Control manipulator without turning radius and robot with control manipulator

Abstract

The invention relates to a steering radius-free control manipulator and a robot with the steering radius-free control manipulator, and relates to the technical field of manipulators, the control manipulator comprises a control mechanism and a mechanical arm, and the control mechanism is mounted at the execution end of the mechanical arm; high-precision support is provided for the control mechanism in the switching process among the multiple construction areas through the mechanical arm, and no-dead-corner coverage of corners in a certain construction area can be achieved through the control head moving along the rectangular movement path in the control mechanism. The technical problem that a traditional manipulator control technology has obvious defects in the aspects of action flexibility, accuracy and operation convenience, especially in the field of indoor decoration is solved. The robot comprises a movable chassis and the control manipulator, the mechanical arm is installed on the movable bearing frame, the mechanical arm provided with the control mechanism is more convenient to switch among multiple walls through the bearing frame, and the robot has the advantage of being convenient to move.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and more particularly to a manipulator with no turning radius and a robot having the same. Background Art

[0002] In the field of manipulators, existing manipulation technologies have made significant progress, but there are still some limitations in practical applications. Traditional manipulators usually adopt a multi-joint structure, and their motion control relies on complex kinematic and dynamic models. Although this design can achieve a certain degree of flexibility, its ability to operate in narrow spaces or complex environments is still limited. For example, when performing tasks, manipulators often need to reserve a large turning radius to complete motion conversion, which not only increases the complexity of the motion path, but also may cause difficulties in operation in narrow areas. In addition, the motion control of the manipulator usually needs to be implemented through complex programming or control interfaces, the operation is not intuitive enough, and its adaptability and flexibility are insufficient for dynamically changing task requirements.

[0003] Existing manipulators also face challenges in terms of precise positioning and high-precision docking. Due to factors such as elastic deformation of the mechanical structure, transmission errors, and sensor accuracy, it is difficult for the manipulator's end effector to achieve millimeter-level or even higher positioning accuracy. This becomes a key bottleneck in scenarios that require high-precision operations (such as precision assembly, complex surface treatment, etc.). At the same time, the manipulator's end effector has limited posture adjustment capabilities during movement, making it difficult to optimize in real time according to task requirements.

[0004] For example, these limitations are particularly evident in the field of interior decoration. Decoration operations usually involve complex environments and diverse task requirements, such as wall spraying, puttying, tile laying, etc. These tasks not only require the robot to be able to flexibly adapt to construction areas of different shapes and sizes, but also require no dead angle operation in narrow corners. However, due to the large turning radius, existing robots are difficult to operate accurately in narrow areas such as wall corners, door and window edges, resulting in low construction efficiency and difficult to ensure quality. For example, in the wall puttying process, traditional robots need to switch construction areas by moving the base, which not only increases the construction time and equipment complexity, but also easily leaves obvious seams between adjacent areas. In wall spraying, due to the lack of flexibility in the motion control of the robot, it is impossible to make real-time adjustments according to the complex shape of the wall, resulting in uneven spraying or omissions, especially when dealing with defects such as wall pits and cracks, it is difficult to achieve an ideal coverage effect.

[0005] In summary, the existing manipulator control technology has obvious deficiencies in terms of flexibility, accuracy and ease of operation, especially in the field of interior decoration. These problems seriously affect the application effect and promotion value of the manipulator. Therefore, developing a new type of manipulator control system to overcome the limitations of existing technology and meet the needs of the decoration field for efficient, accurate and flexible operation is an urgent problem to be solved in this field. Summary of the invention

[0006] In view of this, the present invention provides a manipulator with no turning radius, aiming to solve the technical problems that the above-mentioned traditional manipulator manipulation technology has obvious deficiencies in terms of movement flexibility, accuracy and operational convenience, especially in the field of interior decoration.

[0007] A control manipulator without a turning radius, comprising: a control mechanism and a manipulator arm;

[0008] The control mechanism includes: a mounting plate, a synchronous pulley, a synchronous belt, a supporting frame, a connecting frame and a control head; the first plate surface of the mounting plate has a rectangular motion path composed of lines connecting four turning points arranged in an array; the number of synchronous pulleys is four, and the four synchronous pulleys are arranged corresponding to the four turning points respectively, and are all rotatably connected to the first plate surface of the mounting plate; the synchronous belt is sleeved on the outside of the four synchronous pulleys; the supporting frame is detachably connected to the mounting plate, and a supporting groove arranged corresponding to the motion path is provided on the inner wall surface of the supporting frame; the connecting frame is detachably connected to the synchronous belt; the control head is rotatably connected to the connecting frame, and the rotation axis of the control head is arranged parallel to the synchronous pulley, and the rotation axis of the control head is located on the motion path along a projection perpendicular to the first plate surface; a plurality of sliding brackets are fastened to the control head, and when the control head moves along any side line of the rectangular motion path, two sliding brackets are slidably connected to the support grooves corresponding to this side line;

[0009] The moving end of the robot arm is detachably connected to the second plate surface of the mounting plate;

[0010] It also includes a fixing bracket, one end of which is tightly connected to the supporting frame, and the other end of which is detachably connected to the side wall surface of the mounting plate;

[0011] The connecting frame includes a positioning column arranged perpendicular to the first plate surface, the interior of the control head is provided with a accommodating cavity, the working end of the control head is provided with four output ports which are circumferentially arranged and connected with the accommodating cavity, the end of the control head which is away from the working end is provided with a rotating hole connected with the accommodating cavity, the positioning column and the rotating hole are rotatably connected through a dynamic seal, the side wall surface of the control head is provided with a supply port connected with the accommodating cavity, the end surface of the positioning column located in the accommodating cavity is detachably connected with a material distribution plate, the edge of the material distribution plate is provided with a notch, and the material distribution plate selectively connects the accommodating cavity with the four output ports during rotation.

[0012] Through the above technical scheme, the present invention installs the control mechanism at the execution end of the robot arm, and provides high-precision support to the control mechanism during the switching process between multiple construction areas through the robot arm. The control head that moves along the rectangular motion path in the control mechanism can achieve coverage of corners without dead ends in a certain construction area, and has the characteristics of no dead ends in construction in a single construction area and high-precision splicing of multiple construction areas.

[0013] Preferably, the output port is connected to the accommodating cavity through three radial output pipes, and the width of the notch is arranged corresponding to the total width of the input ends of the three output pipes.

[0014] Preferably, it also includes a stabilizing wheel assembly, which includes a roller bracket and two rollers arranged in parallel and at intervals. A mounting groove is provided at the end of the connecting frame, and the first end of the roller bracket is detachably connected to the mounting groove. An annular stabilizing groove is provided on the first plate surface of the mounting plate. The two rollers are arranged parallel to the positioning column, and the two rollers are rotatably connected to the second end of the roller bracket. The two rollers are in contact with the side wall surface of the stabilizing groove.

[0015] Preferably, a servo motor is further included, a avoidance hole is opened on the mounting plate, the fixed end of the servo motor is fastened to the second plate surface of the mounting plate, and the power output end of the servo motor passes through the avoidance hole and is fastened to any synchronous pulley.

[0016] Preferably, it also includes a connecting plate, one surface of the connecting plate is firmly connected to the mounting plate, and the other surface of the connecting plate is detachably connected to the robotic arm.

[0017] A robot, comprising: a mobile chassis and the above-mentioned control manipulator with no turning radius;

[0018] The mobile chassis includes a load-bearing frame and a traveling wheel set installed on the load-bearing frame;

[0019] The fixed end of the mechanical arm is tightly connected to the carrying frame.

[0020] Through the above technical solution, the present invention installs the mechanical arm on a movable supporting frame, and the supporting frame makes it more convenient for the mechanical arm equipped with a control mechanism to switch between multiple walls, and has the characteristic of easy movement.

[0021] Preferably, it also includes a supply box, which is firmly connected to the loading surface of the carrier frame and is connected to the control head pipeline.

[0022] Preferably, it also includes a controller, which is connected to the control module of the mobile chassis, the control module of the operating mechanism, the control module of the robotic arm and the control module of the supply box by electrical signals.

[0023] It can be seen from the above technical solution that, compared with the prior art, the present invention discloses a control manipulator with no turning radius and a robot having the same, which has the following beneficial effects: the control head is slidably connected to a sliding bracket in a support groove, so that when it moves to the corner position of the motion path, its body will not move along the transition arc on the outside of the synchronous belt pulley with the synchronous belt, but after the connecting frame moves from a straight line edge to another straight line edge with the synchronous belt, it drives the control head to move along the straight line edge again, which has the characteristic of no dead angle in the coverage range. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A three-dimensional schematic diagram of a manipulator with no turning radius and a robot having the same provided by the present invention;

[0025] Figure 2 A three-dimensional schematic diagram of the control mechanism provided by the present invention;

[0026] Figure 3 A three-dimensional schematic diagram of the installation plate, synchronous pulley, synchronous belt, servo motor and connecting plate provided by the present invention when assembled;

[0027] Figure 4 For Figure 3 A three-dimensional schematic diagram of a connecting frame and a stabilizing wheel assembly installed on the basis;

[0028] Figure 5 for Figure 4 A partial enlarged view of part A in the middle;

[0029] Figure 6 A three-dimensional schematic diagram of a control head provided by the present invention;

[0030] Figure 7 An exploded schematic diagram of the control head provided by the present invention;

[0031] Figure 8 A schematic diagram of the assembly of the control head base and the sliding bracket provided by the present invention;

[0032] Fig. 9 A schematic diagram of the assembly of the mounting plate and the support frame provided by the present invention;

[0033] Fig.10 A partial cross-sectional view of the support frame and the control head provided by the present invention in an assembled state;

[0034] Fig.11 for Fig.10 A partial enlarged view of the middle part B;

[0035] Fig.12 A partial cross-sectional view of the mounting plate provided by the present invention;

[0036] Fig.13 for Fig.12 A partial enlarged view of the part C in the middle;

[0037] Fig.14 A partial cross-sectional view of the cover plate provided by the present invention;

[0038] Fig.15 for Fig.14 A partial enlarged view of the part D in the middle;

[0039] Fig.16 A three-dimensional schematic diagram of a control head base provided by the present invention;

[0040] Fig.17 A three-dimensional schematic diagram of a sliding bracket provided by the present invention;

[0041] Fig.18 A three-dimensional schematic diagram of a connecting frame provided by the present invention;

[0042] Fig.19 A top view of the connecting frame provided by the present invention;

[0043] Fig. 20 for Fig.19 EE cross-sectional view in;

[0044] Fig.21 A partial cross-sectional view of the support frame provided by the present invention;

[0045] Fig. 22 for Fig.21 A partial enlarged view of the part F in the middle;

[0046] Fig.23 for Fig.21 A partial enlarged view of the local G in the middle;

[0047] Fig.24 A three-dimensional schematic diagram of a stabilizing wheel assembly provided by the present invention.

[0048] Fig.25 A schematic diagram of the movement of the control head provided by the present invention when it moves counterclockwise in the illustrated position and is located at the upper side;

[0049] Fig.26 A motion diagram of the control head provided by the present invention when it moves counterclockwise in the illustrated position and is located at the upper left corner;

[0050] Fig. 27 A schematic diagram of the movement of the control head provided by the present invention during the rotation process when the control head moves counterclockwise in the upper left corner in the illustrated orientation;

[0051] Fig.28 for Fig. 27 A three-dimensional diagram from another perspective (with the base of the control head hidden);

[0052] Fig.29 This is a schematic diagram of the movement of the control head provided by the present invention when it moves counterclockwise in the illustrated position, and the direction of the notch is completely switched from horizontal to left to vertical downward.

[0053] in:

[0054] 10-control mechanism; 11-mounting plate; 12-support frame; 13-fixed bracket; 14-connecting plate; 111-turning point; 112-movement path; 114-stabilizing groove; 116-first weight-reducing hole; 121-support groove; 122-support groove through hole; 131-fixed bracket 1; 132-fixed bracket 2;

[0055] 21- synchronous pulley; 22- synchronous belt; 23- servo motor;

[0056] 31-connecting frame; 32-control head; 33-distributing plate; 34-sliding bracket; 35-stabilizing wheel assembly; 311-positioning column; 312-installation slot; 313-first screw through hole; 314-first screw countersunk head; 315-first threaded hole; 316-second threaded hole; 317-second pin hole; 318-first pin hole; 319-second weight-reducing hole; 321-cover plate; 322-control head base; 323-accommodating chamber; 324-output port; 325-output pipe; 331-notch; 34 1-support plate; 342-limiting column; 351-roller bracket; 352-roller; 3211-second screw through hole; 3212-second screw countersunk head; 3213-second half output pipe; 3214-rotation groove; 3221-rotation hole; 3222-supply port; 3223-positioning groove; 3224-first half output pipe; 3225-rotation ring groove; 3226-accommodation groove; 3227-third threaded hole; 3228-partition plate; 3511-third pin hole; 3512-third screw through hole;

[0057] 4-Robotic arm;

[0058] 5-mobile chassis; 51-carrying frame; 52-travel wheel set;

[0059] 6-Supply box. DETAILED DESCRIPTION

[0060] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0061] Embodiment 1:

[0062] See attached Figure 1-5 , 8, 12, 13, 21 and 22, the embodiment of the present invention discloses a manipulator with no turning radius, comprising: a manipulator mechanism 10 and a manipulator arm 4;

[0063] The control mechanism 10 includes: a mounting plate 11, a synchronous pulley 21, a synchronous belt 22, a support frame 12, a connecting frame 31 and a control head 32; the first plate surface of the mounting plate 11 has a rectangular motion path 112 composed of four turning points 111 arranged in an array; the number of the synchronous pulleys 21 is four, and the four synchronous pulleys 21 are arranged corresponding to the four turning points 111, and are all rotatably connected to the first plate surface of the mounting plate 11; the synchronous belt 22 is sleeved on the outside of the four synchronous pulleys 21; the support frame 12 is detachably connected to the mounting plate 11, and the support frame 12 The inner wall surface is provided with a support groove 121 arranged corresponding to the motion path 112; the connecting frame 31 is detachably connected to the synchronous belt 22; the control head 32 is rotatably connected to the connecting frame 31, the rotation axis of the control head 32 is arranged parallel to the synchronous belt pulley 21, and the rotation axis of the control head 32 is located on the motion path 112 along a projection perpendicular to the first plate surface; a plurality of sliding brackets 34 are fastened to the control head 32, and when the control head 32 moves along any edge line of the rectangular motion path 112, two sliding brackets 34 are slidably connected to the support groove 121 corresponding to this edge line;

[0064] The moving end of the robot arm 4 is detachably connected to the second surface of the mounting plate 11 .

[0065] Specifically, the mounting plate 11 is provided with a plurality of first weight-reducing holes 116 .

[0066] See attached Figure 2 , and also includes a fixing bracket 13, one end of which is firmly connected to the supporting frame 12, and the other end of which is detachably connected to the side wall of the mounting plate 11.

[0067] See attached Fig. 9 The fixed bracket 13 includes a fixed bracket 131 and a fixed bracket 132. The number of the fixed bracket 131 is two, which are symmetrically arranged along the center of the width direction of the support frame 12; the number of the fixed bracket 132 is two, which are symmetrically arranged along the center of the length direction of the support frame 12. The width of the fixed bracket 131 is greater than the width of the fixed bracket 132, so as to provide stronger torsional rigidity in the length direction of the support frame 12.

[0068] See attached Figure 4-8The connecting frame 31 includes a positioning column 311 arranged perpendicular to the first plate surface, the interior of the control head 32 is provided with a accommodating chamber 323, the working end of the control head 32 has four output ports 324 arranged circumferentially and connected to the accommodating chamber 323, and the end of the control head 32 facing away from the working end is provided with a rotating hole 3221 connected to the accommodating chamber 323, the positioning column 311 is rotatably connected to the rotating hole 3221 through a dynamic seal, and a supply port 3222 connected to the accommodating chamber 323 is provided on the side wall of the control head 32, and the end surface of the positioning column 311 located in the accommodating chamber 323 is detachably connected to a distribution plate 33, and a notch 331 is provided on the edge of the distribution plate 33. The distribution plate 33 selectively connects the accommodating chamber 323 with the four output ports 324 during rotation. Therefore, through the detachable connection between the material distribution plate 33 and the positioning column 311, when the connecting frame 31 moves with the synchronous belt 22, when passing a corner, the connecting end of the connecting frame 31 and the synchronous belt 22 rotates along the axis of the synchronous belt pulley 21. At this time, the axis of the positioning column 311 is coaxial with the synchronous belt pulley 21 here, and then the material distribution plate 33 rotates along the axis of the synchronous belt pulley 21 here, and the notch 331 also switches to the output port 324 located in the forward direction, so that the entire structure has the characteristic of automatic reversal of the output port 324 as the control head 32 changes direction.

[0069] See attached Fig. 20 A first threaded hole 315 is formed on the end surface of the positioning column 311 in the accommodating cavity 323 , and the material distribution plate 33 is coaxially arranged with the positioning column 311 and is provided with a threaded through hole and a screw head countersunk hole arranged corresponding to the first threaded hole 315 .

[0070] Specifically, the connecting frame 31 is provided with a coaxially arranged first screw through hole 313 and a first screw countersunk head 314 perpendicular to the axial direction of the positioning column 311, and the first pin holes 318 are symmetrically arranged on both sides of the first screw through hole 313. A fixing block is fastened to the outer ring surface of the synchronous belt 22, and the fixing block is provided with a threaded bottom hole and a pin bottom hole arranged corresponding to the first screw through hole 313 and the first pin hole 318 respectively.

[0071] Specifically, the positioning column 311 is provided with a second weight-reducing hole 319 along its axis.

[0072] See attached Figure 6 The output port 324 is connected to the accommodating cavity 323 through three radial output pipes 325, and the width of the notch 331 is arranged corresponding to the total width of the input ends of the three output pipes 325. Therefore, the design of the radial output pipe 325 can ensure that the material or tool is evenly distributed inside the manipulation head 32, thereby improving the uniformity and consistency of the operation.

[0073] See attached Figure 14-16The projection of the control head 32 on the surface of the mounting plate 11 is a square. The control head 32 includes a control head base 322 and a cover plate 321. The end surface of the control head base 322 facing the mounting plate 11 is a first end surface, and the end surface of the control head base 322 facing away from the mounting plate 11 is a second end surface.

[0074] Specifically, the output pipe 325 is composed of a first half output pipe 3224 opened at the control head base 322 and a second half output pipe 3213 opened at the cover plate 321 .

[0075] See attached Figure 8 The first end surface of the control head base 322 is provided with four positioning grooves 3223 arranged in a circular array along its center. The number of sliding brackets 34 is four, and the four sliding brackets 34 correspond to the four positioning grooves 3223 respectively, and are fastened to the control head base 322 by screws.

[0076] A square boss is arranged at the center of the second end face of the control head base 322, and a radial first half output pipe 3224 is provided on the boss. A cylindrical receiving groove 3226 is provided at the center of the boss, and a third threaded hole 3227 is provided at the corner of the boss. A partition plate 3228 is arranged along the diagonal of the second end face to divide the peripheral area of ​​the boss. A rotating hole 3221 penetrating the first end face is provided at the center of the bottom of the receiving groove 3226, and a rotating ring groove 3225 is provided at the edge of the receiving groove 3226. A supply port 3222 is provided on the side wall of the control head base 322.

[0077] A rotating groove 3214 arranged corresponding to the rotating ring groove 3225 is provided on the opposite surface of the cover plate 321 and the control head base 322, and a second half output pipe 3213 arranged corresponding to the first half output pipe 3224 is provided. A second screw through hole 3211 and a second screw countersunk head 3212 arranged corresponding to the third threaded hole 3227 are provided on the back-to-back surface of the cover plate 321 and the control head base 322.

[0078] Specifically, the first half of the output pipe 3224 disposed on the control head base 322 and the second half of the output pipe 3213 disposed on the cover plate 321 constitute the output pipe 325 .

[0079] See attached Fig.17 The sliding bracket 34 includes a support plate 341 and a limiting column 342. The support plate 341 is arranged in an L shape, and its corner point is facing the corner position of the control head base 322. The limiting column 342 is arranged perpendicular to the second end surface of the control head base 322 and is fastened to the corner point of the support plate 341. The limiting column 342 contacts and abuts against the inner wall surface of the support groove 121.

[0080] See attached Fig.10 ,11 , 21-23, a support groove through hole 122 perpendicular to the support groove 121 is provided on the inner wall surface of the support frame 12, and two support groove through holes 122 are provided on the four side wall surfaces of the four side lines of the support frame 12 corresponding to the movement path 112, the two support groove through holes 122 corresponding to the long side of the movement path 112 are symmetrically arranged about the center position of the support frame 12 along its length direction, and the two support groove through holes 122 corresponding to the short side of the movement path 112 are symmetrically arranged about the center position of the support frame 12 along its width direction, and the distance between the support groove through hole 122 and the bottom surface of the support groove 121 close to it corresponds to the distance between the two limit columns 342.

[0081] More specifically, the supporting groove through hole 122 is arranged corresponding to the contour of the axial cross section of the limiting column 342 .

[0082] See attached Figure 5 , 18 -20 and 24, and also include a stabilizing wheel assembly 35, which includes a roller bracket 351 and two rollers 352 arranged in parallel and at intervals, a mounting groove 312 is provided at the end of the connecting frame 31, the first end of the roller bracket 351 is detachably connected to the mounting groove 312, an annular stabilizing groove 114 is provided on the first plate surface of the mounting plate 11, the two rollers 352 are arranged in parallel with the positioning column 311, the two rollers 352 are rotatably connected to the second end of the roller bracket 351, and the two rollers 352 are in contact with the side wall surface of the stabilizing groove 114. Therefore, the stabilizing wheel assembly 35 can effectively reduce the shaking of the control head 32 during the movement, and the contact and abutment between the rollers 352 and the stabilizing groove 114 provides a precise guiding effect for the control head 32, further improving the accuracy of the motion trajectory.

[0083] Specifically, a second threaded hole 316 and a second pin hole 317 are formed on the side wall surface of the connecting frame 31 corresponding to the mounting groove 312 .

[0084] Specifically, a third screw through hole 3512 and a third pin hole 3511 are formed at the first end of the roller bracket 351 , which are respectively arranged corresponding to the second threaded hole 316 and the second pin hole 317 .

[0085] See attached Figure 2 and Figure 5 , and further includes a servo motor 23. The mounting plate 11 is provided with an avoidance hole. The fixed end of the servo motor 23 is fastened to the second plate surface of the mounting plate 11, and the power output end of the servo motor 23 passes through the avoidance hole and is fastened to any synchronous pulley 21. Thus, the servo motor 23 can achieve high-precision motion control, ensuring that the control head 32 moves according to the set trajectory and speed, thereby improving the accuracy and reliability of the operation.

[0086] See attached Figure 2 , and further includes a connecting plate 14, one surface of the connecting plate 14 is firmly connected to the mounting plate 11, and the other surface is detachably connected to the mechanical arm 4. Thus, the setting of the connecting plate 14 enables the control mechanism 10 to be conveniently installed on different types of mechanical arms, thereby improving the versatility and expansibility of the device, and the detachable connection facilitates the disassembly and maintenance of the control mechanism 10 and the mechanical arm 4, thereby reducing the maintenance cost of the device.

[0087] Embodiment 2:

[0088] See attached Figure 1 , a robot comprising: a mobile chassis 5 and a manipulator without a turning radius of embodiment 1;

[0089] The mobile chassis 5 includes a load-bearing frame 51 and a running wheel set 52 installed on the load-bearing frame 51;

[0090] The fixed end of the robot arm 4 is tightly connected to the supporting frame 51 .

[0091] Therefore, through the design of the mobile chassis 5, the robot can quickly switch between different areas, further improving the flexibility and applicability of the equipment.

[0092] In order to further optimize the above technical solution, a supply box 6 is further included, which is fastened to the loading surface of the carrier frame 51 and is connected to the control head 32 by a pipeline. Thus, through the continuous supply of the supply box 6, the robot can realize continuous operation and improve work efficiency.

[0093] Specifically, the output end of the supply box 6 is connected to the supply port 3222 via a pipeline.

[0094] In order to further optimize the above technical solution, a controller is also included, and the controller is electrically connected to the control module of the mobile chassis 5, the control module of the control mechanism 10, the control module of the mechanical arm 4, and the control module of the supply box 6. Therefore, the controller can dynamically adjust the operating parameters of each module according to the task requirements, thereby enhancing the adaptability of the device to dynamically changing tasks.

[0095] The specific principle and use method of a manipulator without turning radius provided in this embodiment are as follows:

[0096] 1. The mobile chassis 5 moves to the front of the wall to be constructed, and the controller controls the mechanical arm 4 to make the control mechanism 10 parallel to the wall to be constructed and keep a certain gap, and the controller controls the supply box 6 to start supplying materials to the control head 32;

[0097] 2. Start the servo motor 23, the servo motor 23 drives the synchronous belt 22 to rotate, and the synchronous belt 22 drives the control head 32 to do Fig.25When the axial direction of the positioning column 311 is about to move to be coaxial with the synchronous pulley 21 at the upper left corner, the limiting column 342 corresponding to the sliding bracket 34 at the lower left corner enters the supporting groove 121 through the supporting groove through hole 122 above the left inner wall surface of the supporting frame 12;

[0098] 3. Such as Figure 26-28 As shown, when the control head 32 moves to the synchronous pulley 21 located at the upper left corner, the control head 32 stops for a short time, and the second end of the connecting frame 31 rotates along the axis of the synchronous pulley 21 with the synchronous belt 22 on the outer periphery of the synchronous pulley 21 at the upper left corner, driving the material distribution plate 33 to rotate, and the notch 331 perpendicular to the left direction is tilted downward along the axis of the synchronous pulley 21 at the upper left corner;

[0099] 4. Such as Fig.29 As shown, when the second end of the connecting frame 31 moves with the synchronous belt 22 to a tangent position with the outer periphery of the synchronous pulley 21 at the upper left corner in the vertical direction, the direction of the notch 331 is completely downward;

[0100] 5. The synchronous belt 22 continues to move, driving the control head 32 to move downward. At the same time, the limiting column 342 corresponding to the sliding bracket 34 located at the upper right corner is released from the support groove 121 through the support groove through hole 122 on the left side of the upper inner wall of the support frame 12. When the control head 32 moves one circle along the motion path 112, the coating of the construction area is completed;

[0101] 6. The controller controls the robot arm 4 to switch the control mechanism 10 to the next construction area.

[0102] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A manipulator without a turning radius, characterized in that: include: A control mechanism (10) and a robotic arm (4); The control mechanism (10) comprises: a mounting plate (11), a synchronous pulley (21), a synchronous belt (22), a support frame (12), a connecting frame (31) and a control head (32); a first plate surface of the mounting plate (11) has a rectangular motion path (112) formed by connecting lines of four turning points (111) arranged in an array; the number of the synchronous pulleys (21) is four, the four synchronous pulleys (21) are arranged corresponding to the four turning points (111) respectively, and are all rotatably connected to the first plate surface of the mounting plate (11); the synchronous belt (22) is sleeved on the outer sides of the four synchronous pulleys (21); the support frame (12) is detachably connected to the mounting plate (11), and the support frame (12) is The inner wall surface is provided with a support groove (121) arranged corresponding to the movement path (112); the connecting frame (31) is detachably connected to the synchronous belt (22); the control head (32) is rotatably connected to the connecting frame (31), the rotation axis of the control head (32) is arranged parallel to the synchronous belt pulley (21), and the rotation axis of the control head (32) is located on the movement path (112) along a projection perpendicular to the first plate surface; a plurality of sliding brackets (34) are fastened to the control head (32), and when the control head (32) moves along any edge line of the rectangular movement path (112), two of the sliding brackets (34) are slidably connected to the support grooves (121) corresponding to this edge line; The moving end of the mechanical arm (4) is detachably connected to the second plate surface of the mounting plate (11); It also comprises a fixing bracket (13), one end of the fixing bracket (13) being fixedly connected to the supporting frame (12), and the other end of the fixing bracket (13) being detachably connected to the side wall surface of the mounting plate (11); The connecting frame (31) comprises a positioning column (311) arranged perpendicularly to the first plate surface; the control head (32) has an interior with a receiving cavity (323); the working end of the control head (32) has four output ports (324) arranged circumferentially and connected to the receiving cavity (323); an end of the control head (32) facing away from the working end is provided with a rotation hole (3221) connected to the receiving cavity (323); the positioning column (311) is connected to the rotation hole (3221) is rotatably connected via a dynamic seal, a side wall surface of the control head (32) is provided with a supply port (3222) connected to the accommodating cavity (323), an end surface of the positioning column (311) located in the accommodating cavity (323) is detachably connected to a distribution plate (33), an edge of the distribution plate (33) is provided with a notch (331), and the distribution plate (33) selectively connects the accommodating cavity (323) with the four output ports (324) during rotation.

2. A manipulator with no turning radius according to claim 1, characterized in that: The output port (324) is in communication with the accommodating chamber (323) via three radial output pipes (325), and the width of the notch (331) is arranged to correspond to the total width of the input ends of the three output pipes (325).

3. The control manipulator with no turning radius according to claim 1, characterized in that: The invention also comprises a stabilizing wheel assembly (35), the stabilizing wheel assembly (35) comprising a roller bracket (351) and two rollers (352) arranged in parallel and at intervals, the end of the connecting frame (31) is provided with a mounting groove (312), the first end of the roller bracket (351) is detachably connected to the mounting groove (312), the first plate surface of the mounting plate (11) is provided with an annular stabilizing groove (114), the two rollers (352) are arranged in parallel with the positioning column (311), the two rollers (352) are rotatably connected to the second end of the roller bracket (351), and the two rollers (352) are in contact with and abut against the side wall surface of the stabilizing groove (114).

4. The control manipulator with no turning radius according to claim 1, characterized in that: It also includes a servo motor (23), the mounting plate (11) is provided with an escape hole, a fixed end of the servo motor (23) is fastened to the second plate surface of the mounting plate (11), and a power output end of the servo motor (23) passes through the escape hole and is fastened to any one of the synchronous pulleys (21).

5. The control manipulator with no turning radius according to claim 1, characterized in that: It also comprises a connecting plate (14), one plate surface of the connecting plate (14) being fixedly connected to the mounting plate (11), and the other plate surface being detachably connected to the mechanical arm (4).

6. A robot, characterized in that: include: A mobile chassis (5) and a manipulator with no turning radius as claimed in any one of claims 1 to 5; The mobile chassis (5) comprises a load-bearing frame (51) and a running wheel set (52) mounted on the load-bearing frame (51); The fixed end of the mechanical arm (4) is firmly connected to the supporting frame (51).

7. A robot according to claim 6, characterized in that: It also comprises a supply box (6), wherein the supply box (6) is firmly connected to the loading surface of the carrier frame (51), and the supply box (6) is connected to the control head (32) via a pipeline.

8. A robot according to claim 7, characterized in that: It also includes a controller, which is electrically connected to a control module of the mobile chassis (5), a control module of the control mechanism (10), a control module of the mechanical arm (4), and a control module of the supply box (6).

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