CN204343979U - The robot that building ceiling punches - Google Patents

The robot that building ceiling punches Download PDF

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Publication number
CN204343979U
CN204343979U CN201420733294.4U CN201420733294U CN204343979U CN 204343979 U CN204343979 U CN 204343979U CN 201420733294 U CN201420733294 U CN 201420733294U CN 204343979 U CN204343979 U CN 204343979U
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CN
China
Prior art keywords
module
tension
lift platform
programme
robot
Prior art date
Application number
CN201420733294.4U
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Chinese (zh)
Inventor
张斌
Original Assignee
张斌
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Priority to CN201420733294.4U priority Critical patent/CN204343979U/en
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Publication of CN204343979U publication Critical patent/CN204343979U/en

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Abstract

The utility model discloses a kind of robot punched on building ceiling, comprise programme-control moving trolley, and the ground differential walking left and right sidesing driving wheel mechanism be arranged on programme-control moving trolley and universal wheel steering mechanism, master control system, man-machine interaction display, alarm lamp; Be arranged on the lift platform mechanism on programme-control moving trolley table top; Be arranged on the perforating module on lift platform mechanism top, what perforating module was installed has: the vertical feed structure controlling the punching degree of depth, the platform of vertical feed structure is provided with and controls the pinpoint Y-axis translation mechanism of Y-axis; The platform of Y-axis translation mechanism is provided with the laser level laser beam receiving sensor of Churn drill fixed mount and Y direction; Perforating module is also provided with: the robot punched on building ceiling from ground to building ceiling do 4 tension detect resilient stud of tensional fixation, horizontal X axial laser level laser beam receiving sensor.

Description

The robot that building ceiling punches

Technical field

The utility model relates to a kind of fitting-out work mechanical robot, is specifically related to a kind of robot punched on building ceiling, belongs to intelligent building fitting-out work field of mechanical technique.

Background technology

Industrial Robot Technology is gradually improved, automation, the intelligentized production capacity of its height demonstrate its superiority further, all types of robots extensively uses in a large number at the industry-by-industry of society simultaneously, replaces the operation manually completing various height repetition, strong muscle power, high request.

In the installation exercise processes such as building finishing, wiring, erection air-conditioning duct, on building ceiling punching be one not only dirty but also tired and be the operation of operation aloft, the physical demands of operating personnel is large, dust pollution serious, inefficiency, have certain danger.Therefore, the robot in the urgent need to a kind of intellectuality, automation replaces manually completing this work.

The robot that building ceiling punches, as a kind of fitting-out work mechanical robot, can realize moving to assigned address arbitrarily in building plane by the programme-control moving trolley of self, lift platform simultaneously by being equipped with on programme-control moving trolley completes height perforating module being risen to operation planar, and 4 resilient stud tops of being equipped with by the perforating module be arranged on lift platform are on building ceiling, by robot for punching from ground to building ceiling by tensional fixation.After fixing, completed the operation of punching on building ceiling by the perforating module be arranged on lift platform.Whole punch operation process, runs by setup program and receives the positioning control of the laser beam of laser level, realizing the operation of automatically punching on building ceiling.

Summary of the invention

The purpose of this utility model is: provide a kind of robot punched on building ceiling, can replace manually completing the operation of punching on building ceiling continuously and automatically.

The utility model is achieved through the following technical solutions: a kind of robot punched on building ceiling, comprise: programme-control moving trolley, described programme-control moving trolley comprises vehicle main body, be arranged on the car left and right wheels servomotor in vehicle main body, car left and right wheels planetary reducer, car left and right sidesing driving wheel, car universal wheel, man-machine interaction display, alarm lamp, wireless communication antenna, alternating current 220V joint, master control system; Be arranged on the lift platform mechanism on programme-control moving trolley table top, described lift platform mechanism is arranged on programme-control moving trolley table top, lift platform mechanism comprises multilayer " X " type elevating mechanism, " X " type lifting arm fixation side connecting axle, " X " type lifting arm slip side connecting axle, lifting Linear motor-driven push rod mechanism, lifting Linear motor-driven push rod servomotor, lift platform lower platform, lift platform upper mounting plate; Be arranged on the perforating module on lift platform mechanism top, described perforating module is arranged on the lift platform of lift platform mechanism, and perforating module comprises perforating module base; Vertical feeding mechanism fixed mount, 4 vertical feed cylindrical linear rails, vertical feed Linear motor-driven push rod mechanism, vertical feed mobile platform, vertical feed Linear motor-driven push rod servomotor; Y-axis translated linear guide rail, Y-axis translated linear electric pushrod mechanism, Y-axis translation mobile platform, Y-axis translated linear electric pushrod servomotor; Churn drill fixed mount, Churn drill, drill hammer; 4 tension detect resilient stud; The laser level laser beam detection sensor of the horizontal Y-direction in both sides; The laser level laser beam detection sensor in horizontal X direction, both sides; Vertical MEMS gradient sensor.

The technique effect that the utility model realizes is:

At the construction field (site), the robot that building ceiling punches, by the man-machine interaction alarm display module of self master control system, wireless communication module and sensor detection module and laser beam receiving sensor, receive setup parameter and control instruction, the laser beam of detection laser level gauge, and move to appointment punch position according to setup parameter and laser level laser beam location.After specifying punch position, lift platform mechanism promotes, until perforating module is installed 4 tension detect resilient stud tops are on the ceiling of building, complete the robot punched on building ceiling from ground to building ceiling tensional fixation.Building ceiling after the robot punched is fixing, complete the operation of punching on building ceiling by the perforating module be arranged on lift platform.After hole has been beaten, lift platform mechanism drops to after 4 tension detect resilient stud that perforating module is installed leave building ceiling certain distance, orientation direction by setup parameter, program path and laser level laser beam is moved to next punch position by programme-control moving trolley, complete continuous drilling operation, thus substitute the automated job manually realizing punching on building ceiling.

Accompanying drawing explanation

The positive lateral view of the robot that Fig. 1 punches on building ceiling;

The robot punching state elevation that Fig. 2 punches on building ceiling;

Fig. 3 programme-control moving trolley lateral side view;

Fig. 4 programme-control moving trolley front view;

The positive lateral view of Fig. 5 lift platform mechanism;

Fig. 6 lift platform mechanism underneath side elevation view;

The positive lateral view of Fig. 7 perforating module;

Fig. 8 perforating module side elevation view;

Fig. 9 perforating module underneath side elevation view;

Figure 10 tension detect resilient stud off working state elevation;

Figure 11 tension detect resilient stud duty (during tensional fixation spring-compressed) elevation;

The robot master control system module schematic block diagram that Figure 12 punches on building ceiling.

Title during accompanying drawing illustrates, label, figure number correspondence table:

Title Label Figure number Tension detect resilient stud slide head 344 Figure 10 The laser level laser beam detection sensor of the horizontal Y-direction in both sides 350 Fig. 8, Figure 12 The laser level laser beam detection sensor in horizontal X direction, both sides 351 Fig. 8, Figure 12 Vertical MEMS angle of inclination (X, Y-direction) sensor 360 Fig. 9, Figure 12 Building ceiling 370 Fig. 2 Constructure ground 371 Fig. 2

Detailed description of the invention

In order to make the purpose of this utility model, technical scheme clearly understands, below in conjunction with embodiment, is described in further details the utility model.Should be appreciated that specific embodiment described herein only in order to explain the utility model, and be not used in restriction the utility model.

All features disclosed in this manual, or the step in disclosed all methods or process, except the speciality mutually repelled and/or step, all can combine by any way, unless specifically stated otherwise, all can be replaced by other equivalences or the alternative features with similar object, namely, unless specifically stated otherwise, an embodiment in a series of equivalence of each feature or similar characteristics.

Embodiment

As Figure 1-Figure 2, a kind of robot punched on building ceiling, comprises with lower part: programme-control moving trolley 100; Be arranged on the lift platform mechanism 200 on programme-control moving trolley 100 table top; Be arranged on the perforating module 300 in lift platform mechanism 200.

As Figure 3-Figure 4, described programme-control moving trolley 100 comprises: vehicle main body 101, be arranged on the car left and right wheels servomotor 102 in vehicle main body 101, car left and right wheels planetary reducer 103, car left and right sidesing driving wheel 104, car universal wheel 105, man-machine interaction display, alarm lamp 106, wireless communication antenna 107, alternating current 220V joint 108, master control system 110.

Described programme-control moving trolley 100 realizes straight line moving and left and right turn by the differential walking and car universal wheel 105 controlling car left and right sidesing driving wheel 104.

As shown in figure 12, described master control system 110 comprises: host computer module 111, programme-control moving trolley differential steering servo control module 112, lift platform servo control module 113, Churn drill punching feeding, Y-axis translation servo control module 114, battery module 115, power module 116, wireless communication module 117, sensor detection module 118, man-machine interaction alarm display module 119, Churn drill control module 120.

The host computer module 111 that described programme-control moving trolley 100 is comprised by master control system 110, wireless communication module 117, man-machine interaction alarm display module 119, finishing man-machine interaction programming and the setting parameter such as path, the punching degree of depth.

Described programme-control moving trolley 100 is by alternating current 220V joint 108, and the battery module 115 that master control system 110 comprises, power module 116 realizes the charging to battery module 115, simultaneously can AC/DC function.

As shown in Fig. 5-Fig. 6, described lift platform mechanism 200 comprises: multilayer " X " type elevating mechanism 201, " X " type lifting arm fixation side connecting axle 202, " X " type lifting arm slip side connecting axle 203, lifting Linear motor-driven push rod mechanism 204, lifting Linear motor-driven push rod servomotor 205, lift platform lower platform 206, lift platform upper mounting plate 207.

Described lift platform mechanism 200 drives lifting Linear motor-driven push rod mechanism 204 to produce the lifting that expanding-contracting action completes lift platform mechanism 200 by the rotating controlling lifting Linear motor-driven push rod servomotor 205.

As shown in Fig. 7-Figure 11, described perforating module 300 comprises: perforating module base 301; Vertical feeding mechanism fixed mount 310,4 vertical feed cylindrical linear rails 311, vertical feed Linear motor-driven push rod mechanism 312, vertical feed mobile platform 313, vertical feed Linear motor-driven push rod servomotor 314; Y-axis translated linear guide rail 320, Y-axis translated linear electric pushrod mechanism 321, Y-axis translation mobile platform 322, Y-axis translated linear electric pushrod servomotor 323; Churn drill fixed mount 330, Churn drill 331, drill hammer 332; 4 tension detect resilient stud 340; The laser level laser beam detection sensor 350 of the horizontal Y-direction in both sides; The laser level laser beam detection sensor 351 in horizontal X direction, both sides; Vertical MEMS angle of inclination (X, Y-direction) sensor 360.

Wherein: vertical feeding mechanism fixed mount 310,4 vertical feed cylindrical linear rails 311,4 tension detect resilient stud 340 are installed on perforating module base 301, the laser level laser beam detection sensor 351 in horizontal X direction, both sides.

The vertical feeding mechanism wherein controlling the punching degree of depth comprises: vertical feeding mechanism fixed mount 310,4 vertical feed cylindrical linear rails 311, vertical feed Linear motor-driven push rod mechanism 312, vertical feed mobile platform 313, vertical feed Linear motor-driven push rod servomotor 314; Vertical feeding mechanism fixed mount 310 is fixed on perforating module base 301, connect vertical feed Linear motor-driven push rod mechanism 312, vertical feed Linear motor-driven push rod servomotor 314 at vertical feeding mechanism fixed mount 310, the push rod of vertical feed Linear motor-driven push rod mechanism 312 connects vertical feed mobile platform 313; Under the driving of vertical feed Linear motor-driven push rod servomotor 314, vertical feed Linear motor-driven push rod mechanism 312 does stretching motion and drives vertical feed mobile platform 313 to do the Z-direction shown in vertical direction i.e. figure along 4 vertical feed cylindrical linear rails 311 to move up and down, and completes action that Churn drill 331 punches and controls the punching degree of depth.

Vertical MEMS angle of inclination (X, Y-direction) sensor 360 is wherein also installed on vertical feeding mechanism fixed mount 310, its effect is (X, the Y-direction) angle of inclination of monitoring the relative ground of robot the machine of punching on building ceiling, control program control lines mule carriage 100 stopped movement or lift platform mechanism 200 to stop lifting action to ensure that the robot punched on building ceiling is unlikely to topple over when exceeding setting value, alarm request manual intervention is simultaneously fixed a breakdown.

Wherein Y-axis translation mechanism comprises: Y-axis translated linear guide rail 320, Y-axis translated linear electric pushrod mechanism 321, Y-axis translation mobile platform 322, Y-axis translated linear electric pushrod servomotor 323; Y-axis translated linear guide rail 320, Y-axis translated linear electric pushrod mechanism 321 and Y-axis translated linear electric pushrod servomotor 323 are arranged on vertical feed mobile platform 313, and the push rod of Y-axis translated linear electric pushrod mechanism 321 connects Y-axis translation mobile platform 322; Under the driving of Y-axis translated linear electric pushrod servomotor 323, Y-axis translated linear electric pushrod mechanism 321 does stretching motion drive Y-axis translation mobile platform 322 and does the motion of horizontal Y direction; The laser level laser beam detection sensor 350 also having the horizontal Y-direction in both sides simultaneously installed on Y-axis translation mobile platform 322, Churn drill fixed mount 330, Churn drill 331, drill hammer 332.

The center line of laser level laser beam detection sensor 351, two sensors in the horizontal X direction, both sides of wherein installing on perforating module base 301 is installed on the same line, and this passes straight through the bit central of Churn drill 331; The center line of laser level laser beam detection sensor 350, two sensors of the horizontal Y-direction in both sides that Y-axis translation mobile platform 322 is installed also is installed on the same line, and this straight line is also through the bit central of Churn drill 331; So two center line cross intersection points of X-direction, Y-direction two sensors are exactly the central point of Churn drill 331 drill bit; The effect of this two sensors is the laser beam signal receiving laser level, is positioned at the robot that building ceiling punches moves to appointment punch position in order to guiding.

As shown in Figure 10-Figure 11,4 the tension detect resilient stud 340 wherein installed on perforating module base 301 comprise: tension detect resilient stud seat 341, tension force (pressure) sensor 342, tension spring 343, tension detect resilient stud slide head 344, tension detect resilient stud seat 341 is fixed on four angles of perforating module base 301, installation tension (pressure) sensor 342 on tension detect resilient stud seat 341, installation tension spring 343 on tension force (pressure) sensor 342, tension spring 343 is installed resilient stud slide head 344, resilient stud slide head 344 coaxially can slide up and down on tension detect resilient stud seat 341, when tension detect resilient stud 340 is along with perforating module base 301 is after lift platform mechanism 200 rises to tension detect resilient stud slide head 344 top to building ceiling, along with lift platform mechanism 200 continues to promote when tension force exceedes the elasticity number of tension spring 343, tension spring 343 compresses, compressing tension force (pressure) sensor 342, when the host computer module 111 that master control system 110 comprises by sensor detection module 118 monitor 4 tension force (pressure) sensors 342 all reach tension force (pressure) setting value time, show that the robot punched on building ceiling is to complete tensional fixation, lift platform mechanism 200 is just stopped to continue to promote, when tension force (pressure) value of some tension force (pressure) sensor 342 exceedes higher limit, also stopping lift platform mechanism 200 is continued to promote and alarm request manual intervention process.

The robot wherein punched on building ceiling controls the size of tension force to ensure constant tension force by the tension spring 343 that it is provided with; 4 the tension detect resilient stud 340 be simultaneously provided with by it reach the robot balance tension that tension force (pressure) setting value ensures to punch on building ceiling simultaneously to be fixed; Other 4 tension detect resilient stud 340 can also adapt to the constructure ground out-of-flatness of certain limit and constructure ground and the uneven demand of building ceiling.

Although the utility model with preferred embodiment openly as above; but it is not for limiting claim; any those skilled in the art are not departing from spirit and scope of the present utility model; can make possible variation and amendment, the scope that therefore protection domain of the present utility model should define with the utility model claim is as the criterion.

Claims (3)

1. the robot punched on building ceiling, is characterized in that comprising:
Programme-control moving trolley, described programme-control moving trolley comprises vehicle main body, be arranged on the car left and right wheels servomotor in vehicle main body, car left and right wheels planetary reducer, car left and right sidesing driving wheel, car universal wheel, man-machine interaction display, alarm lamp, wireless communication antenna, alternating current 220V joint, master control system;
Lift platform mechanism, described lift platform mechanism is arranged on programme-control moving trolley table top, lift platform mechanism comprises multilayer " X " type elevating mechanism, " X " type lifting arm fixation side connecting axle, " X " type lifting arm slip side connecting axle, lifting Linear motor-driven push rod mechanism, lifting Linear motor-driven push rod servomotor, lift platform lower platform, lift platform upper mounting plate;
Perforating module, described perforating module is arranged on the lift platform of lift platform mechanism, and perforating module comprises perforating module base; Vertical feeding mechanism fixed mount, 4 vertical feed cylindrical linear rails, vertical feed Linear motor-driven push rod mechanism, vertical feed mobile platform, vertical feed Linear motor-driven push rod servomotor; Y-axis translated linear guide rail, Y-axis translated linear electric pushrod mechanism, Y-axis translation mobile platform, Y-axis translated linear electric pushrod servomotor; Churn drill fixed mount, Churn drill, drill hammer; 4 tension detect resilient stud; The laser level laser beam detection sensor of the horizontal Y-direction in both sides; The laser level laser beam detection sensor in horizontal X direction, both sides; Vertical MEMS gradient sensor.
2. the robot punched on building ceiling as claimed in claim 1, is characterized in that, wherein, master control system in described programme-control moving trolley comprises host computer module, programme-control moving trolley differential steering servo control module, lift platform servo control module, Churn drill punching feeding, Y-axis translation servo control module, battery module, power module, wireless communication module, sensor detection module, man-machine interaction alarm display module, Churn drill control module.
3. the robot punched on building ceiling as claimed in claim 1, is characterized in that, wherein, four angles of the perforating module base that described perforating module comprises are provided with 4 tension detect resilient stud; Each tension detect resilient stud comprises tension detect resilient stud seat, tension pick-up, tension spring, tension detect resilient stud slide head; Installation tension sensor on tension detect resilient stud seat; Installation tension spring on tension pick-up; Tension spring is installed resilient stud slide head; Resilient stud slide head coaxially can slide up and down on tension detect resilient stud seat.
CN201420733294.4U 2014-11-18 2014-11-18 The robot that building ceiling punches CN204343979U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201420733294.4U CN204343979U (en) 2014-11-18 2014-11-18 The robot that building ceiling punches

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201420733294.4U CN204343979U (en) 2014-11-18 2014-11-18 The robot that building ceiling punches

Publications (1)

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CN204343979U true CN204343979U (en) 2015-05-20

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105587264A (en) * 2014-11-18 2016-05-18 张斌 Robot used for punching building ceiling
CN106625665A (en) * 2016-12-15 2017-05-10 北京卫星制造厂 Movable drilling and milling robot system achieving automatic addressing
CN108544909A (en) * 2018-03-28 2018-09-18 北京工业大学 A kind of differential drive module based on scissor structure

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105587264A (en) * 2014-11-18 2016-05-18 张斌 Robot used for punching building ceiling
CN106625665A (en) * 2016-12-15 2017-05-10 北京卫星制造厂 Movable drilling and milling robot system achieving automatic addressing
CN106625665B (en) * 2016-12-15 2019-03-12 北京卫星制造厂 A kind of drilling milling machine device people's system of packaged type automatic addressing
CN108544909A (en) * 2018-03-28 2018-09-18 北京工业大学 A kind of differential drive module based on scissor structure

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GR01 Patent grant
C14 Grant of patent or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20150520

Termination date: 20151118

EXPY Termination of patent right or utility model