CN209907871U

CN209907871U - Mortar spraying and smearing mechanical arm and mortar spraying and smearing machine

Info

Publication number: CN209907871U
Application number: CN201920603604.3U
Authority: CN
Inventors: 向光明; 刘攀; 杨金; 魏勇
Original assignee: Chengdu Tianfu Ruobot Technology Co Ltd
Current assignee: Chengdu Tianfu Ruobot Technology Co Ltd
Priority date: 2019-04-29
Filing date: 2019-04-29
Publication date: 2020-01-07
Anticipated expiration: 2029-04-29

Abstract

The utility model provides a mortar spraying and smearing mechanical arm and a mortar spraying and smearing machine, belonging to the field of mechanical equipment in construction engineering, wherein the mortar spraying and smearing mechanical arm comprises a base, a first rotating arm, a second rotating arm and a telescopic part; the first rotating arm is rotatably connected to the base, the second rotating arm is rotatably connected to the first rotating arm, and a rotating shaft of the first rotating arm is perpendicular to a rotating shaft of the second rotating arm; the telescopic part comprises a main arm and an auxiliary arm, a first axial sliding guide part and a second axial sliding guide part are axially arranged on the main arm, and the main arm is connected with the second rotating arm in a sliding mode through the first axial sliding guide part; the end of the auxiliary arm is provided with a fixing piece for connecting a mortar spray head or a plastering plate. The mortar spraying and plastering mechanical arm and the mortar spraying and plastering machine can carry out wide-range mortar spraying and plastering operation, and the body has light weight and strong rigidity, and is convenient to move, position and construct accurately.

Description

Mortar spraying and smearing mechanical arm and mortar spraying and smearing machine

Technical Field

The utility model relates to a building engineering mechanical equipment field particularly, relates to a mortar spouts and smears arm and mortar spouts and smears machine.

Background

At present, the work of guniting and trowelling the wall is still in the stage of manual construction, mainly because the current mechanical construction coverage is too small, the position of the construction machine needs to be adjusted frequently, and the whole weight of the construction machine is large, the rigidity is poor, and the position adjustment is difficult. On the other hand, the guniting and troweling work is often separated, and the guniting robot and the troweling robot in the existing equipment are also separately designed, so that the equipment investment is increased, and the operation difficulty is multiplied.

SUMMERY OF THE UTILITY MODEL

The utility model provides a mortar spraying and smearing mechanical arm and mortar spraying and smearing machine aims at solving among the prior art mortar spraying and smearing mechanical arm and mortar spraying and smearing machine and exists the above-mentioned problem.

The utility model discloses a realize like this:

a mortar spraying mechanical arm comprises a base, a first rotating arm, a second rotating arm and a telescopic part;

the first rotating arm is rotatably connected to the base, the second rotating arm is rotatably connected to the first rotating arm, and a rotating shaft of the first rotating arm is perpendicular to a rotating shaft of the second rotating arm;

the telescopic part comprises a main arm and an auxiliary arm, a first axial sliding guide part and a second axial sliding guide part are axially arranged on the main arm, and the main arm is connected with the second rotating arm in a sliding mode through the first axial sliding guide part;

and the end of the auxiliary arm is provided with a fixing piece for connecting a mortar spray head or a plastering plate.

In an embodiment of the present invention, a first rotating electrical machine is disposed on the base, and the first rotating arm is fixedly connected to an output end of the first rotating electrical machine.

In an embodiment of the present invention, a second rotating motor is disposed on the first rotating arm, and the second rotating arm is fixedly connected to an output end of the second rotating motor.

In an embodiment of the present invention, the main arm is provided with a first rack parallel to the first axial sliding guide, the second rotating arm is provided with a first translation motor, and an output end of the first translation motor is provided with a first gear for cooperating with the first rack.

In an embodiment of the present invention, the main arm is provided with a second rack parallel to the second axial sliding guide, the sub-arm is provided with a second translation motor, and an output end of the second translation motor is provided with a second gear for cooperating with the second rack.

In an embodiment of the utility model, the base has the installation face that sets up relatively and decides the ground, the installation face is provided with the installation frame, first rotor arm is fixed to be set up the end of installation frame, the end of installation frame is to decide the distance on ground and be greater than the length of main arm.

The utility model discloses an in one embodiment, decide ground setting leveling bed hedgehopping subassembly, leveling bed hedgehopping subassembly includes many parallel arrangement's leveling telescopic link.

In an embodiment of the present invention, the main arm is provided with an axial lightening hole inside.

A mortar spraying and plastering machine comprises a connector, a tool head for spraying or plastering, and the mortar spraying and plastering mechanical arm;

the tool head is detachably arranged on the connecting head;

the connecting head is provided with a first fixing hole, and the fixing piece of the mortar spraying mechanical arm is provided with a second fixing hole matched with the first fixing hole.

The utility model discloses an in the embodiment, fixed linear actuator that is provided with on the connector, the instrument head sets up linear actuator's output.

The utility model has the advantages that: use the utility model provides a mortar spraying and smearing mechanical arm can remove the base to the position of treating the operation through displacement portion earlier, then realizes the wide range displacement of mortar shower nozzle or trowelling plate via first rocking arm, second rocking arm, pars contractilis to accomplish the spraying of wall body, trowelling work. The device has the advantages of simple structure, high strength, wide coverage range, high terminal positioning precision and the like. And the occupied space is small in the non-working state, and the whole structure is quite light. And the stress of the first rotary motor can be reduced through the arrangement of the mounting frame, the torque and rigidity requirements of the first rotary motor are reduced, and in addition, the main arm can be prevented from colliding the ground to cause damage. The telescopic part is a main arm and an auxiliary arm which are connected in a sliding mode, the telescopic length of the telescopic part can be further increased, and the working coverage area under the condition of fixing the base is enlarged. Through this kind of mortar spraying and plastering machine, can conveniently can dismantle mortar shower nozzle or plastering plate and mounting and be connected to still set up the supply driving machine at mortar shower nozzle or plastering plate terminal at the terminal of mortar spraying and plastering arm, be convenient for at last with the location fine setting at wall body.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural view of a mortar spraying and plastering mechanical arm and a first viewing angle of a mortar spraying and plastering machine provided by an embodiment of the present invention;

FIG. 2 is an enlarged view of a portion of area A of FIG. 1;

FIG. 3 is an enlarged view of a portion of the area B in FIG. 1;

fig. 4 is a schematic structural view of a first viewing angle of the mortar spraying and plastering mechanical arm and the mortar spraying and plastering machine provided by the embodiment of the present invention.

Icon: 100-a base; 200-a first rotating arm; 300-a second swivel arm; 010-a telescopic part; 110-a mounting plate; 131-universal wheels; 150-mounting a frame; 171-leveling telescopic rod; 210-a first rotary electric machine; 350-a second rotary electric machine; 201-a first plate; 203-a second plate; 310-a first sled; 330-a second sliding plate; 311-a first runner; 400-main arm; 500-secondary arm; 401-a first sliding track; 331-a second chute; 403-a second slide rail; 410-a first translation motor; 402-a first rack; 510-a third sled; 530-a fourth sled; 511-a third chute; 407-a third slide rail; 409-a fourth slide rail; 550-a second translation motor; 570-a fixture; 610-a tool head; 630-a connector; 650-linear drive.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention are combined to clearly and completely describe the technical solutions of the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of description, and do not indicate or imply that the equipment or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present disclosure, unless otherwise expressly stated or limited, the first feature may comprise both the first and second features directly contacting each other, and also may comprise the first and second features not being directly contacting each other but being in contact with each other by means of further features between them. Also, the first feature being above, on or above the second feature includes the first feature being directly above and obliquely above the second feature, or merely means that the first feature is at a higher level than the second feature. A first feature that underlies, and underlies a second feature includes a first feature that is directly under and obliquely under a second feature, or simply means that the first feature is at a lesser level than the second feature.

Example one

Referring to fig. 1, 2 and 3, the mortar spraying robot of the present embodiment includes a base 100, a first rotating arm 200, a second rotating arm 300, and a telescopic portion 010.

The base 100 includes a mounting plate 110, a displacement portion, and a mounting frame 150, the mounting plate 110 having a mounting surface and a fixed floor surface disposed opposite to each other. The fixed ground is provided with a displacement part and a leveling heightening component. The displacement portion includes four universal wheels 131, and four corners that four universal wheels 131 are the quadrangle distribute on deciding the ground. The leveling heightening assembly comprises four leveling telescopic rods 171, four corners of each leveling telescopic rod 171 are quadrilateral and are distributed on the fixed ground, and a foot pad is arranged at the free end, far away from the fixed ground, of each leveling telescopic rod 171.

The mounting frame 150 is fixedly disposed on the mounting surface and extends in a direction away from the floor. Specifically, in order to reduce the overall weight of the mounting frame 150, the mounting frame 150 may be a hollow steel frame or a frame structure.

Referring to fig. 1 and 4, the first rotating arm 200 is rotatably disposed at an end of the mounting frame 150 away from the mounting surface by a first rotating motor 210. The first rotary motor 210 is disposed in the mounting frame 150, and an output end of the first rotary motor 210 is disposed perpendicular to the mounting surface and extends out of the mounting frame 150. The first rotating arm 200 is fixedly connected to an output end of the first rotating electric machine 210. In other embodiments, a speed reducer may be further provided between the first rotating arm 200 and the first swing motor 210 to increase the output torque, but eventually the rotating shafts of the first rotating arm 200 and the mounting frame 150 are perpendicular to the mounting surface.

The first rotating arm 200 is provided with a second rotating motor 350, and an output end of the second rotating motor 350 is fixedly connected with the second rotating arm 300. The first rotating arm 200 includes a first plate 201 and a second plate 203 vertically and fixedly disposed, and the first plate 201 parallel to the mounting surface is fixedly connected to an output end of the first rotating motor 210. A second rotary motor 350 is fixedly arranged on one side of the second plate 203, the output end of the second rotary motor 350 passes through the second plate 203 to the other side, and the second rotating arm 300 is fixedly connected to the output end of the second rotary motor 350. In other embodiments, a speed reducer may be further provided between the second boom 300 and the second swing motor 350 to increase the output torque, but finally the rotation axis of the second boom 300 rotatably coupled to the first boom 200 is perpendicular to the rotation axis of the first boom 200 rotatably coupled to the mounting frame 150.

The second rotating arm 300 includes a first sliding plate 310 and a second sliding plate 330 fixedly connected vertically, and the telescopic part 010 includes a main arm 400 and an auxiliary arm 500, wherein the main arm 400 is a square rod, the first sliding plate 310 and the second sliding plate 330 are respectively engaged with two adjacent surfaces of the main arm 400, and wherein the first sliding plate 310 is engaged with the first axial sliding guide so that the main arm 400 can be axially slidably displaced with respect to the second rotating arm 300. The first sliding plate 310 is a flat plate directly connected to an output terminal of the second rotary motor 350, and is disposed perpendicular to an output shaft of the second rotary motor 350. The first sliding plate 310 is provided with a first sliding slot 311, the second sliding plate 330 is provided with a second sliding slot 331, and correspondingly, the main arm 400 is axially provided with a first sliding rail 401 engaged with the first sliding slot 311 and a second sliding rail 403 engaged with the second sliding slot 331. In this embodiment, the first sliding rail 401 is a first axial sliding mating member, and in other embodiments, a sliding rail may be disposed on the first sliding plate 310, a corresponding sliding slot may be disposed on the main arm 400, and the sliding slot on the main arm 400 forms a first axial sliding guide.

A first rack 402 parallel to the second slide rail 403 is further disposed on one side of the main arm 400 on which the second slide rail 403 is disposed, a first translation motor 410 is disposed on the second slide plate 330, and a first gear is disposed at an output end of the first translation motor 410 and is engaged with the first rack 402. The main arm 400 can be driven to translate axially relative to the second sliding plate 330 by a first translation motor 410.

The main arm 400 further includes two other adjacent surfaces where the first sliding plate 310 and the second sliding plate 330 are not disposed, and in this embodiment, one end of the sub arm 500 is provided with a sliding member that is slidably connected to the two adjacent surfaces of the main arm 400 where the first sliding plate 310 and the second sliding plate 330 are not disposed. The slide comprises oppositely disposed third and

fourth slide plates

510 and 530, respectively, which third and

fourth slide plates

510 and 530 are engaged with corresponding faces of main arm 400, wherein third slide plate 510 is engaged with a second axial slide guide so that sub-arm 500 can be axially slidably displaced with respect to main arm 400. The third sliding plate 510 is disposed in parallel with the first sliding plate 310, and the sub-arm 500 is directly coupled to the third sliding plate 510. Third sliding plate 510 is provided with a third sliding slot 511, fourth sliding plate 530 is provided with a fourth sliding slot (not shown in the figure), and correspondingly, main arm 400 is axially provided with a third sliding rail 407 engaged with third sliding slot 511, and a fourth sliding rail 409 engaged with fourth sliding slot. In this embodiment, the third slide rail 407 is a second axial sliding mating member, and in other embodiments, a slide rail may be disposed on the third slide plate 510, a corresponding slide groove is disposed on the main arm 400, and the slide groove on the main arm 400 forms a second axial sliding guide.

A second rack (not shown in the figure) parallel to the fourth sliding rail 409 is further disposed on one side of the main arm 400 on which the fourth sliding rail 409 is disposed, a second translation motor 550 is disposed on the fourth sliding plate 530, and a second gear is disposed at an output end of the second translation motor 550 and is matched with the second rack. The main arm 400 can be driven to translate axially relative to the fourth slide plate 530 by the second translation motor 550.

A fixing member 570 is provided at an end of the sub-arm 500 remote from the slider, and the fixing member 570 is a steel plate extending perpendicularly to the sub-arm 500 to a side remote from the base 100. The fixing member 570 is further provided with a second fixing hole for connecting a mortar nozzle or a plastering plate.

In this embodiment, the length of main arm 400 is less than the distance from the end of mounting frame 150 to the ground, so as to facilitate the rotation of main arm 400 and avoid damage to main arm 400 due to collision with the ground. The horizontal rotation motor of the main arm 400 is disposed at the end of the mounting frame 150 to reduce the stress of the first rotation motor 210. In addition, in order to reduce the overall weight of main arm 400, an axial lightening hole is provided inside main arm 400.

Use the utility model provides a mortar spraying mechanical arm can remove base 100 to the position of treating the operation through displacement portion earlier, then realizes the wide range displacement of mortar shower nozzle or trowelling board via the first rocking arm 200 of high degree of freedom, second rocking arm 300, pars contractilis 010 to accomplish the spraying of wall body, trowelling work. The device has the advantages of simple structure, high strength, wide coverage range, high terminal positioning precision and the like. And the occupied space is small in the non-working state, and the whole structure is quite light. And the stress of the first rotary motor 210 can be reduced by the arrangement of the mounting frame 150, the requirements on the torque and the rigidity of the first rotary motor 210 can be reduced, and in addition, the damage caused by the collision of the main arm 400 with the ground can also be avoided. The telescopic part 010 is provided with the main arm 400 and the sub arm 500 which are connected in a sliding manner, so that the telescopic length of the telescopic part 010 can be further increased, and the working coverage area under the condition of fixing the base 100 can be enlarged.

Example two

The embodiment provides a mortar spraying and plastering machine, which comprises a connecting head 630, a tool head 610 for spraying or plastering, and a mortar spraying and plastering mechanical arm in the first embodiment;

the tool head 610 can be a mortar spray head or a plastering plate, the tool head is detachably arranged on the connector 630, a first fixing hole is formed in the connector 630, a second fixing hole matched with the first fixing hole is formed in the fixing part 570 of the mortar spraying and plastering mechanical arm, and the connector 630 and the fixing part 570 are fixed by penetrating through the first fixing hole and the second fixing hole through bolts.

In this embodiment, a linear driver 650 is fixed on the connection head 630, a tool bit 610 is fixed on the output end of the linear driver 650, and the tool bit 610 is detachably fixed on the movable portion. A first and a second detachable clamping plates are provided at a specific position of the tool bit 610, and the first and second clamping plates are clamped at the outer side of the output end of the linear driver 650 when they are coupled. The first clamping plate and the second clamping plate are detachable from the output end of the linear actuator 650 when they are separated.

Through the mortar spraying and plastering machine, a mortar spray head or a plastering plate can be conveniently detachably connected with the fixing part 570, and a supply driving machine at the terminal of the mortar spray head or the plastering plate is also arranged at the terminal of the mortar spraying and plastering mechanical arm, so that the final positioning and fine adjustment with a wall body are facilitated.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A mortar spraying mechanical arm is characterized by comprising a base, a first rotating arm, a second rotating arm and a telescopic part;

2. The mortar spraying mechanical arm according to claim 1, wherein a first rotating motor is arranged on the base, and the first rotating arm is fixedly connected with an output end of the first rotating motor.

3. The mortar spraying mechanical arm according to claim 1, wherein a second rotating motor is arranged on the first rotating arm, and the second rotating arm is fixedly connected with the output end of the second rotating motor.

4. The mortar spraying mechanical arm according to claim 1, wherein the main arm is provided with a first rack parallel to the first axial sliding guide member, the second rotating arm is provided with a first translation motor, and an output end of the first translation motor is provided with a first gear for matching with the first rack.

5. The mortar spraying mechanical arm according to claim 1, wherein a second rack parallel to the second axial sliding guide member is provided on the main arm, a second translation motor is provided on the auxiliary arm, and a second gear for matching with the second rack is provided at an output end of the second translation motor.

6. The mortar spraying mechanical arm according to claim 1, wherein the base is provided with a mounting surface and a fixed ground surface which are arranged oppositely, the mounting surface is provided with a mounting frame, the first rotating arm is fixedly arranged at the end of the mounting frame, and the distance from the end of the mounting frame to the fixed ground surface is greater than the length of the main arm.

7. The mortar spraying mechanical arm according to claim 6, wherein the fixed ground is provided with a leveling heightening component, and the leveling heightening component comprises a plurality of leveling telescopic rods which are arranged in parallel.

8. The mortar spraying mechanical arm according to claim 1, wherein the main arm is a hollow structure.

9. A mortar spraying and plastering machine, which comprises a connector, a tool head for spraying or plastering, and a mortar spraying mechanical arm according to any one of claims 1 to 8;

the tool head is detachably arranged on the connecting head;

10. The mortar spraying and smearing machine according to claim 9, wherein a linear actuator is fixedly arranged on the connecting head, and the tool head is arranged at the output end of the linear actuator.