CN208575836U - A kind of multiple degrees of freedom automatic wall-building machine people - Google Patents
A kind of multiple degrees of freedom automatic wall-building machine people Download PDFInfo
- Publication number
- CN208575836U CN208575836U CN201821062992.0U CN201821062992U CN208575836U CN 208575836 U CN208575836 U CN 208575836U CN 201821062992 U CN201821062992 U CN 201821062992U CN 208575836 U CN208575836 U CN 208575836U
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- China
- Prior art keywords
- arm
- multiple degrees
- machine people
- automatic wall
- building machine
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Abstract
The utility model discloses a kind of multiple degrees of freedom automatic wall-building machine people, comprising: pedestal；Rotating disk is rotatably supported on the pedestal；Fluid reservoir, setting at the top of the rotating disk on；Support column, is " L " type, and described support column one end connects the fluid reservoir；First movement arm, one end and the support column other end are hinged；Second movement arm, one end and the first movement arm other end are hinged；Clamping disk is rotatably connected the second movement arm other end；Hose, one end are connected to the fluid reservoir, and the other end is connected to the clamping disk, and the hose runs through the support column, the first movement arm and the second movement arm, and the present apparatus can be realized automatic wall-building function, and freely be turned to by pedestal, and practicability is good, high-efficient.
Description
Technical field
The utility model relates to robot field more particularly to a kind of multiple degrees of freedom automatic wall-building machine people.
Background technique
Increasingly prominent, the especially bricklayer of the problem of building trade recruitment is difficult, high labor cost, large labor intensity, working machine
Tool and efficiency is lower, usually builds a wall and more than two personnel is needed to cooperate, and working efficiency is lower.
Utility model content
The utility model has designed and developed a kind of multiple degrees of freedom automatic wall-building machine people, can be realized automatic wall-building function,
And freely turned to by pedestal, practicability is good, high-efficient.
Technical solution provided by the utility model are as follows:
A kind of multiple degrees of freedom automatic wall-building machine people, comprising:
Pedestal；
Rotating disk is rotatably supported on the pedestal；
Fluid reservoir, setting at the top of the rotating disk on；
Support column, is " L " type, and described support column one end connects the fluid reservoir；
First movement arm, one end and the support column other end are hinged；
Second movement arm, one end and the first movement arm other end are hinged；
Clamping disk is rotatably connected the second movement arm other end；
Hose, one end are connected to the fluid reservoir, and the other end is connected to the clamping disk, and the hose runs through the support
Column, the first movement arm and the second movement arm.
Preferably, further includes: Ban Zhuan mechanism, comprising:
Support spring, setting on the base, are located at below the clamping disk；
Accommodation groove is arranged in the support spring, and the accommodation groove can rise with support spring.
Preferably, the clamping disk, comprising:
Chuck body is column, is provided centrally with columnar hole；
Movable jaw is arranged on the outside of chuck body, and quantity is three, and the targeting part of claw is provided with flat thread；
Butterfly gear is engaged with the flat thread of movable jaw targeting part, setting chuck body and movable jaw it
Between, when the rotation of butterfly gear, the flat thread at the back side drives three claws close to center simultaneously or exits, to clamp brick
Block.
Preferably, the pedestal, comprising:
Fixed frame；
Four driving wheels are arranged in the fixed frame bottom.
Preferably, further includes: steering driving mechanism, comprising:
Left steering rocker arm is detachably arranged on the inside of the near front wheel, and described the near front wheel can be pulled to swing；
Right turn rocker arm is detachably arranged on the inside of off-front wheel, and the off-front wheel can be pulled to swing；
First direction connecting rod is arranged between the left steering rocker arm and the right turn rocker arm；
Second direction connecting rod is arranged between the left steering rocker arm and the right turn rocker arm, with described first
Direction connecting rod is arranged in parallel；
First actuating arm, middle part are rotatably disposed on fixed frame, first actuating arm one end connection described first
Direction connecting rod, the other end connect the second direction connecting rod；
Second actuating arm, middle part are rotatably disposed on fixed frame, first actuating arm one end connection described first
Direction connecting rod, the other end connect the second direction connecting rod；
Steeraxle, one end connect first actuating arm, and the other end connects second actuating arm, and can drive institute
State the first actuating arm and second actuating arm rotation.
Preferably, further include steering motor, be fixed on the fixed frame, for driving the steeraxle to rotate.
Preferably, deceleration mechanism is provided between the steering motor and the steeraxle.
Preferably, first movement arm and second movement arm are telescopic arm.
Preferably, there is first rotating shaft, the first rotating shaft is by the between the support column and first movement arm
The driving of one servo motor；
There is the second shaft, second shaft is by the second servo between second movement arm and first movement arm
Motor driven.
Preferably, further include master controller, be used to control the first servo motor and second servo motor,
There is wifi module in the master controller.
Beneficial effect described in the utility model
The utility model has designed and developed a kind of multiple degrees of freedom automatic wall-building machine people, can be realized automatic wall-building function,
And freely turned to by pedestal, practicability is good, and brick is removed brick institution freedom adjustable height, and cement mortar is sprayed through hose, energy
It is enough to realize overall process of building a wall, it flexibly turns to freely control movement arm length, structure is simple, high-efficient.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of multiple degrees of freedom automatic wall-building machine people described in the utility model.
Fig. 2 is the structural schematic diagram of steering mechanism described in the utility model.
Fig. 3 is the structural schematic diagram of clamping disk described in the utility model.
Fig. 4 is multiple degrees of freedom automatic wall-building machine man-hour structural schematic diagram described in the utility model.
Specific embodiment
The following describes the utility model in further detail with reference to the accompanying drawings, to enable those skilled in the art referring to explanation
Book text can be implemented accordingly.
As shown in Figure 1, multiple degrees of freedom automatic wall-building machine people provided by the utility model, comprising: pedestal 110, rotating disk
120, fluid reservoir 130, support column 140, the first movement arm 150, the second movement arm 160 and clamping disk 170.
As shown in Fig. 2, having driving wheel at the top of pedestal 110, comprising: fixed frame 111 and four driving wheels of bottom and turn
To driving mechanism, wherein steering mechanism is parallelogram-type structure, has left steering rocker arm 112, and left steering rocker arm 112 passes through
Bolt is fixed on the inside of the near front wheel, including fixed part and two rocker arm portions, after left steering rocker arm 112 is fixed on the near front wheel, two
A Rocker arm section is not located at the two sides of front axle；Left steering rocker arm 112 can pull the near front wheel to swing；Right turn rocker arm
113 structure is identical as left steering rocker arm, is bolted on the inside of off-front wheel, and off-front wheel can be pulled to swing；
First direction connecting rod 114 connects between left steering rocker arm 112 and right turn rocker arm 113, that is, connects the one of left steering rocker arm 112
One rocker arm portion in a rocker arm portion and right turn rocker arm 113；Second direction connecting rod 115 is parallel with first direction connecting rod 114
Arrangement, the second connecting rod 115 connect left steering rocker arm 112 and right turn rocker arm 113；First actuating arm, 116 middle part is rotatable to be set
It sets on fixed frame 111,116 one end of the first actuating arm connects first direction connecting rod 114, and the other end connects second direction connection
Bar 115；It is rotatably disposed on fixed frame in the middle part of second actuating arm 117,117 one end of the second actuating arm connects first direction connection
Bar 114, the other end connect second direction connecting rod 115, and first direction connecting rod 114, second direction connecting rod 115, first are driven
Swing arm 116 and the second actuating arm 117 form parallelogram sturcutre；
118 one end of steeraxle connects the first actuating arm 116, and the other end connects the second actuating arm 117, and can drive first
Actuating arm 116 and the rotation of the second actuating arm 117, steering motor 180 is fixed on fixed frame 111, for driving steeraxle 118
Rotation, is provided with deceleration mechanism as between a kind of preferred steering motor 180 and steeraxle 118.When steering motor 180 rotate forward,
Steeraxle 118 deflects to the left, and the first actuating arm 116 and the second actuating arm 117 rotate to the left, and first direction connecting rod 114 moves to the left,
Second direction connecting rod 115 moves to the right, and left steering rocker arm 112 deflects to the left, and left steering wheel deflects to the left, right turn rocker arm 113 to
Left avertence turns, and right turn wheel deflects to the left, realizes that pedestal 110 turns to the left, otherwise steering motor 180 inverts, realizes pedestal 110
It turns to the right.
Rotating disk 120 is fixed on pedestal 110 by shaft, and rotating disk 120 can be rotated relative to pedestal 110；Liquid storage
Tank 130 is fixed on 120 top of rotating disk；Support column 140 is " L " type, and 140 one end of support column connects fluid reservoir 130；First
150 one end of movement arm and 140 other end of support column are hinged；Second movement arm, 160 one end and 150 other end of the first movement arm are cut with scissors
It connects.190 one end of hose is connected to fluid reservoir 130, and the other end is connected to clamping disk 170, and hose 190 is transported through support column 140, first
Swing arm 150 and the second movement arm 160, clamping disk 170 are rotatably connected 160 other end of the second movement arm；
As shown in figure 3, it is column that clamping disk 170, which includes: chuck body 171, it is provided centrally with columnar hole, for accommodating hose
190；The setting of movable jaw 172 is three in 171 outside of chuck body, quantity, and the targeting part of claw 172 is provided with plane spiral shell
Line；Butterfly gear 173 is engaged with the flat thread of 172 targeting part of movable jaw, is arranged in chuck body 171 and movable jaw
Between 172, when butterfly gear 173 rotates, the flat thread at the back side drives three claws close to center simultaneously or exits,
To clamp brick.Wherein butterfly gear 173 is engaged with cone pinion 174, and cone pinion 174 is driven by driving column 175, as
A kind of preferred cone pinion 174 connects driving column 175 by motor and drives, as a preference, the first movement arm 150 and described the
Two movement arms 160 are telescopic arm.There is first rotating shaft, first rotating shaft is by first between support column 140 and the first movement arm 150
Servo motor driving；
There is the second shaft, the second shaft is driven by the second servo motor between second movement arm 160 and the first movement arm 150
It is dynamic.Servo motor is used to control the first servo motor and second servo motor, main control by main controller controls
There is wifi module in device, can be connected to mobile phone under same wifi network, instruction is write by mobile phone, inputs master controller,
To adjust the steering angle of servo motor, the operation so that the motion state realization for controlling movement arm is built a wall.
Ban Zhuan mechanism 200 includes: that support spring 210 is arranged on pedestal 111, is located at 170 lower section of clamping disk, accommodation groove
220 are fixed in support spring 210, and accommodation groove 220 can rise or fall with support spring.
Implement by taking the course of work of multiple degrees of freedom automatic wall-building machine people as an example, be described further,
Brick is put into Ban Zhuan mechanism 200, support spring 210 is risen, is located at accommodation groove 220 and clamping disk 170 same
High position, the brick vertical setting of types on the left side, the right it is horizontally-arranged, refer to when work from mobile phone or other smart machines to control system sending
It enables, adjusts first servo motor and the second servo motor rotational angle, clamping disk 170 is made to be located at the top of accommodation groove 220, adjust
Second movement arm, 160 length, the grasping part for constituting three claws of clamping disk 170 accommodate brick, adjust three claws,
Clamp brick；
Rotating disk 120 rotates 180 degree, and clamping disk 170 rotates 180 ° and brick is transported to region of building a wall, and adjusts clamping disk
170, three claw spacing are adjusted, brick is placed on region of building a wall；
Cement mortar in fluid reservoir 130 is sprayed at the top of brick through hose, rotating disk 120 revolves turnback, clamping
Disk 170 rotates 180 ° of clamping disks and is turned back to 110 top of accommodation groove, completes process of building a wall repeatedly.
It is not only in the description and the implementation although the embodiments of the present invention have been disclosed as above
Listed utilization, it can be applied to various fields suitable for the present invention completely, for those skilled in the art,
Other modifications may be easily implemented, therefore without departing from the general concept defined in the claims and the equivalent scope, this reality
It is not limited to specific details and legend shown and described herein with novel.
Claims (10)
1. a kind of multiple degrees of freedom automatic wall-building machine people characterized by comprising
Pedestal；
Rotating disk is rotatably supported on the pedestal；
Fluid reservoir, setting at the top of the rotating disk on；
Support column, is " L " type, and described support column one end connects the fluid reservoir；
First movement arm, one end and the support column other end are hinged；
Second movement arm, one end and the first movement arm other end are hinged；
Clamping disk is rotatably connected the second movement arm other end；
Hose, one end are connected to the fluid reservoir, and the other end is connected to the clamping disk, and the hose is through the support column, the
One movement arm and the second movement arm.
2. multiple degrees of freedom automatic wall-building machine people according to claim 1, which is characterized in that further include: Ban Zhuan mechanism,
Include:
Support spring, setting on the base, are located at below the clamping disk；
Accommodation groove is arranged in the support spring, and the accommodation groove can rise with support spring.
3. multiple degrees of freedom automatic wall-building machine people according to claim 2, which is characterized in that the clamping disk comprising:
Chuck body is column, is provided centrally with columnar hole；
Movable jaw is arranged on the outside of chuck body, and quantity is three, and the targeting part of claw is provided with flat thread；
Butterfly gear is engaged with the flat thread of movable jaw targeting part, is arranged between chuck body and movable jaw, when
When butterfly gear rotates, the flat thread at the back side drives three claws close to center simultaneously or exits, to clamp brick.
4. multiple degrees of freedom automatic wall-building machine people according to claim 1, which is characterized in that the pedestal comprising:
Fixed frame；
Four driving wheels are arranged in the fixed frame bottom.
5. multiple degrees of freedom automatic wall-building machine people according to claim 4, which is characterized in that further include: turn to driving machine
Structure, comprising:
Left steering rocker arm is detachably arranged on the inside of the near front wheel, and described the near front wheel can be pulled to swing；
Right turn rocker arm is detachably arranged on the inside of off-front wheel, and the off-front wheel can be pulled to swing；
First direction connecting rod is arranged between the left steering rocker arm and the right turn rocker arm；
Second direction connecting rod is arranged between the left steering rocker arm and the right turn rocker arm, with the first direction
Connecting rod is arranged in parallel；
First actuating arm, middle part are rotatably disposed on fixed frame, and first actuating arm one end connects the first direction
Connecting rod, the other end connect the second direction connecting rod；
Second actuating arm, middle part are rotatably disposed on fixed frame, and first actuating arm one end connects the first direction
Connecting rod, the other end connect the second direction connecting rod；
Steeraxle, one end connect first actuating arm, and the other end connects second actuating arm, and can drive described the
One actuating arm and second actuating arm rotation.
6. multiple degrees of freedom automatic wall-building machine people according to claim 5, which is characterized in that it further include steering motor,
It is fixed on the fixed frame, for driving the steeraxle to rotate.
7. multiple degrees of freedom automatic wall-building machine people according to claim 6, which is characterized in that the steering motor and described
Deceleration mechanism is provided between steeraxle.
8. multiple degrees of freedom automatic wall-building machine people according to claim 1, which is characterized in that first movement arm and institute
Stating the second movement arm is telescopic arm.
9. multiple degrees of freedom automatic wall-building machine people according to claim 8, which is characterized in that the support column and described
There is first rotating shaft, the first rotating shaft is driven by first servo motor between one movement arm；
There is the second shaft, second shaft is by the second servo motor between second movement arm and first movement arm
Driving.
10. multiple degrees of freedom automatic wall-building machine people according to claim 9, which is characterized in that it further include master controller,
For controlling the first servo motor and second servo motor, there is wifi module in the master controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821062992.0U CN208575836U (en) | 2018-07-06 | 2018-07-06 | A kind of multiple degrees of freedom automatic wall-building machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821062992.0U CN208575836U (en) | 2018-07-06 | 2018-07-06 | A kind of multiple degrees of freedom automatic wall-building machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208575836U true CN208575836U (en) | 2019-03-05 |
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ID=65509916
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821062992.0U Expired - Fee Related CN208575836U (en) | 2018-07-06 | 2018-07-06 | A kind of multiple degrees of freedom automatic wall-building machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208575836U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110685446A (en) * | 2019-09-23 | 2020-01-14 | 柴勤 | Full-automatic wall building process |
| CN112412073A (en) * | 2020-10-19 | 2021-02-26 | 黄健辉 | Wall building robot |
-
2018
- 2018-07-06 CN CN201821062992.0U patent/CN208575836U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110685446A (en) * | 2019-09-23 | 2020-01-14 | 柴勤 | Full-automatic wall building process |
| CN112412073A (en) * | 2020-10-19 | 2021-02-26 | 黄健辉 | Wall building robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190305 Termination date: 20190706 |