CN111042565A - Full-automatic ceramic tile replacing robot - Google Patents
Full-automatic ceramic tile replacing robot Download PDFInfo
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- CN111042565A CN111042565A CN201911372622.6A CN201911372622A CN111042565A CN 111042565 A CN111042565 A CN 111042565A CN 201911372622 A CN201911372622 A CN 201911372622A CN 111042565 A CN111042565 A CN 111042565A
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- stepping motor
- electric cylinder
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- seat
- arm
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/02—Repairing, e.g. filling cracks; Restoring; Altering; Enlarging
- E04G23/0285—Repairing or restoring flooring
Abstract
The invention discloses a full-automatic ceramic tile replacing robot, the main body of which comprises a machine body part, a mounting part, a large arm part, a tail part and the like; the body portion includes: a swing support plate, a walking frame, a jacking frame and the like; the mounting portion includes: a multi-link arm, a driving arm, a sucker and the like; the large arm portion includes: connecting discs, large arms, wrist seats and the like; the end portion includes: rotating the end disc, the claw seat, the dust collection end and the like; when the ceramic tile replacing robot is used, the robot is controlled by the body part to walk to the position near a ceramic tile to be replaced, the tail end part smashes, picks up, sucks dust, lays cement and the like the old ceramic tile, and then the new ceramic tile is installed on the position of the original ceramic tile by the installing part.
Description
Technical Field
The invention relates to the technical field of home decoration, in particular to the technical field of a full-automatic ceramic tile replacing robot.
Background
The ceramic tile is laid home decoration as a ground commonly used, the attractiveness of a room can be improved, the ceramic tile has a broken risk, the replacement of the common ceramic tile is mainly performed manually, the operation is complex, and the robot is easy to make mistakes, and a full-automatic ceramic tile replacing robot is designed. At present, designs related to a full-automatic tile replacing robot are disclosed, for example, patent application No. CN201510768487.2 discloses a tile dismounting device, which can automatically dismount tiles but cannot realize transportation and installation work; for example, patent No. CN201120382268.8 discloses a tile laying machine which allows automatic laying of tiles but does not allow replacement of old tiles.
Disclosure of Invention
In view of the above problems, the present invention provides a full automatic tile replacing robot, the main body of which is composed of a body part, a mounting part, a large arm part, a tail part, etc.; when the ceramic tile replacing robot is used, the robot is controlled by the body part to walk to the position near a ceramic tile to be replaced, the tail end part smashes, picks up, sucks dust, lays cement and the like the old ceramic tile, and then the new ceramic tile is installed on the position of the original ceramic tile by the installing part.
The technical scheme adopted by the invention is as follows: a full-automatic tile replacing robot comprises a machine body part, a mounting part, an arm part and a tail part.
The body portion includes: the automatic tile feeding machine comprises a swinging supporting plate, a first electric cylinder, a rotating chassis, a fixed base, a first stepping motor, a supporting frame, a supporting guide rail, a first bidirectional asynchronous motor, a walking screw rod, a walking frame, a tile box, a new tile, a waste box, a walking guide rail, a walking crawler belt, a driving wheel, a driven wheel, a second stepping motor, a second electric cylinder, a supporting guide rail and a jacking frame.
The mounting portion includes: the multi-link arm, the third stepping motor, the upper arm, the lower arm, the triangular plate, the driven arm, the driving arm, the triangular base, the third electric cylinder, the sucker seat and the sucker.
The large arm portion includes: the device comprises a connecting disc, a fourth electric cylinder, a ball feeding plate, a big arm, a connecting arm, a fourth stepping motor, a first transmission belt, a fifth electric cylinder, a parallel rotating base, a rotating connecting plate, a sixth electric cylinder, a corner connecting sleeve, a seventh electric cylinder, a rotating sleeve, an eighth electric cylinder, an electric cylinder top sleeve, a fifth stepping motor, a motor rotating sleeve, a ninth electric cylinder, an L plate, a first transmission rod, a second transmission rod, a third transmission rod, a sixth stepping motor, a parallel lead screw, an auxiliary moving base, an auxiliary transmission rod, a parallel tail end, a fixed disc, a seventh stepping motor, a first gear, a second gear, a wrist base, a second bidirectional asynchronous motor, a rotating outer sleeve, an outer wrist base, an eighth stepping motor, a second transmission belt, a ninth stepping motor, a third transmission belt, a lifting frame, a tenth stepping motor, a lifting lead screw, a lifting guide rail and a cement tank.
The end portion includes: the device comprises a lifting seat, a rotating end disc, an eleventh stepping motor, a rotating connection, three rows of rotating arms, a first bevel gear, a second bevel gear, a motor frame, a third bidirectional asynchronous motor, a third bevel gear, a fourth bevel gear, a claw seat, a transmission claw rod, a clamping jaw, a tenth electric cylinder, a telescopic claw seat, a buffer base, a damping spring, a crushing seat, an eleventh electric cylinder, a drill bit, a dust suction box, a dust suction cover, a twelfth stepping motor, a fourth transmission belt, a dust suction end, a dust suction pipe, a motor, a dust suction shaft, a fan, a thirteenth stepping motor and a fifth transmission belt.
The machine body part is provided with a swinging support plate and a first electric cylinder which are rotatably arranged, a rotating chassis and the first electric cylinder are rotatably arranged, the rotating chassis and a fixed base are rotatably arranged, a first stepping motor is fixedly arranged on the fixed base, the rotating chassis is fixedly arranged at the top of the first stepping motor, the fixed base is fixedly arranged on a support frame, a support guide rail is fixedly arranged on the support frame, a first bidirectional asynchronous motor is fixedly arranged on the support frame, a walking screw rod is fixedly arranged on the first bidirectional asynchronous motor, two ends of the walking guide rail are fixedly arranged on the support guide rail, the walking frame and the walking screw rod adopt thread transmission, the walking frame, the support guide rail and the walking guide rail are slidably arranged, a tile box is fixedly arranged on the support guide rail and is newly arranged in the tile box, a waste box is fixedly arranged on the support guide rail, and a driving wheel, a driven wheel, the second stepping motor is fixedly arranged on the walking frame, the driving wheel is fixedly arranged at the top of the second stepping motor, the walking crawler belt is wound on the outer sides of the driving wheel and the driven wheel, the second electric cylinder is fixedly arranged on the fixed base, the supporting guide rail is fixedly arranged at the bottom of the fixed base, the jacking frame is fixedly arranged at the top of the second electric cylinder, and the jacking frame and the supporting guide rail are slidably arranged;
the installation part ally oneself with the arm rotation more and install on the linking arm, ally oneself with the arm more and rotate the installation with fifth electric jar top, third step motor fixed mounting is on many antithetical couplet arms, the upper arm with ally oneself with the arm rotation installation more, the underarm with ally oneself with the arm and rotate the installation through third step motor more, set-square and upper arm, underarm rotate the installation, driven arm and driving arm rotate the installation with the set-square, the triangle base rotates the installation with driven arm, driving arm, third electric jar fixed mounting is on the triangle base, sucking disc seat fixed mounting is on the third electric jar, sucking disc fixed mounting is on the sucking disc seat.
The connecting disc of the big arm part is fixedly arranged on the swinging supporting plate, the fourth electric cylinder is rotatably arranged with the connecting disc, the upper ball plate is rotatably arranged with the fourth electric cylinder, the big arm is rotatably arranged with the upper ball plate, the connecting arm is rotatably arranged with the big arm, the fourth stepping motor is fixedly arranged on the connecting arm, the parallel rotating seat is rotatably arranged with the connecting arm, the first driving belt is wound outside the parallel rotating seat and the fourth stepping motor, one end of the fifth electric cylinder is rotatably arranged on the connecting arm, the multi-link arm is rotatably arranged on the connecting arm, the rotating link plate is rotatably arranged on the upper ball plate, the sixth electric cylinder is fixedly arranged on the rotating link plate, the corner link sleeve is fixedly arranged on the top of the sixth electric cylinder, the corner link sleeve is rotatably arranged with the big arm, the link sleeve is rotatably arranged with the rotating link plate, the seventh electric cylinder is fixedly arranged on the link sleeve, the rotating sleeve is fixedly arranged on the top of the seventh electric cylinder, the eighth, an electric cylinder top sleeve is fixedly arranged on an eighth electric cylinder, the electric cylinder top sleeve and a connecting arm are rotatably arranged, a fifth stepping motor is fixedly arranged on a parallel rotating seat, a motor rotating sleeve is fixedly arranged at the top of the fifth stepping motor, a ninth electric cylinder is fixedly arranged on the motor rotating sleeve, a sixth stepping motor is fixedly arranged on the parallel rotating seat, a parallel lead screw is fixedly arranged on the sixth stepping motor, the other end of the parallel lead screw is rotatably arranged with the parallel rotating seat, an auxiliary moving seat and the parallel lead screw are in threaded transmission, an auxiliary lead screw is rotatably arranged on the auxiliary moving seat, an L plate, an auxiliary lead screw and the ninth electric cylinder are rotatably arranged, a first transmission rod, a second transmission rod and a third transmission rod are rotatably arranged with the L plate, a parallel tail end is rotatably arranged with the other end of the first transmission rod, the second transmission rod and the third transmission rod, a fixed plate is rotatably arranged with the parallel tail end, and, the first gear is fixedly arranged on the seventh stepping motor, the wrist seat is rotatably arranged with the fixed disc, the second gear is fixedly arranged on the wrist seat, the first gear is meshed with the second gear, the top part of the second bidirectional asynchronous motor is fixedly arranged on the wrist seat, the rotating outer sleeve is fixedly arranged on the second bidirectional asynchronous motor, the outer wrist seat is rotatably arranged with the rotating outer sleeve, the eighth stepping motor is fixedly arranged on the outer wrist seat, the second transmission belt is wound on the outer sides of the rotating outer sleeve and the eighth stepping motor, the ninth stepping motor is fixedly arranged on the lifting frame, the tenth stepping motor is fixedly arranged on the lifting frame, the lifting frame and the outer wrist seat are rotatably arranged through the rotating shaft, the third transmission belt is wound on the outer sides of the rotating shaft and the ninth stepping motor, one end of the lifting screw rod is fixedly arranged on the tenth stepping motor, the other end is rotatably arranged on the lifting frame, and, the cement tank is fixedly arranged on the lifting frame.
The lifting seat and the lifting screw rod of the end part are in threaded transmission, the lifting seat and the lifting guide rail are installed in a sliding mode, a thirteenth stepping motor is fixedly installed on the lifting seat, a rotating end disc is fixedly installed on the thirteenth stepping motor, an eleventh stepping motor is fixedly installed on the rotating end disc, a rotating connection is rotatably installed on the rotating end disc, a fifth transmission belt is wound on the outer side of the thirteenth stepping motor and the rotating connection, three rows of rotating arms are rotatably installed through rotating shafts in a rotating connection mode, a first bevel gear is fixedly installed on the rotating shafts, a motor frame is fixedly installed on the three rows of rotating arms, a third bidirectional asynchronous motor is fixedly installed on the motor frame, a second bevel gear and a third bevel gear are fixedly installed on the third bidirectional asynchronous motor, and the first bevel gear is meshed with a second bevel gear;
the claw seats at the tail ends of the clamping jaws and the three rows of rotating arms are rotatably arranged through a rotating shaft, a fourth bevel gear is fixedly arranged on the rotating shaft, the third bevel gear is meshed with the fourth bevel gear, a transmission claw rod is rotatably arranged with the claw seats, the clamping jaws are rotatably arranged with the transmission claw rod and the telescopic claw seats, a tenth electric cylinder is fixedly arranged on the claw seats, and the telescopic claw seats are fixedly arranged at the tops of the tenth electric cylinders;
the buffer base at the crushing tail end and the three rows of rotating arms are rotatably installed through a rotating shaft, a fourth bevel gear is fixedly installed on the rotating shaft and meshed with the third bevel gear, one end of a buffer spring is fixedly installed on the buffer base, the other end of the buffer spring is fixedly installed on a crushing seat, the crushing seat and the buffer base are installed in a sliding mode, an eleventh electric cylinder is fixedly installed on the crushing seat, and a drill bit is fixedly installed at the top of the eleventh electric cylinder;
the dust collection box at the tail end of dust collection is rotatably installed with the three rows of rotating arms through a rotating shaft, a fourth bevel gear is fixedly installed on the rotating shaft, the third bevel gear is meshed with the fourth bevel gear, a dust collection cover is fixedly installed on the dust collection box, a twelfth stepping motor is fixedly installed in the dust collection box, the tail end of dust collection is rotatably installed with the dust collection box through the rotating shaft, a fourth driving belt is wound outside the twelfth stepping motor and the rotating shaft, one end of a dust collection pipe is fixedly installed on the dust collection cover, the other end of the dust collection pipe is fixedly installed on the dust collection tail end, a motor is fixedly installed on the dust collection tail end, a fan is fixedly installed on the motor, and.
The invention has the beneficial effects that: (1) the distance between the two rows of walking tracks of the machine body part can be adjusted, and the steering walking is realized by matching with the rotating direction of the tracks; (2) the mounting part of the ceramic tile mounting machine is controlled by the parallel mechanical arms, so that the requirement of the freedom degree of mounting the ceramic tile can be met; (3) the large arm part is provided with a plurality of parallel mechanical arm structures, so that the degree of freedom is greatly increased; (4) the tail end part of the invention comprises a crushing part, a clamping jaw part and a dust collection part, and can respectively realize different functions.
Drawings
Fig. 1 is a schematic view of the overall assembly structure of the present invention.
Fig. 2 is a schematic structural diagram of the whole part of the robot of the present invention.
Fig. 3 is a schematic structural diagram of a part of the machine body of the present invention.
Fig. 4 is a bottom structure diagram of the machine body part of the invention.
Fig. 5 is a schematic view of the structure of the mounting portion of the present invention.
Fig. 6 is a schematic view of the structure of the large arm part of the present invention.
Fig. 7 is a partial structural view of a large arm part of the present invention.
Fig. 8 is a schematic view of the end portion structure of the present invention.
Fig. 9 is a schematic view showing the internal structure of the dust collecting tip of the tip part of the present invention.
Fig. 10 is a partial structural view of an end portion of the present invention.
Reference numerals: 1-a body part; 2-a mounting portion; 3-the large arm part; 4-a terminal portion; 5-ceramic tile; 101-a rocking support plate; 102-a first electric cylinder; 103-rotating chassis; 104-a fixed base; 105-a first stepper motor; 106-a scaffold; 107-supporting the guide rail; 108-a first bidirectional asynchronous machine; 109-a walking screw rod; 110-a walking frame; 111-tile boxes; 112-new ceramic tile; 113-waste bin; 114-a running rail; 115-a walking track; 116-a drive wheel; 117-driven wheel; 118-a second stepper motor; 119-a second electric cylinder; 120-a support rail; 121-a jacking frame; 201-multiple linkage arm; 202-a third stepper motor; 203-upper arm; 204-lower arm; 205-a set square; 206-a follower arm; 207-the master arm; 208-a triangular base; 209-third electric cylinder; 210-a suction cup seat; 211-suction cup; 301-connecting disc; 302-a fourth electric cylinder; 303-a ball mounting plate; 304-big arm; 305-a linker arm; 306-a fourth stepper motor; 307-a first drive belt; 308-a fifth electric cylinder; 309-parallel rotating base; 310-rotating connecting plates; 311-sixth electric cylinder; 312-corner connecting sleeve; 313-connecting sleeve; 314-seventh electric cylinder; 315-rotating sleeve; 316-eighth electric cylinder; 317-electric cylinder top sleeve; 318-a fifth stepper motor; 319-motor rotating sleeve; 320-ninth electric cylinder; 321-L plate; 322-a first transfer lever; 323-a second transmission rod; 324-a third drive link; 325-sixth stepping motor; 326-parallel lead screw; 327-auxiliary moving seat; 328-an auxiliary transfer rod; 329-parallel terminal; 330-fixed disk; 331-a seventh stepper motor; 332-a first gear; 333-a second gear; 334-wrist seat; 335 — a second bidirectional asynchronous machine; 336-rotating the outer sleeve; 337-outer wrist seat; 338-eighth stepper motor; 339-a second drive belt; 340-ninth stepper motor; 341-third drive belt; 342-a lifting frame; 343-tenth stepper motor; 344-lifting screw rod; 345-lifting guide rails; 346-cement silo; 401-a lifting seat; 402-rotating the end disk; 403-eleventh stepper motor; 404-rotational connection; 405-three rows of rotating arms; 406-a first bevel gear; 407-second bevel gear; 408-a motor frame; 409-a third bidirectional asynchronous machine; 410-a third bevel gear; 411-fourth bevel gear; 412-a jaw seat; 413-driving pawl lever; 414-a jaw; 415-tenth electric cylinder; 416-telescoping jaw mount; 417-a buffer base; 418-damping spring; 419-crushing seat; 420-eleventh electric cylinder; 421-a drill bit; 422-dust suction box; 423-dust absorption cover; 424-twelfth stepper motor; 425-a fourth belt; 426-dust extraction end; 427-a dust suction pipe; 428-motor; 429-dust-collecting shaft; 430-a fan; 431-a thirteenth stepper motor; 432-fifth drive belt.
Detailed Description
The present invention will be further described with reference to specific examples, which are illustrative of the invention and are not to be construed as limiting the invention.
A full-automatic tile replacing robot as shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9 and 10.
In use, the first bi-directional asynchronous motor 108 of the machine body part 1 rotates, the second stepping motor 118 rotates to control the robot to reach a designated position, then the second electric cylinder 119 extends to control the jacking frame 121 to be supported on the ground, then the first stepping motor 105 rotates, the first electric cylinder 102 extends and retracts, the fourth electric cylinder 302 extends and retracts, the fourth stepping motor 306 rotates, the fifth electric cylinder 308 extends and retracts, the sixth electric cylinder 311 extends and retracts, the seventh electric cylinder 314 extends and retracts, the eighth electric cylinder 316 extends and retracts, the fifth stepping motor 318 rotates, the ninth electric cylinder 320 extends and retracts, the sixth stepping motor 325 rotates, the seventh stepping motor 331 rotates, the second bi-directional asynchronous motor 335 rotates, the eighth stepping motor 338 rotates, the ninth stepping motor 340 rotates, the tenth stepping motor 343 rotates, the eleventh stepping motor 403 rotates, the third bi-directional asynchronous motor 409 rotates, the thirteenth stepping motor 431 rotates to control the drill 421 to reach the position near a ceramic tile 5 to be replaced, then the eleventh electric cylinder 420 rapidly extends and retracts to control the drill 421 to shake and break the tile, then the eleventh stepping motor 403 rotates, the third bidirectional asynchronous motor 409 rotates, the thirteenth stepping motor 431 rotates to control the clamping jaw 414 to reach the position near the tile fragments, then the tenth electric cylinder 415 extends and retracts to control the clamping jaw 414 to pick up the fragments, then the first stepping motor 105 rotates, the first electric cylinder 102 extends and retracts, the fourth electric cylinder 302 extends and retracts, the fourth stepping motor 306 rotates, the sixth electric cylinder 311 extends and retracts, the seventh electric cylinder 314 extends and retracts, the eighth electric cylinder 316 extends and retracts, the fifth stepping motor 318 rotates, the ninth electric cylinder 320 extends and retracts, the sixth stepping motor 325 rotates, the seventh stepping motor 331 rotates, the second bidirectional asynchronous motor 335 rotates, the eighth stepping motor 338 rotates, the ninth stepping motor 340 rotates, the tenth stepping motor 343 rotates, the eleventh stepping motor 403 rotates, the third bidirectional asynchronous motor 409 rotates, The thirteenth step motor 431 controls the rotation of the scrap box 113 to put the scrap into the scrap box 113, and then the first step motor 105 rotates, the first electric cylinder 102 extends and contracts, the fourth electric cylinder 302 extends and contracts, the fourth step motor 306 rotates, the sixth electric cylinder 311 extends and contracts, the seventh electric cylinder 314 extends and contracts, the eighth electric cylinder 316 extends and contracts, the fifth step motor 318 rotates, the ninth electric cylinder 320 extends and contracts, the sixth step motor 325 rotates, the seventh step motor 331 rotates, the second bidirectional asynchronous motor 335 rotates, the eighth step motor 338 rotates, the ninth step motor 340 rotates, the tenth step motor 343 rotates, the eleventh step motor rotates, the third bidirectional asynchronous motor 409 rotates, the thirteenth step motor 431 rotates, the twelfth step motor 424 rotates to control the dust suction end 426 to reach the dust vicinity, the motor 428 rotates to control the fan 430 to suck the dust into the dust suction box 422, and then the cement tank 346 controls the cement to be full, then the first step motor 105 rotates, the first electric cylinder 102 stretches, the fourth electric cylinder 302 stretches, the fourth step motor 306 rotates, the fifth electric cylinder 308 stretches, the third step motor 202 rotates, the third electric cylinder 209 stretches to control the sucker 211 to reach the upper part of a new ceramic tile 112, the sucker 211 sucks up the new ceramic tile 112, then the first step motor 105 rotates, the first electric cylinder 102 stretches, the fourth electric cylinder 302 stretches, the fourth step motor 306 rotates, the fifth electric cylinder 308 stretches, the third step motor 202 rotates, the third electric cylinder 209 stretches to control the sucker 211 to reach the upper part of cement, then the sucker 211 puts the new ceramic tile 112 on the cement to press, and the replacement work is completed.
Claims (8)
1. A full-automatic ceramic tile replacing robot comprises a machine body part (123), a mounting part (222), a large arm part (3) and a tail end part (4),
the method is characterized in that: the body part (1) comprises: the ceramic tile box lifting device comprises a swinging support plate (101), a first electric cylinder (102), a rotating chassis (103), a fixed base (104), a first stepping motor (105), a support frame (106), a support guide rail (107), a first bidirectional asynchronous motor (108), a walking screw rod (109), a walking frame (110), a ceramic tile box (111), a new ceramic tile (112), a waste box (113), a walking guide rail (114), a walking crawler (115), a driving wheel (116), a driven wheel (117), a second stepping motor (118), a second electric cylinder (119), a support guide rail (120) and a jacking frame (121), wherein the swinging support plate (101) and the first electric cylinder (102) are rotatably installed, the rotating chassis (103) and the first electric cylinder (102) are rotatably installed, the ceramic tile box (111) is fixedly installed on the support guide rail (107), the new ceramic tile (112) is placed in the ceramic tile box (111), and the waste box (113) is fixedly installed on the support guide rail (107), the driving wheel (116), the driven wheel (117) and the walking frame (110) are rotatably installed through rolling bearings, the second stepping motor (118) is fixedly installed on the walking frame (110), the driving wheel (116) is fixedly installed at the top of the second stepping motor (118), the walking crawler belt (115) is wound on the outer sides of the driving wheel (116) and the driven wheel (117), the second electric cylinder (119) is fixedly installed on the fixed base (104), the supporting guide rail (120) is fixedly installed at the bottom of the fixed base (104), the jacking frame (121) is fixedly installed at the top of the second electric cylinder (119), and the jacking frame (121) and the supporting guide rail (120) are slidably installed;
the mounting portion (2) comprises: the multi-link arm (201), the third stepping motor (202), the upper arm (203), the lower arm (204), the triangular plate (205), the driven arm (206), the driving arm (207), the triangular base (208), the third electric cylinder (209), the sucker seat (210) and the sucker (211) are rotatably arranged on the connecting arm (305), the multi-link arm (201) and the top of the fifth electric cylinder (308) are rotatably arranged, the third stepping motor is fixedly arranged (202) on the multi-link arm (201), the upper arm (203) and the multi-link arm (201) are rotatably arranged, the lower arm (204) and the multi-link arm (201) are rotatably arranged through the third stepping motor (202), the triangular plate (205), the upper arm (203) and the lower arm (204) are rotatably arranged, the driven arm (206) and the driving arm (207) are rotatably arranged with the triangular plate (205), the triangular base (208), the driven arm (206) and the driving arm (207) are rotatably arranged, the third electric cylinder (209) is fixedly arranged on the triangular base (208), the sucker seat (210) is fixedly arranged on the third electric cylinder (209), and the sucker (211) is fixedly arranged on the sucker seat (210);
the large arm part (3) comprises: the device comprises a connecting disc (301), a fourth electric cylinder (302), an upper ball plate (303), a large arm (304), a connecting arm (305), a fourth stepping motor (306), a first transmission belt (307), a fifth electric cylinder (308), a parallel rotating base (309), a rotating connecting plate (310), a sixth electric cylinder (311), a corner connecting sleeve (312), a connecting sleeve (313), a seventh electric cylinder (314), a rotating sleeve (315), an eighth electric cylinder (316), an electric cylinder top sleeve (317), a fifth stepping motor (318), a motor rotating sleeve (319), a ninth electric cylinder (320), an L plate (321), a first transmission rod (322), a second transmission rod (323), a third transmission rod (324), a sixth stepping motor (325), a parallel lead screw (326), an auxiliary moving base (327), an auxiliary transmission rod (328), a parallel tail end (329), a fixed disc (330), a seventh stepping motor (331), a first gear (332), a fixed disc (330), a second stepping motor (331), a second transmission rod (332), a third stepping motor (, A second gear (333), a wrist seat (334), a second bidirectional asynchronous motor (335), a rotating outer sleeve (336), an outer wrist seat (337), an eighth stepping motor (338), a second transmission belt (339), a ninth stepping motor (340), a third transmission belt (341), a lifting frame (342), a tenth stepping motor (343), a lifting lead screw (344), a lifting guide rail (345) and a cement tank (346), wherein the connection disc (301) is fixedly arranged on the swinging support plate (101), the fourth electric cylinder (302) is rotatably arranged with the connection disc (301), the upper spherical plate (303) is rotatably arranged with the fourth electric cylinder (302), the upper spherical plate (304) is rotatably arranged with the upper spherical plate (303), the connecting arm (305) is rotatably arranged with the upper spherical plate (304), one end of the fifth electric cylinder (308) is rotatably arranged on the connecting arm (305), the multi-link arm (201) is rotatably arranged on the connecting arm (305), and the rotating connecting plate (310) is rotatably arranged on the upper spherical plate (303), a sixth electric cylinder (311) is fixedly arranged on a rotary connecting plate (310), a corner connecting sleeve (312) is fixedly arranged at the top of the sixth electric cylinder (311), the corner connecting sleeve (312) is rotatably arranged with a large arm (304), a connecting sleeve (313) is rotatably arranged with the rotary connecting plate (310), a seventh electric cylinder (314) is fixedly arranged on the connecting sleeve (313), a rotary sleeve (315) is fixedly arranged at the top of the seventh electric cylinder (314), an eighth electric cylinder (316) is fixedly arranged on the rotary sleeve (315), an electric cylinder top sleeve (317) is fixedly arranged on the eighth electric cylinder (316), an electric cylinder top sleeve (317) is rotatably arranged with a connecting arm (305), a fifth stepping motor (318) is fixedly arranged on a parallel rotary base (309), a motor rotary sleeve (309) is fixedly arranged at the top of the fifth stepping motor (318), a ninth electric cylinder (320) is fixedly arranged on a motor rotary sleeve (319), a sixth stepping motor (325) is fixedly arranged on the parallel rotary base (309), a parallel screw rod (326) is fixedly arranged on a sixth stepping motor (325), the other end of the parallel screw rod is rotatably arranged with a parallel rotating seat (309), an auxiliary moving seat (327) and the parallel screw rod (326) are in threaded transmission, an auxiliary transmission rod (328) is rotatably arranged on the auxiliary moving seat (327), an L plate (321), an auxiliary transmission rod (328) and a ninth electric cylinder (320) are rotatably arranged, a first transmission rod (322), a second transmission rod (323) and a third transmission rod (324) are rotatably arranged with the L plate (321), a parallel tail end (329) is rotatably arranged with the other ends of the first transmission rod (323), the second transmission rod (324) and the third transmission rod (325), a fixed disc (330) is rotatably arranged with a parallel tail end (329), a seventh stepping motor (331) is fixedly arranged on a fixed disc (330), a first gear (332) is fixedly arranged on the seventh stepping motor (331), a wrist seat (334) is rotatably arranged with the fixed disc (330), the second gear (333) is fixedly arranged on the wrist seat (334), the first gear (332) is meshed with the second gear (333), the lifting frame (342) and the outer wrist seat (337) are rotatably arranged through a rotating shaft, the third transmission belt (341) is wound on the rotating shaft and the outer side of the ninth stepping motor (340), one end of the lifting screw rod (344) is fixedly arranged on the tenth stepping motor (343), the other end of the lifting screw rod is rotatably arranged on the lifting frame (342), two ends of the lifting guide rail (345) are fixedly arranged on the lifting frame (342), and the cement tank (346) is fixedly arranged on the lifting frame (342);
the end portion (4) comprises: a lifting seat (401), a rotating end disc (402), an eleventh stepping motor (403), a rotating connection (404), three rows of rotating arms (405), a first bevel gear (406), a second bevel gear (407), a motor frame (408), a third bidirectional asynchronous motor (409), a third bevel gear (410), a fourth bevel gear (411), a claw seat (412), a transmission claw rod (413), a clamping jaw (414), a tenth electric cylinder (415), a telescopic claw seat (416), a buffer base (417), a damping spring (418), a crushing seat (419), an eleventh electric cylinder (420), a drill bit (421), a dust suction box (422), a dust suction cover (423), a twelfth stepping motor (424), a fourth transmission belt (425), a dust suction end (426), a dust suction pipe (427), a motor (428), a dust suction shaft (429), a fan (430), a thirteenth stepping motor (431) and a fifth transmission belt (432), the rotating connection (404) is rotatably arranged on the rotating tail end disc (402), a fifth transmission belt (432) is wound on the outer sides of a thirteenth stepping motor (431) and the rotating connection (404), three rows of rotating arms (405) and the rotating connection (404) are rotatably arranged through a rotating shaft, a first bevel gear (406) is fixedly arranged on the rotating shaft, a motor rack (408) is fixedly arranged on the three rows of rotating arms (405), a third bidirectional asynchronous motor (409) is fixedly arranged on the motor rack (408), a second bevel gear (407) and a third bevel gear (410) are fixedly arranged on the third bidirectional asynchronous motor (409), and the first bevel gear (406) is meshed with the second bevel gear (407); the claw seat (412) at the tail end of the clamping jaw is rotatably installed with the three rows of rotating arms (405) through a rotating shaft, the fourth bevel gear (411) is fixedly installed on the rotating shaft, the third bevel gear (410) is meshed with the fourth bevel gear (411), the transmission claw rod (413) is rotatably installed with the claw seat (412), the clamping jaw (414) is rotatably installed with the transmission claw rod (413) and the telescopic claw seat (416), the tenth electric cylinder (415) is fixedly installed on the claw seat (412), and the telescopic claw seat (416) is fixedly installed at the top of the tenth electric cylinder (415); a buffer base (417) at the breaking tail end and three rows of rotating arms (405) are rotatably arranged through a rotating shaft, a fourth bevel gear (411) is fixedly arranged on the rotating shaft, a third bevel gear (410) is meshed with the fourth bevel gear (411), and a drill bit (421) is fixedly arranged at the top of an eleventh electric cylinder (420); a dust suction box (422) at the dust suction end is rotatably installed with three rows of rotating arms (405) through a rotating shaft, a fourth bevel gear (411) is fixedly installed on the rotating shaft, a third bevel gear (410) is meshed with the fourth bevel gear (411), a dust suction cover (423) is fixedly installed on the dust suction box (422), one end of a dust suction pipe (427) is fixedly installed on the dust suction cover (423), the other end of the dust suction pipe is fixedly installed on a dust suction end (426), a motor (428) is fixedly installed on the dust suction end (426), a fan (430) is fixedly installed on the motor (428), and a dust suction rotating shaft (429) is rotatably installed on the dust suction end (426).
2. A full-automatic tile changing robot according to claim 1, wherein: the rotary chassis (103) is rotatably installed with the fixed base (104), the first stepping motor (105) is fixedly installed on the fixed base (104), the rotary chassis (103) is fixedly installed at the top of the first stepping motor (105), and the fixed base (104) is fixedly installed on the supporting frame (106).
3. A full-automatic tile changing robot according to claim 1, wherein: the supporting guide rail (107) is fixedly installed on the supporting frame (106), the first bidirectional asynchronous motor (108) is fixedly installed on the supporting frame (106), the walking screw rod (109) is fixedly installed on the first bidirectional asynchronous motor (108), two ends of the walking guide rail (114) are fixedly installed on the supporting guide rail (107), the walking frame (110) and the walking screw rod (109) are in threaded transmission, and the walking frame (110), the supporting guide rail (107) and the walking guide rail (114) are installed in a sliding mode.
4. A full-automatic tile changing robot according to claim 1, wherein: the fourth stepping motor (306) is fixedly arranged on the connecting arm (305), the parallel rotating seat (309) and the connecting arm (305) are rotatably arranged, and the first transmission belt (307) is wound on the outer sides of the parallel rotating seat (309) and the fourth stepping motor (306).
5. A full-automatic tile changing robot according to claim 1, wherein: the top of the second bidirectional asynchronous motor (335) is fixedly installed on the wrist seat (334), the rotating outer sleeve (336) is fixedly installed on the second bidirectional asynchronous motor (335), the outer wrist seat (337) and the rotating outer sleeve (336) are rotatably installed, the eighth stepping motor (338) is fixedly installed on the outer wrist seat (337), a second transmission belt (339) is wound on the outer sides of the rotating outer sleeve (336) and the eighth stepping motor (338), the ninth stepping motor (340) is fixedly installed on the lifting frame (342), and the tenth stepping motor (343) is fixedly installed on the lifting frame (342).
6. A full-automatic tile changing robot according to claim 1, wherein: the lifting seat (401) and the lifting screw rod (344) are in threaded transmission, the lifting seat (401) and the lifting guide rail (345) are installed in a sliding mode, the thirteenth stepping motor (431) is fixedly installed on the lifting seat (401), the rotating end disc (402) is fixedly installed on the thirteenth stepping motor (431), and the eleventh stepping motor (403) is fixedly installed on the rotating end disc (402).
7. A full-automatic tile changing robot according to claim 1, wherein: the twelfth stepping motor (424) is fixedly arranged in the dust collection box (422), the dust collection tail end (426) and the dust collection box (422) are rotatably arranged through a rotating shaft, and the fourth transmission belt (425) is wound on the outer sides of the twelfth stepping motor (424) and the rotating shaft.
8. A full-automatic tile changing robot according to claim 1, wherein: one end of the buffer spring (418) is fixedly arranged on the buffer base (417), the other end of the buffer spring is fixedly arranged on the crushing base (419), the crushing base (419) and the buffer base (417) are installed in a sliding mode, and the eleventh electric cylinder (420) is fixedly arranged on the crushing base (419).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911372622.6A CN111042565A (en) | 2019-12-27 | 2019-12-27 | Full-automatic ceramic tile replacing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911372622.6A CN111042565A (en) | 2019-12-27 | 2019-12-27 | Full-automatic ceramic tile replacing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111042565A true CN111042565A (en) | 2020-04-21 |
Family
ID=70239262
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911372622.6A Withdrawn CN111042565A (en) | 2019-12-27 | 2019-12-27 | Full-automatic ceramic tile replacing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111042565A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112360174A (en) * | 2020-10-31 | 2021-02-12 | 翁晓炜 | Building leakage repairing equipment |
| CN112412073A (en) * | 2020-10-19 | 2021-02-26 | 黄健辉 | Wall building robot |
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|---|---|---|---|---|
| WO2011047660A1 (en) * | 2009-10-20 | 2011-04-28 | Wsm Weber Schweissmaschinen Gmbh | Damped robot wrist joint for impulsive process forces |
| CN105729463A (en) * | 2016-01-31 | 2016-07-06 | 湖州中望机械设备科技有限公司 | Six-axis mechanical arm |
| CN109750853A (en) * | 2019-03-14 | 2019-05-14 | 张子林 | A kind of floor tile repair robot |
| CN110052429A (en) * | 2019-04-30 | 2019-07-26 | 王先勤 | A kind of outdoor electricity distribution cabinet cleaning system |
| CN110206338A (en) * | 2019-07-04 | 2019-09-06 | 泰州市津专知识产权服务有限公司 | A kind of wall brick replaces robot automatically |
-
2019
- 2019-12-27 CN CN201911372622.6A patent/CN111042565A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2011047660A1 (en) * | 2009-10-20 | 2011-04-28 | Wsm Weber Schweissmaschinen Gmbh | Damped robot wrist joint for impulsive process forces |
| CN105729463A (en) * | 2016-01-31 | 2016-07-06 | 湖州中望机械设备科技有限公司 | Six-axis mechanical arm |
| CN109750853A (en) * | 2019-03-14 | 2019-05-14 | 张子林 | A kind of floor tile repair robot |
| CN110052429A (en) * | 2019-04-30 | 2019-07-26 | 王先勤 | A kind of outdoor electricity distribution cabinet cleaning system |
| CN110206338A (en) * | 2019-07-04 | 2019-09-06 | 泰州市津专知识产权服务有限公司 | A kind of wall brick replaces robot automatically |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112412073A (en) * | 2020-10-19 | 2021-02-26 | 黄健辉 | Wall building robot |
| CN112412073B (en) * | 2020-10-19 | 2022-08-26 | 山东鼎安升机器人有限公司 | Wall building robot |
| CN112360174A (en) * | 2020-10-31 | 2021-02-12 | 翁晓炜 | Building leakage repairing equipment |
| CN112360174B (en) * | 2020-10-31 | 2022-10-18 | 翁晓炜 | Building leakage repairing equipment |
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Application publication date: 20200421 |
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