CN214462292U - Leveling robot - Google Patents

Abstract

The utility model provides a leveling robot, which comprises a base; the adjusting mechanism is arranged on the base and comprises a plurality of adjusting parts, the adjusting parts are arranged on the base at intervals, and at least part of the adjusting parts are arranged in a telescopic manner; the link all is connected with a plurality of adjusting part, and adjusting part can adjust the levelness of link or the link is for the height of base, and the link is used for the installation to make level the executive component of robot to solve the problem that the structure of the robot that makes level among the prior art is complicated.

Description

Leveling robot

Technical Field

The utility model relates to a building construction equipment field particularly, relates to a robot of making level.

Background

At present, in the indoor decoration process, in order to provide a qualified base surface for paving the wood floor, a mortar layer needs to be paved on a concrete base surface and leveling is carried out.

However, the existing full-automatic mortar leveling robot generally needs human-computer combination to realize leveling, cannot realize full automation, has relatively large limitation and cannot be applied to the environment of modern residences, and in addition, the existing full-automatic mortar leveling robot has a complex structure, so that the control precision is low, and the leveling precision of the leveling robot is reduced.

SUMMERY OF THE UTILITY MODEL

A primary object of the present invention is to provide a leveling robot to solve the problem of the complicated structure of the leveling robot in the prior art.

In order to achieve the above object, the utility model provides a robot of making level, include: a base; the adjusting mechanism is arranged on the base and comprises a plurality of adjusting parts, the adjusting parts are arranged on the base at intervals, and at least part of the adjusting parts are arranged in a telescopic manner; the link all is connected with a plurality of adjusting part, and adjusting part can adjust the levelness of link or the link is for the height of base, and the link is used for installing the executive component of robot of making level.

Further, the plurality of adjustment members include: the first adjusting component, the second adjusting component and the third adjusting component are arranged on the base in a triangular shape.

Further, the adjustment mechanism further comprises: the first hinge is arranged on the base, extends along a preset direction, and is connected with the base through the first hinge; the first articulated elements are multiple, and the multiple first articulated elements and the multiple adjusting parts are arranged in a one-to-one correspondence mode.

Furthermore, the plurality of first hinged parts comprise a middle hinged part and two side hinged parts, the middle hinged part and the two side hinged parts are arranged on the base in a triangular shape, the two side hinged parts are arranged oppositely, the middle hinged part extends along the first direction, and the two side hinged parts extend along the second direction; the first direction and the second direction are perpendicular to each other.

Furthermore, the plurality of first hinged parts comprise a middle hinged part and two side hinged parts, the middle hinged part and the two side hinged parts are arranged on the base in a triangular shape, the two side hinged parts are arranged oppositely, the middle hinged part extends along the first direction, one side hinged part of the two side hinged parts extends along the third direction, and the other side hinged part of the two side hinged parts extends along the fourth direction; a first included angle is formed between the first direction and the third direction; the first direction and the fourth direction have a second included angle therebetween.

Further, the first articulated elements comprise a first body and a second body which are arranged at intervals, the first body and the second body are respectively articulated with the adjusting parts, and the adjusting parts are rotatably arranged relative to the base.

Further, the adjustment mechanism further comprises: the second articulated elements is installed on the link, and the second articulated elements includes mutual articulated third body and fourth body, and third body and fourth body are relative rotationally to be set up, and the third body is connected with the link, and the fourth body is connected with adjusting part.

Further, the robot that makes level still includes: the inclination angle sensor is arranged on the connecting frame and used for detecting the inclination angle of the connecting frame; the controller, the inclination angle sensor and the adjusting component are all connected with the controller, and the controller controls the expansion amount of the adjusting component according to the detection signal of the inclination angle sensor.

Further, the robot that makes level still includes: the laser emitter is fixedly arranged on the side of the base; the laser receiver is arranged on the connecting frame and is opposite to the laser transmitter, the laser receiver is connected with the execution component, and the laser receiver receives laser emitted by the laser transmitter so as to detect the height of the execution component relative to the ground.

Further, the link frame includes: the first frame body is positioned above the base, and the adjusting part is hinged with the first frame body; the second support body is connected with the first support body, and the at least part of second support body is located the side of base, is provided with the installing frame on the second support body, and laser receiver's at least part is installed in the installing frame.

By applying the technical scheme of the utility model, the leveling robot comprises a base, an adjusting mechanism and a connecting frame, wherein the adjusting mechanism is arranged on the base and comprises a plurality of adjusting parts, the adjusting parts are arranged on the base at intervals, and at least part of the adjusting parts can be arranged in a telescopic manner; the link all is connected with a plurality of adjusting part, and adjusting part can adjust the levelness of link or the link is for the height of base, and the link is used for installing the executive component of robot of making level. The leveling robot is simpler in structure, the freedom degree of the connecting frame on the X axis, the Y axis and the Z axis is adjusted through the adjusting part, and then leveling of the executing part is achieved.

Drawings

The accompanying drawings, which form a part of the present application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 shows a schematic structural view of an embodiment of a leveling robot according to the present invention;

fig. 2 shows a schematic structural view of a first viewing angle of a leveling robot according to the present invention;

fig. 3 shows a schematic structural view of a second viewing angle of the leveling robot according to the present invention;

fig. 4 shows a schematic structural view of an adjusting part of the leveling robot according to the present invention;

fig. 5 shows a schematic structural view of a second articulation of the leveling robot according to the present invention;

fig. 6 shows a schematic structural view of a first embodiment of a first articulation of a leveling robot according to the present invention; and

fig. 7 shows a schematic structural view of a second embodiment of the first articulation of the leveling robot according to the present invention.

Wherein the figures include the following reference numerals:

1. a base;

2. an adjustment mechanism; 20. an adjustment member; 201. a first adjustment member; 202. a second adjustment member; 203. a third regulating member; 21. a first hinge member; 211. a first body; 212. a second body; 22. a second hinge member; 221. a third body; 222. a fourth body; 23. a middle hinge; 24. a side hinge;

3. a connecting frame; 31. a first frame body; 32. a second frame body; 320. installing a frame;

4. a tilt sensor; 5. a laser transmitter; 6. a laser receiver; 7. an execution component; 8. a traveling member; 80. and (5) traveling wheels.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The utility model provides a robot of making level please refer to fig. 1 to 7, include: a base 1; the adjusting mechanism 2 is arranged on the base 1, the adjusting mechanism 2 comprises a plurality of adjusting parts 20, the adjusting parts 20 are arranged on the base 1 at intervals, and at least part of the adjusting parts 20 are arranged in a telescopic mode; the connecting frame 3 is connected with a plurality of adjusting parts 20, the adjusting parts 20 can adjust the levelness of the connecting frame 3 or the height of the connecting frame 3 relative to the base 1, and the connecting frame 3 is used for installing the execution part 7 of the leveling robot.

According to the utility model provides a leveling robot, including base 1, adjustment mechanism 2 and link 3, adjustment mechanism 2 sets up on base 1, and adjustment mechanism 2 includes a plurality of adjusting part 20, and a plurality of adjusting part 20 interval sets up on base 1, the setting of at least part telescopic of adjusting part 20; the connecting frame 3 is connected with a plurality of adjusting components 20, the adjusting components 20 can adjust the levelness of the connecting frame 3 or the height of the connecting frame 3 relative to the base 1, and the connecting frame 3 is used for installing the execution component 7 of the leveling robot. The leveling robot is simpler in structure, the freedom degrees of the connecting frame 3 on the X axis, the Y axis and the Z axis are adjusted through the adjusting part 20, and then leveling of the executing part 7 is achieved.

Specifically, the plurality of adjustment members 20 includes: the first adjusting component 201, the second adjusting component 202 and the third adjusting component 203 are arranged on the base 1 in a triangular shape among the first adjusting component 201, the second adjusting component 202 and the third adjusting component 203. The arrangement enables the first adjusting member 201, the second adjusting member 202 and the third adjusting member 203 to stably support the connecting frame 3, and increases the stability of the robot structure.

In the implementation, as shown in fig. 1, the adjusting mechanism 2 further includes: a first hinge 21 installed on the base 1, the first hinge 21 extending in a predetermined direction, the adjustment part 20 being connected to the base 1 through the first hinge 21; the first hinge 21 is provided in plural, and the plural first hinges 21 are provided in one-to-one correspondence with the plural adjustment members 20. This arrangement enables one degree of freedom of rotation of the connecting frame 3 via the first articulation 21.

In the first embodiment provided by the present invention, as shown in fig. 6, the plurality of first hinge elements 21 includes a middle hinge element 23 and two side hinge elements 24, the middle hinge element 23 and the two side hinge elements 24 are disposed on the base 1 in a triangular shape, the two side hinge elements 24 are disposed opposite to each other, the middle hinge element 23 extends along a first direction, and the two side hinge elements 24 extend along a second direction; the first direction and the second direction are perpendicular to each other. The first direction is an X-axis direction, the second direction is a Y-axis direction, the telescopic direction of the adjusting component 20 is a Z-axis direction, and the two side hinge pieces 24 can also stop the adjusting component 20 through the two side hinge pieces 24 when the connecting frame 3 rotates along the X-axis direction, so as to limit the moving stroke of the connecting frame 3. Preferably, the first adjusting part 201 is connected to the middle hinge 23, and the second adjusting part 202 and the third adjusting part 203 are connected to the two side hinges 24, respectively, so as to implement the degrees of freedom of the connecting frame 3 in three directions of the X-axis, the Y-axis and the Z-axis.

In the second embodiment provided by the present invention, as shown in fig. 7, the plurality of first hinge elements 21 includes a middle hinge element 23 and two side hinge elements 24, the middle hinge element 23 and the two side hinge elements 24 are disposed on the base 1 in a triangular shape, the two side hinge elements 24 are disposed opposite to each other, the middle hinge element 23 extends along the first direction, one side hinge element 24 of the two side hinge elements 24 extends along the third direction, and the other side hinge element 24 of the two side hinge elements 24 extends along the fourth direction; a first included angle is formed between the first direction and the third direction; the first direction and the fourth direction have a second included angle therebetween. Wherein, the first direction is the X axle direction, and third direction and fourth direction have predetermined contained angle with the X axle direction, and the setting can realize the rotation of link 3 in the X axle direction like this, realizes the rotation of link 3 in the second direction through two side articulated elements 24 simultaneously.

In the implementation process, as shown in fig. 4, the first hinge 21 includes a first body 211 and a second body 212 that are spaced apart from each other, the first body 211 and the second body 212 are respectively hinged to the adjusting member 20, and the adjusting member 20 is rotatably disposed relative to the base 1. This provides a simple construction which facilitates the articulation of the adjustment member 20 with the first articulation 21.

As shown in fig. 1, the adjustment mechanism 2 further includes: and a second hinge 22 installed on the connecting frame 3, wherein the second hinge 22 includes a third body 221 and a fourth body 222 hinged to each other, the third body 221 and the fourth body 222 are relatively rotatably disposed, the third body 221 is connected with the connecting frame 3, and the fourth body 222 is connected with the adjusting member 20. The second hinge 22 and the first hinge 21 are matched with each other, so that the freedom of the connecting frame 3 in the directions of the X axis, the Y axis and the Z axis is realized, the connecting frame 3 drives the executing component 7 to move, and the leveling of the executing component 7 is realized. Preferably, the second articulation 22 may be a fisheye joint, a hook or ball joint, or the like.

In order to facilitate the inclination that detects link 3, the robot of making level still includes: the inclination angle sensor 4 is arranged on the connecting frame 3, and the inclination angle sensor 4 is used for detecting the inclination angle of the connecting frame 3; the controller, the tilt sensor 4 and the adjusting component 20 are all connected with the controller, and the controller controls the expansion and contraction amount of the adjusting component 20 according to the detection signal of the tilt sensor 4. The controller passes through the flexible volume of the signal control adjusting part 20 that inclination sensor 4 detected to realize that link 3 keeps the level, at the in-process that the robot that makes level removes, inclination sensor 4 feeds back the unevenness on ground in real time, thereby the controller controls the flexible volume of three adjusting part 20 respectively, guarantees that even ground is uneven, executive component 7 also keeps the level all the time. Preferably, the adjusting component 20 may be an electric push rod, an air cylinder or a hydraulic rod, and the like, as long as the component capable of realizing the movement of the connecting frame 3 in the Z-axis direction is within the protection scope of the present invention.

Further, the robot that makes level still includes: the laser emitter 5 is fixedly arranged on the side of the base 1; and the laser receiver 6 is arranged on the connecting frame 3 and is opposite to the laser emitter 5, the laser receiver 6 is connected with the executing component 7, and the laser receiver 6 receives laser emitted by the laser emitter 5 so as to detect the height of the executing component 7 relative to the ground. It should be noted here that the laser transmitter is fixedly installed at the side of the base 1 for emitting a laser signal, and the laser receiver 6 receives the laser signal, so as to detect and judge the height of the execution component 7 from the ground, and control the scraping thickness of the execution component 7 to the material to be scraped.

In the embodiment provided by the utility model, the link 3 includes: the first frame body 31 is positioned above the base 1, and the adjusting part 20 is hinged with the first frame body 31; and the second frame body 32 is connected with the first frame body 31, at least part of the second frame body 32 is positioned on the side of the base 1, the second frame body 32 is provided with a mounting frame 320, and at least part of the laser receiver 6 is mounted in the mounting frame 320. Preferably, at least a part of the laser receiver 6 passes through the mounting frame 320 to be connected with the execution component 7, in this embodiment, for example, the mortar layer is scraped, the execution component 7 is a scraper, and the height between the scraper and the ground is detected in real time through the laser receiver 6 to control the thickness of the mortar layer.

Specifically, walking part 8 is installed on base 1, and walking part 8 includes walking wheel 80 to drive base 1 through walking wheel 80 and remove.

From the above description, it can be seen that the above-mentioned embodiments of the present invention achieve the following technical effects:

according to the utility model provides a leveling robot, including base 1, adjustment mechanism 2 and link 3, adjustment mechanism 2 sets up on base 1, and adjustment mechanism 2 includes a plurality of adjusting part 20, and a plurality of adjusting part 20 interval sets up on base 1, the setting of at least part telescopic of adjusting part 20; the connecting frame 3 is connected with a plurality of adjusting components 20, the adjusting components 20 can adjust the levelness of the connecting frame 3 or the height of the connecting frame 3 relative to the base 1, and the connecting frame 3 is used for installing the execution component 7 of the leveling robot. The leveling robot is simpler in structure, the freedom degrees of the connecting frame 3 on the X axis, the Y axis and the Z axis are adjusted through the adjusting part 20, and then leveling of the executing part 7 is achieved.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

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

Claims (10)

1. A leveling robot, comprising:

a base;

the adjusting mechanism is arranged on the base and comprises a plurality of adjusting parts, the adjusting parts are arranged on the base at intervals, and at least part of the adjusting parts are arranged in a telescopic manner;

the connecting frame is connected with the plurality of adjusting parts, the adjusting parts can adjust the levelness of the connecting frame or the height of the connecting frame relative to the base, and the connecting frame is used for installing the executing parts of the leveling robot.

2. The leveling robot of claim 1 wherein the plurality of adjustment members comprises:

the adjusting device comprises a first adjusting component, a second adjusting component and a third adjusting component, wherein the first adjusting component, the second adjusting component and the third adjusting component are arranged on the base in a triangular shape.

3. The leveling robot of claim 1, wherein the adjustment mechanism further comprises:

a first hinge installed on the base, the first hinge extending in a predetermined direction, the adjustment part being connected to the base through the first hinge;

the first articulated elements are multiple, and the first articulated elements and the adjusting parts are arranged in a one-to-one correspondence mode.

4. The leveling robot of claim 3 wherein the plurality of first hinge members includes a center hinge member and two side hinge members, the center hinge member and the two side hinge members being disposed on the base in a triangular configuration, the two side hinge members being disposed opposite each other, the center hinge member extending in a first direction and the two side hinge members extending in a second direction; the first direction and the second direction are perpendicular to each other.

5. The leveling robot of claim 3 wherein the plurality of first hinge members includes a center hinge member and two side hinge members, the center hinge member being disposed on the base in a triangular configuration with the two side hinge members, the two side hinge members being disposed opposite each other, the center hinge member extending in a first direction, one of the two side hinge members extending in a third direction, the other of the two side hinge members extending in a fourth direction; a first included angle is formed between the first direction and the third direction; a second included angle is formed between the first direction and the fourth direction.

6. The leveling robot of claim 3, wherein the first hinge comprises first and second spaced bodies, each of the first and second bodies being hingedly connected to the adjustment member, the adjustment member being rotatably disposed relative to the base.

7. The leveling robot of claim 1, wherein the adjustment mechanism further comprises:

the second articulated elements are installed on the connecting frame and comprise a third body and a fourth body which are hinged with each other, the third body and the fourth body are relatively rotatably arranged, the third body is connected with the connecting frame, and the fourth body is connected with the adjusting part.

8. The leveling robot of any one of claims 1 to 7, further comprising:

the inclination angle sensor is arranged on the connecting frame and used for detecting the inclination angle of the connecting frame;

the controller, the tilt sensor with adjusting part all with the controller is connected, the controller according to the detected signal control of tilt sensor adjusting part's flexible volume.

9. The leveling robot of any one of claims 1 to 7, further comprising:

the laser emitter is fixedly arranged on the side of the base;

the laser receiver is arranged on the connecting frame and is opposite to the laser transmitter, the laser receiver is connected with the executing component, and the laser receiver receives laser emitted by the laser transmitter so as to detect the height of the executing component relative to the ground.

10. The leveling robot of claim 9, wherein the attachment frame comprises:

the first frame body is positioned above the base, and the adjusting part is hinged with the first frame body;

the second support body, with first support body is connected, the second support body at least part is located the side of base, be provided with the installing frame on the second support body, laser receiver at least part is installed in the installing frame.

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