CN216067504U - Working head base capable of adjusting pose and robot - Google Patents
Working head base capable of adjusting pose and robot Download PDFInfo
- Publication number
- CN216067504U CN216067504U CN202122060753.XU CN202122060753U CN216067504U CN 216067504 U CN216067504 U CN 216067504U CN 202122060753 U CN202122060753 U CN 202122060753U CN 216067504 U CN216067504 U CN 216067504U
- Authority
- CN
- China
- Prior art keywords
- working head
- telescopic
- adjusting mechanism
- base
- head base
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a working head base with an adjustable pose and a robot. Which comprises a transverse position adjusting mechanism and a telescopic adjusting mechanism. The transverse position adjusting mechanism is provided with a connecting part connected with the telescopic adjusting mechanism and a first mounting part which can move in the horizontal direction relative to the connecting part; the telescopic adjusting mechanism comprises a second installation part and at least two telescopic assemblies which are arranged on the second installation part and can change the telescopic length, and the two telescopic assemblies are respectively hinged with the connecting part of the transverse position adjusting mechanism. The base of the working head has a leveling function, has the possibility of adjusting the position and posture of multiple dimensions, has good flexibility, can greatly improve the construction precision and the construction speed, and reduces the precision dependence on an auxiliary system and the base.
Description
Technical Field
The utility model belongs to the field of building construction equipment, and particularly relates to a working head base with an adjustable pose and a robot.
Background
At present, in the construction operation of building engineering, most project items have corresponding large-scale mechanized equipment which can realize automation; however, the small-area operation of slurry scraping, plastering, sanding and polishing is still lack of effective mechanical equipment to realize, and currently, the operation is mainly implemented manually.
The construction operation of small-area buildings needs to deal with complicated and changeable construction scenes and diversified construction requirements. For example, in order to deal with complicated and changeable construction scenes, construction equipment is often required to be small in size, and posture adjustment with multiple dimensions is possible; in order to meet diversified construction requirements, construction equipment (a working head base) is required to be capable of replacing and carrying different types of working heads according to requirements, and corresponding construction operation can be carried out after different working heads are carried.
The existing construction equipment for building engineering in the market generally has the problems of low construction precision, large equipment volume, low mechanization degree and the like, and can not meet the requirements of small-area construction operation on construction efficiency and operation precision. Particularly, when a wall is constructed, a common construction method is that construction equipment completes single-pass vertical construction firstly, then the whole construction equipment transversely moves to the next station, and then the next-pass vertical construction is carried out, namely the existing equipment can only realize the transverse movement of a working head through the integral movement, so that when the construction is carried out in a diagonal position, the whole construction equipment still needs to be moved to carry out the construction in the face of a small-area corner area remained after the construction, and the construction is very inconvenient. In addition, construction equipment can not be moved to a construction boundary due to the limitation of the volume of the construction equipment, and a construction blind area is caused.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a working head base with an adjustable pose, which can enable a construction working head to have a leveling function, has the possibility of adjusting the pose in multiple dimensions, has good flexibility, can greatly improve the construction precision and the construction speed, and reduces the precision dependence on an auxiliary system and a base; meanwhile, the working head base has a transverse moving function, so that the working head can transversely move, the construction requirements of corners and other areas are met, and construction blind areas are reduced.
The utility model discloses a working head base with an adjustable pose, which comprises a transverse position adjusting mechanism and a telescopic adjusting mechanism, wherein the transverse position adjusting mechanism is provided with a connecting part connected with the telescopic adjusting mechanism and a first mounting part capable of moving in the horizontal direction relative to the connecting part; the telescopic adjusting mechanism comprises a second installation part and at least two telescopic assemblies which are arranged on the second installation part and can change the telescopic length, the end parts of the two telescopic assemblies are respectively hinged with the connecting part of the transverse position adjusting mechanism, and the telescopic adjusting mechanism can independently adjust the elongation of the two telescopic assemblies, so that the distance and the angle between the first installation part and the second installation part are changed. One of the first mounting part and the second mounting part is used as a working head mounting part for connecting a construction working head; the other one is used as a base mounting part for mounting the working head base on external equipment. Taking the first mounting part as an example of the working head mounting part, the working head mounting part can move in the transverse direction, and the distance and the angle between the working head mounting part or the working head mounted on the working head mounting part and a construction wall surface can be adjusted through the telescopic adjusting mechanism, namely the working head base can realize the transverse movement and the angle adjustment in the horizontal plane.
The horizontal direction movement of the horizontal position adjusting mechanism of the utility model aims to make the working head move transversely so as to carry out construction on areas such as edges, corners and the like under the condition that the whole construction equipment does not need to move, therefore, the movable range in the horizontal direction is set to be a plurality of centimeters, even more than ten centimeters under the condition of ensuring safety, thereby reducing construction blind areas.
The angle adjustment of the utility model means that the mounting part of the working head can be adjusted by a larger angle; typically, but not limited to, the rotation value of the angle needs to be up to 5 °, 10 °, 15 °, 20 °, 30 ° or 45 ° in some application scenarios. The working head mounting part can move in the transverse direction, and the distance and the angle between the working head mounting part and a construction wall surface can be adjusted through the telescopic adjusting mechanism, namely the working head base can realize transverse movement and angle adjustment in a horizontal plane.
Furthermore, the connecting part of the transverse position adjusting mechanism and the first mounting part form a sliding pair; the connecting part at least comprises a first sliding block and a second sliding block which are independent of each other; the first sliding block is hinged with one output end of the telescopic adjusting mechanism; the second sliding block is hinged with the other output end of the telescopic adjusting mechanism; the first sliding block and the second sliding block form a sliding pair with the first mounting part independently. Furthermore, the sliding mode of the sliding pair formed by the first sliding block or the second sliding block and the first mounting part is horizontal.
Furthermore, the transverse position adjusting mechanism further comprises a first sliding block driving assembly, the first sliding block driving assembly can drive the first sliding block to horizontally slide relative to the first installation part, and when the first sliding block does not work, the first sliding block and the first installation part do not slide relatively. In the utility model, because the first slide block is connected with the telescopic adjusting mechanism, when the first slide block drives the component, the first mounting part can generate transverse movement relative to the first slide block and the telescopic adjusting mechanism. Preferably, the second slider is not provided with a drive assembly.
Furthermore, the first slide block driving assembly is a push rod, one end of the push rod is arranged on the first installation part, and the other end of the push rod is connected with the first slide block. The push rod can be driven by a driving assembly, and the driving assembly can be selected from an electric push rod, a hydraulic rod, a pneumatic piston push rod and the like as long as the length of the push rod can be changed through the driving assembly.
Furthermore, the telescopic assembly capable of changing the telescopic length is a push rod, the end part of the push rod is hinged to the connecting part of the transverse position adjusting mechanism respectively, and the hinged shaft is arranged in the vertical direction. The push rod can be selected to be an electric push rod, a hydraulic rod or a pneumatic piston push rod, etc.
Preferably, the two telescopic assemblies with changeable telescopic lengths are arranged in parallel and are positioned on the same horizontal plane.
In an alternative embodiment of the present invention, when the first mounting portion or the second mounting portion is used as the working head mounting portion, it further includes:
the hinge part is positioned on the working head mounting part, the outer working head is hinged with the working head mounting part through the hinge part, and a hinge shaft at the hinged position is arranged in the horizontal direction;
and the overturning driving component is used for driving the working head to overturn relative to the hinging part so as to adjust the pitch angle of the working head.
The utility model also discloses a plastering working head with adjustable pose, which comprises:
the working head base with adjustable pose, and
and the plastering operation head is horizontally arranged on the working head mounting part.
In another aspect, the present invention discloses a robot, comprising:
the working head base with the adjustable pose is arranged on the base;
a work head mounted on the base main body for performing construction work;
a movable base; for effecting movement of the robot; and
the lifting device is installed on the movable base, the telescopic adjusting mechanism of the working head base is fixedly arranged on the lifting device, and the lifting device can drive the working head base to lift up and down.
Compared with the prior art, the utility model has the beneficial effects that:
the base of the working head has the function of transverse movement, and the working head can transversely move, so that the construction requirements of areas such as corners and the like are met, and construction blind areas are reduced. The existing working head base can only enable the working area of the working head to cover the whole construction surface by horizontally moving along with the base, but the base cannot reach the working area under certain narrow scenes (such as internal corner plastering operation at a corner region); and the base often needs recalibration after removing, lower efficiency of construction. The working head base comprises the transverse position adjusting mechanism, and the working head base can move in the horizontal direction, so that the working head base is suitable for complex construction scenes.
The utility model adopts the telescopic adjusting mechanism to adjust the distance of the base relative to the construction surface and the rotation angle in the horizontal plane, so that the adjustment of the rotation angle and the distance in the horizontal plane is integrated. When the distance needs to be adjusted, the two output ends synchronously move at the same time, and when the angle in the horizontal plane needs to be adjusted, the two output ends do differential motion or one output end works and the other does not work, so that the rotation angle of the base relative to the construction surface can be changed.
According to the utility model, the output ends of the telescopic adjusting mechanisms are respectively hinged on the two sliding blocks of the transverse position adjusting mechanism, when the telescopic adjusting mechanisms perform angle adjustment, the second sliding block can slide on the sliding rail in a self-adaptive manner, so that the locking is prevented, the angle adjustment is not bound, and the adjustable angle range can be further enlarged.
The utility model can change the pitch angle of the working head. The adjustment of the hinge angle of the hinge turning unit is the pitch angle of the working head, so that the pitch angle of the working head can be always maintained at a set value during construction operation.
Drawings
FIG. 1 is a schematic structural diagram of a pose-adjustable work head base according to the present invention;
FIG. 2 is a schematic structural view of a lateral position adjustment mechanism according to the present invention;
FIG. 3 is a schematic view of the telescoping adjustment mechanism of the present invention;
FIG. 4 is a schematic structural diagram of an attitude and posture adjustable workhead according to the present invention;
FIG. 5 is a schematic view of a telescoping adjustment mechanism in an embodiment of the utility model;
FIG. 6 is a schematic view of the telescopic adjustment mechanism;
FIG. 7 is a schematic view of the angle adjustment of the telescopic adjustment mechanism;
FIG. 8 is a schematic view of a plastering working head;
FIG. 9 is a schematic diagram of the lateral position adjusting mechanism driving the working head to move left and right;
FIG. 10 is a schematic view of a preferred construction of the mounting portion of the working head according to the present invention;
FIG. 11 is a schematic view of the adjustment of the hinge angle;
FIG. 12 is a schematic structural view of a plastering working head according to an embodiment of the present invention;
FIG. 13 is a schematic structural view of another base of the working head of the present invention;
FIG. 14 is a schematic view of the left and right lateral movement of the base of the working head shown in FIG. 13;
FIG. 15 is a schematic view of angle adjustment of the working head shown in FIG. 13.
In the figure, a telescopic adjusting mechanism 1, a transverse position adjusting mechanism 2, a scraping plate 3, a guniting head 4, a baffle plate 5, a second push rod 11, a first push rod 12, a second push rod motor 13, a first push rod motor 14, a first slide block 21, a second slide block 22, a first slide block driving assembly 23, a guide rail 24, a working head mounting part 25, a working head back plate 26, a working head mounting part articulated shaft 27, a turnover driving assembly 28 and a laser detection sensor 29.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; the connection can be mechanical connection, electrical connection, physical connection or wireless communication connection; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1-3, the utility model provides a working head base with an adjustable pose, which comprises a transverse position adjusting mechanism 2 and a telescopic adjusting mechanism 1. Horizontal position adjustment mechanism 2 has the connecting portion that links to each other with flexible adjustment mechanism 1, and can be relative connecting portion carry out the first installation department that the horizontal direction removed, and flexible adjustment mechanism 1 includes second installation department and two at least setting flexible subassemblies on the second installation department and can change flexible length, two flexible subassemblies respectively with horizontal position adjustment mechanism 2's connecting portion are articulated, thereby flexible adjustment mechanism 1 can change through the length of independent adjustment flexible subassembly. The distance and angle of the first installation part and the second installation part. As shown in fig. 4-12, the working head for construction can be mounted on the first mounting portion (in this case, the second mounting portion is used as a base mounting portion for mounting the working head base on the external device); as shown in fig. 13-15, the working head for construction may also be mounted on the second mounting portion (at this time, the first mounting portion is used as a base mounting portion for mounting the working head base on an external device), and taking the first mounting portion as a working head mounting portion as an example, the working head mounting portion may move in the transverse direction, and the distance and the angle between the working head mounting portion and the construction wall surface may be adjusted by the telescopic adjusting mechanism, that is, the working head base of the present invention may realize transverse movement and angle adjustment in the horizontal plane. The external equipment can be external supporting equipment, preferably equipment with a function of waiting to be lifted and moved, so as to realize the lifting of the base of the working head and the movement of the whole equipment; the external supporting equipment carries a working head base, and a construction working head is installed on the working head base.
3-12, in one or more embodiments, a first mounting portion is used as the working head mounting portion; in a preferred embodiment, the telescopic assembly with changeable telescopic length of the utility model is a push rod, the end parts of the push rod are respectively hinged with the connecting parts of the transverse position adjusting mechanism, and the hinged shafts are arranged in a vertical direction, namely, the transverse position adjusting mechanism can rotate on a horizontal plane relative to the push rod.
In the present embodiment, there are two push rods, namely, a first push rod 11 and a second push rod 12. The push rod can be selected as an electric push rod, a hydraulic rod, a pneumatic piston push rod, or the like, and in this embodiment, the push rod is specifically selected as an electric push rod, the first push rod 11 is driven to extend and retract by a first push rod motor 13, and the second push rod 12 is driven by a second push rod motor 14. When the two push rods move synchronously, the distance between the telescopic adjusting mechanism 1 and the construction wall surface can be adjusted, as shown in fig. 6, the telescopic components are in a synchronous extending state. When the two telescopic assemblies do differential motion or one telescopic assembly works and the other does not work, the rotation angle of the construction working head relative to the construction surface can be changed, and the working head is suitable for adjusting the rotation angle of the working head in the horizontal plane, and a schematic diagram of angle adjustment of the left end and the right end is shown in fig. 7.
In a preferred embodiment, the two extendable length-changeable output ends are arranged in parallel and in the same horizontal plane, as shown in fig. 3.
The angle adjustment of the utility model means that the mounting part of the working head can be adjusted by a larger angle; typically, but not limited to, the rotation value of the angle needs to be up to 5 °, 10 °, 15 °, 20 °, 30 ° or 45 ° in some application scenarios. The utility model designs an angle adjusting space with larger amplitude, on one hand, the flexibility of the working head can be increased, the angle adjustment between the working head and the wall surface can be completely adjusted at the base of the working head, and the supporting equipment at the rear end does not need to be adjusted; on the other hand, the method is suitable for complex working occasions where the working head needs to be inclined or the construction is carried out at multiple angles, and the universality is enhanced, so that the method can meet the requirement of multiple wall and ground building construction operations.
As shown in fig. 2, 8 and 9, in one embodiment of the present invention, the connecting portion and the working head mounting portion of the lateral position adjusting mechanism 2 constitute a sliding pair; the connecting part at least comprises a first slide block 21 and a second slide block 22 which are independent of each other; the first sliding block 21 is hinged with one output end 12 of the telescopic adjusting mechanism 1; the second sliding block 22 is hinged with the other output end 11 of the telescopic adjusting mechanism 1; the first slide block 21 and the second slide block 22 form a sliding pair with the working head mounting part independently. In order to realize the lateral movement, the sliding mode of the sliding pair formed by the first slide block 21 or the second slide block 22 and the working head mounting part is horizontal.
In an embodiment, the lateral position adjusting mechanism 2 further includes a first slider driving assembly 23, the first slider driving assembly 23 can drive the first slider 21 to horizontally slide relative to the working head mounting portion, and when the first slider 21 does not work, the first slider 21 and the working head mounting portion do not slide relative to each other, that is, the sliding position is locked. In the present invention, since the first slider 21 is connected to the telescopic adjustment mechanism 1, when the first slider driving assembly 23 is operated, the working head mounting portion can generate a lateral movement relative to the first slider 21 and the telescopic adjustment mechanism 1.
In this embodiment, the second slider 22 is not provided with a driving member. As shown in fig. 7, when the lateral position adjusting mechanism 2 or the working head is adjusted in angle at the left and right ends, the distance between the ends of the two push rods 11 will change; at this time, if the first slider driving assembly 23 does not work, the position thereof on the guide rail is fixed; at this time, as the angles of the two ends are changed, the position of the second slide block 22 on the guide rail will automatically move, i.e. the second slide block 22 is driven. Of course, the second slide block 22 may also be configured to be driven, and only when the two push rods are required to perform differential motion to change the angle of the base of the working head, the driving mechanisms of the two slide blocks can work synchronously to avoid the angle from being locked.
In a preferred embodiment, the first slide block driving component is a push rod, one end of the push rod is arranged on the working head mounting part, and the other end of the push rod is connected with the first slide block. The push rod can be selected as an electric push rod, a hydraulic rod, a pneumatic piston push rod or the like as long as the length of the push rod can be changed through the driving assembly. In the present invention, a linear electric push rod is selected. The telescopic length of the electric push rod is matched with the horizontal moving range of the transverse position adjusting mechanism, the range is larger, typically but not limited, the horizontal moving range is set to be a plurality of centimeters, and even more than ten centimeters can be achieved under the condition of ensuring construction safety and stable center of gravity of the working head, so that the construction requirements of regions such as corners and the like can be met, and construction blind areas are reduced.
In an alternative embodiment of the present invention, the working head mounting portion 25 includes a hinge portion and a flip driving assembly; the hinge part is positioned on the working head mounting part, the outer working head is hinged with the working head mounting part through the hinge part, and a hinge shaft at the hinged part is arranged in the horizontal direction; the overturning driving component is used for driving the working head to overturn relative to the hinging part so as to adjust the pitch angle of the working head.
As shown in fig. 10 and 11, a back plate 26 of the working head is hinged with the working head mounting part 25, and a hinge shaft 27 is in a horizontal direction; the reverse driving assembly 28 is used for adjusting the hinge angle between the back plate 26 and the working head mounting portion 25, that is, the reverse driving assembly 28 can drive the back plate 26 to rotate around the hinge shaft 27, so that the self-pitch angle of the back plate 26 (working head) can be changed.
The tumble drive assembly 28 may be any device that can change the pitch angle of the work head. Since the hinge is equivalent to a rotatable joint of the robot or the robot arm, the flipping driving component 28 may be a driving component such as a robot joint servo motor.
According to one embodiment of the present invention, the tumble drive assembly 28 has at least one output end with a changeable telescopic length; the overturning driving component 28 is arranged on the working head, and the output end of the overturning driving component is connected with or abutted against the working head mounting part; or the overturning driving component 28 is arranged on the working head mounting part, and the output end of the overturning driving component is connected with or abutted against the working head; the change in the telescoping length at the output of the tumble drive assembly 28 can actuate the work head to change the pitch angle.
Preferably, the turning driving component can be selected from an electric push rod, a hydraulic rod, a pneumatic piston push rod and the like, as long as the length of the push rod can be changed through the driving component. In the utility model, the overturning driving component is two electric push rods which are synchronously telescopic.
Preferably, the working head base with the adjustable pose further comprises an inclination angle sensor and a control module; the inclination angle sensor is positioned on the base of the working head and used for detecting the pitch angle of the working head. The control module is used for receiving a pitch angle detection signal of the inclination angle sensor and controlling the pitch angle adjusting mechanism to work according to the pitch angle detection signal. In this embodiment, the control module selects the STM32 single chip. As shown in fig. 11, when the telescopic adjusting mechanism at the rear end is changed in angle due to a cause, the working head is always in a vertical state by timely adjusting the turnover driving assembly 28, so that the error of the rear-end equipment is not transmitted to the working head, and the construction precision requirement of the working head is met.
In a preferred embodiment, as shown in fig. 12, the work head base further comprises a laser sensor detachably attached to each side of the first unit. During construction, a laser transmitter emits a reference laser beam or a reference laser plane parallel to a construction wall surface. The laser sensor receives the laser signal and judges the angle and the distance between the transverse position adjusting mechanism or the working head thereof and the construction wall surface according to the difference between the receiving position of the laser signal on the sensor and the initial value. The position and attitude of the base of the working head can be adjusted by two push rods of the telescopic adjusting mechanism automatically or manually through laser signals.
Fig. 13 is a schematic view of the work head base of the present invention with the second mounting portion as the work head mounting portion and the first mounting portion as the base mounting portion. Fig. 13 is compared with fig. 4-9, only the external shapes of the telescopic adjustment mechanism 1 and the transverse position adjustment mechanism 2 are modified to more effectively connect the working head and the external device, and the construction and the working principle of the telescopic adjustment mechanism 1 and the transverse position adjustment mechanism 2 are the same as those of fig. 4-9.
FIG. 14 is a schematic diagram of the left and right lateral movement of the base of the working head shown in FIG. 13, and FIG. 15 is a schematic diagram of the angle adjustment of the working head shown in FIG. 13. In the figure the element 3 is a plastering work head which is mounted on the second mounting part of the telescopic adjustment mechanism 1.
In one embodiment of the present invention, as shown in figures 4-9 and 12-15, there is illustrated an adjustable pose plastering work head comprising:
the working head base with adjustable pose, and
and a plastering operation head 3 horizontally mounted on the working head mounting part. The plastering operation head 3 is a scraper. According to the above explanation, the scraper of the present invention can be moved in the transverse direction, and the distance and angle between the scraper and the construction wall surface can be adjusted by the telescopic adjusting mechanism 1. Preferably, the plastering working head 3 is horizontally hinged on the working head mounting part, and the pitching angle can be changed by driving the overturning driving component 28.
In a preferred embodiment, the plastering working head further comprises a guniting head 4 positioned above the scraping plate 3, and baffles 5 positioned on both sides of the scraping plate. The guniting heads are used for guniting a construction surface, and the number of the guniting heads can be one or more; the side baffles prevent excess mortar from overflowing from both sides of the scraper.
The utility model further discloses a robot, which comprises a working head base, a working head, a movable base and a lifting device, wherein the working head base is arranged on the working head base; the working head is arranged on the working head mounting part of the working head base and is used for construction operation; the movable base is used for realizing the movement of the robot; the lifting device is installed on the movable base, the base installation part of the working head base is fixedly arranged on the lifting device, the lifting device can drive the working head base to lift up and down, and the lifting device can be a lifting track.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A working head base capable of adjusting pose is characterized by comprising:
a horizontal position adjusting mechanism which is provided with a connecting part connected with the telescopic adjusting mechanism and a first mounting part which can move horizontally relative to the connecting part;
the telescopic adjusting mechanism comprises a second installation part and at least two telescopic assemblies which are arranged on the second installation part and can change the telescopic length, the end parts of the two telescopic assemblies are respectively hinged with the connecting part of the transverse position adjusting mechanism, and the telescopic adjusting mechanism can independently adjust the elongation of the two telescopic assemblies, so that the distance and the angle between the first installation part and the second installation part are changed.
2. The pose-adjustable work head base according to claim 1, wherein the connecting portion of the lateral position adjusting mechanism and the first mounting portion constitute a sliding pair; the connecting part at least comprises a first sliding block and a second sliding block which are independent of each other; the first sliding block is hinged with one output end of the telescopic adjusting mechanism; the second sliding block is hinged with the other output end of the telescopic adjusting mechanism; the first sliding block and the second sliding block form a sliding pair with the first mounting part independently.
3. The pose-adjustable work head base according to claim 2, wherein the sliding mode of the sliding pair formed by the first sliding block or the second sliding block and the first mounting portion is horizontal.
4. The pose-adjustable work head base according to claim 2, wherein the transverse position adjusting mechanism further comprises a first slide block driving assembly, the first slide block driving assembly can drive the first slide block to horizontally slide relative to the first mounting portion, and when the first slide block driving assembly does not work, the first slide block and the first mounting portion do not slide relative to each other.
5. The pose-adjustable work head base as claimed in claim 4, wherein the first slide block driving assembly is a push rod, one end of which is arranged on the first mounting portion and the other end of which is connected with the first slide block.
6. The pose-adjustable working head base according to claim 1, wherein the telescopic component capable of changing the telescopic length is a push rod, the end parts of the push rod are respectively hinged with the connecting parts of the transverse position adjusting mechanisms, and the hinge shaft is arranged in the vertical direction.
7. The pose-adjustable work head base according to claim 6, wherein the two telescopic assemblies with the changeable telescopic lengths are arranged in parallel and on the same horizontal plane.
8. The pose-adjustable working head base as claimed in claim 1, wherein one of the first mounting part and the second mounting part is used as a working head mounting part for connecting a working head; the other one is used as a base mounting part for mounting the working head base on external equipment.
9. The attitude adjustable work head base according to claim 8, wherein when the first mounting portion or the second mounting portion is used as the work head mounting portion, it further comprises:
the hinge part is positioned on the working head mounting part, the outer working head is hinged with the working head mounting part through the hinge part, and a hinge shaft at the hinged position is arranged in the horizontal direction;
and the overturning driving component is used for driving the working head to overturn relative to the hinging part so as to adjust the pitch angle of the working head.
10. A robot, characterized by comprising:
a movable base; for effecting movement of the robot;
the lifting device is arranged on the movable base;
the working head base capable of adjusting the posture as claimed in any one of claims 1 to 9; the working head base is arranged on the lifting device through a base mounting part, and the lifting device can drive the working head base to lift up and down;
and the working head is arranged on the working head mounting part of the working head base and is used for construction operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122060753.XU CN216067504U (en) | 2021-08-30 | 2021-08-30 | Working head base capable of adjusting pose and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122060753.XU CN216067504U (en) | 2021-08-30 | 2021-08-30 | Working head base capable of adjusting pose and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216067504U true CN216067504U (en) | 2022-03-18 |
Family
ID=80673048
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122060753.XU Active CN216067504U (en) | 2021-08-30 | 2021-08-30 | Working head base capable of adjusting pose and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216067504U (en) |
-
2021
- 2021-08-30 CN CN202122060753.XU patent/CN216067504U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN211448728U (en) | Anchor rod drill carriage | |
| CN105459153A (en) | Railway tunnel lining quality nondestructive detection boom and detection method thereof | |
| CN102091933B (en) | Ship block assembly quick alignment device and method | |
| CN209774711U (en) | Anti-overturning counterweight device of mobile 3D printing robot | |
| CN109972841A (en) | A kind of movable type end face dabbing machine | |
| CN108862056B (en) | Marine A type portal base of wave compensation | |
| CN111618860A (en) | Mechanical arm, and motion trail planning system and method of mechanical arm | |
| CN110712693A (en) | Work platform mover system | |
| CN216067504U (en) | Working head base capable of adjusting pose and robot | |
| CN114486167B (en) | Follow-up sealing system and method for floor notch of low-speed wind tunnel model tail support ground effect test | |
| CN111307400A (en) | Back support device for wind tunnel ground effect test | |
| CN113681583A (en) | Working head base and robot of adjustable position appearance | |
| CN111021694A (en) | Small laser concrete paver and elevation setting method thereof | |
| CN207495723U (en) | Cement section of jurisdiction arc surface receives water floating device automatically | |
| CN211058239U (en) | Automatic operation precision compensation base | |
| CN209852549U (en) | Structure is adjusted to towed body gesture under water | |
| CN213062969U (en) | Building 3D printing equipment | |
| EP0145270A2 (en) | Manipulator transporter | |
| CN216994603U (en) | Automatic stair device and have its robot up and down | |
| CN112793746A (en) | Underwater robot with anti-collision function | |
| CN114482037A (en) | Directional position-adjusting and deviation-correcting device and method for inclined pile hanging and driving construction | |
| CN210440054U (en) | Inverted arch die carrier | |
| CN213387462U (en) | Weather-proof gantry crane | |
| CN215717339U (en) | Concrete floor fine leveling robot | |
| CN110629980A (en) | Automatic operation precision compensation base and precision compensation method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20221214 Address after: No. 6329, Minzhai Village, Qianxiang Town, Dongyang City, Jinhua City, Zhejiang Province 322100 Patentee after: Shi Fanfang Address before: 311100 Room 302, building 2, No. 1-1, Huayi Road, Yuhang street, Yuhang District, Hangzhou City, Zhejiang Province Patentee before: ZHEJIANG BAISHITONG INTELLIGENT TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right |