CN203285036U - Dough kneading mechanism and robot with dough kneading mechanism - Google Patents
Dough kneading mechanism and robot with dough kneading mechanism Download PDFInfo
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- CN203285036U CN203285036U CN201320324462XU CN201320324462U CN203285036U CN 203285036 U CN203285036 U CN 203285036U CN 201320324462X U CN201320324462X U CN 201320324462XU CN 201320324462 U CN201320324462 U CN 201320324462U CN 203285036 U CN203285036 U CN 203285036U
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Abstract
The utility model provides a dough kneading mechanism and a robot with the dough kneading mechanism. The robot comprises a machine body, a waist joint, a mechanical arm, a driving device and the dough kneading mechanism, wherein the waist joint is movably fixed on the machine body, the mechanical arm is movably fixed on the waist joint, and the driving device is used for driving the waist joint and the mechanical arm to work. The dough kneading mechanism comprises a base, a dough kneading head mechanism and an automatic stretchy mechanism, wherein the automatic stretchy mechanism is connected with the base and the dough kneading head mechanism. The dough kneading head mechanism comprises an installation base, a driving mechanism, a dough kneading plate and a connecting mechanism, wherein the installation base is fixed with the automatic stretchy mechanism, the driving mechanism is fixed on the installation base, and the connecting mechanism is fixedly connected with the driving mechanism and the dough kneading plate. Under the action of the automatic stretchy mechanism, the dough kneading head mechanism can move in the direction perpendicular to the dough kneading plate relative to the base.
Description
Technical field
The utility model relates to a kind of Machine for homogenising the subdivided dough structure, relates in particular to a kind of for mortar being carried out the floating Machine for homogenising the subdivided dough structure of stranding face and having the robot of this Machine for homogenising the subdivided dough structure.
Background technology
In the building construction process, general building construction inwall all can be with the cement semifinished product of about 20 millimeters of one deck.The work progress that adheres to of this cement semifinished product generally is divided into mud, floating and three steps of stranding face.Wherein upper complete mud and mud is floating after, when metope 6 seventy percent is done, metope need to be rubbed with the hands flatly, be about to fully not dried mud and smear evenly, and be compacted on metope, so that metope is solid and smooth.In prior art, the floating operation of stranding face is manually carried out in most employing, but this kind operation skill is difficult, grasps, and labor strength is large and efficiency of construction is low.
Therefore, be necessary that the robot that a kind of Machine for homogenising the subdivided dough structure is provided and has this Machine for homogenising the subdivided dough structure is to overcome the problems referred to above.
The utility model content
The purpose of this utility model is to provide a kind of robot that realizes automatic rubbing face and the higher Machine for homogenising the subdivided dough structure of construction quality and have this Machine for homogenising the subdivided dough structure.
For realizing above-mentioned utility model purpose, the utility model provides a kind of Machine for homogenising the subdivided dough structure, and it comprises pedestal, rubs the auto-telescopic mechanism of face head mechanism and connection pedestal and the face of stranding with the hands head mechanism with the hands; Described stranding face head mechanism comprises the mount pad that fixes with auto-telescopic mechanism, is fixed on the driving mechanism on mount pad, the bindiny mechanism of rubbing face with the hands and being fixedly connected with driving mechanism and rubbing face with the hands; Under the effect of auto-telescopic mechanism, described stranding face head mechanism can move relative to pedestal on vertical direction of rubbing face with the hands.
As further improvement of the utility model, described Machine for homogenising the subdivided dough structure comprises two groups of described auto-telescopic mechanisms, and two groups of described auto-telescopic mechanisms are symmetricly set on the both sides of mount pad.
As further improvement of the utility model, described auto-telescopic mechanism comprises that an end is fixed on back shaft on described mount pad, is fixed on the first flexible member of the back shaft other end and is enclosed within back shaft and the hollow shaft in the first flexible member outside, described back shaft is with hollow shaft all along the direction setting of vertical stranding face, and described pedestal is provided with the fixed part that fixes with hollow shaft.
As further improvement of the utility model, described mount pad comprise with rub with the hands fixed head that face be arranged in parallel and with the vertically disposed hold-down arm of fixed head, described back shaft one end is fixed on fixed head, be provided with the slide block that is enclosed within on described hollow shaft on described hold-down arm, described fixed position is between fixed head and slide block.
As further improvement of the utility model, described auto-telescopic mechanism is telescopic cylinder.
As further improvement of the utility model, described driving mechanism comprises motor and the reductor that arranges with electric drilling match.
As further improvement of the utility model, described bindiny mechanism comprises the first transfer panel of being fixed on the driving mechanism output, is fixed on the second transfer panel of rubbing the face rear side with the hands and connects the first transfer panel and the attitude compensation mechanism of the second transfer panel.
as further improvement of the utility model, described attitude compensation mechanism comprises the crossed joint structure and is evenly distributed on the second flexible member of crossed joint structure periphery, described crossed joint structure comprises a pair of the first spill spin block that is fixed on the first transfer panel and is oppositely arranged, be crosswise with the first spill spin block and be fixed on a pair of the second spill spin block on the second transfer panel, be arranged on the turntable between the first spill spin block and the second spill spin block, connect the first rotating shaft of the first spill spin block and turntable, and the second rotating shaft that connects the second spill spin block and turntable, described the second flexible member clamping is arranged between the first transfer panel and the second transfer panel.
As further improvement of the utility model, described attitude compensation mechanism comprises the gimbal structure that connects the first transfer panel and the second transfer panel and is evenly distributed on the second flexible member around gimbal structure, and described the second flexible member clamping is arranged between the first transfer panel and the second transfer panel.
For realizing above-mentioned utility model purpose, the utility model also provides a kind of robot, comprise fuselage, be movably fixed to the waist joint on fuselage, the drive unit that is movably fixed to the mechanical arm on waist joint and drives waist joint and mechanical arm work, described robot also comprises the described Machine for homogenising the subdivided dough structure that is fixed on mechanical arm.
The beneficial effects of the utility model are: in the utility model, the Machine for homogenising the subdivided dough structure can be realized the automatic rubbing face by the drive of driving mechanism, improves the wall construction quality, increases work efficiency.In addition, by between pedestal and the face of stranding with the hands head mechanism, auto-telescopic mechanism being set, make described stranding face head mechanism to move on vertical direction of rubbing face with the hands relative to pedestal, can compensate by auto-telescopic mechanism the offset deviation of pedestal thus, stranding face in the stranding face of the making head mechanism metope that reclines all the time, further guarantee the wall construction quality.
Description of drawings
Fig. 1 is the stereogram of the utility model Machine for homogenising the subdivided dough structure;
Fig. 2 is the phantom of pedestal, mount pad and the auto-telescopic mechanism of Machine for homogenising the subdivided dough structure in Fig. 1;
Fig. 3 is the syndeton of Machine for homogenising the subdivided dough structure in Fig. 1 and the stereogram of rubbing face with the hands;
Fig. 4 is the part stereogram of the bindiny mechanism in Fig. 3;
Fig. 5 is the stereogram that is provided with the robot of Machine for homogenising the subdivided dough structure in Fig. 1.
The specific embodiment
Below with reference to each embodiment shown in the drawings, the utility model is described in detail.But these embodiments do not limit the utility model, and the conversion on the structure that those of ordinary skill in the art makes according to these embodiments, method or function all is included in protection domain of the present utility model.
Please refer to Fig. 1 to the preferred embodiments that Figure 4 shows that the utility model Machine for homogenising the subdivided dough structure 100.In conjunction with shown in Figure 5, the utility model Machine for homogenising the subdivided dough structure 100 is applicable in a robot 800, with floating for the mortar on indoor wall being carried out the automatic rubbing face.Described robot 800 comprises fuselage 81, be fixed on the walking mechanism 80 of fuselage 81 belows, be movably fixed to waist joint 82 on fuselage 81, be movably fixed to mechanical arm 83 on waist joint 82, drive the drive unit (not shown) of waist joint 82 and mechanical arm 83 work, and is fixed on the described Machine for homogenising the subdivided dough structure 100 on mechanical arm 83.
With reference to Fig. 1 and shown in Figure 5, described Machine for homogenising the subdivided dough structure 100 comprises pedestal 1, rubs face head mechanism 2 with the hands and connects pedestal 1 and the auto-telescopic mechanism 3 of the face of stranding with the hands head mechanism 2.Described pedestal 1 comprises the support column 11 fixing with mechanical arm 83 and is fixed on U-shaped supporting seat 12 on support column 11.
Referring to figs. 1 through shown in Figure 4, described stranding face head mechanism 2 comprises the mount pad 21 that fixes with auto-telescopic mechanism 3, is fixed on the driving mechanism 22 on mount pad 21, the bindiny mechanism 24 of rubbing face 23 with the hands and being fixedly connected with driving mechanism 22 and rubbing face 23 with the hands.
Described stranding face 23 adopts the in-flanges structure, namely rubs face 23 with the hands and is provided with the flange 231 that tilts to extend towards pedestal 1 direction on every side, and this flange 231 can be guided the movement of rubbing face 23 with the hands, avoids simultaneously the mud on metope to be scraped.
Described mount pad 21 comprise with rub with the hands fixed head 211 that face 23 be arranged in parallel and with the vertically disposed hold-down arm 212 of fixed head 211.Described hold-down arm 212 is symmetricly set on the rear of fixed head 211 in pairs, and extends back.Be provided with the fixing hole 2110 in order to Locating driver mechanism 22 in the middle of described fixed head 211.
Described driving mechanism 22 comprise be fixed on two between hold-down arm 212 motor 221 and with the reductor 222 of motor 221 supporting settings.The output shaft of described reductor 222 stretches out to fixed head 211 opposite sides from described fixing hole 2110.
Described bindiny mechanism 24 comprises the first transfer panel 241 of being fixed on reductor 222 outputs, is fixed on the second transfer panel 242 of rubbing face 23 rear sides with the hands and connects the first transfer panel 241 and the attitude compensation mechanism 243 of the second transfer panel 242.In the present embodiment, be connected by an axle sleeve 246 between the output shaft of described reductor 222 and the first transfer panel 241.Described attitude compensation mechanism 243 compensates in order to offset deviation or the degree of plainness for wall surface to rubbing with the hands between face 23 and metope, makes stranding face 23 be close to all the time metope, avoids causing metope mud inhomogeneous because of the problems referred to above.Described attitude compensation mechanism 243 comprises crossed joint structure 244 and is evenly distributed on crossed joint structure 244 the second flexible member 245 on every side.Described the second flexible member 245 clampings are arranged between the first transfer panel 241 and the second transfer panel 242.Described the second flexible member 245 is spring, and the compensation mechanism of attitude described in present embodiment 243 includes equally distributed four springs, certainly also can be set to more than four.
Described crossed joint structure 244 comprises a pair of the first spill spin block 2441 of being fixed on the first transfer panel 241 and being oppositely arranged, with the first spill spin block 2441, be crosswise is fixed on a pair of the second spill spin block 2442 on the second transfer panel 242, is arranged on turntable 2443 between the first spill spin block 2441 and the second spill spin block 2442, is connected the first rotating shaft 2445 that the first spill spin block 2441 is connected with turntable and the second rotating shaft 2446 that connects the second spill spin block 2442 and turntable 2443.Described the second rotating shaft 2446 is two semiaxis.Certainly, the crossed joint structure in described attitude compensation mechanism 243 also can be replaced by gimbal structure (not shown), as long as can make stranding face 23 carry out the attitude adjustment.
With reference to Figure 1 and Figure 2, in the present embodiment, described Machine for homogenising the subdivided dough structure 100 comprises two groups of described auto-telescopic mechanisms 3, and two groups of described auto-telescopic mechanisms 3 are symmetricly set on the both sides of mount pad 21.Can guarantee thus to rub with the hands the moving stability of face head mechanism 2.
Each described auto-telescopic mechanism 3 comprises that an end is fixed on back shaft 31 on the fixed head 211 of described mount pad 21, is fixed on the first flexible member 32 of back shaft 31 other ends and is enclosed within back shaft 31 and the hollow shaft 33 in first flexible member 32 outsides.Described back shaft 31 is locked on described fixed head 211 by nut 4.Described hollow shaft 33 is provided with axle plug 331 and bearing pin 332 away from an end of described fixed head 211, so that the first flexible member 32 is clamped between the bearing pin 332 of back shaft 31 and hollow shaft 33 ends.In the present embodiment, described the first flexible member 32 is spring.Described back shaft 31 is with hollow shaft 33 all along the direction setting of vertical stranding face 23, and the U-shaped supporting seat 12 of described pedestal 1 is provided with the fixed part 121 that fixes with hollow shaft 33.Be provided with the slide block 213 that is enclosed within on described hollow shaft 33 on the hold-down arm 212 of described mount pad 21.Described slide block 213 can slide along hollow shaft 33 in hollow shaft 33 outsides.Described fixed part 121 is between fixed head 211 and slide block 213.
This shows, under the effect of auto-telescopic mechanism 3, under the telescopic action of the first flexible member 32, described back shaft 31 can move relative to hollow shaft 33 on the direction of vertical stranding face 23, and then make described stranding face head mechanism 2 to move on vertical direction of rubbing face 23 with the hands relative to pedestal 1, thus can be by the offset deviation of auto-telescopic mechanism 3 compensation pedestals 1, make stranding face 23 in stranding face head mechanism 2 metope that reclines all the time.
The as above main flexible telescopic moving that realizes between pedestal 1 and the face of stranding with the hands head mechanism 2 by the first flexible member 32 of the auto-telescopic mechanism in present embodiment 3; Certainly, described auto-telescopic mechanism 3 also, for being connected to the telescopic cylinder between pedestal 1 and the face of stranding with the hands head mechanism 2, equally also can reach the purpose of this utility model.
In sum, in the utility model, Machine for homogenising the subdivided dough structure 100 can be realized the automatic rubbing face by the drive of driving mechanism 22, can improve the metope quality, increases work efficiency.In addition, by between pedestal 1 and the face of stranding with the hands head mechanism 2, auto-telescopic mechanism 3 being set, make described stranding face head mechanism 2 to move on vertical direction of rubbing face 23 with the hands relative to pedestal 1, thus can be by the offset deviation of auto-telescopic mechanism 3 compensation pedestals 1, stranding face 23 in the stranding face of making head mechanism 2 metope that reclines all the time, further guarantee the wall construction quality.
Be to be understood that, although this manual is described according to embodiment, but not each embodiment only comprises an independently technical scheme, this narrating mode of manual is only for clarity sake, those skilled in the art should make manual as a whole, technical scheme in each embodiment also can, through appropriate combination, form other embodiments that it will be appreciated by those skilled in the art that.
Above listed a series of detailed description is only illustrating for feasibility embodiment of the present utility model; they are not in order to limit protection domain of the present utility model, all disengaging within equivalent embodiment that the utility model skill spirit does or change all should be included in protection domain of the present utility model.
Claims (10)
1. Machine for homogenising the subdivided dough structure is characterized in that: described Machine for homogenising the subdivided dough structure comprises pedestal, rubs face head mechanism with the hands and connects pedestal and the auto-telescopic mechanism of the face of stranding with the hands head mechanism; Described stranding face head mechanism comprises the mount pad that fixes with auto-telescopic mechanism, is fixed on the driving mechanism on mount pad, the bindiny mechanism of rubbing face with the hands and being fixedly connected with driving mechanism and rubbing face with the hands; Under the effect of auto-telescopic mechanism, described stranding face head mechanism can move relative to pedestal on vertical direction of rubbing face with the hands.
2. Machine for homogenising the subdivided dough structure according to claim 1, it is characterized in that: described Machine for homogenising the subdivided dough structure comprises two groups of described auto-telescopic mechanisms, and two groups of described auto-telescopic mechanisms are symmetricly set on the both sides of mount pad.
3. Machine for homogenising the subdivided dough structure according to claim 1, it is characterized in that: described auto-telescopic mechanism comprises that an end is fixed on back shaft on described mount pad, is fixed on the first flexible member of the back shaft other end and is enclosed within back shaft and the hollow shaft in the first flexible member outside, described back shaft is with hollow shaft all along the direction setting of vertical stranding face, and described pedestal is provided with the fixed part that fixes with hollow shaft.
4. Machine for homogenising the subdivided dough structure according to claim 3, it is characterized in that: described mount pad comprise with rub with the hands fixed head that face be arranged in parallel and with the vertically disposed hold-down arm of fixed head, described back shaft one end is fixed on fixed head, be provided with the slide block that is enclosed within on described hollow shaft on described hold-down arm, described fixed position is between fixed head and slide block.
5. Machine for homogenising the subdivided dough structure according to claim 1, it is characterized in that: described auto-telescopic mechanism is telescopic cylinder.
6. Machine for homogenising the subdivided dough structure according to claim 1 is characterized in that: described driving mechanism comprises motor and the reductor that arranges with electric drilling match.
7. Machine for homogenising the subdivided dough structure according to claim 1 is characterized in that: described bindiny mechanism comprises the first transfer panel of being fixed on the driving mechanism output, is fixed on the second transfer panel of rubbing the face rear side with the hands and connects the first transfer panel and the attitude compensation mechanism of the second transfer panel.
8. Machine for homogenising the subdivided dough structure according to claim 7, it is characterized in that: described attitude compensation mechanism comprises the crossed joint structure and is evenly distributed on the second flexible member of crossed joint structure periphery, described crossed joint structure comprises a pair of the first spill spin block that is fixed on the first transfer panel and is oppositely arranged, be crosswise with the first spill spin block and be fixed on a pair of the second spill spin block on the second transfer panel, be arranged on the turntable between the first spill spin block and the second spill spin block, connect the first rotating shaft of the first spill spin block and turntable, and the second rotating shaft that connects the second spill spin block and turntable, described the second flexible member clamping is arranged between the first transfer panel and the second transfer panel.
9. Machine for homogenising the subdivided dough structure according to claim 7, it is characterized in that: described attitude compensation mechanism comprises the gimbal structure that connects the first transfer panel and the second transfer panel and is evenly distributed on the second flexible member around gimbal structure, and described the second flexible member clamping is arranged between the first transfer panel and the second transfer panel.
10. robot, the drive unit that comprises fuselage, is movably fixed to waist joint on fuselage, is movably fixed to the mechanical arm on waist joint and drives waist joint and mechanical arm work is characterized in that: described robot also comprise be fixed on mechanical arm as the described Machine for homogenising the subdivided dough structure of any one in claim 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320324462XU CN203285036U (en) | 2013-06-06 | 2013-06-06 | Dough kneading mechanism and robot with dough kneading mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320324462XU CN203285036U (en) | 2013-06-06 | 2013-06-06 | Dough kneading mechanism and robot with dough kneading mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203285036U true CN203285036U (en) | 2013-11-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320324462XU Withdrawn - After Issue CN203285036U (en) | 2013-06-06 | 2013-06-06 | Dough kneading mechanism and robot with dough kneading mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203285036U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103276881A (en) * | 2013-06-06 | 2013-09-04 | 昆山华恒工程技术中心有限公司 | Surface smoothing mechanism and robot with same |
-
2013
- 2013-06-06 CN CN201320324462XU patent/CN203285036U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103276881A (en) * | 2013-06-06 | 2013-09-04 | 昆山华恒工程技术中心有限公司 | Surface smoothing mechanism and robot with same |
| CN103276881B (en) * | 2013-06-06 | 2015-08-05 | 昆山华恒工程技术中心有限公司 | Machine for homogenising the subdivided dough structure and there is the robot of this Machine for homogenising the subdivided dough structure |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20131113 Effective date of abandoning: 20150805 |
|
| RGAV | Abandon patent right to avoid regrant |