CN116464244A - Wall plastering robot with gravity compensation device - Google Patents
Wall plastering robot with gravity compensation device Download PDFInfo
- Publication number
- CN116464244A CN116464244A CN202310432247.XA CN202310432247A CN116464244A CN 116464244 A CN116464244 A CN 116464244A CN 202310432247 A CN202310432247 A CN 202310432247A CN 116464244 A CN116464244 A CN 116464244A
- Authority
- CN
- China
- Prior art keywords
- rod
- gravity compensation
- fixedly installed
- locking
- mortar stirring
- 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.)
- Pending
Links
- 230000005484 gravity Effects 0.000 title claims abstract description 76
- 230000007246 mechanism Effects 0.000 claims abstract description 74
- 239000004570 mortar (masonry) Substances 0.000 claims abstract description 68
- 238000003756 stirring Methods 0.000 claims abstract description 67
- 238000005507 spraying Methods 0.000 claims abstract description 36
- 239000007921 spray Substances 0.000 claims description 6
- 238000007790 scraping Methods 0.000 claims description 4
- 230000000903 blocking effect Effects 0.000 claims description 2
- 238000005096 rolling process Methods 0.000 claims 2
- 230000000694 effects Effects 0.000 abstract description 8
- 238000000034 method Methods 0.000 description 16
- 230000008569 process Effects 0.000 description 16
- 230000008859 change Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000003973 paint Substances 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 238000002674 endoscopic surgery Methods 0.000 description 2
- 238000010422 painting Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000009916 joint effect Effects 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/06—Implements for applying plaster, insulating material, or the like
- E04F21/08—Mechanical implements
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
Abstract
The invention provides a wall plastering robot with a gravity compensation device, and belongs to the technical field of robots. The gravity lifting plastering robot comprises a movable chassis, wherein a fixed seat and a mortar stirring trailer for hanging are arranged on the movable chassis; the gravity compensation lifting mechanism is vertically arranged on one side of the fixed seat; the bottom of the double-arm collaborative spraying trowelling mechanism is fixedly arranged on the gravity compensation lifting mechanism and is used for spraying and trowelling the wall surface; the automatic centering mechanism is arranged between the movable chassis and the mortar stirring trailer, one end of the automatic centering mechanism is provided with a locking mechanism, one side of the locking mechanism is connected with the stirring trailer, and the locking mechanism is used for connecting the movable chassis and the mortar stirring trailer with each other. The invention has the advantages of high wall surface spraying precision, good trowelling effect and high flatness by compensating the gravity generated by the double-arm cooperative spraying trowelling mechanism through the gravity compensation lifting mechanism.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a wall plastering robot with a gravity compensation device.
Background
A Robot (Robot) is a machine device that automatically performs work. It can accept human command, run pre-programmed program and act according to the principle set by artificial intelligence technology.
Its task is to assist or replace human work, such as in the industry, construction, or dangerous work. In the technical field of building, painting is a processing technology for coating paint on a wall surface, so that the paint is firmly attached to the wall surface to form a smooth and flat surface, and plastering the wall surface by using a robot is an important means for painting the paint.
The general wall plastering robot structure is mostly a single-degree-of-freedom plastering lifting mechanism, and the end effector is driven by the screw sliding table to realize a plastering function, so that the wall plastering robot structure has the defects of small degree of freedom, poor universality, large influence by self weight of mortar and large control difficulty. In order to adapt to more construction site plastering wall surfaces, a plurality of multi-axis mechanical arm plastering devices are gradually appeared on the market, and a full-automatic intelligent plastering robot with the bulletin number of CN201811260664.6 is adopted. The structure is based on a multi-axis mechanical arm, and the multi-degree-of-freedom plastering lifting mechanism is manufactured. In order to reduce the influence of gravity on the mechanical arm, some gravity compensation lifting robots are gradually appeared on the market, and an endoscopic surgery robot with a gravity compensation device is disclosed as CN 202211416900.5. Based on the gravity compensation lifting device, the endoscopic surgery robot with the gravity compensation lifting device is manufactured. The structure has good performance compared with a single-degree-of-freedom plastering lifting mechanism, and solves the problem that the movement precision of the mechanical arm is reduced due to the influence of gravity when the mechanical arm is in different postures.
However, the existing gravity compensation lifting robot has only lifting freedom degree in the vertical direction, has low adaptability to different walls, so that the plastering mechanical arm is easily affected by multi-azimuth gravity, the spraying precision is low, the plastering effect is poor, the flatness is low, most of the wall plastering robots with multiple degrees of freedom in the market are single mechanical arm plastering devices, only a single function of plastering or spraying can be realized, a double-arm cooperative technology is not applied, and the working efficiency is low.
Disclosure of Invention
In order to solve the technical problems, the invention provides a wall plastering robot with a gravity compensation device.
The technical scheme of the invention is realized as follows:
a wall plastering robot with a gravity compensation device, comprising:
the mortar stirring trailer comprises a movable chassis, wherein a fixed seat and a mortar stirring trailer for hanging are arranged on the movable chassis;
the gravity compensation lifting mechanism is vertically arranged on one side of the fixed seat;
the bottom of the double-arm collaborative spraying trowelling mechanism is fixedly arranged on the gravity compensation lifting mechanism and is used for spraying and trowelling the wall surface;
the automatic centering mechanism is arranged between the movable chassis and the mortar stirring trailer, one end of the automatic centering mechanism is provided with a locking mechanism, one side of the locking mechanism is connected with the stirring trailer, and the locking mechanism is used for connecting the movable chassis and the mortar stirring trailer with each other.
Further, automatic centering mechanism includes the cylinder and is used for pulling the telescopic link of mortar stirring trailer, and the telescopic link includes interior pole and outer pole, cylinder fixed mounting is on one side on moving the chassis, interior pole and cylinder one end fixed connection, outer pole suit is in the interior pole outside, and through locking piece interconnect, the locating part has been cup jointed in the outer pole outside, outer pole one end fixed mounting has the fixed block, locking mechanism passes through fixed block and outer pole interconnect, interior pole outside fixed mounting has the carriage, carriage one side below mid-mounting has the connecting rod that is used for pulling the receiver.
Further, the gravity compensation elevating system includes the backup pad, backup pad fixed mounting is on the fixing base, fixed mounting has the connecting seat in the backup pad, be provided with motor one on the connecting seat, motor one output rotates and is connected with swing arm one, swing arm one side fixed mounting has the bracing piece, the bracing piece outside is provided with extension spring, the bracing piece bottom is rotated through connecting block and connecting seat one side and is connected, middle part fixed mounting has motor two on the connecting seat, motor two output rotates and is connected with swing arm two, swing arm one and swing arm two top fixed mounting have place the platform, place platform below middle part fixed mounting has gravity sensor, swing arm two bottom swing joint has swing arm three, swing arm three bottom one side is provided with motor three, motor three fixed mounting is in one side in the backup pad, gravity sensor respectively with motor one, motor two, motor three signal connection.
Further, the double-arm collaborative spraying trowelling mechanism comprises a placing seat, the placing seat is fixedly arranged on a placing platform, a first mechanical arm and a second mechanical arm are fixedly arranged on two sides of the placing seat respectively, 135-degree arrangement is formed between the first mechanical arm and the second mechanical arm, a scraping plate is fixedly arranged at the top end of the first mechanical arm, and a spray gun is fixedly arranged at the top end of the second mechanical arm.
Further, the locking mechanism comprises a fish-eye bearing which is arranged on the fixed block, rotates at 0-20 degrees and is fastened and connected through a fixing bolt, and a locking buckle is fixedly arranged at one end of the fish-eye bearing opposite to the fixed block and is used for being connected with a mortar stirring trailer.
Further, the locating part includes the stopper, the through-hole has been seted up at the stopper middle part, the stopper cup joints in the outer pole outside through the through-hole, stopper both sides below is equal fixed mounting has the dead lever, two equal fixed mounting in the dead lever outside has the support column, two equal fixed mounting in the removal chassis top of support column end, equal fixed mounting in stopper both sides middle part has the deflector, two the deflector sets up to "eight" word form, two all set up logical groove on the deflector.
Further, the adapting piece comprises a bottom plate, the bottom plate is placed at the bottom of the roller on the mortar stirring trailer, a guide plate is fixedly installed on one side of the bottom plate, the guide plate is arranged at 25 degrees, a placing groove is formed in the bottom plate, a rotary table is rotatably arranged on the inner side of the placing groove, the upper surface of the rotary table is attached to the bottom of the roller on the mortar stirring trailer, and two groups of universal wheels are fixedly installed below two sides of the bottom plate.
Further, the locking piece includes two locking posts, the guide hole has all been seted up on outer pole and the interior pole, two the locking post is pegged graft respectively in the guide hole inboard for lock interior pole and outer pole, two equal fixed mounting in locking post one side has the connecting plate, two the locking post outside all is provided with reset spring, reset spring both ends respectively fixed mounting is on connecting plate and outer pole, two equal fixed mounting in locking post one end has the slide bar, two the slide bar is all sliding to be set up in logical inslot side, two with locking post relative one end fixed mounting has the baffle on the slide bar, two rotate on baffle one side and be provided with two balls, ball surface and deflector surface laminating mutually.
Further, the outside fixed mounting of the relative one end with the fixed block has the stop collar on the outer pole, the outside diameter of stop collar is greater than the through-hole diameter that sets up on the stopper for play the barrier effect to the stopper, the through-hole diameter that sets up on the stopper is greater than outer pole diameter, outer pole outer wall and through-hole inner wall looks adaptation.
Further, a guide rod is fixedly arranged at the bottom of one side of the mortar stirring trailer, a stop block is fixedly arranged at the bottom of one side of the movable chassis, the guide rod and the stop block are positioned on the same plane, and one side vertical surface of the guide rod and one side vertical surface of the stop block are oppositely arranged.
The invention has the following beneficial effects:
1. the gravity lifting plastering robot can compensate the gravity generated by the double-arm collaborative spraying plastering mechanism through the gravity compensation lifting mechanism, the motor I, the motor II and the motor III rotate, and the torque provided by the swing arm I, the swing arm II and the swing arm III in the common motion process is driven to compensate the gravity generated by gravity center change, so that the double-arm collaborative spraying plastering mechanism is not influenced by the dead weight, the mortar weight and the tail end executor weight in the use process, and has high wall spraying precision, good plastering effect and high flatness.
2. According to the gravity lifting plastering robot, the automatic centering mechanism pulls the mortar stirring trailer, in the dragging process, the mortar stirring trailer is continuously centered in the moving process, and then the fisheye bearing above the mortar stirring trailer swings in angle, so that the mortar stirring trailer and the moving chassis can be aligned, the mortar stirring trailer and the moving chassis are positioned on the same central line, the influence of stretching torsion force when the stirring trailer moves is avoided, the condition that the whole position of the moving chassis is deviated is caused, and the distance between the upper double-arm collaborative spraying plastering mechanism and the wall body is greatly changed, so that the spraying plastering effect on the wall surface is influenced.
3. According to the gravity lifting plastering robot, the mechanical arm I and the mechanical arm II are used as tools for driving the spray gun scraping plate to move, so that higher freedom degree can be realized, and better wall adaptability is achieved, and accordingly the robot is flexible and changeable according to changes of working environments and wall changes, and the overall working efficiency is improved.
Drawings
FIG. 1 is an overall schematic of a gravity lift plastering robot according to the invention;
FIG. 2 is a schematic view of a gravity compensation lifting mechanism of the gravity lifting plastering robot of the invention;
FIG. 3 is a schematic view of a dual-arm cooperative spraying trowelling mechanism of the gravity lifting trowelling robot of the present invention;
FIG. 4 is a schematic diagram of a locking buckle installation structure of the gravity lifting plastering robot;
FIG. 5 is a schematic view of an automatic centering mechanism of the gravity lifting plastering robot of the invention;
FIG. 6 is a schematic view of a socket of the gravity lift plastering robot of the invention;
FIG. 7 is a schematic view of a guide plate mounting structure of the gravity lifting plastering robot of the invention;
FIG. 8 is a schematic view of a return spring mounting structure of the gravity lifting plastering robot of the present invention;
fig. 9 is a schematic view of the ball mounting of the gravity lifting plastering robot according to the invention.
Detailed Description
The following description of the technical solutions in the embodiments of the present invention will be clear and complete, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 to 9, the gravity lifting plastering robot provided by the invention mainly comprises a movable chassis 1, a double-arm cooperative spraying plastering mechanism 3, a gravity compensation lifting mechanism 4, an automatic centering mechanism 5 and a locking mechanism 6.
The gravity compensation lifting mechanism 4 is fixedly connected to the movable chassis 1 through the fixing seat 2, the gravity compensation lifting mechanism 4 and the fixing seat 2 are vertically arranged, and the double-arm collaborative spraying trowelling mechanism 3 is fixedly arranged on one side of the gravity compensation lifting mechanism 4 and horizontally arranged.
Specifically, the gravity compensation lifting mechanism 4 comprises a supporting plate, the supporting plate is fixedly installed on the fixing seat 2, a connecting seat 46 is fixedly installed on the supporting plate, a first motor 48 is arranged on the connecting seat 46, and an output end of the first motor 48 is rotationally connected with a first swinging arm 410.
Through the first motor 48, when the center of gravity of the upper smearing equipment is shifted, the first motor 48 rotates to drive the first swing arm 410 to swing, and the freedom degree of the first swing arm 410 in the front-back direction is controlled.
A supporting rod 49 is fixedly arranged on one side of the first swing arm 410, an extension spring 47 is arranged on the outer side of the supporting rod 49, the bottom of the supporting rod 49 is rotationally connected with one side of the connecting seat 46 through a connecting block, a second motor 43 is fixedly arranged on the middle part of the connecting seat 46, and the output end of the second motor 43 is rotationally connected with the second swing arm 42.
When the first motor 48 rotates, the second motor 43 simultaneously rotates to drive the first swing arm 42 to swing, which controls the degree of freedom of the second swing arm 42 in the left-right direction.
The top of the swing arm I410 and the swing arm II 42 are fixedly provided with a placing platform 41, the middle part below the placing platform 41 is fixedly provided with a gravity sensor, the bottom of the swing arm II 42 is movably connected with a swing arm III 44, one side of the bottom of the swing arm III 44 is provided with a motor III 45, and the motor III 45 is fixedly arranged on one side of the supporting plate.
At this time, the third motor 45 rotates synchronously to drive the third upper swing arm 44 to swing, so as to control the degree of freedom of the third swing arm 44 in the front-rear direction.
Further, the gravity sensor is respectively connected with a first motor 48, a second motor 43 and a third motor 45 in a signal manner.
The lifting angle of the gravity compensation lifting mechanism 4 is controlled through the first motor 48, the second motor 43 and the third motor 45, so that the spatial position of the placing platform 41 is controlled to control the position of the double-arm collaborative spraying trowelling mechanism 3 in space.
When a weight is placed on the placement platform 41, the gravity sensor inverts gravity feedback signals, the first motor 48, the second motor 43 and the third motor 45 respectively receive the signals and provide reaction force for the movement trend of the connecting rod, meanwhile, the extension spring 47 and the connecting block move along the axis direction of the connecting shaft, so that the extension spring 47 deforms, the forces of the XYZ axes in the three directions can respectively provide reaction force to control gravity compensation through the corresponding first swing arm 410, the second swing arm 42 and the third swing arm 44, the compensation moment required by the gravity compensation lifting device is obtained based on the real-time pose change of the force feedback signal computing mechanism, and the gravity compensation of the mechanism is realized by changing the rotation angle of the first motor 48 and controlling the extension length of the spring.
When the gravity lifting plastering robot is used for spraying and plastering a wall surface, the gravity compensation lifting mechanism 4 is arranged to continuously change the position of the gravity center of the wall surface in real time due to the fact that the gravity center is affected by gravity in the spraying and plastering process of the wall surface by the double-arm collaborative spraying and plastering mechanism 3, so that gravity compensation of the double-arm collaborative spraying and plastering mechanism 3 is realized, the double-arm collaborative spraying and plastering robot is not affected by dead weight, mortar weight and end effector weight in the plastering process, and the spraying precision is high, the plastering effect is good, and the flatness is high.
The automatic centering mechanism 5 and the locking mechanism 6 are arranged between the movable chassis 1 and the mortar stirring trailer 7, the locking mechanism 6 is arranged at one end of the automatic centering mechanism 5, the locking mechanism 6 is used for hanging the mortar stirring trailer 7 and the movable chassis 1, and the arranged automatic centering mechanism 5 is used for realizing automatic centering on the mortar stirring trailer 7 and the movable chassis 1, so that the mortar stirring trailer 7 and the movable chassis 1 are prevented from being different in central positions, the upper movable chassis 1 is influenced by the stretching torsion force of the mortar stirring trailer 7 when being moved, the integral position deviation of the movable chassis 1 is caused, the distance between the upper double-arm collaborative spraying trowelling mechanism 3 and a wall body is changed greatly, and the spraying plastering effect on the wall surface is influenced.
Specifically, the automatic centering mechanism 5 includes an air cylinder 51 and a telescopic rod for pulling the mortar stirring trailer 7, the telescopic rod includes an inner rod 54 and an outer rod 57, the air cylinder 51 is fixedly installed on one side of the mobile chassis 1, the inner rod 54 and one end of the air cylinder 51 are fixedly connected, and the outer rod 57 is sleeved on the outer side of the inner rod 54 and is connected with each other through a locking piece 58.
At this time, the outer rod 57 is sleeved on the outer side of the inner rod 54, and the outer rod 57 and the inner rod 54 are connected with each other through the locking piece 58, in the use process, the air cylinder 51 works to pull the inner rod 54 to stretch and retract, so that the outer rod 57 can be driven to move.
The locating part 56 has been cup jointed in the outer pole 57 outside for inject outer pole 57 distance, outer pole 57 one end fixed mounting has fixed block 52, and locking mechanism 6 passes through fixed block 52 and outer pole 57 interconnect, and the support frame 55 is fixedly mounted in the inner pole 54 outside, and support frame 55 one side below mid-mounting has the connecting rod that is used for pulling receiver 53.
When the outer rod 57 moves, the limiting piece 56 positioned on the outer side is used for limiting the moving distance of the outer rod 57, and when the mortar stirring trailer is used, the outer rod 57 pulls the distance and simultaneously swings at an angle to realize the centering distance between the outer rod 57 and the moving chassis 1, so that the centering between the mortar stirring trailer 7 and the moving chassis 1 can be realized rapidly in the using process.
The locking mechanism 6 comprises a fisheye bearing 62, the fisheye bearing 62 is arranged on the fixed block 52, rotates at 0-20 degrees and is fastened and connected through a fixed bolt 61, and a locking buckle 63 is fixedly arranged at one end of the fisheye bearing 62 opposite to the fixed block 52 and is used for being connected with the mortar stirring trailer 7.
The mortar stirring trailer 7 is hung on the movable chassis 1, so that a worker can conveniently transport materials, after the mortar stirring trailer 7 is moved to the bearing piece 53 in the hanging process, the automatic centering mechanism 5 and the mortar stirring trailer 7 are fixed through the locking buckle 63, and in the fixing process, the fisheye bearing 62 can swing 0-20 DEG on the fixed block 52 according to actual needs, so that the mortar stirring trailer 7 is conveniently fixed, and meanwhile, the mortar stirring trailer 7 is simple and convenient to install and firm in fixing.
Wherein, the receiver 53 includes the bottom plate 531, the gyro wheel bottom on mortar stirring trailer 7 is placed to the bottom plate 531, bottom plate 531 one side fixed mounting has the baffle 533, the baffle 533 is 25 setting for play the guide effect to top mortar stirring trailer 7, and baffle 533 angle setting is 25, when mortar stirring trailer 7 removes, make things convenient for it to remove the top of receiver 53, the standing groove has been seted up on the bottom plate 531, the inboard rotation of standing groove is provided with carousel 532, the gyro wheel bottom on carousel 532 upper surface and the mortar stirring trailer 7 is laminated mutually, equal fixed mounting in bottom plate 531 both sides below has two sets of universal wheels 534.
In use, the mortar stirring trailer 7 moves upwards to the upper part of the turntable 532 through the guide plate 533, and when the mortar stirring trailer 7 moves and centers through the bearing 53, the cylinder 51 pulls the inner rod 54 and the outer rod 57, so that the mortar stirring trailer 7 and the lower bearing 53 can be pulled through the support frame 55 and the connecting rod, and the mortar stirring trailer 7 is continuously centered in the moving process.
While moving, the rotation angle of the universal wheel 534 located below the bottom plate 531 is continuously adjusted. So that the positions of the mortar mixer trailer 7 and the lower receiver 53 can be changed.
And the bottom of one side of the mortar stirring trailer 7 is fixedly provided with a guide rod, the bottom of one side of the movable chassis 1 is fixedly provided with a stop block, the guide rod and the stop block are positioned on the same plane, and one side vertical surface of the guide rod and one side vertical surface of the stop block are oppositely arranged.
And after the cylinder 51 pulls the inner rod 54 and the outer rod 57 for a certain distance, the guide rod and the stop block positioned at one side are gradually close to and offset, when the guide rod and the stop block are offset, the cylinder 51 pulls the outer rod 57 again to move, so that the guide rod and the stop block are tightly abutted, and when being tightly abutted, the fisheye bearing 62 positioned above performs angle swinging, so that the mortar stirring trailer 7 performs angle rotation through the turntable 532 on the supporting piece 53, thereby being capable of righting the mortar stirring trailer 7 and avoiding the condition of angle inclination of the mortar stirring trailer 7 after the automatic centering is finished.
When the mortar stirring trailer 7 is centered and swung, the inner rod 54 on one side pulls the support frame 55 by the traction of the connecting rod, and moves the bottom receiving piece 53 by the same distance as the mortar stirring trailer 7.
Further, the locking member 58 includes two locking posts 581, the outer rod 57 and the inner rod 54 are respectively provided with a guide hole 8, and the two locking posts 581 are respectively inserted into the inner sides of the guide holes 8 and used for fixing the inner rod 54 and the outer rod 57, so that the inner rod 54 and the outer rod 57 are prevented from falling off when the inner rod 54 and the outer rod 57 are used for pulling the mortar stirring trailer 7.
Two locking post 581 one side all fixed mounting have the connecting plate 584, and two locking post 581 outsides all are provided with reset spring 582 for reset to locking post 581, reset spring 582 both ends fixed mounting respectively on connecting plate 584 and outer pole 57, reset spring 582 can be used for playing reset action to locking post 581, and two locking post 581 one end all fixed mounting have slide bar 586.
Guide plates 562 are fixedly installed in the middle of two sides of the limiting block 561, the two guide plates 562 are arranged in an eight shape, through grooves are formed in the two guide plates 562, two sliding rods 586 are slidably arranged on the inner sides of the through grooves, and a baffle 583 is fixedly installed at one end, opposite to the locking column 581, of each sliding rod 586.
When the outer rod 57 is pulled backwards, the locking piece 58 is driven to move, and the position of the limiting piece 56 outside the outer rod 57 is displaced to be unchanged, so that when the outer rod 57 moves, the sliding rod 586 located on the inner side of the through groove gradually moves, and due to the fact that the two guide plates 562 are arranged in an eight shape, the locking column 581 on one side can be driven to gradually move outwards through the sliding rod 586 through angle adjustment, and the locking column 581 is gradually separated from the guide holes 8 on the outer rod 57 and the inner rod 54 in the outward movement process.
After centering of the mortar stirring trailer 7 is completed, the locking post 581 is separated from the guide hole 8, so that the inner rod 54 and the outer rod 57 are separated, the inner rod 54 is pulled back continuously, so that the inner rod 54 and the outer rod 57 are separated from each other, then the inner rod 54 drives the supporting frame 55 and the connecting rod to move back, the bearing piece 53 is pulled out from the bottom of the mortar stirring trailer 7, and the mortar stirring trailer 7 and the bearing piece 53 are separated.
Two balls 585 are rotatably arranged on one side of the two baffles 583, the surfaces of the balls 585 are attached to the outer surfaces of the guide plates 562, and the balls 585 on two sides simultaneously rotate when the baffles 583 slide outwards on the guide plates 562, so that friction force generated in the moving process of the baffles 583 on the guide plates 562 is reduced.
Still further, the limiting member 56 includes a limiting member 561, a through hole 5611 is formed in the middle of the limiting member 561, the limiting member 561 is sleeved on the outer side of the outer rod 57 through the through hole 5611, the limiting member 561 can serve as a guide for the outer rod 57, meanwhile, a distance limiting function can be achieved, the diameter of the through hole 5611 formed in the limiting member 561 is larger than that of the outer rod 57, fixing rods 563 are fixedly mounted below two sides of the limiting member 561, supporting columns 564 are fixedly mounted outside the two fixing rods 563, and tail ends of the two supporting columns 564 are fixedly mounted above the movable chassis 1.
And in the use process, the outside of the end, opposite to the fixed block 52, of the outer rod 57 is fixedly provided with a limiting sleeve, and the outside diameter of the limiting sleeve is larger than the diameter of a through hole 5611 arranged on the limiting block 561 and is used for blocking the limiting block 561.
The distance that the cylinder 51 pulls the outer rod 57 is the same as the moving alignment distance of the mortar stirring trailer 7, so that when the centering alignment of the mortar stirring trailer 7 is completed, the stopper 561 abuts against one side of the fixed block 52, thereby assisting the inner rod 54 and the outer rod 57 to be separated from each other.
After the mortar used inside the mortar stirring trailer 7 is used or the wall surface is smoothed, the locking buckle 63 is opened, so that the mortar stirring trailer 7 is separated from the movable chassis 1, and when the mortar stirring trailer is used again, the supporting piece 53 needs to be reset.
When the inner rod 54 is reset, the cylinder 51 pushes the inner rod 54 to move forward, the inner rod 54 drives the outer supporting frame 55 and the connecting rod to push forward in the moving process, so that the outer rod 57 can be pushed to move forward simultaneously when the inner rod 54 is connected with the outer rod 57, the rear end of the outer rod 57 is gradually close to the limiting piece 56 when the outer rod 57 moves forward, the inner rod is affected by the two guide plates 562, the one-side locking column 581 can be driven to gradually move inwards through the sliding rod 586 through angle adjustment, the locking column 581 is gradually inserted into the inner side of the guide hole 8 on the outer rod 57 and the inner rod 54 in the moving process, and the locking column 581 completes the butt joint action with the guide hole 8 when the limiting sleeve 561 is attached to the rear end of the outer rod 57, so that the inner rod 54 and the outer rod 57 are locked.
The double-arm cooperative spraying trowelling mechanism 3 can rapidly spray and trowelle the wall surface through cooperation of spraying and trowelling.
Specifically, the two-arm collaborative spraying trowelling mechanism 3 comprises a placing seat 31, the placing seat 31 is fixedly arranged on a placing platform 41, a first mechanical arm 32 and a second mechanical arm 35 are fixedly arranged on two sides of the placing seat 31 respectively, the first mechanical arm 32 and the second mechanical arm 35 are six-axis mechanical arms, 135-degree arrangement is formed between the first mechanical arm 32 and the second mechanical arm 35, spraying and plastering steps can be completed better, a scraping plate 33 is fixedly arranged at the top end of the first mechanical arm 32, and a spray gun 34 is fixedly arranged at the top end of the second mechanical arm 35.
When the spraying gun is used, the spraying gun 34 sprays firstly through the displacement of the movable chassis 1, and after the spraying is finished, the movable chassis 1 moves in the same direction again to scrape the sprayed wall surface.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (10)
1. Wall plastering robot with gravity compensation device, characterized by comprising:
the mortar stirring device comprises a movable chassis (1), wherein a fixed seat (2) and a mortar stirring trailer (7) for hanging are arranged on the movable chassis (1);
the gravity compensation lifting mechanism (4) is vertically arranged on one side of the fixed seat (2);
the bottom of the double-arm collaborative spraying trowelling mechanism (3) is fixedly arranged on the gravity compensation lifting mechanism (4) and is used for spraying and trowelling the wall surface;
the automatic centering mechanism (5) is arranged between the movable chassis (1) and the mortar stirring trailer (7), a locking mechanism (6) is arranged at one end of the automatic centering mechanism (5), one side of the locking mechanism (6) is connected with the stirring trailer (7) mutually, and the locking mechanism (6) is used for connecting the movable chassis (1) and the mortar stirring trailer (7) mutually.
2. The wall plastering robot with the gravity compensation device according to claim 1, characterized in that the automatic centering mechanism (5) comprises an air cylinder (51) and a telescopic rod for pulling a mortar stirring trailer (7), the telescopic rod comprises an inner rod (54) and an outer rod (57), the air cylinder (51) is fixedly arranged on one side of the movable chassis (1), the inner rod (54) and one end of the air cylinder (51) are fixedly connected, the outer rod (57) is sleeved on the outer side of the inner rod (54) and connected with each other through a locking piece (58), a limiting piece (56) is sleeved on the outer side of the outer rod (57), a fixing block (52) is fixedly arranged at one end of the outer rod (57), a supporting frame (55) is fixedly arranged on the outer side of the inner rod (54), and a connecting rod for pulling a supporting piece (53) is arranged in the middle of one side of the supporting frame (55).
3. The wall plastering robot with the gravity compensation device according to claim 1, wherein the gravity compensation lifting mechanism (4) comprises a supporting plate, the supporting plate is fixedly installed on a fixed seat (2), a connecting seat (46) is fixedly installed on the supporting plate, a first motor (48) is arranged on the connecting seat (46), a first swinging arm (410) is rotatably connected to the output end of the first motor (48), a supporting rod (49) is fixedly installed on one side of the first swinging arm (410), a tension spring (47) is arranged on the outer side of the supporting rod (49), the bottom of the supporting rod (49) is rotatably connected with one side of the connecting seat (46) through a connecting block, a second motor (43) is fixedly installed on the upper middle part of the connecting seat (46), a second swinging arm (42) is rotatably connected to the output end of the second motor (43), a placing platform (41) is fixedly installed on the top of the second swinging arm (410) and the second swinging arm (42), a gravity sensor is fixedly installed on the middle part below the placing platform (41), a third motor (42) is movably connected to the bottom of the second swinging arm (42), a third motor (44) is rotatably connected to the third motor (44), and the third motor (44) is fixedly installed on one side of the bottom (45) And a motor III (45) is connected through a signal.
4. The wall plastering robot with the gravity compensation device according to claim 3, wherein the double-arm collaborative spraying trowelling mechanism (3) comprises a placing seat (31), the placing seat (31) is fixedly installed on a placing platform (41), a first mechanical arm (32) and a second mechanical arm (35) are fixedly installed on two sides of the placing seat (31) respectively, 135-degree arrangement is formed between the first mechanical arm (32) and the second mechanical arm (35), a scraping plate (33) is fixedly installed on the top end of the first mechanical arm (32), and a spray gun (34) is fixedly installed on the top end of the second mechanical arm (35).
5. A wall plastering robot with a gravity compensation device according to claim 2, characterized in that the locking mechanism (6) comprises a fish-eye bearing (62), wherein the fish-eye bearing (62) is arranged on the fixed block (52) and rotates by 0-20 degrees and is fixedly connected with the fixed block through a fixing bolt (61), and a locking buckle (63) is fixedly arranged at the end, opposite to the fixed block (52), of the fish-eye bearing (62) and is used for being connected with the mortar stirring trailer (7).
6. The wall plastering robot with the gravity compensation device according to claim 2, wherein the limiting piece (56) comprises limiting blocks (561), through holes (5611) are formed in the middle of the limiting blocks (561), the limiting blocks (561) are sleeved on the outer sides of the outer rods (57) through the through holes (5611), fixing rods (563) are fixedly installed below two sides of the limiting blocks (561), supporting columns (564) are fixedly installed on the outer sides of the fixing rods (563), tail ends of the supporting columns (564) are fixedly installed above the movable chassis (1), guide plates (562) are fixedly installed in the middle of two sides of the limiting blocks (561), and through grooves are formed in the guide plates (562).
7. The wall plastering robot with the gravity compensation device according to claim 2, wherein the supporting piece (53) comprises a bottom plate (531), the bottom plate (531) is placed at the bottom of the roller on the mortar stirring trailer (7), a guide plate (533) is fixedly installed on one side of the bottom plate (531), the guide plate (533) is arranged at 25 degrees, a placing groove is formed in the bottom plate (531), a rotary table (532) is rotatably arranged on the inner side of the placing groove, the upper surface of the rotary table (532) is attached to the bottom of the roller on the mortar stirring trailer (7), and two groups of universal wheels (534) are fixedly installed below two sides of the bottom plate (531).
8. The wall plastering robot with the gravity compensation device according to claim 6, wherein the locking piece (58) comprises two locking columns (581), guide holes (8) are formed in the outer rod (57) and the inner rod (54), the two locking columns (581) are inserted into the guide holes (8) respectively and used for locking the inner rod (54) and the outer rod (57), a connecting plate (584) is fixedly mounted on one side of the two locking columns (581), return springs (582) are respectively arranged on the outer sides of the two locking columns (581), two ends of the return springs (582) are respectively fixedly mounted on the connecting plate (584) and the outer rod (57), sliding rods (586) are fixedly mounted at one ends of the two locking columns (581), the two sliding rods (586) are respectively arranged on the inner sides of the through grooves in a sliding mode, a baffle (583) is fixedly mounted on the opposite end of the two sliding rods (586), and two rolling balls (583) are respectively arranged on one side of the two baffle plates (583) and are in a rolling mode.
9. The wall plastering robot with the gravity compensation device according to claim 6, wherein a limiting sleeve is fixedly arranged on the outer side of one end, opposite to the fixed block (52), of the outer rod (57), the outer side diameter of the limiting sleeve is larger than the diameter of a through hole (5611) formed in a limiting block (561) and is used for blocking the limiting block (561), the diameter of the through hole (5611) formed in the limiting block (561) is larger than the diameter of the outer rod (57), and the outer wall of the outer rod (57) is matched with the inner wall of the through hole (5611).
10. The wall plastering robot with the gravity compensation device according to claim 6, wherein a guide rod is fixedly arranged at the bottom of one side of the mortar stirring trailer (7), a stop block is fixedly arranged at the bottom of one side of the movable chassis (1), the guide rod and the stop block are positioned on the same plane, and one side elevation of the guide rod and one side elevation of the stop block are arranged oppositely.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310432247.XA CN116464244A (en) | 2023-04-20 | 2023-04-20 | Wall plastering robot with gravity compensation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310432247.XA CN116464244A (en) | 2023-04-20 | 2023-04-20 | Wall plastering robot with gravity compensation device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116464244A true CN116464244A (en) | 2023-07-21 |
Family
ID=87183914
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310432247.XA Pending CN116464244A (en) | 2023-04-20 | 2023-04-20 | Wall plastering robot with gravity compensation device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116464244A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117944774A (en) * | 2024-03-26 | 2024-04-30 | 吉林大学 | Mechanical tail device for assisting jumping robot to maintain motion stability |
-
2023
- 2023-04-20 CN CN202310432247.XA patent/CN116464244A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117944774A (en) * | 2024-03-26 | 2024-04-30 | 吉林大学 | Mechanical tail device for assisting jumping robot to maintain motion stability |
| CN117944774B (en) * | 2024-03-26 | 2024-05-28 | 吉林大学 | Mechanical tail device for assisting jumping robot to maintain motion stability |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP7108609B2 (en) | material transport boom | |
| US9610693B2 (en) | Robot for clamping onto upright frame members | |
| CN106996185B (en) | A kind of dedicated wall surface spraying plastering machine of indoor decoration processing | |
| CN116464244A (en) | Wall plastering robot with gravity compensation device | |
| CN208137467U (en) | A kind of masonry robot | |
| CN113478455B (en) | Outdoor environment disinfection robot based on two-degree-of-freedom balance holder | |
| CN111519880B (en) | Parallel floating robot and control method thereof | |
| CN113499903A (en) | Five-degree-of-freedom disinfection mechanical arm based on double-nozzle electric spray gun | |
| CN107035115B (en) | It is a kind of can accurate adjusting position indoor decoration process equipment | |
| CN111270839A (en) | Ground processing robot capable of flexibly turning | |
| CN113601485B (en) | Intelligent spraying robot for outer wall of high-rise building | |
| CN113083567B (en) | Series-parallel mechanism for spraying, spraying robot with same and spraying method | |
| CN203061351U (en) | Multiple-degree-of-freedom spray coating robot for anti-theft doors | |
| CN113020542A (en) | Investment casting shell-making manipulator | |
| JPH0747439Y2 (en) | Plate material transfer device | |
| CN215033413U (en) | Investment casting shell-making manipulator | |
| CN211366192U (en) | Equipment for carrying stone and manipulator thereof | |
| CN110919630B (en) | Hydraulic oil cylinder installation manipulator and installation method | |
| CN111502213A (en) | Adjusting device of ground troweling machine troweling plate and ground troweling machine comprising same | |
| JP3258173B2 (en) | Spraying equipment | |
| CN212836575U (en) | Ground processing robot capable of flexibly turning | |
| CN220865670U (en) | Heavy load AGV suitable for equipment assembly in narrow and small semi-enclosed space | |
| CN216180665U (en) | Parallel mounting robot based on redundant drive | |
| CN218465360U (en) | Multi-degree-of-freedom positioning hoisting platform | |
| CN219098514U (en) | Rectangular air pipe lifting device |
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 |