Full-automatic bottom box mounting robot

Abstract

The utility model discloses a full-automatic bottom box mounting robot. Rollable Mecanum wheels are installed on the periphery of the lower surface of the bottom support, the pivot machine body is connected to the middle of the bottom support, the first mechanical arm and the second mechanical arm are connected to the pivot machine body, and the bottom box falling equipment and the water and mud supply equipment are installed on the two sides of the upper portion of the bottom support in the width direction correspondingly and provide a bottom box for work of the robot. The center main machine is rotatably installed on the bottom support through the rotary platform, the linear sliding rail is installed on the center main machine, the triple-folding lifting sliding rail is installed on the linear sliding rail in a vertically movable mode, and the first mechanical arm and the second mechanical arm are both fixedly installed on the triple-folding lifting sliding rail so that the mechanical arms can move vertically. According to the bottom box installing machine, all the work including groove cleaning, cement squeezing-in, bottom box installing, cement scraping and the like in the bottom box installing process can be automatically completed, the labor cost is reduced, and the working efficiency is improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of robots, and particularly relates to a full-automatic bottom box installation robot. BACKGROUND

[0002] In traditional decoration, bottom box installation is a key link of water and electricity transformation. At present, the work is still mainly performed by manual operation. After the wall is grooved, the installation process of the bottom box is simple, but is highly repetitive. Manual operation has problems of low efficiency, poor precision and high cost. With the intelligent development of the building industry, the demand for automatic construction equipment is increasing.

[0003] The skilled in the art is committed to developing a full-automatic bottom box installation robot, which integrates machine vision, accurate positioning, intelligent control and other technologies, is highly automatic and systematic, and can autonomously complete all work including cleaning the groove, extruding cement, installing the bottom box and scraping the cement in the bottom box installation process, thereby reducing labor cost and improving work efficiency. However, there is a lack of a highly automatic bottom box installation robot in the prior art. CONTENT OF THE UTILITY MODEL

[0004] In order to solve the problems in the background art, the purpose of the present application is to provide a full-automatic bottom box installation robot.

[0005] The technical scheme adopted by the present application is:

[0006] The robot comprises a bottom support, a central body, a first mechanical hand, a second mechanical hand, a bottom box falling device and a water and cement supply device. Rollable Mecanum wheels are installed on the outer periphery of the lower surface of the bottom support. The central body is connected to the middle part of the bottom support. The first mechanical hand and the second mechanical hand are both connected to the central body. The bottom box falling device and the water and cement supply device are respectively installed on both sides of the bottom support along the width direction.

[0007] The central body comprises a central main machine, linear slides, a three-fold lifting slide, a camera and a rotary platform. The bottom end of the central main machine is rotatably installed on the bottom support through the rotary platform. Two linear slides are symmetrically and vertically installed on the side walls of the central main machine. The three-fold lifting slide is movably installed on the linear slides through a sliding block. The camera is installed on the three-fold lifting slide through a camera support.

[0008] The first mechanical hand comprises a clamping hand, a scraper, a rotary hand-changing device and a first electric push rod. The first electric push rod is connected to one of the three-fold lifting slides of the central body. The rotary hand-changing device is installed on the first electric push rod. The clamping hand and the scraper are respectively installed on two supports of the rotary hand-changing device.

[0009] The second robotic arm includes a second electric push rod, a support plate, a third electric push rod, a water supply nozzle, a cement receiving box, a movable push plate, and a movable slide plate. The second electric push rod is mounted on another three-fold lifting slide rail of the central body. The cement receiving box is connected to the second electric push rod through the support plate and stores cement. The water supply nozzle is mounted on the side wall of the cement receiving box. The third electric push rod is mounted on the upper part of the second electric push rod. The movable push plate is located inside the cement receiving box and is connected to the third electric push rod. The movable slide plate is mounted on the front end of the cement receiving box and can move up and down.

[0010] The bottom box lowering device includes a bottom box receiving box, side baffles and a bottom box. The bottom box receiving box is vertically fixed on the bottom support. The bottom boxes are evenly arranged inside the bottom box receiving box along the length direction of the bottom box receiving box. The two side baffles are symmetrically installed on both sides of the bottom box receiving box along the width direction. The side baffles are used to support the bottom box.

[0011] The water and mud supply equipment includes a water tank, a water pump, a mud supply box, a mud supply box support frame, a mud-falling speed control vane, and an infrared sensor. The water tank is installed on the bottom support, the water pump is connected to the top of the water tank, the mud supply box is installed on the bottom support via the mud supply box support frame, the mud-falling speed control vane is installed on the inner top surface of the mud supply box support frame and is located directly below the mud supply box, and the infrared sensor is fixedly installed on the side wall of the water tank. The infrared sensor is used to monitor the distance between the robot and the wall.

[0012] The mud-falling speed-controlling rotary blade has three blades, each with a central angle of 60° and a 60° interval between adjacent blades.

[0013] The bottom support of this invention is equipped with Mecanum wheels, enabling omnidirectional movement of the fully automated bottom box installation robot and ensuring the stability of the robot's working state. The bottom box lowering device and the water and cement supply device are respectively fixedly installed on the upper two sides of the bottom support in the width direction, providing the robot with bottom boxes, water, and cement. The central body is fixedly installed in the middle of the bottom support, and the first and second robotic arms are both fixedly installed on the central body. It can autonomously complete all the work in the bottom box installation process, including cleaning the groove, squeezing in cement, installing the bottom box, and smoothing the cement, reducing labor costs and improving work efficiency.

[0014] The beneficial effects of this utility model are:

[0015] 1. This utility model realizes a fully automated bottom box installation robot system with a highly automated working mode, enabling the robot to autonomously complete all tasks in the bottom box installation process, including cleaning the groove, squeezing in cement, installing the bottom box, and scraping off any overflowing cement, thereby reducing labor costs and improving work efficiency.

[0016] 2, The utility model discloses a full-automatic bottom box installation robot's all -directional free movement and high stability, high mobility's working condition are realized, satisfy the work need of specific occasion.

[0017] 3, The utility model discloses a combination of linear slide rail and three folding lifting slide rail, under the assistance of infrared sensor and camera, realize full-automatic bottom box installation robot's quick accurate positioning to wall surface recess position. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is the structural schematic diagram of the utility model embodiment;

[0019] Figure 2 It is the structural schematic diagram of the utility model embodiment's core body;

[0020] Figure 3 It is the structural schematic diagram of the utility model embodiment's first manipulator;

[0021] Figure 4 It is the structural schematic diagram of the utility model embodiment's second manipulator;

[0022] Figure 5 It is the schematic diagram of the utility model embodiment's second manipulator;

[0023] Figure 6 It is the structural schematic diagram of the utility model embodiment's bottom box falling device;

[0024] Figure 7 It is the structural schematic diagram of the utility model embodiment's water supply and mud supply device;

[0025] Figure 8 It is the schematic diagram of the utility model embodiment's water supply and mud supply device.

[0026] In the drawing: 1 - bottom support;2 - Mecanum wheel;3 - core body;3.1 - core host;3.2 - linear slide rail;3.3 - three folding lifting slide rail;3.4 - camera support;3.5 - camera;3.6 - rotary platform;4 - first manipulator;4.1 - clamping hand;4.2 - scraper;4.3 - rotary hand changing equipment;4.4 - first electric push rod;4.5 - first manipulator support frame;5 - second manipulator;5.1 - second manipulator support frame;5.2 - second electric push rod;5.3 - support plate;5.4 - third electric push rod;5.5 - water supply spray head;5.6 - cement receiving box;5.7 - movable push plate;5.8 - movable slide plate;6 - bottom box falling equipment;6.1 - bottom box containing box;6.2 - side baffle;6.3 - bottom box;7 - water supply and mud supply equipment;7.1 - water supply tank;7.2 - water pump;7.3 - mud supply tank;7.4 - mud supply tank support frame;7.5 - mud falling speed control rotary vane;7.6 - infrared sensor. Detailed Implementation

[0027] The present invention will be described in detail below with reference to specific implementation examples. The following implementation examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any way.

[0028] like Figure 1 As shown, the robot includes a bottom support 1, a central body 3, a first robotic arm 4, a second robotic arm 5, a bottom box lowering device 6, and a water and mud supply device 7. The bottom support 1 is a rectangular rigid support, and a rolling Mecanum wheel 2 is installed on the outer periphery of the lower surface of the bottom support 1. The central body 3 is connected to the middle of the bottom support 1. The first robotic arm 4 and the second robotic arm 5 are both connected to the central body 3. The bottom box lowering device 6 and the water and mud supply device 7 are respectively installed on both sides of the bottom support 1 along the width direction.

[0029] like Figure 2 As shown, the central unit 3 includes a central host 3.1, linear slide rails 3.2, a three-fold lifting slide rail 3.3, a camera 3.5, and a rotating platform 3.6. The bottom end of the central host 3.1 is rotatably mounted on the bottom bracket 1 around the central axis of the central host 3.1 via the rotating platform 3.6. The rotating platform 3.6 is used to enable the central host 3.1 to rotate freely 360° in the horizontal direction. Two linear slide rails 3.2 are symmetrically and vertically mounted on the side wall of the central host 3.1. The three-fold lifting slide rail 3.3 is mounted on the linear slide rail 3.2 by a slider that can move up and down. Each linear slide rail 3.2 is connected to a three-fold lifting slide rail 3.3. The three-fold lifting slide rail 3.3 gradually extends and retracts in the vertical direction. Each camera 3.5 is mounted on each three-fold lifting slide rail 3.3 via a camera bracket 3.4.

[0030] Camera 3.5 is used to locate the position of the wall recess, assisting the first robotic arm 4 and the second robotic arm 5 in completing the installation of the base box.

[0031] like Figure 3 As shown, the first robotic arm 4 includes a gripper 4.1, a scraper 4.2, a rotary hand-changing device 4.3, and a first electric push rod 4.4. The first electric push rod 4.4 is connected to a three-fold lifting slide rail 3.3 of the central body 3 via a first robotic arm support frame 4.5. The first electric push rod 4.4 can move up and down with the three-fold lifting slide rail 3.3. The first robotic arm support frame 4.5 is used to support the first electric push rod 4.4. The rotatable rotary hand-changing device 4.3 is mounted on the clamping plate of the first electric push rod 4.4. The gripper 4.1 and the scraper 4.2 are respectively mounted on two brackets of the rotary hand-changing device 4.3, which can achieve 180° free rotation to switch the positions of the gripper 4.1 and the scraper 4.2.

[0032] likeFigure 4 and Figure 5 As shown in

[0033] The first and second mechanical arms are both installed on the three-fold lifting slide rail of the central body, and the three-fold lifting slide rail is stretched or shrunk along with the sliding of the sliding block of the linear slide rail, thereby carrying the first and second mechanical arms to move to the required height.

[0034] As shown in Figure 6 The bottom box falling device 6 includes a bottom box containing box 6.1, a side edge baffle 6.2, and a bottom box 6.3. The bottom box containing box 6.1 is vertically fixedly installed on the bottom support 1, and the bottom boxes 6.3 are evenly arranged in the bottom box containing box 6.1 along the length direction of the bottom box containing box 6.1. The bottom box containing box 6.1 can simultaneously contain up to five bottom boxes 6.3. Two side edge baffles 6.2 are symmetrically installed on the two sides of the bottom box containing box 6.1 along the width direction, and the side edge baffles 6.2 are used to support the bottom boxes 6.3, so that the opening plane of the bottom boxes 6.3 is always in the vertical ground direction.

[0035] As shown in Figure 7 and Figure 8 The water and mud supply device 7 includes a water supply tank 7.1, a water pump 7.2, a mud supply tank 7.3, a mud supply tank support frame 7.4, a mud falling speed control vane 7.5, and an infrared sensor 7.6. The water supply tank 7.1 is installed on the bottom support 1, the water pump 7.2 is connected to the top end of the water supply tank 7.1, the mud supply tank 7.3 is installed on the bottom support 1 through the mud supply tank support frame 7.4, the mud falling speed control vane 7.5 is installed on the inner top surface of the mud supply tank support frame 7.4 and is located directly below the mud supply tank 7.3, and the infrared sensor 7.6 is fixedly installed on the side wall of the water supply tank 7.1. The infrared sensor 7.6 is used to monitor the distance between the robot and the wall.

[0036] The falling mud speed control rotating blade 7.5 is provided with three rotating blades, the central angles of the three rotating blades are all 60 degrees, the interval between the adjacent two rotating blades is 60 degrees, and the falling mud speed control rotating blade 7.5 is used for effectively controlling the falling speed of the cement.

[0037] In the initial state, the bottom support 1 is supported by the Mecanum wheel 2, the first mechanical arm 4 is opposite to the wall surface, the second mechanical arm 5 is opposite to the cement supply device 7, and the cement receiving box 5.6 is located directly below the cement supply box 7.3.

[0038] Step S1: first, the infrared sensor 7.6 is driven to determine the distance from the wall surface, and then the Mecanum wheel 2 is driven to move the robot to the working position; the decoration worker pours the cement into the cement supply box 7.3, the falling mud speed control rotating blade 7.5 is driven, and the cement falls at a constant speed into the cement receiving box 5.6;

[0039] Step S2: the rotating platform 3.6 is driven to rotate 90 degrees in the horizontal direction, so that the first mechanical arm 4 is opposite to the bottom box falling device 6, and the second mechanical arm 5 is opposite to the wall surface.

[0040] Step S3: the camera 3.5 is started, the position of the wall surface groove is located, the linear slide rail 3.2 is driven, the second mechanical arm 5 is moved to the required height by the three-fold folding lifting slide rail 3.3, the water pump 7.2 is started, the water in the water supply tank 7.1 is transported to the water supply nozzle 5.5 through the water pipe, the wall surface groove is cleaned by spraying water, the second electric push rod 5.2 is driven to extend, the movable slide plate 5.8 is driven to vertically slide down, then the third electric push rod 5.4 is driven to extend, the movable push plate 5.7 is pushed to move horizontally forward, and the cement in the cement receiving box 5.6 is squeezed into the wall surface groove; at the same time, the first electric push rod 4.4 is driven to extend, the clamping hand 4.1 enters the inside of the bottom box 6.3, the clamping hand 4.1 is driven to open the clamping bottom box 6.3 to the two sides, and then the first electric push rod 4.4 is driven to retract, so that the bottom box 6.3 leaves the bottom box containing box 6.1 with the clamping hand 4.1.

[0041] Step S4: the rotating platform 3.6 is driven to rotate 90 degrees in the horizontal direction, so that the second mechanical arm 5 is opposite to the water supply and cement supply device 7, and the first mechanical arm 4 and the bottom box 6.3 clamped by the first mechanical arm 4 are opposite to the wall surface.

[0042] Step S5: the camera 3.5 is started, the position of the wall surface groove is located, the linear slide rail 3.2 is driven, the first mechanical arm 4 is moved to the required height by the three-fold folding lifting slide rail 3.3, the first electric push rod 4.4 is driven to extend until the bottom box 6.3 is pressed into the cement, the clamping hand 4.1 is driven to retract to the middle, and the first electric push rod 4.4 is driven to retract.

[0043] Step S5: drive the rotary switch device 4.3 to rotate 180°, exchange the positions of the clamping hand 4.1 and the scraper 4.2, drive the linear slide rail 3.2 so that the three-fold lifting slide rail 3.3 carries the first mechanical hand 4 to vertically move up by a certain distance, drive the first electric push rod 4.4 to extend, then drive the linear slide rail 3.2 so that the three-fold lifting slide rail 3.3 carries the first mechanical hand 4 to vertically move down, make the scraper 4.2 scrape off the cement overflowing from the installation bottom box 4.3 in the wall groove, and drive the second electric push rod 4.4 to retract.

[0044] The above steps are only the working procedures for completing the installation of one bottom box, after the above steps are completed, the first mechanical hand 4 and the second mechanical hand 5 return to the initial state, so as to repeat the above steps to install the next bottom box.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions recorded in the above embodiments can still be modified, or some or all of the technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A full-automatic bottom box installation robot, characterized in that: it comprises a bottom support (1) provided with a rollable Mecanum wheel (2); a central body (3) connected to the middle of the bottom support (1); a first mechanical arm (4) connected to the central body (3); a second mechanical arm (5) connected to the central body (3); a bottom box falling device (6) installed on one side of the upper surface of the bottom support (1); and a water and cement supply device (7) installed on the other side of the upper surface of the bottom support (1).

2. The full-automatic bottom box installation robot according to claim 1, characterized in that: the central body (3) comprises a central main machine (3.1), a linear slide rail (3.2), a three-fold lifting slide rail (3.3), a camera (3.5), and a rotary platform (3.6); the bottom end of the central main machine (3.1) is rotatably installed on the bottom support (1) through the rotary platform (3.6); two linear slide rails (3.2) are symmetrically and vertically installed on the side walls of the central main machine (3.1); the three-fold lifting slide rail (3.3) is movably installed on the linear slide rail (3.2) through a sliding block; and the camera (3.5) is installed on the three-fold lifting slide rail (3.3) through a camera support (3.4).

3. The full-automatic bottom box installation robot according to claim 2, characterized in that: the first mechanical arm (4) comprises a clamping hand (4.1), a scraper (4.2), a rotating hand changing device (4.3), and a first electric push rod (4.4); the first electric push rod (4.4) is connected to one three-fold lifting slide rail (3.3) of the central body (3); the rotating hand changing device (4.3) is installed on the first electric push rod (4.4); and the clamping hand (4.1) and the scraper (4.2) are respectively installed on two supports of the rotating hand changing device (4.3).

4. The full-automatic bottom box installation robot according to claim 2, characterized in that: the second mechanical arm (5) comprises a second electric push rod (5.2), a support plate (5.3), a third electric push rod (5.4), a water supply nozzle (5.5), a cement receiving box (5.6), a movable push plate (5.7), and a movable slide plate (5.8); the second electric push rod (5.2) is installed on the other three-fold lifting slide rail (3.3) of the central body (3); the cement receiving box (5.6) is connected to the second electric push rod (5.2) through the support plate (5.3); the cement receiving box (5.6) stores cement; the water supply nozzle (5.5) is installed on the side wall of the cement receiving box (5.6); the third electric push rod (5.4) is installed on the upper part of the second electric push rod (5.2); the movable push plate (5.7) is located in the cement receiving box (5.6) and connected to the third electric push rod (5.4); and the movable slide plate (5.8) is movably installed at the front end of the cement receiving box (5.6).

5. The full-automatic bottom box installation robot according to claim 2, characterized in that: ​ ​ ​ ​ ​ ​ ​ ​ ​ The bottom box falling device (6) comprises a bottom box containing box (6.1), side edge baffle (6.2) and bottom box (6.3), the bottom box containing box (6.1) is vertically fixedly installed on the bottom support (1), the bottom box (6.3) is uniformly arranged in the bottom box containing box (6.1) along the length direction of the bottom box containing box (6.1), and the two side edge baffles (6.2) are symmetrically installed on the two sides of the bottom box containing box (6.1) along the width direction, and the side edge baffle (6.2) is used to support the bottom box (6.3).

6. The full-automatic bottom box mounting robot according to claim 2, wherein: The water supply and mud supply device (7) comprises a water supply tank (7.1), a water pump (7.2), a mud supply tank (7.3), a mud supply tank support frame (7.4), a mud falling speed control rotary vane (7.5) and an infrared sensor (7.6); the water supply tank (7.1) is installed on the bottom support (1), the water pump (7.2) is connected to the top end of the water supply tank (7.1), the mud supply tank (7.3) is installed on the bottom support (1) through the mud supply tank support frame (7.4), the mud falling speed control rotary vane (7.5) is installed on the inner top surface of the mud supply tank support frame (7.4), and the mud falling speed control rotary vane (7.5) is located directly below the mud supply tank (7.3), the infrared sensor (7.6) is fixedly installed on the side wall of the water supply tank (7.1), and the infrared sensor (7.6) is used to monitor the distance between the robot and the wall.

7. The full-automatic bottom box mounting robot according to claim 6, wherein: The mud falling speed control rotary vane (7.5) is provided with three rotary vanes, and the central angles of the three rotary vanes are all 60°, and the interval between the adjacent two rotary vanes is 60°.

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