CN210500339U - Fine adjustment lifting mechanism of pulp filling robot for hanging net - Google Patents
Fine adjustment lifting mechanism of pulp filling robot for hanging net Download PDFInfo
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- CN210500339U CN210500339U CN201920984845.7U CN201920984845U CN210500339U CN 210500339 U CN210500339 U CN 210500339U CN 201920984845 U CN201920984845 U CN 201920984845U CN 210500339 U CN210500339 U CN 210500339U
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Abstract
The utility model provides a hang fine setting elevating system that net filled out thick liquid robot, including horizontal migration mechanism, elevating system, first swing mechanism and second swing mechanism. The two ends of the first swing mechanism are hinged to the horizontal moving mechanism and the lifting mechanism respectively, and the position relation between the plane where the lifting mechanism base frame of the lifting mechanism is located and the construction wall surface is adjusted, so that the plane where the lifting mechanism base frame is located is parallel to the construction wall surface, and the problem that the plane where the lifting mechanism base frame is located cannot be parallel to the construction wall surface due to the fact that the ground of a construction site is not perpendicular to the wall surface is solved. The second swing mechanism is arranged on the horizontal moving mechanism and used for driving the lifting mechanism to swing along a plane parallel to the construction wall surface, so that the axis of the net pressing wheel of the robot is parallel to the ground of a construction site, the problem that the axis of the net pressing wheel cannot be parallel to the ground of the construction site due to the fact that the ground of the construction site is uneven left and right is solved, and construction precision is improved.
Description
Technical Field
The utility model relates to a building technical field especially relates to a fine setting elevating system of pulp grinder ware people is filled out to hanging net.
Background
The process of hanging net, filling mortar and mending the seam of the wallboard is an important process of the current assembly type building. When the prefabricated inner wall panels are installed, cement mortar is generally adopted to bond two adjacent prefabricated inner wall panels. Because the physical properties of the cement mortar for bonding are different from those of the prefabricated inner wall boards, cracks and gaps can appear at the joint between the two prefabricated inner wall boards after the cement mortar is solidified and dried in the later period. Therefore, after the prefabricated inner wall board is installed, alkali-resistant mesh cloth is paved at the joint of the two wall boards, and the gap is filled with mortar to cover the glass fiber mesh cloth.
When mechanical equipment is applied to the process of constructing the wall panel hanging net and filling mortar for joint filling, the mechanical equipment cannot keep the state parallel to the construction wall surface and the horizontal plane due to the fact that the ground of a construction site is inclined, construction precision is low, and the effect is poor.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a string net fills fine setting elevating system of thick liquid robot can fill out the position of thick liquid robot to the string net and finely tune, overcomes job site ground slope and causes the problem that the construction precision is low, improves the construction precision.
To achieve the purpose, the utility model adopts the following technical proposal:
a fine adjustment lifting mechanism of a net hanging and pulp filling robot comprises:
the horizontal moving mechanism is arranged on a chassis of the robot and used for driving the net hanging and pulp filling execution mechanism of the robot to move along the horizontal direction;
the lifting mechanism is hinged with the horizontal moving mechanism and is used for driving the net hanging and pulp filling executing mechanism to move along the vertical direction;
the two ends of the first swinging mechanism are respectively hinged with the horizontal moving mechanism and the lifting mechanism and used for driving the lifting mechanism to swing around the third hinged seat and along the direction close to the construction wall surface or the direction far away from the construction wall surface;
and the second swinging mechanism is arranged on the lifting horizontal moving mechanism and is used for driving the lifting mechanism to swing along the direction parallel to the construction wall surface.
Preferably, the horizontal movement mechanism includes:
the bottom plate is used for being connected with a chassis of the robot;
and the horizontal driving mechanism is used for driving the bottom plate to move along the horizontal direction.
Preferably, the lifting mechanism includes:
one side of the lifting mechanism base frame is hinged with one side of the bottom plate;
the sliding rail assembly is arranged on the lifting mechanism base frame, arranged on one side far away from the bottom plate and connected with the suspended net slurry filling execution mechanism;
and the lifting driving mechanism is in transmission connection with the sliding rail assembly and is used for driving the suspended net slurry filling execution mechanism to move along the vertical direction.
Preferably, the slide rail assembly comprises:
the first sliding block is arranged on the lifting mechanism base frame;
the first sliding rail is vertically arranged and is in sliding connection with the first sliding block;
the connecting plate is connected with the other side of the first sliding rail;
the second sliding rail is vertically arranged and is connected with the other side of the connecting plate;
a second sliding block which is connected with the second sliding rail in a sliding way,
the net hanging and pulp filling actuating mechanism is arranged on the second sliding block, and the lifting driving mechanism drives the second sliding block to move along the vertical direction.
Preferably, the bottom of the lifting mechanism base frame is provided with a caster, and two ends of the sliding rail assembly are provided with a supporting seat, and the supporting seat is connected with the lifting mechanism base frame.
Preferably, the first swing mechanism includes:
the first hinge seat is arranged on one side, close to the bottom plate, of the lifting mechanism base frame;
the second hinge seat is arranged on the bottom plate;
and the two ends of the first swing driving piece are respectively hinged with the first hinged seat and the second hinged seat and used for driving the lifting mechanism base frame to swing around the third hinged seat along the direction close to the construction wall surface or the direction far away from the construction wall surface.
Preferably, the method further comprises the following steps:
the third hinge seat is arranged on one side of the lifting mechanism base frame;
and the fourth hinge seat is arranged on the bottom plate and is hinged with the third hinge seat.
Preferably, the second swing mechanism includes:
the support is arranged on the other side of the bottom plate;
and the second swing driving piece is arranged on the support and used for driving the lifting mechanism base frame to swing along the direction parallel to the construction wall surface.
Preferably, the method further comprises the following steps:
and the position positioning component is arranged on the lifting mechanism and used for acquiring and positioning the position of the suspended net slurry filling execution mechanism relative to the construction wall surface and the construction site ground.
Preferably, the elevation driving mechanism includes:
the pulley assembly is connected with the sliding rail assembly;
and the lifting driving piece is in transmission connection with the pulley assembly.
The utility model has the advantages that:
1. the utility model provides a pair of hang net pulp filling machine robot through setting up horizontal migration mechanism, realizes that the string net of robot fills out the removal of thick liquid actuating mechanism on the horizontal direction.
2. The utility model provides a pair of hang net grout filling machine robot through setting up elevating system, realizes that the string net of robot fills out the removal of thick liquid actuating mechanism in vertical side.
3. The utility model provides a pair of hang net grout filling machine robot through setting up a swing mechanism, realizes that the string net of robot fills out the position adjustment of thick liquid actuating mechanism and construction wall for it is parallel with the construction wall to hang net fill out thick liquid actuating mechanism.
4. The utility model provides a pair of hang net grout filling machine robot through setting up the second swing, realizes that the hang net of robot fills out the position adjustment between thick liquid actuating mechanism and the level ground for it is parallel with the horizontal plane to hang net fill out thick liquid actuating mechanism.
Drawings
Fig. 1 is a three-dimensional structure diagram of a fine adjustment lifting mechanism of a mesh-hanging pulp-filling robot according to an embodiment of the present invention;
fig. 2 is a front view of a fine adjustment lifting mechanism of a mesh-hanging pulp-filling robot according to an embodiment of the present invention;
fig. 3 is a top view of a fine adjustment lifting mechanism of a mesh-suspended pulp filling robot according to an embodiment of the present invention.
In the figure:
1. a horizontal movement mechanism; 11. a base plate; 12. a horizontal driving electric cylinder; 13. a third slide rail; 14. a third slider;
2. a lifting mechanism; 21. a lifting drive mechanism; 211. a lifting drive member; 212. a sheave assembly; 22. A lifting mechanism base frame; 23. a first slide rail; 24. a first slider; 25. a connecting plate; 26. a second slide rail; 27. a second slider; 28. a supporting seat; 29. a limiting body;
3. a first swing mechanism; 31. a first hinge mount; 32. a second hinge mount; 33. a first swing driving member;
4. a second swing mechanism; 41. a second swing drive;
5. a third hinge mount;
6. a fourth hinge base;
7. a position locating component; 71. a camera; 72. an angle sensor.
Detailed Description
In order to make the technical problems, technical solutions and technical effects achieved by the present invention more clear, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings, and obviously, the described embodiments are only some embodiments, not all embodiments of the present invention.
Referring to fig. 1-3, the present invention provides a fine adjustment lifting mechanism of a mesh-suspended pulp-filling robot, which includes a horizontal moving mechanism 1, a lifting mechanism 2, a first swing mechanism 3 and a second swing mechanism 4.
Horizontal migration mechanism 1 installs on the support of robot for the net hanging of drive robot fills out thick liquid actuating mechanism and removes along the horizontal direction, makes the net hanging fill out thick liquid actuating mechanism and can remove about, aims at the gap of construction wall, carries out the construction to the construction wall. The lifting mechanism 2 is hinged to the horizontal moving mechanism 1 and used for driving the suspended net slurry filling execution mechanism to move along the vertical direction, so that the suspended net slurry filling execution mechanism can construct a construction wall surface from bottom to top or from top to bottom. The both ends of first swing mechanism 3 are articulated with horizontal migration mechanism 1 and elevating system 2 respectively for drive elevating system 2 round third articulated seat 5 and along being close the direction of construction wall or keeping away from the direction swing of construction wall, with the position relation between adjustment string fill thick liquid actuating mechanism and the construction wall, make string fill thick liquid actuating mechanism and construction wall between parallel, solve the ground front and back on construction place uneven and lead to the unable parallel problem with the construction wall of robot. The second swing mechanism 4 is arranged on the horizontal moving mechanism 1 and used for driving the lifting mechanism 2 to swing along the direction parallel to the construction wall surface, so that the suspended net slurry filling execution mechanism is parallel to the horizontal plane of a construction site, and the problem that the suspended net slurry filling execution mechanism cannot be parallel to the horizontal plane due to uneven left and right ground of the construction site is solved.
Preferably, the horizontal movement mechanism 1 includes a base plate 11 and a horizontal driving mechanism. The horizontal driving mechanism comprises a horizontal driving electric cylinder 12, a third slide block 14 and a third slide rail 13. Specifically, the third sliding block 14 is matched with the third sliding rail 13 to realize sliding connection therebetween. The bottom plate 11 is fixedly connected with a third slide block 14. The horizontal driving cylinder 12 drives the third slider 14 to move along the third slide rail 13, thereby moving the base plate 11 fixed to the third slider 14.
Preferably, the lifting mechanism 2 includes a lifting mechanism base frame 22, a slide rail assembly, and a lifting drive mechanism 21.
One side of the lifting mechanism base frame 22 is hinged to one side of the base plate 11. In particular, a third hinging seat 5 and a fourth hinging seat 6 are also included. The third hinge base 5 is arranged on one side of the lifting mechanism base frame 22; the fourth hinge base 6 is installed on the bottom plate 11 and is hinged with the third hinge base 5.
The slide rail assembly is mounted on the lifting mechanism base frame 22 and disposed on a side away from the bottom plate 11. Specifically, the slide rail assembly includes a first slide block 24 installed on the lifting mechanism base frame 22, the first slide block 24 is connected with a first slide rail 23 in a sliding manner, a connecting plate 25 is installed on the other side of the first slide rail 23, a second slide rail 26 is installed on the other side of the connecting plate 25, the second slide rail 26 is connected with a second slide block 27 in a sliding manner, and the net-hanging and pulp-filling executing mechanism is installed on the second slide block 27.
The lifting driving mechanism 21 drives the second sliding block 27 to move along the vertical direction, so that the net hanging and slurry filling executing mechanism is driven to move along the vertical direction, and construction is carried out on the construction wall surface.
Preferably, the two ends of the slide rail assembly are provided with a support seat 28, the support seat 28 is connected with the lifting mechanism base frame 22, one side of the support seat 28 facing the slide rail assembly is provided with a limiting body 29, and the limiting body 29 limits the second slide block 27 to prevent the second slide block 27 from sliding out of the second slide rail 26.
When the lifting driving mechanism 21 drives the second sliding block 27 to move upwards to the top of the second sliding rail 26, the second sliding rail 26 is stressed to drive the first sliding rail 23 to slide upwards, so that the second sliding block 27 is further lifted to adapt to construction of the net hanging and pulp filling executing mechanism on a higher construction wall surface. When the second slider 27 is located at the highest position, the lifting driving mechanism 21 can drive the second slider 27 to move downwards to the bottom of the second slide rail 26, the second slide rail 26 is stressed to drive the first slide rail 23 to slide downwards, so that the first slide rail 23 and the second slide rail 26 move downwards to the lower part of the lifting mechanism base frame 22, and the construction procedure for the construction wall surface is executed again by the net hanging and slurry filling executing mechanism from bottom to top, thereby realizing the continuous work of the net hanging and slurry filling executing mechanism.
Preferably, the first swing mechanism 3 includes a first hinge seat 31, a second hinge seat 32 and a first swing driving member 33.
Specifically, the first hinge seat 31 is installed on one side of the lifting mechanism pedestal 22 close to the bottom plate 11, and the second hinge seat 32 is installed on the bottom plate 11; the two ends of the first swing driving member 33 are respectively hinged to the first hinge seat 31 and the second hinge seat 32, the first swing driving member 33 is an electric cylinder, and when the first swing driving member 33 acts, the connection between the first swing driving member and the second hinge seat 32 is used as a pivot to drive the lifting mechanism pedestal 22 to swing around the third hinge seat 5 and along the direction close to the construction wall surface or the direction far away from the construction wall surface.
The lifting mechanism base frame 22 and the construction wall surface are inclined, one is that the lifting mechanism base frame 22 is inclined from top to bottom towards the construction wall plate, and in this case, the first swing driving piece 33 acts to push the upper part of the lifting mechanism base frame 22 to the construction wall plate, so that the lifting mechanism base frame 22 is parallel to the construction wall plate; the other is that the lifting mechanism pedestal 22 is inclined from top to bottom towards the direction far away from the construction wall surface, and in this case, the first swing driving member 33 acts to pull the upper part of the lifting mechanism pedestal 22 towards the direction far away from the construction wall surface, so that the lifting mechanism pedestal 22 is parallel to the construction wall surface.
Preferably, the second oscillating mechanism 4 comprises a support and a second oscillating drive 41.
Specifically, the support is installed on the other side of the bottom plate 11, and is disposed opposite to the fourth hinge base 6.
Second swing driving piece 41 is installed on the support, second swing driving piece 41 is connected with the transmission of elevating system bed frame 22, specifically, second swing driving piece 41 is the electric jar, the telescopic link and the elevating system bed frame 22 fixed connection of electric jar, second swing driving piece 41 moves, use the support as the fulcrum, use the articulated department of elevating system bed frame 22 and bottom plate 11 as the center of rotation, promote elevating system bed frame 22 along the direction swing that is on a parallel with the construction wall, make elevating system bed frame 22 and job site's ground parallel, make the axis of the net pressing wheel in the thick liquid actuating mechanism is filled in the hanging net parallel with job site's ground, realize vertical net pressing effect, improve the net pressing precision.
The position relation of the lifting mechanism pedestal 22 and the ground is two, one is that the lifting mechanism pedestal 22 inclines towards the direction far away from the ground from the side connected with the second swing driving piece 41 to the side provided with the third hinge seat 5, in this case, the second swing driving piece 41 acts to drive the side connected with the second swing piece 41 of the lifting mechanism pedestal 22 to move upwards, so that the lifting mechanism pedestal 22 is parallel to the ground of the construction site; in the other case, the lifting mechanism base frame 22 is inclined toward the direction approaching the ground from the side connected to the second swing driving member 41 toward the side provided with the third hinge base 5, and in this case, the second swing driving member 41 is operated to drive the side connected to the lifting mechanism base frame 22 and the second swing member 41 to move downward, so that the lifting mechanism base frame 22 is parallel to the ground on the construction site.
Preferably, the fine adjustment lifting mechanism further comprises a position locating component 7. The position positioning component 7 comprises an angle sensor 72 and a camera 71, the angle sensor 72 and the camera 71 are both arranged on the lifting mechanism 2, the angle sensor 72 is used for acquiring an included angle between a mesh-hanging and pulp-filling executing mechanism of the robot and a construction wall surface, if the included angle is not 0 degrees, an included angle exists between the pulp-filling mesh-hanging executing mechanism and the construction wall surface, the pulp-filling mesh-hanging executing mechanism is in an inclined state, the first swinging mechanism 3 continues to act, the included angle between the lifting mechanism 2 and the construction wall surface is adjusted, when the included angle is 0 degrees, the mesh-hanging and pulp-filling executing mechanism is parallel to the construction wall surface, and the first swinging mechanism 3 stops acting; then, the camera 71 acts to obtain a position relation image of the net hanging and slurry filling execution mechanism and the construction wall surface, the image is transmitted to a control analyzer built in the robot, the control analyzer analyzes the image to obtain position relation data of the robot and the construction wall surface, data of the position relation of the net hanging and slurry filling execution mechanism and the construction wall surface are preset in the control analyzer, when the image data transmitted to the control analyzer in real time by the camera 71 is inconsistent with the preset data, the horizontal moving mechanism 1, the lifting mechanism 2 and the second swinging mechanism 4 act correspondingly to finely adjust the position of the net hanging and slurry filling execution mechanism, so that the position relation of the net hanging and slurry filling execution mechanism and the construction wall surface is consistent with the preset value, and then the net hanging and slurry filling execution mechanism carries out construction on the construction wall surface to improve construction accuracy.
Preferably, the lifting driving mechanism 21 includes a pulley assembly 212 and a lifting driving member 211, and the lifting driving member 211 drives the second sliding block 27 to move along the second sliding rail 26 through the pulley assembly 212, so as to drive the mesh-hanging pulp-filling executing mechanism mounted on the second sliding block 27 to move.
The technical principle of the present invention is described above with reference to specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without any inventive effort, which would fall within the scope of the present invention.
Claims (10)
1. The utility model provides a string net fills fine setting elevating system of thick liquid robot which characterized in that includes:
the horizontal moving mechanism (1) is arranged on a chassis of the robot and is used for driving the net hanging and pulp filling execution mechanism of the robot to move along the horizontal direction;
the lifting mechanism (2) is hinged with the horizontal moving mechanism (1) and is used for driving the net hanging and pulp filling executing mechanism to move along the vertical direction;
the two ends of the first swinging mechanism (3) are respectively hinged with the horizontal moving mechanism (1) and the lifting mechanism (2) and used for driving the lifting mechanism (2) to swing around a third hinged seat (5) along the direction close to the construction wall surface or the direction far away from the construction wall surface;
and the second swinging mechanism (4) is arranged on the lifting horizontal moving mechanism (1) and is used for driving the lifting mechanism (2) to swing along the direction parallel to the construction wall surface.
2. The fine-adjustment lifting mechanism of the net hanging and pulp filling robot as claimed in claim 1, wherein the horizontal moving mechanism (1) comprises:
a base plate (11) for connection with a chassis of the robot;
and the horizontal driving mechanism is used for driving the bottom plate (11) to move along the horizontal direction.
3. The fine-adjustment lifting mechanism of the net hanging and pulp filling robot as claimed in claim 2, wherein the lifting mechanism (2) comprises:
a lifting mechanism pedestal (22) with one side hinged with one side of the bottom plate (11);
the sliding rail assembly is arranged on the lifting mechanism base frame (22), arranged on one side far away from the bottom plate (11) and connected with the net hanging and pulp filling executing mechanism;
and the lifting driving mechanism (21) is in transmission connection with the sliding rail assembly and is used for driving the net hanging and pulp filling executing mechanism to move along the vertical direction.
4. The fine adjustment lifting mechanism of the net hanging and pulp filling robot as claimed in claim 3, wherein the slide rail assembly comprises:
a first slider (24) mounted on the lifting mechanism base frame (22);
the first sliding rail (23) is vertically arranged and is in sliding connection with the first sliding block (24);
a connecting plate (25) connected to the other side of the first slide rail (23);
the second sliding rail (26) is vertically arranged and is connected with the other side of the connecting plate (25);
a second slide block (27) connected with the second slide rail (26) in a sliding way,
the robot is arranged on the second sliding block (27), and the lifting driving mechanism (21) drives the second sliding block (27) to move along the vertical direction.
5. The fine adjustment lifting mechanism of the net hanging and pulp filling robot as claimed in claim 3, wherein the two ends of the sliding rail assembly are provided with a supporting base (28), and the sliding rail assembly is fixed on the lifting mechanism base frame (22) through the supporting base (28).
6. The fine-tuning lifting mechanism of the net hanging and pulp filling robot as claimed in claim 3, wherein the first swing mechanism (3) comprises:
the first hinge seat (31) is arranged on one side, close to the bottom plate (11), of the lifting mechanism base frame (22);
a second hinge base (32) mounted on the base plate (11);
and the two ends of the first swing driving piece (33) are respectively hinged with the first hinged seat (31) and the second hinged seat (32) and used for driving the lifting mechanism base frame (22) to swing around the third hinged seat (5) and along the direction close to or far away from the construction wall surface.
7. The fine adjustment lifting mechanism of the net hanging and pulp filling robot as claimed in claim 3, further comprising:
a third hinge base (5) arranged on one side of the lifting mechanism base frame (22);
and the fourth hinged seat (6) is arranged on the bottom plate (11) and is hinged with the third hinged seat (5).
8. The fine-tuning lifting mechanism of the net hanging and pulp filling robot as claimed in claim 7, wherein the second swinging mechanism (4) comprises:
the support is arranged on the other side of the bottom plate (11);
and the second swinging driving piece (41) is arranged on the support and is used for driving the lifting mechanism base frame (22) to swing along the direction parallel to the construction wall surface.
9. The fine adjustment lifting mechanism of the net hanging and pulp filling robot as claimed in claim 1, further comprising:
and the position positioning component (7) is arranged on the lifting mechanism (2) and is used for acquiring and positioning the position of the net hanging and slurry filling execution mechanism relative to the construction wall surface and the construction site ground.
10. The fine-tuning lifting mechanism of the net hanging and pulp filling robot as claimed in claim 3, wherein the lifting driving mechanism (21) comprises:
the pulley assembly is connected with the sliding rail assembly;
and the lifting driving piece is in transmission connection with the pulley assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920984845.7U CN210500339U (en) | 2019-06-27 | 2019-06-27 | Fine adjustment lifting mechanism of pulp filling robot for hanging net |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920984845.7U CN210500339U (en) | 2019-06-27 | 2019-06-27 | Fine adjustment lifting mechanism of pulp filling robot for hanging net |
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| Publication Number | Publication Date |
|---|---|
| CN210500339U true CN210500339U (en) | 2020-05-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920984845.7U Active CN210500339U (en) | 2019-06-27 | 2019-06-27 | Fine adjustment lifting mechanism of pulp filling robot for hanging net |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113263610A (en) * | 2021-06-15 | 2021-08-17 | 烟台聚通智能设备有限公司 | Automatic net hanging end actuating mechanism for producing aerated plates |
| CN114704041A (en) * | 2022-03-24 | 2022-07-05 | 安徽工程大学 | Building wall hangs net and plasters wall integration processing apparatus |
-
2019
- 2019-06-27 CN CN201920984845.7U patent/CN210500339U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113263610A (en) * | 2021-06-15 | 2021-08-17 | 烟台聚通智能设备有限公司 | Automatic net hanging end actuating mechanism for producing aerated plates |
| CN114704041A (en) * | 2022-03-24 | 2022-07-05 | 安徽工程大学 | Building wall hangs net and plasters wall integration processing apparatus |
| CN114704041B (en) * | 2022-03-24 | 2023-05-16 | 安徽工程大学 | Integrated processing device for building wall net hanging and wall plastering |
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