CN211597618U - Supporting mechanism and construction robot - Google Patents
Supporting mechanism and construction robot Download PDFInfo
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- CN211597618U CN211597618U CN201922435190.0U CN201922435190U CN211597618U CN 211597618 U CN211597618 U CN 211597618U CN 201922435190 U CN201922435190 U CN 201922435190U CN 211597618 U CN211597618 U CN 211597618U
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- mounting frame
- robot
- clamping assembly
- guide
- guide sleeve
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Abstract
The utility model relates to the technical field of construction machinery, and discloses a supporting mechanism and a construction robot; the supporting mechanism is used for supporting a clamping assembly of the robot and comprises a first mounting frame, a guide sleeve, a guide column and an elastic piece; the first mounting frame is positioned below the clamping assembly, and a pulley is arranged at the bottom of the first mounting frame; the guide sleeve is arranged on the clamping component; the guide post is slidably arranged in the guide sleeve, and one end of the guide post is connected to the first mounting frame; both ends of the elastic piece can act on the first mounting frame and the clamping component respectively. The pulley can move along with the robot, so that the movement of the robot is not hindered; under the action of the elastic piece, the first mounting frame moves towards the direction far away from the clamping assembly, so that the pulley can be always contacted with the ground; the supporting mechanism supports the clamping hand assembly, the gravity of the workpiece and the clamping assembly is balanced by the supporting mechanism, the gravity center of the robot cannot be arranged in front, the stability of the robot and the clamping assembly can be well kept, and the mounting precision of the workpiece can be guaranteed.
Description
Technical Field
The utility model relates to a construction machinery technical field especially relates to a supporting mechanism and construction robot.
Background
In order to improve the construction efficiency and reduce the construction strength of workers, a wallboard installation robot is generally used to install wallboards. After wallboard robot's centre gripping subassembly centre gripping wallboard, transport to wall department, then wallboard and centre gripping subassembly stretch out from the chassis of robot to install the wallboard. Due to the weight of the wall plate and the weight of the clamping assembly, the gravity center of the robot is arranged in the front. The front center of gravity of the robot can lead the robot to overturn forwards, and meanwhile, the installation precision of the wall plate can be influenced.
Therefore, a supporting mechanism and a construction robot are needed to solve the above technical problems.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a supporting mechanism and construction robot, its stability that can keep robot and centre gripping subassembly can also guarantee the installation accuracy of work piece.
To achieve the purpose, the utility model adopts the following technical proposal:
in one aspect, there is provided a support mechanism for supporting a gripper assembly of a robot comprising:
the first mounting frame is positioned below the clamping assembly, and a pulley is arranged at the bottom of the first mounting frame;
the guide sleeve is arranged on the clamping assembly;
the guide post is slidably arranged in the guide sleeve, and one end of the guide post is connected to the first mounting frame;
and two ends of the elastic piece can respectively act on the first mounting frame and the clamping assembly.
Preferably, the clamping assembly further comprises a second mounting frame, the second mounting frame is fixed to the bottom of the clamping assembly, and the guide sleeve is fixed to the second mounting frame.
Preferably, the guide post is far away from first mounting bracket one end is provided with spacing arch, spacing bellied external diameter is greater than the internal diameter of uide bushing.
Preferably, the first mounting frame and the second mounting frame are both provided with connecting pieces, and two ends of the elastic piece are respectively connected to the two connecting pieces.
Preferably, the elastic member is a metal spring, a rubber spring, or a gas spring.
Preferably, the elastic member is a spring, the spring is sleeved on the guide post, and two ends of the spring abut against the first mounting frame and the guide sleeve respectively.
Preferably, the interval is provided with two on the first mounting bracket the guide post, be provided with two on the second mounting bracket the uide bushing, two all the cover is equipped with on the guide post the spring.
Preferably, the pulley is a universal wheel.
In another aspect, a construction robot is provided, which comprises a gripper assembly and a support mechanism as described above for supporting the gripper assembly.
Preferably, two support mechanisms are arranged on the clamping component of the construction robot at intervals.
The utility model has the advantages that:
the first mounting frame is provided with the pulley, and when the robot moves, the pulley can move along with the robot without hindering the movement of the robot; under the action of the elastic piece, the first mounting frame moves towards the direction far away from the clamping assembly, so that the pulley can be always contacted with the ground, the clamping assembly can always bear the supporting force of the supporting mechanism on the ground, and the clamping device can be suitable for the construction environment with uneven ground; set up guide post and uide bushing, can make the pulley follow the robot motion, and can not take place the dislocation, moreover, can also make first mounting bracket for the fixed orbit motion of centre gripping subassembly edge, the pulley can not take place the skew. Because the supporting mechanism supports the clamping hand assembly, after the clamping hand assembly clamps the workpiece, the gravity of the workpiece and the gravity of the clamping assembly are balanced by the supporting mechanism, the gravity center of the robot cannot be arranged in front, the stability of the robot and the clamping assembly can be well kept, and the installation accuracy of the workpiece can be ensured.
Drawings
Fig. 1 is a schematic structural diagram of a construction robot provided by the present invention;
fig. 2 is a schematic view of a partial structure of the construction robot provided by the present invention.
In the figure:
1. a clamping assembly; 2. a support mechanism; 21. a first mounting bracket; 211. a pulley (211); 22. a guide sleeve; 23. a guide post; 231. a limiting bulge; 24. an elastic member; 25. a second mounting bracket.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
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 efforts belong to the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of description of the present invention and simplification of description, but do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; either mechanically or electrically. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.
As shown in fig. 1, the present embodiment discloses a construction robot, which includes a clamping assembly 1 and a supporting mechanism 2, wherein the clamping assembly 1 is used for clamping a wallboard, glass, etc. The supporting mechanism 2 is used for supporting the clamping assembly 1. Two supporting mechanisms 2 are arranged at the bottom of the clamping component 1 at intervals, and the two supporting mechanisms 2 are respectively positioned at two ends of the clamping component 1 and can relatively stably support the clamping component 1.
As shown in fig. 2, the support mechanism 2 includes a first mounting frame 21, a guide sleeve 22, a guide post 23, an elastic member 24, and a second mounting frame 25. The first mounting frame 21 is located below the clamping assembly 1 of the robot, and the bottom of the first mounting frame 21 is provided with a pulley 211. The guide sleeve 22 is arranged on the clamping component 1, specifically, the second mounting frame 25 is fixed at the bottom of the clamping component 1, and the guide sleeve 22 is fixed on the second mounting frame 25. The guide post 23 is slidably provided in the guide sleeve 22, and the guide post 23 is slidable in the axial direction of the guide sleeve 22. One end of the guiding column 23 is connected to the first mounting frame 21, and both ends of the elastic member 24 can respectively act on the first mounting frame 21 and the clamping assembly 1.
A pulley 211 is arranged on the first mounting frame 21, and when the robot moves, the pulley 211 can move along with the robot without interfering with the movement of the robot; under the action of the elastic piece 24, the first mounting frame 21 moves towards the direction far away from the clamping assembly 1, so that the pulley 211 can be always contacted with the ground, the clamping assembly 1 can always bear the supporting force of the supporting mechanism 2 on the ground, and the device can be suitable for the construction environment with uneven ground; the guide post 23 and the guide sleeve 22 are arranged, so that the pulley 211 can move along with the robot without dislocation, and the first mounting frame 21 can move along a fixed track relative to the clamping assembly 1, and the pulley 211 cannot deviate. Because the supporting mechanism 2 supports the clamping hand assembly, after the clamping hand assembly clamps a workpiece (a wall plate or glass), the gravity of the workpiece and the clamping assembly 1 is balanced by the supporting mechanism 2, the gravity center of the robot cannot be arranged in front, the stability of the robot and the clamping assembly 1 can be well kept, and the installation accuracy of the workpiece can be further ensured.
Specifically, one end of the guide post 23, which is far away from the first mounting frame 21, is provided with a limiting protrusion 231, and the outer diameter of the limiting protrusion 231 is larger than the inner diameter of the guide sleeve 22, so that the guide post 23 can be prevented from being separated from the guide sleeve 22 under the action of the elastic element 24.
Preferably, in this embodiment, the elastic member 24 is a spring, the spring is sleeved on the guide post 23, both ends of the spring are respectively abutted against the first mounting frame 21 and the guide sleeve 22, the elastic member 24 can move the first mounting frame 21 in a direction away from the guide sleeve 22, and even if the first mounting frame 21 moves in a direction away from the clamping assembly 1, the pulley 211 is in contact with the ground, so that the clamping assembly can always bear the supporting force. The guide posts 23, the guide sleeves 22 and the springs are two, the two guide posts 23 are fixed on the first mounting frame 21 at intervals, the two guide sleeves 22 are fixed on the second mounting frame 25, and the two guide posts 23 are respectively sleeved with the two springs. The provision of two guide posts 23, two guide sleeves 22 and two springs enables the stability of the first mounting bracket 21 to be maintained without the need for larger springs.
In other embodiments, the first mounting frame 21 and the second mounting frame 25 are provided with connecting members, and the two ends of the elastic member 24 are respectively connected to the two connecting members. Both ends of elastic component 24 can act on first mounting bracket 21 and second mounting bracket 25 respectively, and elastic component 24 can make first mounting bracket 21 to the direction motion of keeping away from second mounting bracket 25, even first mounting bracket 21 removes to the direction of keeping away from centre gripping subassembly 1, makes pulley 211 contact ground, can make tong subassembly can bear the holding power all the time. The elastic member 24 is a metal spring, a rubber spring, or a gas spring. When the elastic member 24 is a metal spring, the connecting member is a connecting pin, and the ends of the metal spring are respectively sleeved on the two connecting pins. When the elastic member 24 is a rubber spring or a gas spring, the connecting member is a mounting seat, providing a mounting point for the end of the elastic member 24.
Preferably, the pulley 211 in this embodiment is a universal wheel, which can move in any direction, and can better match the operation of the construction robot.
It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A support mechanism for supporting a gripper assembly (1) of a robot, comprising:
the first mounting frame (21) is positioned below the clamping assembly (1), and a pulley (211) is arranged at the bottom of the first mounting frame (21);
a guide sleeve (22) arranged on the clamping assembly (1);
a guide post (23) slidably disposed in the guide sleeve (22), one end of the guide post (23) being connected to the first mounting bracket (21);
an elastic member (24) having two ends capable of acting on the first mounting frame (21) and the clamping assembly (1), respectively.
2. The support mechanism according to claim 1, further comprising a second mounting bracket (25), the second mounting bracket (25) being fixed to a bottom portion of the clamping assembly (1), the guide sleeve (22) being fixed to the second mounting bracket (25).
3. The support mechanism according to claim 1, wherein a limiting protrusion (231) is arranged at one end of the guide post (23) far away from the first mounting frame (21), and the outer diameter of the limiting protrusion (231) is larger than the inner diameter of the guide sleeve (22).
4. The support mechanism according to claim 2, wherein the first mounting frame (21) and the second mounting frame (25) are each provided with a connecting member, and the two ends of the elastic member (24) are respectively connected to the two connecting members.
5. Support mechanism according to claim 4, wherein the elastic member (24) is a metal spring, a rubber spring or a gas spring.
6. The support mechanism according to claim 2, wherein the elastic member (24) is a spring, the spring is sleeved on the guide post (23), and two ends of the spring abut against the first mounting frame (21) and the guide sleeve (22), respectively.
7. The supporting mechanism as claimed in claim 6, wherein the first mounting frame (21) is provided with two guide posts (23) at intervals, the second mounting frame (25) is provided with two guide sleeves (22), and the two guide posts (23) are both sleeved with the spring.
8. Support mechanism according to any of claims 1-7, wherein the pulley (211) is a universal wheel.
9. A construction robot comprising a gripper assembly and a support mechanism according to any of claims 1-8 for supporting the gripper assembly.
10. Construction robot according to claim 9, characterized in that two support mechanisms are arranged at a distance on the gripping assembly (1) of the construction robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922435190.0U CN211597618U (en) | 2019-12-30 | 2019-12-30 | Supporting mechanism and construction robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922435190.0U CN211597618U (en) | 2019-12-30 | 2019-12-30 | Supporting mechanism and construction robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211597618U true CN211597618U (en) | 2020-09-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922435190.0U Active CN211597618U (en) | 2019-12-30 | 2019-12-30 | Supporting mechanism and construction robot |
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| CN (1) | CN211597618U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112644572A (en) * | 2021-01-21 | 2021-04-13 | 艾利合(南京)机电设备有限公司 | Conveying robot for workshop and conveying method |
-
2019
- 2019-12-30 CN CN201922435190.0U patent/CN211597618U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112644572A (en) * | 2021-01-21 | 2021-04-13 | 艾利合(南京)机电设备有限公司 | Conveying robot for workshop and conveying method |
| CN112644572B (en) * | 2021-01-21 | 2022-07-19 | 艾利合(南京)机电设备有限公司 | Conveying robot for workshop and conveying method |
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