Intelligent robot for building decoration

Abstract

The invention discloses an intelligent robot for building decoration, and belongs to the technical field of robots. In order to solve the problem that a window frame is inconvenient to take when the window frame of an existing product is installed, the following technical scheme is provided, the window frame temporary storage device comprises a movable base, and the movable base is provided with a temporary storage component used for storing the window frame and a control cabinet body used for controlling equipment operation. Rotary switching of the mechanical arm component is achieved through the switching mechanism, the window frames stored in the delivery mechanism are positioned and taken along with operation of the switching mechanism in the switching process, telescopic movement of the mechanical arm component during window frame taking is avoided, the delivery mechanism automatically feeds materials when the mechanical arm component takes the materials, the labor intensity of workers is reduced, and the production efficiency is improved. Therefore, time is saved, the window frame taking accuracy is guaranteed, configuration of structures such as a sensor is reduced, a taking mechanism in the mechanical arm component replaces a plurality of driving structures with single driving, and the deviation phenomenon after window frame taking is avoided under the condition that the equipment cost is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to an intelligent robot for building decoration and renovation. Background Art

[0002] At present, in building decoration and renovation projects, the installation of window frames needs to be done manually by workers. The installation of window frames generally requires workers to place the window frames placed on the ground in advance on the corresponding window holes, and then fix the window frames as a whole to the wall with bolts. However, the window frames are heavy, and it is difficult for workers to lift the window frames far away from the window holes to the window holes, so there is room for improvement.

[0003] There is a Chinese patent with authorization announcement number CN113635317B, which discloses an intelligent robot for building decoration and renovation, including a base, on which a driving mechanism, a rotating mechanism, a lifting mechanism, an extending mechanism and a grasping mechanism for driving the base to move are arranged, the lifting mechanism is arranged on the rotating mechanism, the extending mechanism is arranged on the rotating mechanism, and the grasping mechanism is arranged on the extending mechanism; the grasping mechanism includes at least two horizontally arranged horizontal clamps, and the two horizontal clamps can move horizontally in a direction away from each other and respectively abut against the inner walls on both sides of the window frame that are opposite to each other.

[0004] Although the technical solution in the above patent document uses mechanical equipment to replace manual labor to reduce the burden of handling during window frame installation, it still has the following defects during actual use:

[0005] Since the window frame is placed statically in the storage box, when taking out the window frame, the extending mechanism needs to drive the grabbing mechanism to reach the position of the window frame to be used in the storage box before the window frame can be taken out. In this process, as the window frame is taken out, the extending mechanism needs to continuously extend its running mileage when adjusting the grabbing mechanism to take out the window frame, which is not only time-consuming, but also has extremely high control requirements for the running positioning of the extending mechanism. If it relies on manual observation, it is difficult to ensure the accuracy of its positioning. If sensor positioning is used, it is necessary to increase the equipment cost, which is not conducive to the promotion and use of the product.

[0006] When the grabbing mechanism in the equipment supports and positions different inner walls of the window frame, different horizontal clamps require corresponding electric horizontal grabbing push rods to drive them. Different electric horizontal grabbing push rods not only increase the burden of the control program during operation, but also have the risk of delay, resulting in deviation when taking the window frame. The configuration of multiple electric horizontal grabbing push rods further increases the manufacturing cost of the equipment. Summary of the invention

[0007] In order to overcome the above-mentioned defects of the prior art, the present invention provides an intelligent robot for building decoration and renovation, which realizes the rotation switching of a manipulator component by a switching mechanism. During the switching process, the manipulator component realizes positioning and picking up window frames stored in a delivery mechanism as the switching mechanism operates, thereby avoiding the telescopic movement of the manipulator component when picking up window frames. The delivery mechanism feeds materials automatically when the manipulator component picks up materials, thereby not only saving time, but also ensuring the accuracy of picking up window frames, reducing the configuration of structures such as sensors, and saving equipment costs. The picking mechanism in the manipulator component replaces multiple drive structures with a single drive, thereby avoiding the deviation phenomenon that occurs after the window frame is picked up while reducing equipment costs, thereby solving the problems raised in the above-mentioned background technology.

[0008] To achieve the above object, the present invention provides the following technical solutions:

[0009] An intelligent robot for building decoration and renovation comprises a mobile base, on which a temporary storage component for storing window frames and a control cabinet body for controlling the operation of equipment are arranged, a switching mechanism located on the mobile base is arranged on the left side of the temporary storage component, and a manipulator component for taking the window frame is installed on the switching mechanism;

[0010] The temporary storage component is composed of two delivery mechanisms, which are symmetrically distributed on the top of the mobile base;

[0011] The robot arm component is composed of a longitudinal adjustment mechanism, an electric push rod 1, a loading mechanism and a material picking mechanism, wherein the longitudinal adjustment mechanism is installed on the switching mechanism, the electric push rod 1 is arranged on the longitudinal adjustment mechanism, the loading mechanism is installed on the output end of the electric push rod 1, and the material picking mechanism is loaded on the loading mechanism, wherein the material picking mechanism is used to pick up the window frame.

[0012] As a further solution of the present invention, the delivery mechanism includes a frame body located above the mobile base, a conveying assembly for conveying the window frame is arranged inside the frame body, and moving blocks for sliding connection to the mobile base are installed by screws at both ends of the bottom of the frame body, and limit blocks are installed by bolts on both sides of the outer wall of the frame body, and limit pins for limit locking are inserted on the limit blocks, and a pusher assembly for adjusting the movement of the conveying assembly is installed on the outer shell wall of the frame body;

[0013] The conveying assembly is composed of a transmission roller and a conveying belt, wherein there are two transmission rollers, which are movably connected to the two ends of the inner cavity of the frame, and the two transmission rollers are connected by the conveying belt.

[0014] As a further solution of the present invention, the pusher assembly includes a carrier plate located outside the frame, a guide member is movably connected to the carrier plate, the guide member and the frame are connected via a support arm, a carrier is mounted on the right end of the carrier plate via a fastening bolt, a push plate is connected to the inside of the carrier via a pin shaft, torsion springs located on the pin shaft are sleeved on the top and bottom of the push plate, and a baffle located on the carrier is integrally provided on the left side of the push plate, the baffle is used to block the leftward flipping movement of the push plate;

[0015] A protrusion is installed on the outer wall of the carrier plate by screws, a guide rod is fixedly connected to the right shell wall of the protrusion, a fixing block is sleeved on the guide rod, the fixing block is fixedly connected to the guide piece, and a reset spring 1 located on the guide rod is sleeved between the fixing block and the protrusion.

[0016] As a further solution of the present invention, the switching mechanism includes a motor fixedly connected to the bottom shell wall of the movable base by bolts, the output end of the motor is equipped with a rotating shaft, the top end of the rotating shaft extends to the top of the movable base, and is equipped with a half gear and a disc, wherein the disc is located at the top end of the rotating shaft, and the top of the disc is movably connected with an adjustment plate for reciprocating motion;

[0017] A rotating shaft located on a movable base is provided on the left side of the half gear, and a transmission gear and a carrier plate are installed on the rotating shaft, wherein the carrier plate is located at the top of the rotating shaft, and the transmission gear and the half gear are meshed for transmission.

[0018] As a further solution of the present invention, a convex rod is fixedly connected to the top of the disc, a return groove is opened on the adjustment plate, the convex rod is movably connected to the return groove, and straight plates are installed at the front and rear ends of the bottom of the adjustment plate, and the bottom of the straight plate is slidably connected to the movable base.

[0019] As a further scheme of the present invention, the longitudinal adjustment mechanism includes an electric slide rail fixedly connected to the carrier plate by bolts, a sleeve seat movably connected to the electric slide rail, a U-shaped plate is integrally arranged on the right side shell wall of the sleeve seat, an extension plate is slidably connected in the U-shaped plate, two accommodating holes are provided on the left end shell wall of the extension plate, a round rod is movably connected in the accommodating hole, one end of the round rod away from the accommodating hole is fixedly connected to the corresponding inner wall of the U-shaped plate, and two reset springs are sleeved on the round rod, and a cylinder is integrally arranged on the bottom of the extension plate, and the cylinder is movably contacted with the adjustment plate.

[0020] As a further scheme of the present invention, the electric push rod is arranged on the top of the extension plate, and the loading mechanism includes a base plate installed on the output end of the electric push rod, a slide plate is slidably connected to the right shell wall of the base plate, and auxiliary plates are integrally provided on the top and bottom of the slide plate. The left side of the slide plate is symmetrically provided with slide rods located inside the base plate, and a guide block is centrally sleeved on the two slide rods. The guide block and the slide plate are fixedly connected, and both sides of the guide block are sleeved with reset springs three located on the corresponding slide rods, and the front and rear ends of the right side of the base plate are both installed with special-shaped plates for pushing the push material assembly by screws.

[0021] As a further solution of the present invention, the material-taking mechanism includes a base plate, on which a plurality of support plates are movably connected along a circumferential direction, and a clamping claw for supporting the inner wall of the window frame is integrally provided at one end of the support plate away from the base plate, and an electric push rod 2 and a shell cover are installed on the left shell wall of the base plate, wherein the shell cover is assembled with the loading mechanism, and a movable plate is installed at the output end of the electric push rod 2, and a plurality of support plates are movably connected along a circumferential direction on the peripheral wall of the movable plate, and one end of the support plate away from the movable plate is movably connected to the corresponding support plates.

[0022] As a further solution of the present invention, a plurality of guide grooves are opened on the peripheral wall of the base plate along the circumferential direction, and the plurality of support plates are respectively slidably connected in the corresponding guide grooves, and a rectangular through groove is opened on each support plate, and the support plate is movably connected to the rectangular through groove by a connecting pin.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. The switching mechanism is used to realize the rotation switching of the manipulator component. During the switching process, the manipulator component can locate and pick up the window frames stored in the delivery mechanism as the switching mechanism operates, thereby avoiding the telescopic movement of the manipulator component when picking up the window frames. The delivery mechanism feeds the materials automatically when the manipulator component picks up the materials, which not only saves time, but also ensures the accuracy of picking up the window frames, reduces the configuration of structures such as sensors, and saves equipment costs.

[0025] 2. The window frame can be picked up by replacing the existing grabbing mechanism with a material picking mechanism. While ensuring the stability of the window frame picking up, a single drive can replace the existing multiple drives, which not only reduces the operating burden of the control program, but also avoids the deviation of the window frame when it is picked up, and reduces the manufacturing cost of the equipment.

[0026] 3. During the operation of the delivery mechanism, the position of the window frame is adjusted by the robot component when the delivery mechanism is picked up, so as to drive the delivery mechanism. As the delivery mechanism moves, the window frames placed therein are transported equidistantly, ensuring that the window frames are picked up by the robot component at a fixed position, while the other end of the delivery mechanism can be used for loading subsequent materials, which will not hinder the operation of the delivery mechanism and further facilitate the assembly of the window frames.

[0027] 4. The loading mechanism in the robot component can realize the lateral adjustment of the material picking mechanism, and then when the window frame is installed after the product completes the picking of the window frame, the lateral position of the taken window frame can be manually fine-tuned according to the actual situation so that it can be assembled at the corresponding window hole. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A three-dimensional structure diagram of an intelligent robot for building decoration Figure 1 ;

[0029] Figure 2 A three-dimensional structure diagram of an intelligent robot for building decoration Figure 2 ;

[0030] Figure 3 for Figure 2 Schematic diagram of the delivery organization structure;

[0031] Figure 4 for Figure 3 Schematic diagram of the pusher assembly structure Figure 1 ;

[0032] Figure 5 for Figure 4 A schematic diagram of the enlarged local structure at A;

[0033] Figure 6 for Figure 3 Schematic diagram of the pusher assembly structure Figure 2 ;

[0034] Figure 7 for Figure 1 A schematic diagram of the switching mechanism structure;

[0035] Figure 8 for Figure 7 Schematic diagram of the structure viewed from above;

[0036] Fig. 9 for Figure 1 Schematic diagram of the structure of the robot components;

[0037] Fig.10 for Fig. 9 Schematic diagram of the structure viewed from above;

[0038] Fig.11 for Figure 2 A schematic diagram of a partial cross-sectional structure of a robot component;

[0039] Fig.12 for Fig.11 An enlarged schematic diagram of the local structure at location B.

[0040] In the figure: 1. mobile base; 2. delivery mechanism; 21. frame; 22. conveying assembly; 221. transmission roller; 222. feeding belt; 23. moving block; 24. limit block; 25. pushing assembly; 251. carrier plate; 252. guide member; 253. support arm; 254. carrier; 255. baffle; 256. push plate; 257. guide rod; 3. switching mechanism; 31. motor; 32. half gear; 33. disc; 34. adjustment plate; 35. transmission Gear; 36, carrier plate; 4, longitudinal adjustment mechanism; 41, electric slide rail; 42, U-shaped plate; 43, extension plate; 44, round rod; 45, cylinder; 5, electric push rod 1; 6, loading mechanism; 61, base plate; 62, slide plate; 63, auxiliary plate; 64, slide rod; 65, special-shaped plate; 7, material taking mechanism; 71, base plate; 72, support plate; 73, clamping claw; 74, electric push rod 2; 75, moving plate; 76, support plate; 77, shell cover; 8, control cabinet body. DETAILED DESCRIPTION

[0041] See also Figure 1-Figure 2 In an embodiment of the present invention, an intelligent robot for building decoration and renovation includes a mobile base 1 for driving a device to adjust displacement, and the mobile base 1 realizes displacement adjustment by driving a motor to drive the wheels. The mobile base 1 is provided with a temporary storage component for storing window frames and a control cabinet body 8 for controlling the operation of the device. The control cabinet body 8 controls the operation of the mobile base 1, and then realizes the operation of the mobile base 1 in the case of an external controller body. A switching mechanism 3 located on the mobile base 1 is provided on the left side of the temporary storage component, and a manipulator component for taking the window frame is installed on the switching mechanism 3. The control cabinet body 8 also controls the operation of the switching mechanism 3 and the manipulator component.

[0042] The temporary storage component is composed of two delivery mechanisms 2, which are symmetrically distributed on the top of the mobile base 1. The area between the two delivery mechanisms 2 is used to arrange and place the window frames to be installed.

[0043] See also Figure 2-Figure 6In the embodiment of the present invention, the delivery mechanism 2 includes a frame 21 located above the mobile base 1, and a conveying assembly 22 for conveying the window frame is arranged inside the frame 21. Both ends of the bottom of the frame 21 are installed with moving blocks 23 for sliding connection to the mobile base 1 by screws, and the outer walls of both sides of the frame 21 are installed with limit blocks 24 by bolts. The top shell wall of the mobile base 1 is provided with sliding grooves in a left-right symmetrical manner, and a plurality of moving blocks 23 are respectively slidably connected in the sliding grooves, thereby ensuring the stability of the displacement adjustment of the delivery mechanism 2.

[0044] A limit pin for limit locking is inserted on the limit block 24, and a push assembly 25 for adjusting the movement of the conveying assembly 22 is installed on the outer shell wall of the frame 21. A plurality of limit holes located on the mobile base 1 are opened on the side of each slide. Through the cooperation of the limit pin and the limit hole, the delivery mechanism 2 can be adjusted and assembled according to the specifications of the window frame when it is set on the mobile base 1, so as to realize the storage of window frames of different specifications, further improving the application range of the product.

[0045] The conveying assembly 22 is composed of a transmission roller 221 and a feed belt 222. There are two transmission rollers 221, which are movably connected to the two ends of the inner cavity of the frame 21. The two transmission rollers 221 are connected by the feed belt 222. There are multiple grooves evenly distributed on the outer circumferential wall of the feed belt 222. In the two symmetrically arranged delivery mechanisms 2, the grooves on the corresponding feed belts 222 correspond to each other. The setting of the grooves can not only arrange the window frame equidistantly and stably, but also facilitate the adjustment and driving of the push assembly 25.

[0046] The pusher assembly 25 comprises a carrier plate 251 located outside the frame 21, and a guide member 252 is movably connected to the carrier plate 251. A strip-shaped through-slot group is provided on the carrier plate 251, and the guide member 252 is slidably connected to the strip-shaped through-slot group.

[0047] The guide member 252 is connected to the frame 21 via the support arm 253. When the carrier 251 is displaced, the support arm 253 keeps the guide member 252 in place, thereby ensuring the stability of the displacement of the carrier 251.

[0048] The right end of the carrier plate 251 is mounted with a carrier frame 254 by fastening bolts, and the interior of the carrier frame 254 is connected with a push plate 256 by a pin shaft. Torsion springs located on the pin shaft are sleeved on the upper and lower parts of the push plate 256. The setting of the torsion spring ensures that when the push plate 256 is reset with the carrier plate 251, when the push plate 256 is in a state of flipping to the right due to friction on the conveyor belt 222, the push plate 256 can be automatically reset after the carrier plate 251 is reset. The left side of the push plate 256 is integrally provided with a baffle plate 255 located on the carrier frame 254, and the baffle plate 255 is used to block the left flipping movement of the push plate 256, thereby ensuring the push adjustment of the push plate 256 on the conveyor belt 222.

[0049] A protrusion is installed on the outer wall of the carrier plate 251 by screws, and a guide rod 257 is fixedly connected to the right shell wall of the protrusion. A fixing block is sleeved on the guide rod 257, and the fixing block is fixedly connected to the guide member 252. A reset spring 1 located on the guide rod 257 is sleeved between the fixing block and the protrusion. The arrangement of the reset spring 1 and the guide rod 257 can ensure that the carrier plate 251 can reset itself when there is no external force.

[0050] See also Figure 1-Figure 2 In the embodiment of the present invention, the manipulator component is composed of a longitudinal adjustment mechanism 4, an electric push rod 1 5, a loading mechanism 6 and a material picking mechanism 7. The longitudinal adjustment mechanism 4 is installed on the switching mechanism 3, the electric push rod 1 5 is arranged on the longitudinal adjustment mechanism 4, and the loading mechanism 6 is installed at the output end of the electric push rod 1 5. The material picking mechanism 7 is loaded on the loading mechanism 6, wherein the material picking mechanism 7 is used to pick up the window frame. The operation of the electric push rod 1 5 can adjust the position of the material picking mechanism 7 through the loading mechanism 6, so as to facilitate the delivery of the picked up window frame to the window hole.

[0051] See also Figure 2 , Figure 7 and Figure 8 In the embodiment of the present invention, the switching mechanism 3 includes a motor 31 fixedly connected to the bottom shell wall of the mobile base 1 by bolts. A rotating shaft is installed at the output end of the motor 31, and the top of the rotating shaft extends to the top of the mobile base 1, and is installed with a half gear 32 and a disc 33. Among them, the disc 33 is located at the top of the rotating shaft. The top of the disc 33 is movably connected with an adjustment plate 34 for reciprocating motion. The motor 31 drives the rotating shaft to move, and then synchronously drives the half gear 32 and the disc 33 to rotate.

[0052] A rotating shaft located on the mobile base 1 is provided on the left side of the half gear 32, and the bottom end of the rotating shaft is rotatably connected to the mobile base 1 through a bearing. A transmission gear 35 and a carrier plate 36 are installed on the rotating shaft, wherein the carrier plate 36 is located at the top of the rotating shaft. The transmission gear 35 and the half gear 32 are meshed and transmitted, and then the half gear 32 drives the rotating shaft to rotate through the transmission gear 35 during the movement. The half gear 32 runs half a circle and synchronously drives the transmission gear 35 to rotate half a circle.

[0053] A convex rod is fixedly connected to the top of the disc 33, and a return groove is provided on the adjustment plate 34. The convex rod is movably connected to the return groove, and straight plates are installed at the front and rear ends of the bottom of the adjustment plate 34, and the bottom of the straight plate is slidably connected to the mobile base 1. The disc 33 moves in the return groove of the adjustment plate 34 during the movement, so that the adjustment plate 34 guided and supported by the straight plate performs reciprocating displacement movement with the rotation of the disc 33.

[0054] See also Figure 2 , Figure 7 , Fig. 9 , Fig.10 , Fig.11 and Fig.12 In the embodiment of the present invention, the longitudinal adjustment mechanism 4 includes an electric slide rail 41 fixedly connected to the carrier plate 36 by bolts. A sleeve is movably connected to the electric slide rail 41, and a U-shaped plate 42 is integrally provided on the right shell wall of the sleeve. Then, the operation of the electric slide rail 41 realizes the longitudinal lifting and lowering adjustment of the sleeve.

[0055] The U-shaped plate 42 is slidably connected with an extension plate 43, and two receiving holes are provided on the left end shell wall of the extension plate 43. A round rod 44 is movably connected in the receiving hole, and one end of the round rod 44 away from the receiving hole is fixedly connected to the corresponding inner wall of the U-shaped plate 42, and a second reset spring is sleeved on the round rod 44. The setting of the second reset spring allows the extension plate 43 to retract and reset itself without the action of external force. The sliding assembly of the extension plate 43 in the U-shaped plate 42 and the setting of the round rod 44 both ensure the stability of the extension plate 43 during telescopic adjustment.

[0056] The bottom of the extension plate 43 is integrally provided with a cylinder 45, and the cylinder 45 is in movable contact with the adjustment plate 34. When the adjustment plate 34 moves rightward, if it contacts the cylinder 45, it will synchronously push the extension plate 43 to move rightward and extend.

[0057] The electric push rod 15 is arranged on the top of the extension plate 43. The loading mechanism 6 includes a base plate 61 installed on the output end of the electric push rod 15. A sliding groove is provided on the right shell wall of the base plate 61, and a slide plate 62 is slidably connected in the sliding groove. Auxiliary plates 63 are integrally arranged on the top and bottom of the slide plate 62, and the auxiliary plates 63 are located in the middle of the slide plate 62, so as to facilitate the assembly of the material taking mechanism 7.

[0058] The left side of the slide plate 62 is symmetrically provided with a slide bar 64 located inside the base plate 61. A guide block is sleeved in the middle of the two slide bars 64, and the guide block is fixedly connected to the slide plate 62. Both sides of the guide block are sleeved with a return spring 3 located on the corresponding slide bar 64, and the two ends of the two slide bars 64 are respectively fixedly connected to the corresponding inner wall of the base plate 61. The setting of the return spring 3 can ensure that the slide plate 62 assembled by the guide block is in the center position without the action of external force. The setting of the slide bar 64, the guide block, the slide plate 62 and the return spring 3 allows the material picking mechanism 7 to perform lateral fine adjustment.

[0059] The front and rear ends on the right side of the base plate 61 are all installed with a special-shaped plate 65 for pushing against the material pushing assembly 25 by screws. The special-shaped plate 65 pushes against the material pushing assembly 25 with the movement of the loading mechanism 6.

[0060] The material taking mechanism 7 comprises a base plate 71, on which a plurality of guide grooves are provided along the circumferential direction, and a support plate 72 is movably connected in the guide groove. A clamping claw 73 for supporting the inner wall of the window frame is integrally provided at one end of the support plate 72 away from the base plate 71. The cross sections of the guide groove and the support plate 72 are both in an I-shaped structure, thereby ensuring the stability of the movement of the support plate 72.

[0061] The left side shell wall of the base plate 71 is provided with an electric push rod 2 74 and a shell cover 77, wherein the shell cover 77 and the loading mechanism 6 are fixed by bolts, and the shell cover 77 and the base plate 71 are assembled by screws. The output end of the electric push rod 2 74 is provided with a moving plate 75, and a plurality of notches are provided on the peripheral wall of the moving plate 75 along the circumferential direction, and each moving plate is movably connected to a support plate 76 through a mounting pin, and the end of the support plate 76 away from the moving plate 75 is movably connected to the corresponding support plate 72.

[0062] Each support plate 72 is provided with a rectangular through slot, and the support plate 76 is movably connected to the rectangular through slot by a connecting pin. When the electric push rod 74 is in operation, the moving plate 75 is driven to move, and then the corresponding support plate 72 is driven to move and adjust under the action of the support plate 76, so that the clamping claw 73 on the corresponding support plate 72 is pressed against the inner wall of the window frame to limit the position.

[0063] The working principle of the present invention is: when the equipment is running, the window frames to be installed are first arranged in sequence in the temporary storage component composed of two delivery mechanisms 2, and the leftmost position is in a vacant state, so as to facilitate the displacement and loading of subsequent window frames.

[0064] After the loading of the window frame is completed, the mobile base 1 is moved to the appropriate position for the window frame installation by remote control between the external controller body and the internal structure of the control cabinet body 8. Then the motor 31 in the switching mechanism 3 is started to run, and the motor 31 drives the half gear 32 and the disc 33 to move synchronously through the rotating shaft. In the first half circle of the rotating shaft, the half gear 32 and the transmission gear 35 are meshed and transmitted, thereby moving the rotating shaft. The rotating shaft drives the carrier 36 to move synchronously, so that the manipulator component performs a half circle movement as a whole. The material picking mechanism 7 in the manipulator component completes the 180-degree switching adjustment.

[0065] When the manipulator part is switching the direction, the disc 33 rotates in the first half circle, and the convex rod cooperates with the straight plate to realize the left adjustment of the adjustment plate 34.

[0066] When the manipulator component completes the steering switch, the electric slide rail 41 of the longitudinal adjustment mechanism 4 in the manipulator component operates, thereby causing the sleeve to move downward. When the sleeve moves downward, the electric push rod 15, the loading mechanism 6 and the material-retrieving mechanism 7 arranged thereon move downward synchronously. Then the extension plate 43 arranged in the U-shaped plate 42 also moves downward synchronously. When the sleeve moves downward to an appropriate height, the round rod 44 loaded on the bottom of the extension plate 43 is located at the right side of the adjustment plate 34 after moving downward, and contacts the corresponding side of the adjustment plate 34. At this time, the material-retrieving mechanism 7 is located at the axis centerline of the window frame.

[0067] After the manipulator component completes the switching adjustment, the shaft continues to move. At this time, the half gear 32 and the transmission gear 35 are in a disengaged state, and the circumferential direction of the manipulator component does not change. The continuous movement of the shaft drives the disc 33 to rotate, and the disc 33 rotates half a circle to move the adjustment plate 34 to the right. During the rightward movement of the adjustment plate 34, it pushes against the cylinder 45 to make the extension plate 43 extend to the right. When the extension plate 43 moves to the right, the reset spring 2 is stretched, and then the material picking mechanism 7 is driven to move to the right under the action of the electric push rod 1 5 and the loading mechanism 6.

[0068] When the loading mechanism 6 moves right, the shaped plates 65 on both sides thereof push against the carrier plate 251 of the pushing assembly 25 in the corresponding delivery mechanism 2. When the carrier plate 251 moves right under force, the support arm 253 and the guide member 252 cooperate to ensure the stability of the movement of the carrier plate 251, so that the push plate 256 can adjust the movement of the conveying belt 222 in the corresponding conveying assembly 22. When the carrier plate 251 moves, the guide rod 257 moves accordingly, thereby compressing the return spring 1.

[0069] When the push plate 256 pushes against the conveyor belt 222, the baffle 255 prevents the push plate 256 from turning left, thereby achieving stable pushing against the conveyor belt 222, causing the conveyor belt 222 to move, and achieving progressive movement of the window frames loaded in the temporary storage component when the conveyor belt 222 moves.

[0070] When the disc 33 completes one circle of movement and stops moving, the manipulator completes the extension adjustment, and the loading mechanism 6 realizes the advancement of the window frame by the delivery mechanism 2, so that the window frame placed on the far left moves to the loading position. The picking mechanism 7 is integrated in the center position of the adjusted window frame.

[0071] The electric push rod 2 74 in the material taking mechanism 7 is started to displace the movable plate 75, and the corresponding support plate 72 is displaced and adjusted under the action of the plurality of support plates 76, so that each clamping claw 73 realizes the load-bearing limit of the inner walls on the four sides of the window frame.

[0072] After the window frame is limited, the electric slide rail 41 in the longitudinal adjustment mechanism 4 operates, so that the sleeve moves up to a certain height to ensure that the window frame is vertically separated from the temporary storage component. When the sleeve moves up, the cylinder 45 on the extension plate 43 separates from the adjustment plate 34, and under the action of the second reset spring, the extension plate 43 retracts to the initial state, which is convenient for subsequent adjustments. When the special-shaped plate 65 separates from the carrier plate 251, the carrier plate 251 is reset under the action of the first reset spring. Since there is no obstacle on the right side of the push plate 256, the push plate 256 is reset to the right through the cooperation of the torsion spring when it moves with the carrier plate 251 to reset, so as to facilitate subsequent repeated operations.

[0073] After the window frame is lifted, the motor 31 in the switching mechanism 3 runs again, and the cooperation between the half gear 32 and the transmission gear 35 in the first half of the circle realizes the 180-degree direction adjustment of the manipulator. The motor 31 stops running after running one circle, and at this time, the window frame clamped on the material taking mechanism 7 is adjusted by driving the electric push rod 15 to run according to the distance between the window frame and the window hole, and is stably assembled in the window hole with the cooperation of the electric slide rail 41.

[0074] If there is a lateral offset problem between the window frame and the window hole, the material taking mechanism 7 is manually pushed, and the slide plate 62 is laterally fine-tuned with the cooperation of the guide block, the slide bar 64 and the return spring, so as to realize the assembly of the window frame.

[0075] After the current window frame is installed, the mobile base 1 is driven again to move to the position where other window holes are to be installed, and then the above steps are repeated to achieve convenient installation of the window frame.

[0076] The above are only preferred specific implementation modes of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and inventive concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An intelligent robot for building decoration and renovation, comprising a mobile base (1), characterized in that: The mobile base (1) is provided with a temporary storage component for storing window frames and a control cabinet body (8) for controlling the operation of the equipment. A switching mechanism (3) located on the mobile base (1) is provided on the left side of the temporary storage component. A mechanical arm component for taking the window frame is installed on the switching mechanism (3); The temporary storage component is composed of two delivery mechanisms (2), and the two delivery mechanisms (2) are symmetrically distributed on the top of the mobile base (1) in the front and rear directions; The manipulator component is composed of a longitudinal adjustment mechanism (4), an electric push rod (5), a loading mechanism (6) and a material picking mechanism (7), wherein the longitudinal adjustment mechanism (4) is mounted on the switching mechanism (3), the electric push rod (5) is arranged on the longitudinal adjustment mechanism (4), the loading mechanism (6) is mounted on the output end of the electric push rod (5), and the material picking mechanism (7) is loaded on the loading mechanism (6), wherein the material picking mechanism (7) is used to pick up the window frame.

2. The intelligent robot for building decoration and renovation according to claim 1, characterized in that: The delivery mechanism (2) comprises a frame (21) located above the mobile base (1), a conveying assembly (22) for conveying the window frame is arranged inside the frame (21), and moving blocks (23) for sliding connection to the mobile base (1) are installed at both ends of the bottom of the frame (21) by screws, and limit blocks (24) are installed on the outer walls of both sides of the frame (21) by bolts, and limit pins for limit locking are inserted on the limit blocks (24), and a pusher assembly (25) for adjusting the movement of the conveying assembly (22) is installed on the outer shell wall of the frame (21); The conveying assembly (22) is composed of a transmission roller (221) and a conveying belt (222), wherein there are two transmission rollers (221), which are movably connected to the two ends of the inner cavity of the frame (21), and the two transmission rollers (221) are connected via the conveying belt (222).

3. The intelligent robot for building decoration and renovation according to claim 2, characterized in that: The pusher assembly (25) comprises a carrier plate (251) located outside the frame (21), a guide member (252) is movably connected to the carrier plate (251), the guide member (252) and the frame (21) are connected via a support arm (253), a carrier frame (254) is installed at the right end of the carrier plate (251) via a fastening bolt, a push plate (256) is connected inside the carrier frame (254) via a pin shaft, torsion springs located on the pin shaft are sleeved on the top and bottom of the push plate (256), a baffle plate (255) located on the carrier frame (254) is integrally provided on the left side of the push plate (256), and the baffle plate (255) is used to prevent the push plate (256) from flipping to the left; A protrusion is installed on the outer wall of the carrier plate (251) by means of screws, a guide rod (257) is fixedly connected to the right shell wall of the protrusion, a fixing block is sleeved on the guide rod (257), the fixing block is fixedly connected to the guide member (252), and a return spring 1 located on the guide rod (257) is sleeved between the fixing block and the protrusion.

4. The intelligent robot for building decoration and renovation according to claim 2, characterized in that: The switching mechanism (3) comprises a motor (31) fixedly connected to the bottom shell wall of the movable base (1) by bolts, the output end of the motor (31) is equipped with a rotating shaft, the top end of the rotating shaft extends to the top of the movable base (1) and is equipped with a half gear (32) and a disc (33), wherein the disc (33) is located at the top end of the rotating shaft, and the top of the disc (33) is movably connected to an adjusting plate (34) for reciprocating motion; A rotating shaft located on the movable base (1) is provided on the left side of the half gear (32), and a transmission gear (35) and a carrier plate (36) are mounted on the rotating shaft, wherein the carrier plate (36) is located at the top end of the rotating shaft, and the transmission gear (35) and the half gear (32) are meshed and transmitted.

5. The intelligent robot for building decoration and renovation according to claim 4, characterized in that: The top of the disc (33) is fixedly connected with a convex rod, the adjustment plate (34) is provided with a return groove, the convex rod is movably connected in the return groove, and the front and rear ends of the bottom of the adjustment plate (34) are both equipped with straight plates, and the bottom of the straight plate is slidably connected to the movable base (1).

6. The intelligent robot for building decoration and renovation according to claim 4, characterized in that: The longitudinal adjustment mechanism (4) comprises an electric slide rail (41) fixedly connected to the carrier plate (36) by bolts, a sleeve seat being movably connected to the electric slide rail (41), a U-shaped plate (42) being integrally arranged on the right side shell wall of the sleeve seat, an extension plate (43) being slidably connected in the U-shaped plate (42), two receiving holes being provided on the left end shell wall of the extension plate (43), a round rod (44) being movably connected in the receiving hole, one end of the round rod (44) away from the receiving hole being fixedly connected to the corresponding inner wall of the U-shaped plate (42), and two return springs being sleeved on the round rod (44), a cylinder (45) being integrally arranged on the bottom of the extension plate (43), and the cylinder (45) being in movably contact with the adjustment plate (34).

7. The intelligent robot for building decoration and renovation according to claim 6, characterized in that: The electric push rod (5) is arranged on the top of the extension plate (43), and the loading mechanism (6) includes a base plate (61) installed on the output end of the electric push rod (5). A slide plate (62) is slidably connected to the right shell wall of the base plate (61), and the top and bottom of the slide plate (62) are integrally provided with auxiliary plates (63). The left side of the slide plate (62) is symmetrically provided with slide bars (64) located inside the base plate (61). A guide block is centrally sleeved on the two slide bars (64), and the guide block is fixedly connected to the slide plate (62), and both sides of the guide block are sleeved with reset springs located on the corresponding slide bars (64). The front and rear ends of the right side of the base plate (61) are both installed with special-shaped plates (65) for pushing the push material assembly (25) by screws.

8. The intelligent robot for building decoration and renovation according to claim 1, characterized in that: The material taking mechanism (7) comprises a base plate (71), on which a plurality of support plates (72) are movably connected in a circumferential direction, and a clamping claw (73) for supporting the inner wall of the window frame is integrally provided at one end of the support plate (72) away from the base plate (71), and an electric push rod 2 (74) and a shell cover (77) are installed on the left shell wall of the base plate (71), wherein the shell cover (77) is assembled with the loading mechanism (6), and a moving disk (75) is installed at the output end of the electric push rod 2 (74), and a plurality of support plates (76) are movably connected in a circumferential direction on the peripheral wall of the moving disk (75), and one end of the support plate (76) away from the moving disk (75) is movably connected to the corresponding support plate (72).

9. The intelligent robot for building decoration and renovation according to claim 8, characterized in that: A plurality of guide grooves are provided on the peripheral wall of the base plate (71) along the circumferential direction, and a plurality of support plates (72) are respectively slidably connected in the corresponding guide grooves, and a rectangular through groove is provided on each support plate (72), and the support plate (76) is movably connected in the rectangular through groove via a connecting pin.

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