CN206873858U - Multi-functional construction working platform and robot - Google Patents
Multi-functional construction working platform and robot Download PDFInfo
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- CN206873858U CN206873858U CN201720440702.0U CN201720440702U CN206873858U CN 206873858 U CN206873858 U CN 206873858U CN 201720440702 U CN201720440702 U CN 201720440702U CN 206873858 U CN206873858 U CN 206873858U
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Abstract
The utility model discloses a kind of multi-functional construction working platform and robot；Workbench includes lifter plate, rotating mechanism, telescopic head, work head turntable and work head；Workbench can be using lifter plate as fulcrum, the carry out activity in a hemi-sphere range.Due to the characteristic of similar multi-joint mechanical arm；Robot includes frame and workbench, and with inclined degree adjustment system；The inclined degree of frame can be adjusted, robot in vertically and horizontally state, is ensured that construction is carried out, and can be oriented to and be positioned by laser datum face in robot moving process all the time.The utility model can solve the problems, such as the mechanized construction that corner etc. is not easy construction part, and frame can shrink and deploy, convenient for collecting.
Description
Technical field
The utility model belongs to building machinery field, more particularly to a kind of multi-functional construction working platform and robot.
Background technology
With the continuous development of mechanical automation, building engineering construction operation is also in continuous mechanization.It is although most of
The existing corresponding mechanized equipment of subitem project, but such engineering mechanical device is mainly for big workload and big face at present
The subitem project of product operation, the subitem project that unit area is small, social total amount is very big are still in original handwork.It is former
Although being completed because one is the existing plant equipment of large area screed operation, small area operation still can not be auxiliary by plant equipment
Help, second, such engineering mechanical device involves great expense, bulky, weight is huge, and small area operation efficiency is low.
Small area operation scrapes that slurry is plastered, polished, polishing operation can only rely on artificial or part planar scrape slurry and set at present
It is standby to implement to complete.During by being accomplished manually, first, it usually needs build for workmen construction platform, platform build or
When ancillary cost multiple work are wanted in dismounting, the cost of construction is added；Although the appearance part of moveable platform solves big rule
Cost Problems when mould is built, but it is mobile due to needing often, support staff need to be generally equipped with (especially to the smallpox of large area
When plate is constructed), and on platform there is potential safety hazard in construction；Secondly, the experience and technology of workmen directly affect
The quality of job engineering, workmen's technology is uneven in reality, and so as to cause quality stability poor, construction speed is slow,
Construction worker must use long time and consume very big muscle power, labor intensity high the problem of time-consuming, human cost is high.
And scrape that slurry is plastered or grinding apparatus generally existing construction precision is low, equipment volume due to existing on the market at present
The problems such as greatly, mechanization degree is low, far can not meet the requirement of construction industry.
If therefore there is the stability that a kind of plant equipment can quickly improve construction quality, and independent of workmen
Experience and technology, meet the quality standard of each construction link by mechanization completely, easily, fast fulfil assignment, that will
The benefit very big to social creativity.
The content of the invention
The purpose of this utility model is overcome the deficiencies in the prior art, there is provided a kind of multi-functional construction working platform and machine
People, plaster, polish, polishing operation mainly for the slurry of scraping of wall ground and ceiling, Traditional Man operation can be substituted, solved all
More drawbacks.
The technical solution of the utility model is as follows：
A kind of multi-functional construction working platform includes lifting rotation mechanism, telescopic head, work head turntable and work head；
Described lifting rotation mechanism one end and one end of telescopic head are hinged, the telescopic head other end and work head turntable one
End is tightly connected, and work head turntable other end installment work head；Functional pipe is installed in described work head turntable side wall；
Hollow cavity is provided with work head turntable, hollow cavity connects with function pipe；Work end surface is provided with opening, and opening connects with hollow cavity
It is logical.
Preferably, described lifting rotation mechanism includes lifter plate and rotating mechanism；Described rotating mechanism include bottom plate,
Rotating device and rotary turning plate；Connected between bottom plate and rotary turning plate by rotating device, rotary turning plate and telescopic head
One end is hinged；Bottom plate is connected with lifter plate by sliding pair；The rotating mechanism be provided be used for drive rotating mechanism relative to
The drive mechanism of lifter plate motion.The rotary turning plate is provided be hinged drive mechanism, the be hinged drive with telescopic head hinged place
Move position of the mechanism controls telescopic head relative to rotary turning plate.
Preferably, described lifting rotation mechanism includes lifter plate and rotating mechanism；Described rotating mechanism include bottom plate,
Rotating device and swivel plate；Connected between bottom plate and swivel plate by rotating device, swivel plate is fixedly connected with lifter plate；Lifting
Plate is provided with sliding block hinged seat；The sliding block hinged seat is hinged with telescopic head one end, and the sliding block hinged seat, which is provided with, to be used to drive
The drive mechanism that movable slider hinged seat moves relative to lifter plate.
Preferably, push-rod electric machine and sliding block are provided with described telescopic head, described work head turntable is provided with rotation
Motor and the slide rail coordinated with the sliding block；The push-rod electric machine of telescopic head can push the work forward the movement of turntable, electric rotating machine
The part being connected on work head turntable with work head is driven to rotate.
Preferably, described work head is float work head, polishing work head or polishing head,
End face where described float work head opening is flat end face；
Described polishing work head opening surrounding is disposed with bistrique；
Described polishing head opening surrounding is disposed with polished section.
The invention also discloses a kind of multi-functional construction robot, including described multi-functional construction working platform and branch
Supportting accessory system, it is characterised in that described support auxiliary system includes support, inclined degree detection sensor and control system,
Frame bottom is connected by telescoping mechanism with universal wheel, and support is provided with vertical lifting mechanism, described multi-functional construction working
The upset rotary support of platform is arranged on described vertical lifting mechanism, and control system receives the letter of inclined degree detection sensor
Number and according to the signal control telescoping mechanism it is flexible make support keep vertical state；On control system control vertical lifting mechanism
Lower lifting.
Further, described support includes vertical main strut and some auxiliary support bars；Described auxiliary support bar top
End is hinged with vertical main strut respectively, and described some auxiliary support bars pass through telescoping mechanism and ten thousand with the bottom of vertical main strut
It is connected to wheel, described vertical lifting mechanism is arranged on vertical main strut, and the body of rod of described some auxiliary support bars is with hanging down
Some connecting rods are provided between the body of rod of straight main strut, the connecting rod is telescopic connecting rod.
Further, for the ease of transport and in order to meet the construction requirement of different height, the support is by some sections
Carrier unit forms；The carrier unit can arbitrarily splice, combine in the height direction, positioned at the carrier unit bottom of bottom
It is connected by telescoping mechanism with universal wheel；Telescoping mechanism is arranged on the carrier unit of bottom.Vertical main strut, Auxiliary support
The hinge point of bar can be located on the carrier unit of the top or upper.
When construction height requires low, less carrier unit can be assembled；When construction height requires big, can be assembled more
Carrier unit, to realize the construction requirement of different height construction surface.In order to meet dismountable purpose, described vertical main branch
Bar, auxiliary support bar are both designed as itself dismountable structure, you can dismantle as vertical main strut unit and auxiliary support bar list
Member；After dismounting, carrier unit includes vertical the main strut unit and Auxiliary support bar unit being disassembled, between Unit two still
Connected by some connecting rods, the connecting rod is telescopic connecting rod.Angle between the connecting rod and Auxiliary support bar unit can
Regulation, in order to the connection of this carrier unit and a upper carrier unit and next carrier unit.
Further, described universal wheel includes the first motor and the second motor, the first described motor driving universal wheel
Roll, the second described motor drives universal wheel to be rotated around vertical direction, described control system control the first motor and second
Motor.
Further, described inclined degree detection sensor includes laser pickoff group, and laser pickoff group is arranged on
On support, laser pickoff group is by the information transfer of acquisition to control system；Described laser pickoff group comprises at least following
One in first laser receiver group, second laser receiver group or the 3rd laser pickoff group：
According to the vertical laser datum face parallel to construction surface, inclination journey of the support relative to vertical laser datum face is obtained
The first laser receiver group of degree；
According to the vertical laser datum face parallel to construction surface；Vertical laser datum face is detected in support moving process,
Make the second laser receiver group that Robot construction surface moves in parallel；
According to horizontal laser light reference plane, obtain support and be inclined relative to horizontal degree and support relative to horizontal laser light base
3rd laser pickoff group of quasi- face height.
Further, the signal that described control system gathers according to first laser receiver group, frame bottom is adjusted
Telescoping mechanism；Support is set to keep vertical；
The signal that described control system gathers according to second laser receiver group, adjust the universal wheel of frame bottom；Make
Second laser receiver group is all the time on vertical laser datum face；
The signal that described control system gathers according to the 3rd laser pickoff group, the telescoping mechanism of frame bottom is adjusted,
Make the 3rd laser pickoff group all the time in horizontal laser light reference plane.
The beneficial effect of the utility model compared with prior art is：
Multi-functional construction working platform of the present utility model can realize the comprehensive construction of more work posts, realize the behaviour of more work posts
Make the equipment for only needing simple replacement work head, replacement to be connected with function pipe, other parts need not be changed；It is comprehensive
Construction realize that and the head that works can be set to difference by the Collapsible structure of mutually perpendicular articulated structure and telescopic head
Specification；To facilitate selection as needed, when the head that works is damaged, the utility model also only needs to replace work head i.e.
Can.
Robot of the present utility model keeps vertical state in real time, in a preferred approach using multistage tilt adjustments mode,
The coarse adjustment of frame is realized by devices such as gyroscopes, laser pickoff realizes accurate adjustment, and the mode of dual adjustment substantially increases
Precision.
Work head on workbench of the present utility model is constructed by way of rotation, the mode energy of work head of plastering a wall rotation
Mortar is set firmly to be adhered on construction wall ground；If work head of plastering a wall does not rotate, mortar can follow work head to be difficult to adhere to.
Robot of the present utility model can solve the problems, such as that corner etc. is not easy to construct the mechanized construction of part, and frame can be with
Fold and deploy, it is convenient for collecting.
Brief description of the drawings
Fig. 1 is the structural representation of multi-functional construction working platform in the utility model embodiment；
Fig. 2 is the structural representation of another multi-functional construction working platform of the utility model；
Fig. 3 is the structural representation of rotating mechanism in the utility model embodiment；
Fig. 4 is the structural representation of lifter plate in the utility model embodiment；
Fig. 5 is the structural representation of telescopic head in the utility model embodiment；
Fig. 6 is the structural representation of a turntable of being worked in the utility model embodiment；
Fig. 7 is the structural representation of polishing work head in the utility model embodiment；
Fig. 8 is the structural representation of multi-functional construction robot in the utility model embodiment；
Fig. 9 is the scheme of installation of first laser receiver group in the utility model embodiment；
Figure 10 is the installation signal of second laser receiver group and the 3rd laser pickoff group in the utility model embodiment
Figure.
In figure, lifter plate 1, rotating mechanism 2, telescopic head 3, work head turntable 4, work first 5, function pipe 6, sliding block are hinged
Seat 7, rack 101, slide rail 102, bottom plate 201, rotating device 202, rotary turning plate 203, drive mechanism 204, sliding block 205, push away
First 301, chute 302, push-rod electric machine 303, slide bar 401, rotating part 402, vertical struts 11, auxiliary pole 12, vertical lift
Mechanism 13, telescoping mechanism 15, universal wheel 15, adjustable pouring weight 16, first laser receiver group 17, connecting rod 18, second laser connects
Receive device group 19, the 3rd laser pickoff group 20.
Embodiment
With reference to embodiment and Figure of description, the utility model is described in further detail.
The schematic diagram of multi-functional construction working platform of the present utility model includes lifting rotation mechanism, telescopic head, work head rotation
Turntable and work head；Described lifting rotation mechanism one end and one end of telescopic head are hinged, the telescopic head other end and work head rotation
Turntable one end is tightly connected, and work head turntable other end installment work head；It is provided with described work head turntable side wall
Function pipe；Hollow cavity is provided with work head turntable, hollow cavity connects with function pipe；Work end surface is provided with opening, opening and
Hollow cavity connects.
Multi-functional construction working platform of the present utility model is similar to the mechanical wall construction of multi-joint, and lifting rotation mechanism possesses
Elevating function unit and spinfunction unit, you can realize axial-rotation, the relative slip of certain amplitude can be realized again；Lifting rotation
Hinge function unit is set between rotation mechanism and telescopic head；Due to lifting, rotating and being hinged the setting of three functional units, this reality
Can be using lifter plate as fulcrum with new work head, the carry out activity in a hemi-sphere range.Similar multi-joint mechanical arm
Characteristic can enable multi-functional construction working platform carry out construction operation to environment that is narrow, possessing barrier.
The motion of each functional unit of the present utility model can use motor to drive, and can also use manual operation；Or part is adopted
Manually-operated mode is used with motor part；The settable locking device of each functional unit, in suitable relative position
Locked or locked.
One end of lifting rotation mechanism and telescopic head is hinged so that the part being connected with telescopic head 4 can be with telescopic head 4
Do and rotate around the hinge member of rotating mechanism.Work head can enter using lifting rotation mechanism as fulcrum in a hemi-sphere range
Row activity.Due to the characteristic of similar multi-joint mechanical arm, multi-functional construction working platform can be enable to ring that is narrow, possessing barrier
Border carries out construction operation.Lifting rotation mechanism can rotate, and can slide in the range of by a small margin so that whole wall ground
Multi-functional construction working platform has the adjustable leeway of multidimensional, and multi-functional construction working platform and barrier can be effectively avoided in construction
Hinder touching for thing, the construction possibility for solving the region that operation is generally difficult to plant equipment such as narrow section, corners.
Telescopic head 3 causes work head to have bigger regulation leeway, and telescopic head 3 is located proximate to work head, at it
After its part and corresponding hinge point determine position and angle, then by telescopic head 3 work head is driven to be advanced into position to be onstructed.
Work head turntable 4 is used to drive work head to rotate, and its own part being only connected with work head is rotated, work head rotation
The positions such as the housing of turntable 4 do not rotate.
Embodiment 1
As shown in figs. 1 and 3, a kind of work of preferable lifting selection mechanism of the utility model is included to be of the present utility model
Platform schematic diagram, described lifting rotation mechanism include lifter plate 1 and rotating mechanism 2；Described rotating mechanism 2 include bottom plate 201,
Rotating device 202 and rotary turning plate 203；Connected, rotated by rotating device 202 between bottom plate 201 and rotary turning plate 203
Returning face plate 203 is be hinged with telescopic head 3；Bottom plate 201 is connected with lifter plate 1 by sliding pair.The rotating mechanism, which is provided with, to be used for
The drive mechanism that driving rotating mechanism moves relative to lifter plate.
In the present embodiment, lifter plate 1 is used as pedestal, can be assembled in corresponding movable frames or auxiliary equipment
On；Lifter plate is connected with rotating mechanism one end by sliding pair so that all subsequent parts being connected with rotating mechanism 2 can be with
Moved up and down in company with rotating mechanism along lifter plate；Bottom plate 201 is provided with sliding block 205；Relative fortune is realized for coordinating with lifter plate 1
It is dynamic；Drive mechanism 204 is provided with described rotating mechanism 2；Drive mechanism 204 includes motor and gear train；Motor
Rotation cause gearset motions；If corresponding rack is set on lifter plate；It can then be realized and lifted by drive mechanism 204
The relative motion of plate 1 and rotating mechanism 2.
The first purpose of rotating mechanism is connecting bottom board 201 and rotary turning plate 203, secondly being so that rotary turning plate
203 can rotate.Rotating mechanism can be that bearing or gear are arranged in pairs or groups corresponding part from implementation, as rotating mechanism one end with
Bottom plate is fixed, and the other end is connected by bearing with returning face plate.Rotating mechanism can be the device that can be manually rotated from type of drive,
Can also be driven by motor.Preferably, it can be locked or be locked when rotating mechanism is rotated to the position of needs, preferably
, returning face plate rotates around its geometric center.
Embodiment 2
As shown in Fig. 2 it is the work of the present utility model for including another preferable lifting selection mechanism of the utility model
Platform schematic diagram, described lifting rotation mechanism include lifter plate 1 and rotating mechanism 2；Described rotating mechanism 2 include bottom plate 201,
Rotating device 202 and swivel plate；Connected between bottom plate 201 and swivel plate by rotating device 202, swivel plate is solid with lifter plate 1
Fixed connection；Lifter plate 1 is provided with sliding block hinged seat 7；The sliding block hinged seat 7 is hinged with the one end of telescopic head 3, and the sliding block is hinged
Seat 7, which is provided with, to be used to drive the drive mechanism that sliding block hinged seat moves relative to lifter plate.
Compared with Example 1, implement 2 and changed the position of lifter plate 1 and rotating mechanism 2 in lifting rotation mechanism.So that
Lifter plate is connected (specifically by sliding block hinged seat thereon) with telescopic head.
In the present embodiment, the bottom plate 201 of rotating mechanism is used as pedestal, can be assembled in corresponding movable frames or
In auxiliary equipment.
The purpose of lifting rotation mechanism makes the rotatable of the whole workbench of realization and can possess small size fortune on perpendicular
Dynamic possibility, so as to the motion mode of abundant workbench, for overcoming special occasions, (such as construction site space is small, excessively narrow
It is narrow or have obstacle) job requirements.Lifting rotation mechanism possesses elevating function unit and spinfunction unit, it is any comprising this two
The combination of the apparatus structure or apparatus structure of individual function may each be the specific implementation side of lifting rotation mechanism of the present utility model
Formula.
Embodiment 3
On the basis of embodiment 1, the structure of the lifter plate of the present embodiment on described lifter plate as shown in figure 4, set
There are rack 101 and slide rail 102；Slide rail 102 coordinates with slide rail 102；Rack 101 coordinates with gear train.
Lifter plate enriches the adjustment mode of workbench of the present utility model, is set to machineries such as narrow section, corners
It is more convenient during the construction in the standby region for being generally difficult to operation.
Embodiment 4
On the basis of embodiment 1, worm screw and upset motor, worm screw are installed on the rotating mechanism 2 described in the present embodiment
It is connected with upset motor, the hinged end of telescopic head 3 is provided with the turbine being engaged with the worm screw.Upset motor drives worm screw rotation
Turn, then cause turbine rotation, turbine center is be hinged with rotating mechanism 2, so that whole telescopic head 3 can turn around jointed shaft
It is dynamic.
Because rotating mechanism is rotatable so that work head can be carried out using lifter plate as fulcrum in a hemi-sphere range
Activity.In the present embodiment, realize that whole telescopic head 3 rotates around jointed shaft by the way of upset motor and turbine and worm；It is real
Also motor direct-drive or other drive devices and structure can be used on border, it might even be possible to manually operated to make respective hinge position
Rotation；Hinge point can set locking device accordingly.
Embodiment 5
As it can be seen in figures 5 and 6, on the basis of embodiment 1, push-rod electric machine 303, chute 302 are provided with described telescopic head 3
With cut somebody's hair 301, the slide bar 401 that described work head turntable 4 is provided with electric rotating machine and coordinated with the chute 302；Stretch
The push-rod electric machine 303 of drop-head 3 can promote 301 motions of cutting somebody's hair, and 301 turntable 5 that push the work forward of cutting somebody's hair move, and cut somebody's hair on 301
Provided with for 301 holes passed through of cutting somebody's hair；Hollow cavity is provided with work head turntable 4, hollow cavity connects with function pipe 6, electric rotating machine
The rotating part 402 on work head turntable 4 is driven to rotate.Push-rod electric machine 303 can push the work forward a turntable 4 do it is flexible.
The setting of telescopic head equally enriches the adjustment mode of workbench of the present utility model, to narrow section, wall
The plant equipment such as angle are generally difficult to more convenient during the construction in the region of operation.
Embodiment 6
As shown in fig. 7, on the basis of embodiment 1, described work head is work head of plastering a wall, polish work head or or throwing
Light work head, described work end surface of plastering a wall are provided with opening, and the opening connects with the function pipe 6 on work head turntable,
Described polishing work end surface is provided with opening, and opening surrounding has been evenly arranged bistrique.Described polishing end surface is provided with
Opening, opening surrounding have been evenly arranged polished section.
Function pipe 6 send pulp grinder or vaccum-pumping equipment to be connected with outside, when with sending pulp grinder to be connected, the turntable assembling of work head
To plaster a wall work head, mortar enters the hollow cavity of work head turntable from function pipe, and is sprayed by the opening for work end surface of plastering a wall,
The open center of described work head of plastering a wall is also provided with block, leaves space between block and opening, mortar block causes
Mortar pulp from space of the mortar block with work rostral wall.Mortar block can be conical structure so that pulp direction
With metope at an angle, mortar block is advantageous to being uniformly distributed for mortar, and mortar block can be also not provided with according to being actually needed.
The head that works is installed by the rotating part 402 of adapter sleeve and work head turntable 4 to be connected.
When function pipe is connected with vaccum-pumping equipment, work head turntable assembling polishing work head or polishing head, work
Make head to polish to working face or polishing, handling the fine particle (dust) to get off can be dispersed in around work head, open
Open vaccum-pumping equipment and may be such that these fine particles (dust) handled are conveyed into by the opening of work head along function pipe
Collection device, in order to avoid pollution working environment；The utility model handles fine particle (dust) in grinding and buffing on source,
Its construction environment is clean, overcomes the problem of seriously polluted during traditional sanding and polishing work, ensures workmen's health.Described
It can be preferably wolfram steel bistrique that bistrique, which is used as,.
Embodiment 7
As shown in figure 8, be multi-functional construction robot case study on implementation of the present utility model, including this embodiment combines reality
Apply the specific features of the multi-functional construction working platform in a 1-6, and support auxiliary system of having arranged in pairs or groups, described support auxiliary system
Including support, inclined degree detection sensor and control system, frame bottom is connected by telescoping mechanism 14 with universal wheel 15, branch
Frame is provided with vertical lifting mechanism 13, described wall face multifunctional construction working platform upset rotary support be arranged on it is described
On vertical lifting mechanism 13, control system receives the signal of inclined degree detection sensor and controls telescoping mechanism according to the signal
It is flexible make support keep vertical state；Control system controls vertical lifting mechanism oscilaltion；Control system drives universal wheel
Roll；Control system controls on multi-functional construction working platform the rotation of each hinge point and locked.
Described inclined degree detection sensor is used for the tilt condition for detecting frame main body, and sends and work as to control system
The tilt condition of lower bearing bracket main body, can be that horizontal gyro, obliquity sensor etc. are used for measuring inclination angle with respect to the horizontal plane
The equipment of variable quantity；It can also be laser sensor, inclined degree is carried out to frame main body by the laser datum plane of outside
Adjustment；It can certainly include simultaneously a variety of in the said equipment；So that adjustment mode can be specifically divided into coarse adjustment and accurate adjustment；Such as
The first successive step (coordinating control system and corresponding performs device) of frame main body is carried out using horizontal gyro, uses laser sensing
Device is accurately adjusted.Control system judges whether that needs are adjusted after obtaining tilt condition, deterministic process can by with
The form that given threshold compares；It is adjusted when inclined degree is more than given threshold.Adjustment mode controls for control system
The lifting of telescoping mechanism or the movement of universal wheel, such as when frame tilts towards direction where a certain telescoping mechanism, control system is
Control the telescoping mechanism rise, or control with the telescoping mechanism to telescoping mechanism decline；Through repeatedly adjustment until meeting control
The requirement of system processed.The utility model by above-mentioned mechanism, can cause frame in moving process or during run-off the straight at any time
Adjust telescoping mechanism so that frame main body remains vertical position, is laid the foundation for construction.
Vertical lifting mechanism can be driven by way of connecting drive device and realize oscilaltion, can also carry driving
Device.Drive device is connected with control system.Preferably, described support is provided with vertical slideway for above and below vertical lifting mechanism
Slide.
Embodiment 8
As shown in figure 8, on the basis of embodiment 7, if the support described in the present embodiment include vertical main strut 11 and
Dry auxiliary support bar 12；The described top of auxiliary support bar 12 is be hinged with vertical main strut 11 respectively, described some auxiliary branch
Strut 12 is connected with the bottom of vertical main strut 11 by telescoping mechanism 14 with universal wheel 15, and described vertical lifting mechanism 13 is set
Put on vertical main strut 11, be provided between the body of rod of described some auxiliary support bars 12 and the body of rod of vertical main strut 11 more
The telescopic connecting rod 17 of section.Some auxiliary support bars 12 can have with short, be hinged on the different height of vertical main strut 11.
Vertical main strut 11 remains stationary as, i.e. scalable or expand support of the present utility model by operating auxiliary support bar 12, due to
The bottom of auxiliary support bar 12 is drawn to larger opening by telescoping mechanism 14 and universal wheel 15 in auxiliary support bar 12
When, it can extend telescoping mechanism 14, ensure that ground faces the supporting role of auxiliary support bar 12.Certainly as needed, it is described
Vertical main strut 11 and some auxiliary support bars 12 may be configured as telescopic structure, avoid the elongation of telescoping mechanism 14 from surpassing
Go out it and adjust surplus.Adjustable pouring weight 16 can be arranged as required on other auxiliary support bar 12, when avoiding frame opening work
(especially wall face multifunctional construction working platform when being located at higher position) unbalance.
Embodiment 9
On the basis of embodiment 8, universal wheel includes the first motor and the second motor, the described first electricity in the present embodiment
Machine drives universal wheel body rotation, and the second described motor drives universal wheel to be rotated around vertical direction.First motor and the second electricity
Machine is connected with control system.Rolling and the universal rotational of universal wheel can be realized by control system.
Embodiment 10
Because horizontal gyro, obliquity sensor etc. are used for measuring the equipment detection of change of pitch angle amount with respect to the horizontal plane
Limited precision；And vertical lifting mechanism of the present utility model has larger stroke；Even if therefore support only occur one it is small
Tilt, with the lifting of vertical lifting mechanism, the inclination is just exaggerated.Therefore inclined degree detection sensor is relied only on to adjust
The problem of precision is not high enough also be present in support, in order to solve this problem,
In the present embodiment, inclined degree detection sensor also includes laser pickoff group, and laser pickoff group is arranged on branch
On frame, laser pickoff group is by the information transfer of acquisition to control system；Described laser pickoff group connects including first laser
Receive device group, second laser receiver group or the 3rd laser pickoff group：
According to the vertical laser datum face parallel to construction surface, inclination journey of the support relative to vertical laser datum face is obtained
The first laser receiver group of degree；
According to the vertical laser datum face parallel to construction surface；Itself and vertical laser-based are obtained in support moving process
Quasi- identity distance from second laser receiver group；
According to the vertical laser datum face parallel to construction surface；Vertical laser datum face is detected in support moving process,
Make the second laser receiver group that Robot construction surface moves in parallel；
First laser receiver group, second laser receiver group or the 3rd laser pickoff group work independently；Therefore in reality
Apply and may be selected to carry one or more in device.
Laser pickoff group includes at least one laser pickoff, and devisable laser pickoff can use one-axis laser to pass
Sensor or twin shaft even multiaxis laser sensor；So-called one-axis laser sensor refers to the laser-sensitive element of laser sensor
In the strip on a direction；Laser pick-off zero point is located at the midpoint of strip；Zero point both sides also can receive laser signal；
When laser is radiated at the position of non-zero points, laser-sensitive element is the distance for the position and zero point that can determine whether laser irradiation instantly
And offset direction, you can produce corresponding signal；Control system is driven corresponding executing agency, laser is irradiated to laser and connect
Receive dead-center position.And two-axis laser sensor refers to that in described laser-sensitive element be in cross；Zero point is located in cross
The heart, laser sensor can detect the laser signal of X-axis and Y-axis simultaneously.Described laser-sensitive element can also use laser-sensitive
Array is substituted.
Embodiment 11
On the basis of embodiment 10, as shown in figure 9, when the utility model carries first laser receiver group, it is described
The signal that is gathered according to first laser receiver group of control system, adjust the telescoping mechanism of frame bottom；Support is set to keep perpendicular
Directly；
First laser receiver group 17 described in the present embodiment is in frame and laser pickoff zero point is in same
At least two laser pickoffs in one vertical straight line, laser pickoff can use one-axis laser receiver, and one-axis laser receives
The sensing element of device is horizontally disposed with；It is described when the zero point of all laser pickoffs is respectively positioned on vertical laser datum face
Frame keeps vertical；When fraction of laser light receiver zero point deviates vertical laser datum face, laser pickoff produces corresponding
Signal is to control system.
Embodiment 12
On the basis of embodiment 10, as shown in Figure 10, when the utility model carries second laser receiver group,
The signal that described control system gathers according to second laser receiver group, adjust the universal wheel of frame bottom；Make
Second laser receiver group is all the time on vertical laser datum face；
Second laser receiver group 19 described in the present embodiment is that at least one laser being horizontally arranged in frame connects
Receive device；Laser pickoff uses one-axis laser receiver, and the sensing element of one-axis laser receiver is horizontally disposed with, and works as second laser
When receiver group includes multiple laser pickoffs；Ensure that all laser pick-off dead-center positions are on a horizontal linear, and should
Rectilinear direction is mobile direct of travel (being the horizontal line parallel to metope during such as logarithm value wall construction) expected from robot.
During gantry motion, when the zero point of all laser pickoffs is respectively positioned on vertical laser datum face, i.e. table
Show that described frame (robot) moves in strict accordance with vertical laser datum face, ensure the construction precision to construction surface；Even if treat
Construction surface (angle, rib) out-of-flatness does not influence the construction precision of the utility model robot completely yet.
Embodiment 13
It is as shown in Figure 10, described when the utility model carries the 3rd laser pickoff group on the basis of embodiment 10
The signal that is gathered according to the 3rd laser pickoff group of control system, adjust the telescoping mechanism of frame bottom, connect the 3rd laser
Device group is received to be in horizontal laser light reference plane all the time.
The 3rd laser pickoff group 20 described in the present embodiment is that at least two laser being horizontally arranged in frame connect
Receive device；Laser pickoff can use one-axis laser receiver, and the sensing element of one-axis laser receiver is vertically arranged, when all
When the zero point of laser pickoff is respectively positioned in horizontal laser light reference plane, the frame stated keeps left-right balance；When fraction of laser light connects
When receiving device zero point deviation horizontal laser light reference plane, laser pickoff produces corresponding signal to control system.Due to horizontal reference
Face is constant, and during gantry motion, the 3rd laser pickoff group can also make frame (robot) high in same level all the time
Degree；Even if running into ground out-of-flatness or by long slope, the flexible of telescoping mechanism can be also driven by control system；Make frame same
One height level moves.
The setting of 3rd laser pickoff group, inclined degree can only be detected by overcoming horizontal gyro, obliquity sensor
Problem；Such as when robot is operated in the constant long descending environment of slope, with moving horizontally for robot, robot water prosposition
Put gradual reduction, but because robot fuselage remains to keep plumbness, inclined degree detection sensor is without detection signal, but machine
Workbench on device people but can not horizontal operation with long descending.This situation carries out construction work running into horizontal gird
Operation can not be carried out during industry.And after laser pickoff is set, flexible due to controller control telescoping mechanism makes swashing on support
Optical receiver is all the time on laser reference plane, and multi-functional construction working platform remains at same when robot moves horizontally
Level height, even if running into workplace where robot has long descending, it can also make multi-functional construction working platform horizontal operation.
Laser pickoff group can only have one group, and multigroup, multigroup laser pickoff group can also be set up in different courts
The feelings for making the laser pickoff in single reception direction be blocked due to movement or the barrier of workmen can be avoided as far as possible
Shape.
Embodiment 14
In a specific embodiment of the present utility model, described multi-functional construction robot, including multi-functional construction
Workbench and support auxiliary system, described support auxiliary system include support, inclined degree detection sensor and control system,
Frame bottom is connected by telescoping mechanism with universal wheel, and support is provided with vertical lifting mechanism, and multi-functional construction working platform turns over
Turn rotary support on the described vertical lifting mechanism, described control system is the chip of STM32F103C series, type
Number it is STM32F103C8T6；In fact possesses the singlechip chip of floating-point operation ability, processor can be used as this practicality newly
The control system of type, such as support floating-point operation ARM single-chip microcomputers, Siemens, Mitsubishi PLC can.Control system driving electricity
The mode of machine or other executable mechanisms can have two kinds：A kind of is with integrated driving chip drive motor, volume passage aisle
More, concrete model is：L298N and LMD18200；Another kind is that H bridge MOS drive circuit driving forces are strong, uses N ditches MOS
Pipe and its driving chip IR2184.Control system receives the signal of inclined degree detection sensor and controlled according to the signal flexible
The flexible of mechanism makes support keep vertical state；Control system controls vertical lifting mechanism oscilaltion；Control system driving ten thousand
Rolled to wheel；Control system controls the rotation of each hinge point on multi-functional construction working platform, and controls multi-functional construction working
All motors (upset motor, lifting motor, push-rod electric machine, electric rotating machine etc.) on platform.
Described support includes vertical main strut and some auxiliary support bars；Described auxiliary support bar top is respectively with hanging down
Straight main strut is hinged, and described some auxiliary support bars are connected with the bottom of vertical main strut by telescoping mechanism with universal wheel,
Described vertical lifting mechanism is arranged on vertical main strut, the body of rod and the vertical main strut of described some auxiliary support bars
The connecting rod of multi-section retractable is provided between the body of rod, described vertical main strut and some auxiliary support bars are scalable；
Described tilt level sensor includes gyroscope and laser pickoff group, the inspection of gyroscope and control system composition
Examining system carries out coarse adjustment to the inclined degree of frame；The detecting system that laser pickoff group forms with control system is inclined to frame
Oblique degree carries out accurate adjustment；The laser pickoff group of the present embodiment include first laser receiver group, second laser receiver group and
3rd laser pickoff group.
Described multi-functional construction working platform includes lifter plate, rotating mechanism, telescopic head, work head turntable and work
Head；Described lifter plate is connected with rotating mechanism one end by sliding pair；One end of the rotating mechanism other end and telescopic head is hinged,
The telescopic head other end is tightly connected with work head turntable one end, and work head turntable other end installment work head；Described work
Make that functional pipe is installed in head turntable side wall；Hollow cavity is provided with work head turntable, hollow cavity connects with function pipe；Work
End surface is provided with opening, and opening connects with hollow cavity.
Described rotating mechanism includes bottom plate, rotating device and rotary turning plate；Pass through between bottom plate and rotary turning plate
Rotating device is connected, and rotary turning plate is hinged with telescopic head；Bottom plate is connected with lifter plate by sliding pair.
The rotary turning plate is provided be hinged drive mechanism with telescopic head hinged place, and the be hinged driving mechanisms control is stretched
Head relative to rotary turning plate position；The rotating mechanism, which is provided with, to be used to drive what rotating mechanism moved relative to lifter plate
Drive mechanism.
Be provided with push-rod electric machine and sliding block in described telescopic head, described work head turntable provided with electric rotating machine and
The slide rail coordinated with the sliding block；The push-rod electric machine of telescopic head can push the work forward the movement of turntable, and electric rotating machine drives work
The part being connected on head turntable with work head rotates.
Described work head shares three, and work head of respectively plastering a wall, polishing work head and polishing head, described smears
Wall work end surface is provided with opening, and the opening connects with the function pipe on work head turntable；Described work head of plastering a wall
Open center is provided with block, and space is left between block and opening.Described polishing work end surface is provided with opening, and be open surrounding
It has been evenly arranged bistrique；Described polishing end surface is provided with opening, and opening surrounding has been evenly arranged polished section.
Embodiment 15
So that robot described in embodiment 14 plaster a wall construction as an example, the course of work of the robot of the present embodiment is carried out
Explanation.
First, work head of plastering a wall is assembled on work head turntable, robot is moved into construction area, slurry is sent in the connection of function pipe
Machine；Complete the preparation before robot construction.
Laser transmitter projects horizontal laser light reference plane and the vertical laser datum face parallel to face to be onstructed, laser pick-off
Device receives laser signal, and by the stroke of telescopic support struts in control system adjusting bracket, robot is kept plumbness,
And laser pickoff group is in the position of initial work.Each be hinged position of multi-functional construction working platform is adjusted, makes to plaster a wall
End surface work towards face to be onstructed, adjusts telescopic head, the work head that makes to plaster a wall is in initialization position.
Start robot, exemplified by slurry is scraped above and below robot and is plastered a wall, control system controls work head rotation of plastering a wall, and control is hung down
Going straight up to descending mechanism drives multi-functional construction working platform to move up and down, and send pulp grinder to send slurry to work head by function pipe, slurry passes through
Plaster a wall the opening pulp of work head, work head of plastering a wall carries out scraping slurry by rotation to metope plasters.Due to tilt level sensor
Presence, robot remains vertical state, and vertical lifting mechanism moves up and down, you can realizes and scrapes slurry up and down.
When needs level scrapes slurry, control system driving universal wheel rolls along the direction parallel to construction surface, and described the
When the zero point of dual-laser receiver group is respectively positioned on vertical laser datum face, described frame (robot) swashs in strict accordance with vertical
Light reference plane moves, and ensures the construction precision to construction surface；This reality is not also influenceed completely even if face to be onstructed (angle, rib) out-of-flatness
With the construction precision of novel robot；When the zero point of the 3rd described laser pickoff group is respectively positioned in horizontal laser light reference plane,
Frame keeps left-right balance；When fraction of laser light receiver zero point deviates horizontal laser light reference plane, laser pickoff produces
Corresponding signal is to control system, and because level reference is constant, during gantry motion, the 3rd laser pickoff group can also make
Frame (robot) is all the time in same level height；Even if running into ground out-of-flatness or by long slope, also can be by controlling
System driving telescoping mechanism stretches；Frame is set to be moved horizontally in sustained height.I.e. realization level scrapes slurry plastered work.
According to same operation principle, work head is changed into polishing or polishing head, function pipe connects vaccum-pumping equipment,
Polishing or polishing operation can be achieved.
Claims (11)
1. a kind of multi-functional construction working platform, it is characterised in that including lifting rotation mechanism, telescopic head, work head turntable and work
Make head；
Described lifting rotation mechanism one end and one end of telescopic head are hinged, and the telescopic head other end and work head turntable one end are close
Envelope connection, work head turntable other end installment work head；Functional pipe is installed in described work head turntable side wall；Work
Hollow cavity is provided with head turntable, hollow cavity connects with function pipe；Work end surface is provided with opening, and opening connects with hollow cavity.
A kind of 2. multi-functional construction working platform according to claim 1；It is characterized in that described lifting rotation mechanism bag
Include lifter plate and rotating mechanism；Described rotating mechanism includes bottom plate, rotating device and rotary turning plate；Bottom plate and rotary turning
Connected between plate by rotating device, rotary turning plate is hinged with telescopic head one end；Bottom plate is connected with lifter plate by sliding pair；
The rotating mechanism, which is provided with, to be used to drive the drive mechanism that rotating mechanism moves relative to lifter plate.
A kind of 3. multi-functional construction working platform according to claim 1；It is characterized in that described lifting rotation mechanism bag
Include lifter plate and rotating mechanism；Described rotating mechanism includes bottom plate, rotating device and swivel plate；Lead between bottom plate and swivel plate
Rotating device connection is crossed, swivel plate is fixedly connected with lifter plate；Lifter plate is provided with sliding block hinged seat；The sliding block hinged seat with
Telescopic head one end is hinged, and the sliding block hinged seat, which is provided with, to be used to drive the driving machine that sliding block hinged seat moves relative to lifter plate
Structure.
A kind of 4. multi-functional construction working platform according to claim 1；Pushed away it is characterized in that being provided with described telescopic head
Bar motor and sliding block, the slide rail that described work head turntable is provided with electric rotating machine and coordinated with the sliding block；Telescopic head
Push-rod electric machine can push the work forward the movement of turntable, electric rotating machine drives the part being connected on work head turntable with work head
Rotation.
A kind of 5. multi-functional construction working platform according to claim 1；It is characterized in that described work head is plasterer
Make head, polishing work head or polishing head,
End face where described float work head opening is flat end face；
Described polishing work head opening surrounding is disposed with bistrique；
Described polishing head opening surrounding is disposed with polished section.
6. a kind of multi-functional construction robot, including the multi-functional construction working platform described in claim any one of 1-5 and support
Accessory system, it is characterised in that described support auxiliary system includes support, inclined degree detection sensor and control system, branch
Frame bottom is connected by telescoping mechanism with universal wheel, and support is provided with vertical lifting mechanism, described multi-functional construction working platform
Upset rotary support be arranged on described vertical lifting mechanism on, control system receive inclined degree detection sensor signal
And the flexible of telescoping mechanism is controlled support is kept vertical state according to the signal；Above and below control system control vertical lifting mechanism
Lifting.
7. multi-functional construction robot according to claim 6, it is characterised in that described support includes vertical main strut
With some auxiliary support bars；Described auxiliary support bar top is hinged with vertical main strut respectively, described some Auxiliary supports
Bar is connected with the bottom of vertical main strut by telescoping mechanism with universal wheel, and described vertical lifting mechanism is arranged on vertical main branch
On bar, some connecting rods are provided between the body of rod and the body of rod of vertical main strut of described some auxiliary support bars.
8. multi-functional construction robot according to claim 6, it is characterised in that the support is detachably some sections of branch
Frame unit；The carrier unit is sliceable in the height direction, combination, passes through telescopic machine positioned at the carrier unit bottom of bottom
Structure is connected with universal wheel；Telescoping mechanism is arranged on the carrier unit of bottom.
9. multi-functional construction robot according to claim 6, it is characterised in that described universal wheel includes the first motor
With the second motor, the first described motor driving universal wheel rolls, and the second described motor drives universal wheel to turn around vertical direction
Dynamic, described control system controls the first motor and the second motor.
10. multi-functional construction robot according to claim 6, it is characterised in that described inclined degree detection sensor
Including laser pickoff group, laser pickoff group is rack-mount, and laser pickoff group is by the information transfer of acquisition to control
System；It is sharp that described laser pickoff group comprises at least following first laser receiver group, second laser receiver group or the 3rd
One in optical receiver group：
According to the vertical laser datum face parallel to construction surface, support is obtained relative to the inclined degree in vertical laser datum face
First laser receiver group；
According to the vertical laser datum face parallel to construction surface；Vertical laser datum face is detected in support moving process, makes machine
The second laser receiver group that device people moves in parallel along construction surface；
According to horizontal laser light reference plane, obtain support and be inclined relative to horizontal degree and support relative to horizontal laser light reference plane
3rd laser pickoff group of height.
11. multi-functional construction robot according to claim 6, it is characterised in that described control system swashs according to first
The signal of optical receiver group collection, adjust the telescoping mechanism of frame bottom；Support is set to keep vertical；
The signal that described control system gathers according to second laser receiver group, adjust the universal wheel of frame bottom；Make second
Laser pickoff group is all the time on vertical laser datum face；
The signal that described control system gathers according to the 3rd laser pickoff group, the telescoping mechanism of frame bottom is adjusted, make
Three laser pickoff groups are all the time in horizontal laser light reference plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720440702.0U CN206873858U (en) | 2017-04-25 | 2017-04-25 | Multi-functional construction working platform and robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720440702.0U CN206873858U (en) | 2017-04-25 | 2017-04-25 | Multi-functional construction working platform and robot |
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| CN206873858U true CN206873858U (en) | 2018-01-12 |
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| CN201720440702.0U Expired - Fee Related CN206873858U (en) | 2017-04-25 | 2017-04-25 | Multi-functional construction working platform and robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106906986A (en) * | 2017-04-25 | 2017-06-30 | 施世清 | A kind of multi-functional construction working platform and robot |
| CN108360817A (en) * | 2018-05-14 | 2018-08-03 | 浙江百施通网络科技有限公司 | Wall ground construction workbench and its method |
| CN108824771A (en) * | 2018-06-22 | 2018-11-16 | 黄志平 | A kind of vertical telescopic foot is plastered robot from Anping |
| CN112482702A (en) * | 2020-11-05 | 2021-03-12 | 中国一冶集团有限公司 | Wall mortar strickles equipment off |
-
2017
- 2017-04-25 CN CN201720440702.0U patent/CN206873858U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106906986A (en) * | 2017-04-25 | 2017-06-30 | 施世清 | A kind of multi-functional construction working platform and robot |
| CN106906986B (en) * | 2017-04-25 | 2022-08-30 | 浙江百施通智能科技有限公司 | Multifunctional construction workbench and robot |
| CN108360817A (en) * | 2018-05-14 | 2018-08-03 | 浙江百施通网络科技有限公司 | Wall ground construction workbench and its method |
| CN108824771A (en) * | 2018-06-22 | 2018-11-16 | 黄志平 | A kind of vertical telescopic foot is plastered robot from Anping |
| CN112482702A (en) * | 2020-11-05 | 2021-03-12 | 中国一冶集团有限公司 | Wall mortar strickles equipment off |
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