CN211073572U - Mobile folding arm decoration robot - Google Patents

Abstract

The utility model discloses a movable folding arm decoration robot, which comprises a movable chassis platform, a turntable mechanism, a folding arm mechanism and a terminal actuating mechanism; the turntable mechanism is arranged on the movable chassis platform; one end of the arm folding mechanism is hinged with the turntable mechanism, and the other end of the arm folding mechanism is connected with the tail end execution structure; the rotary disc mechanism can drive the folding arm mechanism on the rotary disc mechanism to rotate. The utility model discloses have portable, roll over arm operation space, removable execution terminal, high efficiency construction, functions such as single-point large tracts of land high accuracy operation greatly.

Description

Mobile folding arm decoration robot

Technical Field

The utility model relates to a construction equipment technical field especially relates to a portable arm decoration robot that rolls over.

Background

The building decoration is an important construction process in the field of building construction, and particularly refers to a means for covering a new decorative material or removing a material to smooth the surface on an existing building main body, improving the shortcomings of the building space, making up for further beautification, and enabling the building space to meet the use requirements and be more personalized. The building decoration not only can enable the building to meet the visual and tactile enjoyment of people, but also can further improve the space quality of the building, the building can be more emotional through a decoration process, and the living and commercial values of the building are improved, so the building decoration becomes an indispensable part of modern building engineering.

At present, the related operations of the decoration industry are various, the professional requirement is high, the operation working condition environment is severe, and the labor intensity of manual operation is high. The average age of current market fitment workman is over fifty years old, and young labour is engaged in this trade not far away, and the fitment field will face the problem of labour vacancy, forces the trend that artifical construction cost rises. In the actual production process of the building industry, most of the existing building decorations are still manually operated, the decoration quality and the technical level of constructors have direct influence, the conditions of inconsistent quality, uncontrollable construction period and the like are easily caused, and the existing exquisite technical operators are obviously insufficient or even seriously lack, so the development of the building industry is seriously restricted.

With the development of the robot technology, some robots for replacing decoration construction such as manual wall plastering, coating, polishing and the like appear in the market at present, the robots are used for replacing manual operation and semi-automatic operation with insufficient efficiency, the working efficiency is improved to a certain extent, compared with a traditional construction mode, technical innovation and mode innovation about decoration robots are imperative, and the intelligent robot for building decoration is applied to the field of buildings to replace manual construction operation and is also an inevitable trend of industrial development. However, most of the existing decoration robots are used for executing single-function building decoration operation, which cannot meet the cross requirements of multiple operations in the decoration industry, and the existing decoration robots have the defects or defects of poor operation quality, difficulty in adapting to complex working conditions, small single-point operation area, large accuracy of depending on a chassis platform and the like.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a portable, roll over the automation equipment of functions such as arm operating space, removable execution end, high efficiency construction, single-point large tracts of land high accuracy operation greatly, solve among the prior art decoration robot function singleness, operation quality is not good, be difficult to adapt to complicated operating mode, single-point operation area problem little, the precision is low.

In view of the above, the utility model provides a movable folding arm decoration robot, which comprises a movable chassis platform, a turntable mechanism, a folding arm mechanism and a terminal executing mechanism;

the turntable mechanism is arranged on the movable chassis platform;

one end of the arm folding mechanism is hinged with the turntable mechanism, and the other end of the arm folding mechanism is connected with the tail end executing mechanism;

the rotary disc mechanism can drive the folding arm mechanism on the rotary disc mechanism to rotate.

Preferably, carousel mechanism includes carousel support, driving motor, drive gear, gyration and supports and change the board, driving motor with the gyration is supported and is set up on the carousel support, the drive gear cover is established on driving motor's the output shaft, drive gear with the gyration is supported the meshing, it sets up to support changes the board on the gyration is supported, the carousel support sets up on the portable chassis platform, roll over arm mechanism and articulate support changes on the board.

Preferably, the transmission gear is an involute gear.

Preferably, the support rotating plate is provided with a threading hole for the cable to penetrate up and down.

Preferably, roll over arm mechanism and include that one-level rolls over arm, second grade and roll over the arm, the one end that one-level rolled over the arm articulates on carousel mechanism, the other end that one-level rolled over the arm with the arm is articulated is rolled over to the second grade, end actuating mechanism establishes on the arm is rolled over to the second grade.

Preferably, roll over arm mechanism and still include first electric push cylinder, second electric push cylinder, dwang and dowel steel, the bottom of first electric push cylinder articulates in carousel mechanism is last, the output of first electric push cylinder with the arm is articulated to one-level book, the bottom of second electric push cylinder articulates on the arm is rolled over to the one-level, the middle part of dwang articulates on the arm is rolled over to the one-level, the one end of dwang with the output of second electric push cylinder is articulated, the other end of dwang with the one end of dowel steel is articulated, the other end of dowel steel with the arm is articulated to the second grade.

Preferably, the end effector is a flange, and the flange is provided with a mounting interface for connecting with an external effector.

Preferably, at least one anti-overturning mechanism is arranged on the movable chassis platform.

Preferably, the overturn prevention mechanism comprises a lower leg swing rod, a support leg and a foot cup, the lower leg swing rod can stretch out and draw back, one end of the lower leg swing rod is connected with the support leg, the other end of the lower leg swing rod is connected with the movable chassis platform, and the foot cup is arranged at the bottom of the support leg.

Preferably, a steering wheel and a universal wheel are arranged below the mobile chassis platform.

Compared with the prior art, the embodiment of the utility model provides an advantage lies in:

the utility model discloses a mobile chassis platform adopts steering wheel and universal wheel to realize moving, can realize chassis platform automatic movement;

the turntable mechanism is driven by a motor to drive the turntable to rotate through gear transmission, and the arm folding mechanism can work in the circumferential area of the turntable, so that the working range of the tail end operation of the actuating mechanism is enlarged; the supporting rotary plate on the rotary plate mechanism is also provided with a threading hole for inserting the optimal path of the upper and lower cables, so that the cables do not need to be thrown to the outside, and the cables are prevented from being wound;

the arm folding mechanism adopts a first-stage folding arm hinged with a bearing of the turntable workbench, a second-stage folding arm hinged with the first-stage folding arm and two electric pushing cylinders for driving the folding arm to work, so that the operation space of the folding arm is large, and the space of the accessible operation area at the tail end of the actuator is large; a rotating rod and a force transmission rod are arranged at the hinged position of the first-stage folding arm and the second-stage folding arm to increase the driving force to the second-stage folding arm, so that the tail end actuating mechanism can work conveniently;

the end actuating mechanism is connected by a flange, so that the installation of the actuator is convenient;

the overturn preventing device consists of two leg oscillating bars, two legs and two foot cups, and the robot is prevented from toppling due to unstable gravity center.

The utility model discloses the gear on the carousel workstation adopts the clearance engagement installation of transferring of involute gear to eliminate big clearance error, and the arm is rolled over to the one-level moreover and the arm is rolled over to the second grade adopts articulated connection, eliminates and rolls over the clearance error that the arm rotated the position, and this structural design effectively ensures the high accuracy transmission of this robot, realizes the construction operation of high accuracy then.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

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

fig. 2 is a schematic structural view of the mobile chassis platform of the present invention;

fig. 3 is a schematic structural view of the turntable mechanism of the present invention;

fig. 4 is a schematic structural view of the arm folding mechanism of the present invention;

FIG. 5 is a partial enlarged view of the arm folding mechanism of the present invention;

fig. 6 is a schematic structural view of the end effector of the present invention;

FIG. 7 is a schematic structural view of the overturn preventing mechanism of the present invention;

in the figure: 1-folding arm mechanism; 2-an electric box; 3-an anti-overturning mechanism; 4-a mobile chassis platform; 5-an end effector; 6-a turntable mechanism; 11-rotating rods; 12-a dowel bar; 13-a second electric pushing cylinder; 14-a first support base; 15-bearing seats; 16-a secondary folding arm; 17-first-stage folding arm; 18-a first electric pushing cylinder; 19-a second support seat; 31-upper leg swing rod; 32-legs; 33-lower leg swing rod; 34-a foot cup; 41-chassis outer plate; 42-universal wheels; 43-a power motor; 44-a steering wheel; 45-steering motor; 46-anti-overturning mechanism mounting position; 47-a turntable driving motor falling hole; 51-routing hole site; 52-mounting interface; 61-supporting the rotating plate; 62-a drive gear; 63-a drive motor; 64-threading holes; 65-rotating support; 66-turntable support.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present 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 should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element 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. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example 1

Referring to fig. 1-7, the present embodiment provides a mobile folding arm decorating robot, which includes a mobile chassis platform 4, a turntable mechanism 6, a folding arm mechanism 1, an end executing mechanism 5, and an anti-overturning mechanism 3.

The rotary table mechanism 6 is arranged on the movable chassis platform 4, the arm folding mechanism 1 is hinged with the rotary table mechanism 6, the tail end executing mechanism 5 is arranged on the arm folding mechanism 1, and the rotary table mechanism 6 can drive the arm folding mechanism 1 on the tail end executing mechanism to rotate.

The overturn preventing mechanism 3 is provided with four groups which are respectively arranged at four corners of the movable chassis platform 4.

Two steering wheels 44 and two universal wheels 42 are arranged below the mobile chassis platform 4, and the steering wheels 44 and the universal wheels 42 are arranged below the mobile chassis platform 4 according to a rectangular layout.

The turntable mechanism 6 comprises a turntable support 66, a driving motor 63, a transmission gear 62, a rotary support 65 and a support rotating plate 61, the driving motor 63 and the rotary support 65 are arranged on the turntable support 66, the transmission gear 62 is sleeved on an output shaft of the driving motor 63, the transmission gear 62 is meshed with the rotary support 65, the support rotating plate 61 is arranged on the rotary support 65, the turntable support 66 is arranged on the movable chassis platform 4, the transmission gear 62 is an involute gear, and a threading hole 64 is formed in the support rotating plate 61 and used for vertically inserting a cable.

The arm folding mechanism 1 comprises a first-stage folding arm 17 and a second-stage folding arm 16, one end of the first-stage folding arm 17 is hinged to the supporting rotating plate 61 through a bearing seat 15, the other end of the first-stage folding arm 17 is hinged to the second-stage folding arm 16, and the tail end executing mechanism 5 is arranged on the second-stage folding arm 16. Roll over arm mechanism 1 and still include first electric push cylinder 18, second electric push cylinder 13, dwang 11 and dowel steel 12, the bottom of first electric push cylinder 18 articulates on supporting rotor plate 61 through second supporting seat 19, the output and the one-level of first electric push cylinder 18 are rolled over arm 17 and are articulated, the bottom of second electric push cylinder 13 articulates on one-level is rolled over arm 18 through first supporting seat 14, the middle part of dwang 11 articulates on one-level is rolled over arm 18, the one end of dwang 11 is articulated with the output of second electric push cylinder 13, the other end of dwang 11 is articulated with the one end of dowel steel 12, the other end and the second level of dowel steel 12 are rolled over arm 6 and are articulated. The end effector 5 is a flange, and the flange is provided with a mounting interface 52 for connecting with an external effector.

The overturn preventing mechanism 3 comprises an upper supporting leg swing rod 31, a lower supporting leg swing rod 33, supporting legs 32 and foot cups 34, the upper supporting leg swing rod 31 and the lower supporting leg swing rod 33 can stretch out and draw back, one end of the upper supporting leg swing rod 31 is connected with the supporting legs 32, the other end of the upper supporting leg swing rod is connected with the movable chassis platform 4, one end of the lower supporting leg swing rod 33 is connected with the supporting legs 32, the other end of the lower supporting leg swing rod is connected with the movable chassis platform 4, and the foot cups 34 are arranged.

The present embodiment further comprises an electrical box 2, and the electrical elements of the decoration robot are installed in the electrical box 2 and connected with various mechanisms of the device, so as to realize automatic control.

The mobile arm folding decoration robot provided by the embodiment mainly comprises an arm folding mechanism, an electric box, an overturn preventing mechanism, a mobile chassis platform, a tail end executing mechanism and a turntable mechanism, wherein all the parts are mutually and tightly cooperated to jointly complete the functions of autonomous driving, arm folding expansion, azimuth adjustment, tail end executor construction and the like. Each part of the decoration robot has the following functions:

the folding arm mechanism mainly realizes adjustment of pitching angles of two shafts, large-size stretching and folding is effectively realized, accessibility of a large-size position of the end effector is guaranteed, an electric box mainly realizes fixed installation of used electric components and comprises a controller, a driver, a P L C module, a power supply converter and the like, an anti-overturning mechanism mainly realizes anti-overturning performance of the whole robot and enhances stability of the robot, the device is telescopic and convenient to drive in narrow passageways or door frames, a mobile chassis platform mainly realizes movement functions of the whole robot and placement of a power supply unit, an end execution mechanism is a main body part for realizing decoration functions, such as a grinding disc realizes a wall surface grinding function, an end injection molding device realizes feeding of sizing materials, an end spraying device realizes different decoration processes according to different ends, and a rotary disc part mainly realizes overall position adjustment of a structural device at the upper end of the mobile chassis, and construction stroke space of the end execution mechanism is effectively increased.

The robot provided by the embodiment forms a main body part with pitching freedom degree through a two-stage folding arm mechanism, wherein a first-stage folding arm is a part with the largest stress and is also a main installation part realized by mechanism action, a bearing seat is arranged at the bottom end of the first-stage folding arm, the front and back layout is realized, the hinged installation of the bottom end of the first-stage folding arm is realized by penetrating a bearing and a transverse shaft, and a support seat is installed on the upper end surface of a rotating part, so that the rotating freedom degree of the bottom end of the first-stage folding arm is; the arm is rolled over through articulated the installing on the top that the arm was rolled over to the one-level to the second grade, and realize rotary motion through articulated, the arm lower extreme is rolled over to the second grade is equipped with the dowel steel for connect the input torque of dwang, carry out moment amplification, roll over the drive power of arm to the second grade and effectively carry out the gain, do benefit to going on of end effector's construction action, first electric push cylinder and second electric push cylinder realize second grade and one-level pivoted main power input respectively, joint department is articulated, effectively carry out swivelling joint through the supporting seat.

The mobile platform is a foundation for automation of the decoration robot and is an execution unit for realizing ordered construction of path planning, and the robot provided by the embodiment effectively realizes point location movement and path driving of the mobile platform on carrying equipment through reasonable design of the chassis. Four rolling wheels are arranged below the moving chassis and are respectively two steering wheels and two universal wheels, the wheels of the same type are designed and installed in a diagonal layout mode, the overall center position is rectangular, the local geometric center point position of the four wheels is a reference point of the overall design gravity center offset, the upper position, the lower position, the left position and the right position of the four wheel center position diagram are symmetrical, the design is to ensure the convenience of the movement of the moving platform, the steering and the speed of the driving wheels can be adjusted all the time by straight running, the direction of the steering and moving adjusting driving wheels is opposite, the speed difference can be adjusted in different angle directions, and the acting force is achieved around.

The movable chassis is combined with the functional requirements of the platform except for considering the convenience of motion realization, the front side plate surface and the rear side plate surface of the anti-overturning device are arranged on the front side and the rear side of the chassis, the front side and the rear side are symmetrically reserved, and the anti-overturning device can be independently installed and used in a modularized mode. The top end of the chassis outer plate is provided with a falling hole of the turntable motor, and the functional size dislocation application is realized. The chassis of the robot design that this embodiment provided considers the big spatiality of overall working dimension, lays complete machine power battery unit in the chassis region, is favorable to the stability at chassis center, compromises the outward appearance demand simultaneously, and the chassis is got up the chassis envelope through the planking, and the local wholeness effect of stroke movement flatness isolated plant.

The end flange is the interface that is used for installing the executor, it is the lapped position that bears on the robot of polymorphic type fitment executor realization, the robot that this embodiment provided fully considers the characteristics of building decoration, the hollow structure of the formula of excircle is designed into to the flange, outside equipartition mounting hole is used for the direct bolt installation of executor, or through the mounting of switching structure, middle through-hole is used for having the inside executor winding displacement of walking the line demand to use, whole flange structure is the terminal position of welding at second grade folding arm, realize the immobilization of the reliability of arm exhibition connection and general installation interface, the terminal space of stepping down in flange right side, can be used to the arbitrary gesture overall arrangement of executor, this flange structure appearance is simple clear, but the functional practicability is strong, be the terminal good mode that the universalization realized the installation.

The robot realizes construction operation in a large accessible area by matching a folding arm design with a turntable part in a large operation space, a folding arm mechanism realizes large-angle rotation in a pitching direction through rotation of a first-stage folding arm and a second-stage folding arm, only single large-size freedom degree cannot completely improve the operation efficiency, the robot provided by the embodiment realizes rotation of the folding arm mechanism in a direction through introducing the turntable mechanism, the turntable part mainly comprises a supporting rotating plate, a transmission pinion, a driving motor, a rotary support, a turntable support and the like, wherein the supporting rotating plate is provided with a threading hole for inserting an optimal path of an upper cable and a lower cable, the cables do not need to be thrown to the outside, and the cables are prevented from being wound; the supporting rotating plate is an important structure for supporting the first-stage folding arm, the electric box and the electric pushing cylinder, the structure is designed into a large plane part, and the lower end of the supporting plate is provided with an installation surface which is butted with the upper end surface of the slewing bearing to realize the vertical installation and fixation; the pinion is a key structure for realizing the input of the driving moment into the large rotary support, introduces the speed reduction and torque increase transmission effect of the meshing of the large gear and the small gear, and is distributed below the supporting rotating plate and on the side edge of the rotary support; the installation that transmission pinion and gyration were supported at same horizontal plane is realized to the carousel support, is the biggest bearing structure of the load that receives, and this structure is equipped with vertical strengthening rib to satisfy the intensity demand, the top surface at moving platform is installed to carousel support bottom, realizes the integral erection at carousel position then. The robot can achieve the cylindrical area space with the radius of a circle of 1500mm by large pitching adjustment of the folding arm and the whole circumference adjustable function of the turntable, the working face can guarantee the construction effect that single operation is not suspended, and the working efficiency is improved.

High accuracy fitment construction is decided according to the fitment type, if the operation of polishing, the high accuracy of single-point is polished the construction and is guaranteed to the effect of polishing on big plane and be indispensable technical item, the high accuracy construction of single-point position does not rely on the high accuracy location on removal chassis, but can reduce the demand of location, guarantee transmission error through terminal motion structure, thereby reduce the degree of difficulty of robot to software control, this mode can restrict unnecessary clearance error and weaken the vibration error, because random vibration error can be because of the stack in clearance and be not convenient for high accuracy location. The single-point high-precision construction guarantee mainly relates to a transmission part, which comprises a turntable rotation part and a folding arm rotation part, wherein the turntable rotation part eliminates large gap errors through clearance adjustment meshing installation of an involute gear, and the transmission structure layout installation is realized through a turntable support; the large gap error elimination of the turning part of the folding arm is mainly realized by the hinge of the rotating shaft part and the connection of the first-stage folding arm and the second-stage folding arm realized by the auxiliary mechanism, which is the core of the control error, the robot provided by the embodiment realizes the functions by introducing the structural layout form of turning and torque increasing, the small-space stress reversing and torque increasing are realized by the matching of the rotating rod and the force transmission rod, the turning errors of the hinge points of the first-stage folding arm and the second-stage folding arm are corrected by a plurality of hinge points in spatial layout, and the reasonable layout of the hinge points of the embodiment jointly limits the turning errors; the bottom end of the first-stage folding arm realizes the rotation error of the first-stage folding arm through the installation of the double-bearing combined transmission shaft, and under the action of gravity, the design that the vertical clearance is zero can be realized by limiting the axial displacement, so that the requirement on the pitching rotation precision is met. This robot is through the functional structure design of carousel mechanism and book arm pin joint, and the high accuracy transmission that effectively ensures the chassis does not understand under the state the single-point position realizes then the construction operation of realization high accuracy.

The decoration robot has the advantages that due to the size limitation of the passageway and the door frame, the length and the width directions of the robot have size requirements, the robot is always designed in a vertical layout installation mode, the gravity center of the whole robot is easy to be short, the risk of movement swing and overturning further exists, the robot provided by the embodiment fully considers the safety and the collection size of the robot body, the robot is designed to have an anti-overturning function design of a telescopic mechanism, four groups of anti-overturning mechanism devices are arranged outwards at four corners of a chassis platform, each group of anti-overturning mechanism devices comprises an upper leg oscillating bar, a supporting leg, a lower leg oscillating bar, a foot cup and the like, the supporting leg is a stressed main structural member, obviously, after the mechanism devices are integrally unfolded, the size space of the four foot cup points is much larger than that of the four wheel positions, the actual design is 2 times, and the stress and the anti-overturning performance of the four foot cups is obviously improved, in the mechanism device, a lower support leg swing rod is an output structure of main power, action execution power is provided by an internal push rod, and when the mechanism is in an unfolded state, the support legs drive the lower swing rod to provide holding force for the unfolded pose; however, when the robot needs to be stored and transported, the lower leg swing rod provides a contracting inward force, the upper leg swing rod, the supporting legs, the lower leg driving swing rod and the chassis side structure are combined to form a parallelogram mechanism, and the requirements for storage and expansion of the translation of the supporting legs are met, so that the two-way requirements for the layout size position and the storage size of the overturn-preventing force application point are met, and the robot has the remarkable advantage that the overturn-preventing function is designed in a size-fused manner.

The robot of the embodiment combines decoration requirements and a construction operation structure layout mode, reduces the weight of a main body structure by introducing a steel structure frame support design of a chassis, a folding arm hollow bridge design, an anti-overturning mechanism deployable and stowable design and a turntable support welding reinforcing beam design on the basis of effectively meeting functions, effectively controls the total weight of the whole machine within a range of 300kg, can meet floor bearing strength limit and has sufficient allowance, and is greatly convenient for the carrying and transition requirements of a decoration robot.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.

Claims (9)

1. A movable arm folding decoration robot is characterized by comprising a movable chassis platform (4), a turntable mechanism (6), an arm folding mechanism (1) and a tail end executing mechanism (5);

the turntable mechanism (6) is arranged on the movable chassis platform (4);

one end of the arm folding mechanism (1) is hinged with the turntable mechanism (6), and the other end of the arm folding mechanism (1) is connected with the tail end executing mechanism (5);

the rotary table mechanism (6) can drive the folding arm mechanism (1) thereon to rotate;

carousel mechanism (6) include carousel support (66), driving motor (63), drive gear (62), gyration and support (65) and support commentaries on classics board (61), driving motor (63) with gyration is supported (65) and is set up on carousel support (66), drive gear (62) cover is established on the output shaft of driving motor (63), drive gear (62) with gyration is supported (65) meshing, it sets up to support commentaries on classics board (61) gyration is supported on (65), carousel support (66) set up on portable chassis platform (4), roll over arm mechanism (1) articulate support commentaries on classics board (61).

2. The mobile folding arm finishing robot according to claim 1, characterized in that the transmission gear (62) is an involute gear.

3. The mobile folding arm finishing robot according to claim 1, wherein the supporting rotating plate (61) is provided with a threading hole (64) for passing a cable up and down.

4. The mobile folding arm decorating robot according to claim 1, wherein the folding arm mechanism (1) comprises a first-stage folding arm (17) and a second-stage folding arm (16), one end of the first-stage folding arm (17) is hinged on the turntable mechanism (6), the other end of the first-stage folding arm (17) is hinged with the second-stage folding arm (16), and the end actuator (5) is arranged on the second-stage folding arm (16).

5. The mobile folding arm decorating robot according to claim 4, characterized in that the folding arm mechanism (1) further comprises a first electric pushing cylinder (18), a second electric pushing cylinder (13), a rotating rod (11) and a dowel bar (12), the bottom end of the first electric pushing cylinder (18) is hinged on the turntable mechanism (6), the output end of the first electric pushing cylinder (18) is hinged with the first-stage folding arm (17), the bottom end of the second electric pushing cylinder (13) is hinged on the first-stage folding arm (17), the middle part of the rotating rod (11) is hinged on the first-stage folding arm (17), one end of the rotating rod (11) is hinged with the output end of the second electric pushing cylinder (13), the other end of the rotating rod (11) is hinged with one end of the dowel bar (12), the other end of the dowel bar (12) is hinged with the second-stage folding arm (16).

6. The mobile folding arm finishing robot according to claim 1, characterized in that the end actuator (5) is a flange provided with a mounting interface (52) for connection with an external actuator.

7. Mobile folding arm finishing robot according to claim 1, characterised in that at least one anti-overturning mechanism (3) is arranged on the mobile chassis platform (4).

8. The mobile folding arm decorating robot according to claim 7, wherein the overturn preventing mechanism (3) comprises a lower leg swing rod (33), a leg (32) and a foot cup (34), the lower leg swing rod (33) is capable of extending and contracting, one end of the lower leg swing rod (33) is connected with the leg (32), the other end of the lower leg swing rod is connected with the mobile chassis platform (4), and the foot cup (34) is arranged at the bottom of the leg (32).

9. The mobile folding arm finishing robot according to claim 1, characterized in that steering wheels (44) and universal wheels (42) are arranged below the mobile chassis platform (4).

Images