A manipulator without turning radius and a robot having the same

Abstract

The present invention relates to a manipulator with no turning radius and a robot having the same, and relates to the field of manipulator technology. The manipulator includes a manipulator mechanism and a manipulator arm. The manipulator mechanism is installed at the execution end of the manipulator arm. The manipulator arm provides high-precision support to the manipulator mechanism during the switching process between multiple construction areas. The manipulator head that moves along a rectangular motion path in the manipulator mechanism can achieve coverage of corners without dead ends in a certain construction area, solving the technical problem that traditional manipulator control technology has obvious deficiencies in terms of flexibility, accuracy, and ease of operation, especially in the field of interior decoration. The robot includes a mobile chassis and the above-mentioned manipulator. By installing the manipulator arm on a movable load-bearing frame, the load-bearing frame makes it easier for the manipulator arm equipped with the manipulator mechanism to switch between multiple walls, and the robot has the characteristic of easy movement.

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, the existing manipulation technologies have achieved remarkable development, but there are still some limitations in practical applications. Traditional manipulators usually adopt a multi-joint structure, and their motion control depends on complex kinematic and dynamic models. Although this design can achieve a certain degree of flexibility, their operation ability in narrow spaces or complex environments is still limited. For example, when a manipulator executes a task, it often needs to reserve a large turning radius to complete motion conversion, which not only increases the complexity of the motion path but also may lead to difficulties in operation in narrow areas. In addition, the motion control of a manipulator usually needs to be achieved through complex programming or a control interface, and the operation is not intuitive enough. For dynamically changing task requirements, its adaptability and flexibility are insufficient.

[0003] In terms of precise positioning and high-precision docking, existing manipulators also face challenges. Due to factors such as elastic deformation of the mechanical structure, transmission errors, and sensor accuracy, it is very difficult for the end effector of a manipulator to achieve a positioning accuracy of millimeters or even higher. This becomes a key bottleneck in scenarios that require high-precision operations (such as precision assembly, complex surface treatment, etc.). At the same time, during the movement of the end effector of a manipulator, its attitude adjustment ability is limited and it is difficult to be optimized in real time according to task requirements.

[0004] For example, in the field of indoor decoration, these limitations are particularly obvious. Decoration operations usually involve complex environments and diverse task requirements, such as wall painting, putty scraping, tile laying, etc. These tasks not only require the manipulator to be able to flexibly adapt to construction areas of different shapes and sizes but also need to achieve dead-angle-free operation at narrow corners. However, due to the large turning radius of existing manipulators, it is difficult to perform precise operations in narrow areas such as wall corners and window edges, resulting in low construction efficiency and difficult quality assurance. For example, in the putty scraping process on the wall, traditional manipulators need to move the base to switch construction areas, which not only increases the construction time and equipment complexity but also easily leaves obvious seams between adjacent areas. In wall painting, due to the inflexible motion control of the manipulator, it is unable to make real-time adjustments according to the complex shape of the wall, resulting in uneven or missed spraying. 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 technologies have obvious deficiencies in terms of motion flexibility, accuracy, and operation convenience. Especially in the field of interior decoration, these problems seriously affect the application effect and promotion value of manipulators. Therefore, developing a new type of manipulator control system to overcome the limitations of existing technologies and meet the requirements of efficient, accurate, and flexible operations in the decoration field 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 a zero turning radius, aiming to solve the technical problems that the traditional manipulator control technologies have obvious deficiencies in terms of motion flexibility, accuracy, and operation convenience, especially in the field of interior decoration.

[0007] A manipulator with a zero turning radius includes: a control mechanism and a robotic arm;

[0008] The control mechanism includes: a mounting plate, synchronous belt pulleys, a synchronous belt, a support frame, a connecting frame, and a control head; on the first surface of the mounting plate, there is a rectangular motion path formed by connecting four turning points arranged in an array; the number of synchronous belt pulleys is four, and the four synchronous belt pulleys are respectively arranged corresponding to the four turning points and are all rotatably connected to the first surface of the mounting plate; the synchronous belt is sleeved outside the four synchronous belt pulleys; the support frame is detachably connected to the mounting plate, and a support groove corresponding to the motion path is provided on the inner wall surface of the support frame; the connecting frame is detachably connected to the synchronous belt; the control head is rotatably connected to the connecting frame, the rotation axis of the control head is arranged parallel to the synchronous belt pulleys, and the projection of the rotation axis of the control head along the direction perpendicular to the first surface is located on the motion path; a plurality of sliding brackets are fixedly connected 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 groove corresponding to this side line;

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

[0010] It further includes a fixed bracket, one end of the fixed bracket is fixedly connected to the support frame, and the other end 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 surface. The control head has an accommodation cavity inside, and the working end of the control head has four output ports arranged circumferentially and all communicating with the accommodation cavity. One end of the control head facing away from the working end is provided with a rotation hole communicating with the accommodation cavity. The positioning column is rotatably connected to the rotation hole through a dynamic seal. A supply port communicating with the accommodation cavity is provided on the side wall surface of the control head. A distribution plate is detachably connected to the end face of the positioning column located inside the accommodation cavity. A notch is provided on the edge of the distribution plate, and the distribution plate selectively connects the accommodation cavity with the four output ports during rotation.

[0012] Through the above technical solution, the present invention installs the control mechanism at the execution end of the robotic arm, and the robotic arm provides high-precision support during the switching process of the control mechanism among multiple construction areas. The control head moving along the rectangular movement path in the control mechanism can achieve a dead-angle-free coverage of the corners in a certain construction area, having the characteristics of dead-angle-free construction in a single construction area and high-precision splicing of multiple construction areas.

[0013] Preferably, the output port is communicated with the accommodation cavity through three radially arranged output pipes, and the width of the notch is correspondingly arranged with the total width of the input ends of the three output pipes.

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

[0015] Preferably, it further includes a servo motor. An avoidance hole is provided on the installation plate. The fixed end of the servo motor is tightly connected to the second plate surface of the installation plate, and the power output end of the servo motor passes through the avoidance hole and is tightly connected to any one of the synchronous pulleys.

[0016] Preferably, it further includes a connecting plate. One plate surface of the connecting plate is tightly connected to the installation plate, and the other plate surface is detachably connected to the robotic arm.

[0017] A robot includes: a mobile chassis and the above-mentioned control manipulator without turning radius;

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

[0019] The fixed end of the robotic arm is tightly connected to the load-bearing vehicle frame.

[0020] Through the above technical solution, the present invention installs the robotic arm on the movable load-bearing vehicle frame, and through the load-bearing vehicle frame, the robotic arm equipped with the control mechanism is more convenient to switch among multiple walls, having the characteristic of convenient movement.

[0021] Preferably, it further includes a supply box. The supply box is tightly connected to the loading surface of the load-bearing vehicle frame, and the supply box is connected to the control head through a pipeline.

[0022] Preferably, it further includes a controller. The controller is electrically connected to the control modules of the mobile chassis, the control mechanism, the robotic arm, and the supply box.

[0023] As can be seen from the above technical solutions, compared with the prior art, the present invention discloses a manipulator without a turning radius and a robot having the same, which has the following beneficial effects: The control head is connected to the support groove through a sliding bracket, so that when it moves to the corner position of the movement path, its body does not move along the transition arc outside the synchronous belt pulley with the synchronous belt, but after the equal connection frame moves from one straight side to the other straight side with the synchronous belt, it drives the control head to move along the straight side again, having the characteristic of no dead angle in the coverage range. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Stereoscopic schematic diagram of the manipulator without a turning radius and the robot having the same provided by the present invention;

[0025] Figure 2 Stereoscopic schematic diagram of the control mechanism provided by the present invention;

[0026] Figure 3 Stereoscopic schematic diagram of the mounting plate, synchronous belt pulley, synchronous belt, servo motor and connecting plate assembled by the present invention;

[0027] Figure 4 For Figure 3 Stereoscopic schematic diagram of the connecting frame and the stabilizing wheel assembly added on the basis of;

[0028] Figure 5 For Figure 4 Partial enlarged view of the partial A in;

[0029] Figure 6 Stereoscopic schematic diagram of the control head provided by the present invention;

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

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

[0032] Figure 9 Assembly schematic diagram of the mounting plate and the support frame provided by the present invention;

[0033] Figure 10 Partial cross-sectional view of the support frame and the control head assembled by the present invention;

[0034] Figure 11 For Figure 10 Partial enlarged view of the partial B in;

[0035] Figure 12 Partial cross-sectional view of the mounting plate provided by the present invention;

[0036] Figure 13 ForFigure 12 Partial enlarged view of local C;

[0037] Figure 14 Partial cross-sectional view of the cover plate provided by the present invention;

[0038] Figure 15 is Figure 14 Partial enlarged view of local D in;

[0039] Figure 16 Stereoscopic schematic diagram of the control head base provided by the present invention;

[0040] Figure 17 Stereoscopic schematic diagram of the sliding bracket provided by the present invention;

[0041] Figure 18 Stereoscopic schematic diagram of the connecting frame provided by the present invention;

[0042] Figure 19 Top view of the connecting frame provided by the present invention;

[0043] Figure 20 is Figure 19 Sectional view taken along line E-E in;

[0044] Figure 21 Partial cross-sectional view of the support frame provided by the present invention;

[0045] Figure 22 is Figure 21 Partial enlarged view of local F in;

[0046] Figure 23 is Figure 21 Partial enlarged view of local G in;

[0047] Figure 24 Stereoscopic schematic diagram of the stabilizer wheel assembly provided by the present invention.

[0048] Figure 25 Schematic diagram of the movement of the control head when it moves counterclockwise in the illustrated orientation and is at the upper position;

[0049] Figure 26 Schematic diagram of the movement of the control head when it moves counterclockwise in the illustrated orientation and is at the upper left corner;

[0050] Figure 27 Schematic diagram of the movement of the control head during the rotation process when it moves counterclockwise in the illustrated orientation and is at the upper left corner;

[0051] Figure 28 is Figure 27 Stereoscopic schematic diagram from another perspective (hiding the control head base);

[0052] Figure 29 Schematic diagram of the notch direction of the control head provided by the present invention completely switching from horizontal left to vertical down when moving counterclockwise in the illustrated orientation.

[0053] Wherein:

[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 reduction hole; 121 - Support groove; 122 - Support groove through hole; 131 - Fixed bracket one; 132 - Fixed bracket two;

[0055] 21 - Synchronous pulley; 22 - Synchronous belt; 23 - Servo motor;

[0056] 31 - Connecting frame; 32 - Control head; 33 - Dividing plate; 34 - Sliding bracket; 35 - Stabilizing wheel assembly; 311 - Positioning column; 312 - Mounting groove; 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 reduction hole; 321 - Cover plate; 322 - Control head base; 323 - Accommodating cavity; 324 - Output port; 325 - Output pipe; 331 - Notch; 341 - Support plate; 342 - Limit column; 351 - Roller bracket; 352 - Roller; 3211 - Second screw through hole; 3212 - Second screw countersunk head; 3213 - Second half output pipe; 3214 - Rotating groove; 3221 - Rotating hole; 3222 - Supply port; 3223 - Positioning groove; 3224 - First half output pipe; 3225 - Rotating ring groove; 3226 - Accommodating groove; 3227 - Third threaded hole; 3228 - Partition; 3511 - Third pin hole; 3512 - Third screw through hole;

[0057] 4 - Robot arm;

[0058] 5 - Mobile chassis; 51 - Carrying frame; 52 - Traveling wheel set;

[0059] 6 - Supply box. Specific embodiments

[0060] The principles and features of the present invention will be described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0061] Example 1:

[0062] Referring to FIGS. Figures 1-5 8, 12, 13, 21 and 22, an embodiment of the present invention discloses a control manipulator without turning radius, including: a control mechanism 10 and a robot 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; on the first plate surface of the mounting plate 11, there is a rectangular movement path 112 formed by connecting four turning points 111 arranged in an array; the number of synchronous pulleys 21 is four, and the four synchronous pulleys 21 are respectively 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 outside the four synchronous pulleys 21; the support frame 12 is detachably connected to the mounting plate 11, and a support groove 121 corresponding to the movement path 112 is provided on the inner wall surface of the support frame 12; 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 pulley 21, and the projection of the rotation axis of the control head 32 along the direction perpendicular to the first plate surface is located on the movement path 112; a plurality of sliding brackets 34 are fixedly connected to the control head 32, and when the control head 32 moves along any side line of the rectangular movement path 112, two sliding brackets 34 are slidably connected to the support groove 121 corresponding to this side line;

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

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

[0066] See the appendix Figure 2 , and further includes a fixing bracket 13. One end of the fixing bracket 13 is fixedly connected to the support frame 12, and the other end is detachably connected to the side wall surface of the mounting plate 11.

[0067] See the appendix Figure 9 , the fixing bracket 13 includes a fixing bracket one 131 and a fixing bracket two 132. The number of the fixing brackets one 131 is two, and they are symmetrically arranged about the center in the width direction of the support frame 12; the number of the fixing brackets two 132 is two, and they are symmetrically arranged about the center in the length direction of the support frame 12. The width of the fixing bracket one 131 is greater than the width of the fixing bracket two 132 to provide stronger anti-torsion stiffness in the length direction of the support frame 12.

[0068] See the appendix Figures 4-8, the connecting frame 31 includes a positioning post 311 arranged perpendicular to the first plate surface. The interior of the control head 32 has a receiving cavity 323. The working end of the control head 32 has four output ports 324 arranged circumferentially and all communicating with the receiving cavity 323. One end of the control head 32 facing away from the working end is provided with a rotation hole 3221 communicating with the receiving cavity 323. The positioning post 311 is rotatably connected to the rotation hole 3221 through a dynamic seal. A supply port 3222 communicating with the receiving cavity 323 is provided on the side wall surface of the control head 32. The end surface of the positioning post 311 located inside the receiving cavity 323 is detachably connected with a distribution plate 33. A notch 331 is provided on the edge of the distribution plate 33. During the rotation of the distribution plate 33, the receiving cavity 323 is selectively communicated with the four output ports 324. Thus, by detachably connecting the distribution plate 33 with the positioning post 311, during the movement of the connecting frame 31 along with the synchronous belt 22, when passing through a corner, the connecting end of the connecting frame 31 and the synchronous belt 22 rotates along the axis of the synchronous pulley 21. At this time, the axis of the positioning post 311 is coaxial with the synchronous pulley 21 at this place. Furthermore, the distribution plate 33 rotates along the axis of the synchronous pulley 21 at this place, and the notch 331 also switches to the output port 324 in the advancing direction, making the whole structure have the characteristic that the output port 324 automatically changes direction along with the change of direction of the control head 32.

[0069] See the appendix Figure 20 , a first threaded hole 315 is provided on the end surface of the positioning post 311 located inside the receiving cavity 323. The distribution plate 33 is coaxially arranged with the positioning post 311 and is provided with a threaded through hole and a screw head counterbore corresponding to the first threaded hole 315.

[0070] Specifically, the connecting frame 31 is provided with a coaxial first screw through hole 313 and a first screw counterbore 314 in a direction perpendicular to the axis of the positioning post 311. First pin holes 318 are symmetrically arranged on both sides of the first screw through hole 313. A fixing block is fixedly connected to the outer ring surface of the synchronous belt 22, and a threaded bottom hole and a pin bottom hole corresponding to the first screw through hole 313 and the first pin holes 318 are respectively provided on the fixing block.

[0071] Specifically, a second weight reduction hole 319 is provided along the axial position of the positioning post 311.

[0072] See the appendix Figure 6 , the output ports 324 are communicated with the receiving cavity 323 through three radially arranged output pipes 325. The width of the notch 331 corresponds to the total width of the input ends of the three output pipes 325. Thus, the design of the radially arranged output pipes 325 can ensure the uniform distribution of materials or tools inside the control head 32 and improve the uniformity and consistency of operations.

[0073] See the appendix Figures 14-16, the projection of the control head 32 on the plane perpendicular to the mounting plate 11 is a square. The control head 32 includes a control head base 322 and a cover plate 321. The end face of the control head base 322 facing the mounting plate 11 is the first end face, and the end face of the control head base 322 facing away from the mounting plate 11 is the second end face.

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

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

[0076] At the center position of the second end face of the control head base 322, there is a square boss. A radial first half-output pipe 3224 is opened on the boss. A cylindrical receiving groove 3226 is opened at the center position of the boss. A third threaded hole 3227 is opened at the corner position of the boss. The second end face is provided with a partition 3228 along its diagonal line to divide the circumferential area of the boss. A rotating hole 3221 penetrating the first end face is opened at the center position of the bottom surface of the receiving groove 3226. A rotating ring groove 3225 is opened at the edge position of the receiving groove 3226. A supply port 3222 is opened on the side wall surface of the control head base 322.

[0077] On the opposite surfaces of the cover plate 321 and the control head base 322, there are rotating grooves 3214 arranged corresponding to the rotating ring groove 3225, and second half-output pipes 3213 arranged corresponding to the first half-output pipe 3224. On the opposite surfaces of the cover plate 321 and the control head base 322, there are second screw through holes 3211 and second screw countersinks 3212 arranged corresponding to the third threaded hole 3227.

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

[0079] See attached Figure 17 , the sliding bracket 34 includes a support plate 341 and a limit post 342. The support plate 341 is arranged in an L shape, and its corner point faces the corner position of the control head base 322. The limit post 342 is arranged perpendicular to the second end face of the control head base 322 and is fixedly connected to the corner point of the support plate 341. The limit post 342 contacts and abuts against the inner wall surface of the support groove 121.

[0080] See attached Figure 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 attachedFigure 2 , further comprising a connecting plate 14. One surface of the connecting plate 14 is fixedly connected to the mounting plate 11, and the other surface is detachably connected to the robotic arm 4. Thus, the arrangement of the connecting plate 14 enables the control mechanism 10 to be conveniently installed on different types of robotic arms, improving the versatility and expandability of the device. The detachable connection facilitates the disassembly and maintenance of the control mechanism 10 and the robotic arm 4, reducing the maintenance cost of the device.

[0087] Embodiment 2:

[0088] See the appendix Figure 1 , a robot, comprising: a mobile chassis 5 and the control manipulator without turning radius of Embodiment 1;

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

[0090] The fixed end of the robotic arm 4 is fixedly connected to the load-carrying frame 51.

[0091] Thus, through the design of the mobile chassis 5, the robot can quickly switch between different areas, further improving the flexibility and application range of the device.

[0092] To further optimize the above technical solution, it further includes a supply tank 6. The supply tank 6 is fixedly connected to the loading surface of the load-carrying frame 51, and the supply tank 6 is connected to the control head 32 through a pipeline. Thus, through the continuous supply of the supply tank 6, the robot can achieve continuous operation, improving the work efficiency.

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

[0094] To further optimize the above technical solution, it further includes a controller, which is electrically connected to the control modules of the mobile chassis 5, the control mechanism 10, the robotic arm 4, and the supply tank 6. Thus, the controller can dynamically adjust the operating parameters of each module according to the task requirements, enhancing the adaptability of the device to dynamically changing tasks.

[0095] The specific principle and usage method of the control 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. The robotic arm 4 is controlled by the controller to keep the control mechanism 10 parallel to the wall to be constructed and maintain a certain gap. The supply tank 6 is controlled by the controller 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 perform Figure 25Counterclockwise movement in the indicated orientation. When the axial direction of the positioning post 311 is about to move to be coaxial with the synchronous pulley 21 in the upper left corner, the limiting post 342 corresponding to the sliding bracket 34 in the lower left corner enters the support groove 121 through the support groove through-hole 122 above the left inner wall surface of the support frame 12;

[0098] 3. As Figures 26-28 shown, when the control head 32 moves to the synchronous pulley 21 in the upper left corner, the control head 32 pauses briefly. 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 in the upper left corner, driving the material distribution plate 33 to rotate, and tilting the notch 331 perpendicular to the left direction downward along the axis of the synchronous pulley 21 in the upper left corner;

[0099] 4. As Figure 29 shown, when the second end of the connecting frame 31 moves with the synchronous belt 22 to the tangent position along the vertical direction of the outer periphery of the synchronous pulley 21 in the upper left corner, 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 post 342 corresponding to the sliding bracket 34 in the upper right corner exits from the support groove 121 through the support groove through-hole 122 on the left side of the upper inner wall surface of the support frame 12. When the control head 32 moves one week along the movement path 112, the construction area is completed with smearing;

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

[0102] The above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within 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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