate 200. Wherein, the control box 600 is directly installed on the chassis 200, and the packing element bin 400 and the cutting mechanism 300 are installed at the left and right sides above the control box 600. A battery 700 is also mounted at the rear of the chassis 200. Each functional mechanism of the gluing robot 1000 is arranged on the rear side and the rear part above the chassis 200 in a concentrated manner, so that the front side of the whole gluing robot 1000 is light and the rear side is heavy, and the gluing mechanism on the front side can shake due to the instability of the chassis 200 in the gluing process. During the gluing process, the front row universal wheels 211 and the front row steering wheels 221 leave the ground, and at this time, the gluing robot 1000 is supported by the rear row universal wheels 212 and the rear row steering wheels 222, and the ground support mechanism 100 on the front side supports the ground. Because, the height of the ground feet 131 of the ground foot supporting mechanism 100 is adjustable, so that the chassis 200 does not shake until the ground feet 131 are completely supported on the ground, stability in gluing operation of the gluing robot 1000 is guaranteed, and operation quality is guaranteed.
Although a few exemplary embodiments of the present application have been shown and described, it would be appreciated by those skilled in the art that changes may be made in these exemplary embodiments without departing from the principles and spirit of the application, the scope of which is defined in the claims and their equivalents.
Claims (12)
1. A ground foot support mechanism, comprising:
an equipment fixing plate;
the push rod device is fixedly connected to the equipment fixing plate and comprises a driving part driven in the vertical direction, a telescopic rod connected with the driving part and a connecting rod connected with the telescopic rod, and the middle part of the connecting rod is movably connected with the tail end of the telescopic rod;
the anchor device comprises anchors which are arranged at the tail ends of two sides of the connecting rod and movably connected.
2. The ground anchor support mechanism according to claim 1, comprising:
the tail end of the telescopic rod is provided with a sleeving ring, and the middle part of the connecting rod is movably connected with the sleeving ring through a pin shaft.
3. The ground margin support mechanism of claim 1,
the ground foot device also comprises a connecting piece, and the ground feet are respectively movably connected with the connecting rod through the connecting piece;
the tail ends of the two sides of the connecting rod are connected with the corresponding connecting pieces through the rotary connecting parts.
4. The ground margin support mechanism of claim 3,
the ground feet are movably connected with the connecting piece through universal joints.
5. The ground pin support mechanism according to claim 3, further comprising:
a guide device;
the guide device comprises a guide rod arranged along the vertical direction and guide seats which are arranged at two ends of the guide rod and fixedly connected with the equipment fixing plate;
the connecting piece is connected with the guide rod in a sliding mode and drives the ground foot device to move up and down along the direction of the guide rod.
6. The ground margin support mechanism of claim 5,
the connecting piece is an L-shaped plate and comprises an upper connecting plate and a lower connecting plate;
two feet of the foot margin device are correspondingly connected and arranged below the lower connecting plate.
7. The ground margin support mechanism of claim 6,
the ground foot device further comprises a butt joint piece, the ground foot is arranged on the lower surface of the butt joint piece, and the upper surface of the ground foot device is arranged corresponding to the lower connecting plate;
the butt joint piece and the lower connecting plate are provided with elastic structures.
8. The ground pin support mechanism according to claim 7, further comprising:
a pressure detection switch;
the pressure detection switch is connected with the elastic structure and used for controlling the push rod device to be closed, and when the ground feet are supported on the ground and the pressure detection switch sends signals to the push rod device, the push rod is controlled to stop pushing the ground feet.
9. The ground margin support mechanism of claim 5,
a limit detection switch is arranged on the guide seat;
the limit detection switch is electrically connected with the push rod device and used for detecting the telescopic limit position of the electric push rod, and when the telescopic rod is located at the telescopic limit position, the driving part is controlled to be closed.
10. The ground anchor support mechanism according to claim 9, further comprising:
a connecting rod limiting device;
the connecting rod limiting device is fixed on the equipment fixing plate and is arranged above the connecting rod,
for defining the swing height of said connecting rod.
11. A gluing robot, comprising:
a chassis;
two rows of universal wheels and steering wheels are arranged on the front side and the rear side of the bottom of the chassis;
an anchor support according to any one of claims 1 to 10, mounted on a front side wall of the chassis;
when the ground supporting mechanism supports the ground, the front-row universal wheels and the front-row steering wheels close to the ground supporting mechanism leave the ground, and the rear-row universal wheels and the rear-row steering wheels far away from the ground supporting mechanism and the ground supporting mechanism are jointly supported on the ground.
12. The gluing robot of claim 11, further comprising:
the gluing mechanism is fixed on the front side above the chassis;
the rubber tube cutting device comprises a rubber tube bin, a cutting mechanism and a control box, wherein the rubber tube bin, the cutting mechanism and the control box are fixed on the rear side above a chassis; and
a battery mounted at the rear of the chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911319498.7A CN111022855B (en) | 2019-12-19 | 2019-12-19 | Lower margin supporting mechanism and beat and glue robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911319498.7A CN111022855B (en) | 2019-12-19 | 2019-12-19 | Lower margin supporting mechanism and beat and glue robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111022855A true CN111022855A (en) | 2020-04-17 |
| CN111022855B CN111022855B (en) | 2021-07-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911319498.7A Active CN111022855B (en) | 2019-12-19 | 2019-12-19 | Lower margin supporting mechanism and beat and glue robot |
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| CN (1) | CN111022855B (en) |
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| CN109823443A (en) * | 2019-03-19 | 2019-05-31 | 浙江欣奕华智能科技有限公司 | A kind of robot chassis with overturn-preventing structure |
| CN109779659A (en) * | 2019-04-08 | 2019-05-21 | 中国铁建重工集团有限公司 | Multi-arm shotcreting jumbo |
| CN109972822A (en) * | 2019-04-26 | 2019-07-05 | 广东博智林机器人有限公司 | Spray robot |
| CN110450984A (en) * | 2019-07-16 | 2019-11-15 | 中国地质大学（武汉） | A kind of lunar rover being used to prepare hydrogen and oxygen |
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