CN210086757U

CN210086757U - Indoor construction robot

Info

Publication number: CN210086757U
Application number: CN201920557237.8U
Authority: CN
Inventors: 刘攀; 向光明; 杨金; 刘期平; 魏勇
Original assignee: Chengdu Tianfu Ruobot Technology Co Ltd
Current assignee: Chengdu Tianfu Ruobot Technology Co Ltd
Priority date: 2019-04-23
Filing date: 2019-04-23
Publication date: 2020-02-18
Anticipated expiration: 2029-04-23

Abstract

The utility model provides an indoor construction robot, including the arm, elevating system, the chassis, elevating system includes the lift mount pad, cell type guide pillar and installation slip table, the arm is connected with the installation slip table, the lift mount pad is connected with the chassis, be equipped with first spout on the lift mount pad, the cell type guide pillar includes the curb plate at notch both ends and connects the bottom plate of two curb plates, be provided with the first slide rail that matches with the first spout on two curb plates, still be provided with first drive arrangement and second slide rail on the bottom plate, first drive arrangement and second slide rail are arranged in respectively the both sides of bottom plate; a second sliding groove matched with the second sliding rail is formed in the mounting sliding table, and a second driving device is arranged on the mounting sliding table; the four top corners of the chassis are provided with a rotary lifting supporting mechanism. The robot can replace manual work to carry out construction operation, can adjust the lifting of the mechanical arm, carries out high-altitude operation, and has the advantages of simple structure, high space utilization rate and small occupied space.

Description

Indoor construction robot

Technical Field

The utility model relates to a building construction tool technical field, concretely relates to indoor construction robot.

Background

When carrying out the wall to indoor wall and whitewash, traditionally adopt manual operation mode, but this kind of operation mode wastes time and energy, and work efficiency is low, occupies a large amount of manpower resources, whitewashes the general pungent smell that all contains of material moreover, to being in the operating personnel in this environment for a long time, has certain damage to the health. In addition, because the manual work is whitewashed, when the wall body eminence, generally will artifical climb the eminence through the climbing rack and carry out the operation, there is certain safety problem to operating personnel. Therefore, there is a strong need for a device that can solve the above problems.

Disclosure of Invention

To the above problem, the utility model provides an indoor construction robot can replace the manual work to carry out the construction operation, can adjust the lift of arm simultaneously, carries out the aerial work, and this robot's simple structure simultaneously, space utilization is high, and the occupation of land space is little.

The to-be-solved technical problem of the utility model adopts following technical scheme to realize:

an indoor construction robot comprises an mechanical arm, a lifting mechanism and a chassis, wherein the lifting mechanism comprises a lifting mounting seat, a groove-shaped guide pillar and a mounting sliding table, the mechanical arm is connected with the mounting sliding table, the lifting mounting seat is connected with the chassis, a first sliding groove is formed in the lifting mounting seat, the groove-shaped guide pillar comprises side plates at two ends of a notch and a bottom plate connected with the two side plates, a first sliding rail matched with the first sliding groove is arranged on the two side plates, a first driving device and a second sliding rail are further arranged on the bottom plate, and the first driving device and the second sliding rail are respectively arranged on two sides of the bottom plate; a second sliding groove matched with the second sliding rail is formed in the mounting sliding table, and a second driving device is arranged on the mounting sliding table; and four top corners of the chassis are provided with rotary lifting supporting mechanisms.

The utility model discloses a first slide rail on the last elevating system of indoor construction robot, second slide rail all set up on groove type guide pillar, and consequently, whole elevating system only has a guide pillar, can be in order to accomplish the second grade and go up and down, improve this robot elevating system's space utilization, and occupation space is little under non-operating condition, simple structure, consequently, improves indoor construction robot's space utilization simultaneously. Meanwhile, the utility model discloses a four apex angle departments on the robot chassis still are equipped with rotatory lift supporting mechanism, can support equipment stably to adjust certain levelness, make the robot can not rock in the work progress.

Preferably, the first driving device includes a first driving motor, a first lifting gear and a first lifting rack, the first lifting rack is disposed on the bottom plate of the groove-shaped guide pillar, the first lifting rack is engaged with the first lifting gear, the first lifting gear is connected with the first driving motor, and the first driving motor is fixedly mounted on the lifting mounting base.

By adopting the preferred scheme, the first driving device adopts gear and rack transmission, the occupied space is small, and the structure of the lifting mechanism and the structure of the indoor construction robot are optimized.

Preferably, the second driving device comprises a second driving motor, a second lifting gear and a second lifting rack, the second lifting rack is arranged on the groove-shaped guide pillar, the second lifting rack is meshed with the second lifting gear, the second lifting gear is connected with the second driving motor, and the second lifting motor is fixedly installed on the installation sliding table.

By adopting the preferred scheme, the second driving device adopts gear and rack transmission, the occupied space is small, and the structure of the lifting mechanism and the structure of the indoor construction robot are optimized.

Preferably, the bottom of the lifting mounting seat is provided with a bottom bracket.

Adopt above-mentioned preferred scheme, be convenient for the utility model discloses a firm the placing of elevating system is in on the chassis.

Preferably, the lifting mounting seat comprises two symmetrical upright posts, a first sliding groove is formed in the symmetrical surface of the two upright posts, and the two upright posts are connected with a transverse plate.

Adopt above-mentioned preferred scheme, lift mount pad simple structure, shared space is little, further optimizes elevating system's structure and indoor construction robot's structure.

Preferably, the lifting mounting base is further provided with a fixed connecting plate.

Adopt above-mentioned preferred scheme, make the lift mount pad more firm.

Preferably, universal wheels are arranged below the chassis.

Adopt above-mentioned preferred scheme, the indoor robot's of being convenient for removal. Preferably, the rotary lifting support mechanism comprises a motor, the motor is connected with a screw rod, a nut is connected onto the screw rod, the nut is connected with a space cam rod, the space cam rod is connected with a guide rod, and the guide rod is connected with the support claw; the motor is further connected with a sliding sleeve, and the lead screw, the nut, the space cam rod and the guide rod are all arranged in the sliding sleeve.

Adopt above-mentioned preferred scheme, can level and support indoor construction robot, make indoor construction robot can not rock when the operation.

Drawings

Fig. 1 is a schematic perspective view of the present invention;

fig. 2 is a front view of the present invention;

fig. 3 is a left side view of the present invention;

fig. 4 is a top view of the present invention;

fig. 5 is a structural schematic diagram of the rotary lifting support mechanism.

In the figure, 1-lifting installation base, 101-upright post, 102-transverse plate, 103-fixed connecting plate, 2-groove type guide post, 201-side plate, 202-bottom plate, 3-installation sliding table, 4-first sliding groove, 5-first sliding rail, 6-second sliding rail, 7-first driving motor, 8-first lifting gear, 9-first lifting rack, 10-bottom bracket, 11-second driving motor, 12-second lifting gear, 13-second lifting rack, 14-second sliding groove, 15-mechanical arm, 16-chassis, 17-universal wheel 18-rotary lifting supporting mechanism, 181-motor, 182-screw rod, 183-nut, 184-space cam rod, 185-guide rod and 186-supporting claw, 187-sliding sleeve.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Example 1

An indoor construction robot is shown in fig. 1, 2, 3 and 4 and comprises a mechanical arm 15, a lifting mechanism and a chassis 16, wherein the lifting mechanism comprises a lifting installation seat 1, a groove-shaped guide pillar 2 and an installation sliding table 3, the mechanical arm 15 is connected with the installation sliding table 3, the lifting installation seat 1 is connected with the chassis 16, a first sliding groove 4 is formed in the lifting installation seat 1, the groove-shaped guide pillar 2 comprises a side plate 201 at two ends of a notch and a bottom plate 202 connected with the two side plates 201, a first sliding rail 5 matched with the first sliding groove 4 is arranged on the two side plates 201, a first driving device and a second sliding rail 6 are further arranged on the bottom plate 202, and the first driving device and the second sliding rail 6 are respectively arranged on two sides of the bottom plate 202; a second sliding groove 14 matched with the second sliding rail 5 is formed in the mounting sliding table 3, and a second driving device is arranged on the mounting sliding table 3; the four top corners of the chassis 16 are provided with rotary lifting supporting mechanisms 18. The utility model provides an indoor construction robot comprises arm 15, elevating system and chassis 16, arm 15 with elevating system's installation slip table 3 is connected, and reciprocating of installation slip table 3 drives arm 15 and slides from top to bottom, elevating system's lift mount pad 1 with chassis 16 is connected, chassis 16 drives the removal of whole indoor construction robot. The utility model adopts the indoor construction robot to replace the manual work to carry out construction operation, solves the difficult problem of manual work in the construction process, and can adjust the lifting of the mechanical arm 15 at the same time, so that the indoor construction robot can carry out high-place operation; meanwhile, a first sliding rail 5 and a second sliding rail 6 are arranged on a groove-shaped guide pillar 2 of the lifting mechanism on the indoor construction robot, the groove-shaped guide pillar 2 comprises side plates 201 at two ends of a notch and a bottom plate 202 connected with the two side plates, the first sliding rail 5 is arranged on the side plates 201 and matched with a first sliding groove 4 arranged on the lifting mounting seat 1, meanwhile, a first driving device is arranged on the groove-shaped guide pillar 2, and when the first driving device is started, the groove-shaped guide pillar 2 slides up and down on the first sliding groove 4 to realize primary lifting; still be provided with second slide rail 6 on the bottom plate 202 of cell type guide pillar 2 be equipped with on the installation slip table 3 with second spout 14 that second slide rail 6 matches, still be equipped with second drive arrangement on the installation slip table 3, when second drive arrangement starts, second installation slip table is in through second spout 14 second slide rail 6 is last to slide from top to bottom, realizes the second grade and goes up and down. In this embodiment, only use a cell type guide rail 2 just can realize the second grade and go up and down, improved elevating system's space utilization, reduced elevating system's volume, consequently, reduced indoor construction robot's space volume. Therefore, the utility model discloses an indoor construction robot is little in the space that non-operating condition occupy, just the utility model discloses a only by arm 15, elevating system and chassis 16 constitute, therefore simple structure can remove indoor robot through chassis 16 simultaneously, can make indoor robot carry out the eminence operation through elevating system's regulation, consequently, the range of application is wide. Meanwhile, the utility model discloses a four apex angle departments of indoor construction robot's chassis 16 still are equipped with rotatory lift supporting mechanism 18 for the stationarity of adjustment robot prevents that the robot from rocking and toppling in the work progress.

Example 2

Based on the above embodiment 1, as shown in fig. 1 and fig. 4, the first driving device includes a first driving motor 7, a first lifting gear 8 and a first lifting rack 9, the first lifting rack 9 is disposed on the bottom plate 202 of the groove-shaped guide pillar 2, the first lifting rack 9 is engaged with the first lifting gear 8, the first lifting gear 8 is connected with the first driving motor 7, and the first driving motor 7 is fixedly mounted on the lifting mounting base 1. In the embodiment, the first groove-shaped guide pillar 2 is lifted up and down by using gear and rack transmission, so that primary lifting is realized. When the first driving motor 7 is started, the first lifting gear 8 is driven to rotate, and because the first lifting gear 8 is meshed with the first lifting rack 9 and the first lifting rack 9 is arranged on the groove-shaped guide post bottom plate 202, when the first lifting gear 8 is fixed, the groove-shaped guide post 2 connected with the first lifting rack 9 can be lifted. The utility model discloses a rack and pinion transmission not only goes up and down very fast, and occupation space is little moreover, can optimize the utility model discloses an elevating system's structure and indoor construction robot structure. In this embodiment, other undescribed contents are the same as those in the above embodiment, and are not described again here.

Example 3

Based on the above embodiment 1, as shown in fig. 1 and fig. 4, the second driving device includes a second driving motor 11, a second lifting gear 12 and a second lifting rack 13, the second lifting rack 13 is disposed on the groove-shaped guide pillar bottom plate 202, the second lifting rack 13 is engaged with the second lifting gear 12, the second lifting gear 12 is connected with the second driving motor 11, and the second lifting motor 11 is fixedly mounted on the mounting sliding table 3. In this embodiment, the rack and pinion transmission is used, so that the ascending and descending of the mounting sliding table 3 are realized, and the secondary ascending and descending are realized. When second driving motor 11 starts, drive second lifting gear 12 and rotate, because second lifting gear 12 and the meshing of second lifting rack 13, and the second driving motor 11 of being connected with second lifting gear 12 arranges in on the installation slip table 3, consequently, when the cell type guide rail 2 of being connected with second lifting rack 13 is fixed, can realize the lift of the installation slip table 3 of being connected with second lifting gear 12. The utility model discloses a rack and pinion transmission not only goes up and down very fast, and occupation space is little moreover, can optimize the utility model discloses an elevating system's structure and indoor construction robot structure. In this embodiment, other undescribed contents are the same as those in the above embodiment, and are not described again here.

Example 4

Based on the above embodiment 1, as shown in fig. 1, 2, and 3, the bottom of the lifting installation base 1 is provided with a bottom bracket 10. The bottom support 10 is arranged on the lifting installation base 1, so that the lifting mechanism on the indoor robot can be prevented from inclining, and the lifting mechanism can be conveniently and stably placed on the chassis 16. In this embodiment, other undescribed contents are the same as those in the above embodiment, and are not described again here.

Example 5

Based on the embodiment 1, as shown in fig. 1, 2, and 4, the lifting installation base 1 includes two symmetrical columns 101, a first chute 4 is disposed on a symmetrical surface of the two columns 101, and a horizontal plate 102 is connected to the two columns 101. The lifting installation seat 1 in the embodiment is only composed of two symmetrical upright columns 101 and a transverse plate 102, is simple in structure and convenient to manufacture, and is provided with the first sliding grooves 4 on the symmetrical surfaces of the two upright columns 101 and matched with the first sliding rails 5 of the groove-shaped guide columns 2. In this embodiment, other undescribed contents are the same as those in the above embodiment, and are not described again here.

Example 6

Based on the embodiment 5, as shown in fig. 1, 2, and 3, the lifting installation base 1 is further provided with a fixed connection plate 103. In this embodiment, the lifting mounting base 1 is further provided with a fixed connection plate 103 to connect the two columns 101, so that the lifting mounting base 1 is firmer. In this embodiment, other undescribed contents are the same as those in the above embodiment, and are not described again here.

Example 7

Based on the above embodiment 1, as shown in fig. 1, 2, 3, and 4, the universal wheels 17 are provided below the chassis 16. The indoor construction robot is convenient to move. In this embodiment, other undescribed contents are the same as those in the above embodiment, and are not described again here.

Example 8

Based on the above embodiment 1, as shown in fig. 1, 2, 3, and 5, the rotary elevating support mechanism 18 includes a motor 181, the motor 181 is connected to a lead screw 182, a nut 183 is connected to the lead screw 182, the nut 183 is connected to a space cam lever 184, the space cam lever 184 is connected to a guide lever 185, and the guide lever 185 is connected to a support claw 186; the motor 181 is further connected to a sliding sleeve 187, and the lead screw 182, the nut 183, the space cam lever 184 and the guide bar 185 are disposed in the sliding sleeve 187. The present embodiment is one of the rotary lifting support structures for adjusting the balance of the robot, the lead screw 182 is driven to rotate by the motor 181, the lead screw 182 rotates to drive the nut 183 to ascend and descend, thereby driving the space cam bar 184 connected with the nut 183 to ascend and descend, and the space cam bar 184 rotates during the ascending and descending process, thereby enabling the support claw 186 indirectly connected with the space cam bar 184 to be fixed at a suitable position, thereby facilitating the indoor construction robot to be stably placed on the ground, and therefore, even if there is a bump or a hollow, the robot can be stably fixed on the ground by the rotary lifting support mechanism 18 of the present embodiment. In this embodiment, other undescribed contents are the same as those in the above embodiment, and are not described again here.

The above description is only exemplary of the present invention and should not be taken as limiting, and all changes, equivalents, and improvements made within the spirit and principles of the present invention should be understood as being included in the scope of the present invention.

Claims

1. An indoor construction robot comprises an mechanical arm, a lifting mechanism and a chassis and is characterized in that the lifting mechanism comprises a lifting mounting seat, a groove-shaped guide pillar and a mounting sliding table, the mechanical arm is connected with the mounting sliding table, the lifting mounting seat is connected with the chassis, a first sliding groove is formed in the lifting mounting seat, the groove-shaped guide pillar comprises side plates at two ends of a notch and a bottom plate for connecting the two side plates, first sliding rails matched with the first sliding grooves are arranged on the two side plates, a first driving device and a second sliding rail are further arranged on the bottom plate, and the first driving device and the second sliding rail are respectively arranged on two sides of the bottom plate; a second sliding groove matched with the second sliding rail is formed in the mounting sliding table, and a second driving device is arranged on the mounting sliding table; and four top corners of the chassis are provided with rotary lifting supporting mechanisms.

2. The indoor construction robot as claimed in claim 1, wherein the first driving means includes a first driving motor, a first lifting gear and a first lifting rack, the first lifting rack is disposed on the bottom plate of the groove-shaped guide pillar, the first lifting rack is engaged with the first lifting gear, the first lifting gear is connected with the first driving motor, and the first driving motor is fixedly mounted on the lifting mount.

3. The indoor construction robot as claimed in claim 1, wherein the second driving means includes a second driving motor, a second lifting gear and a second lifting rack, the second lifting rack is disposed on the groove-shaped guide pillar, the second lifting rack is engaged with the second lifting gear, the second lifting gear is connected to the second driving motor, and the second lifting motor is fixedly mounted on the mounting slide.

4. The indoor construction robot of claim 1, wherein a bottom bracket is arranged at the bottom of the lifting installation seat.

5. The indoor construction robot of claim 1, wherein the lifting installation seat comprises two symmetrical upright columns, a first sliding groove is formed in the symmetrical surface of the two upright columns, and a transverse plate is connected to the two upright columns.

6. The indoor construction robot of claim 5, wherein the lifting installation base is further provided with a fixed connection plate.

7. The indoor construction robot of claim 1, wherein universal wheels are arranged below the chassis.

8. The indoor construction robot as claimed in claim 1, wherein the rotary lifting support mechanism comprises a motor connected to a lead screw, a nut connected to the lead screw, a space cam rod connected to the nut, a guide rod connected to the guide rod, and a support claw connected to the guide rod; the motor is further connected with a sliding sleeve, and the lead screw, the nut, the space cam rod and the guide rod are all arranged in the sliding sleeve.