Shaft arm folding mechanism of masonry robot

Abstract

The utility model belongs to the technical field of building robots, and particularly relates to a building robot shaft arm folding mechanism which comprises a shaft arm body and a folding arm, the folding arm is installed at the top of the shaft arm body, and an auxiliary folding mechanism is arranged at the top of the shaft arm body. The auxiliary folding mechanism comprises a structural box, a connecting block, a cylinder, a worm gear, a servo motor and a worm, the structural box is fixedly installed at the top end of the shaft arm body, the connecting block is fixedly connected to the rear end of the folding arm, and the cylinder is connected to the inner wall of the structural box through a bearing. According to the shaft arm folding mechanism of the masonry robot, the rigidity of the shaft arm of the robot can be improved when the shaft arm of the robot is folded, vibration or swing possibly occurring in the movement process can be effectively avoided, and therefore the stability of the robot for executing fine tasks is improved, meanwhile, the shaft arm of the robot can be contracted, and the stability of the robot is improved by accurately controlling stretching of the shaft arm. The robot can finish accurate positioning and operation in a limited space, and the construction quality is ensured.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of masonry robots, and particularly relates to a masonry robot shaft arm folding mechanism. BACKGROUND

[0002] A masonry robot is an automatic building device, which is mainly used for masonry work such as bricklaying and stone laying on a construction site. These robots can replace manual labor to complete heavy masonry tasks through highly precise automatic technology, thereby improving the efficiency and precision of building construction. The masonry robot shaft arm is a mechanical device specially designed for the masonry robot, which can provide a flexible movement range during work and be folded up when needed to reduce space occupation and facilitate transportation and storage.

[0003] The existing robot shaft arm is folded by a series joint arm. Although the series joint arm has strong adaptability in space, it lacks a certain rigidity in some tasks, so that the entire arm body is prone to bending or deformation under a large load, which affects its precision and stability and further leads to poor performance in carrying or precise positioning. SUMMARY

[0004] The utility model aims at providing a masonry robot shaft arm folding mechanism, which can improve the rigidity of the robot shaft arm during folding, effectively avoid vibration or swing that may occur during movement, improve the stability of the robot in performing fine tasks, and enable the robot shaft arm to be retracted, so that the robot can complete precise positioning and work in a limited space through precise control of the extension and retraction of the shaft arm, thereby ensuring construction quality.

[0005] To achieve the above-mentioned purpose, the utility model adopts the following technical solutions:

[0006] The first aspect of the application provides a masonry robot shaft arm folding mechanism, which comprises a shaft arm body and a folding arm. The folding arm is rotatably installed on the shaft arm body. The shaft arm body is provided with an auxiliary folding mechanism. The auxiliary folding mechanism comprises a servo motor, a worm driven to rotate by the servo motor, a worm wheel, and a rotating shaft. The folding arm is fixedly connected to the rotating shaft. The worm wheel is fixedly sleeved on the rotating shaft. The worm wheel is in meshing connection with the worm.

[0007] In some embodiments, the auxiliary folding mechanism further comprises a structure box. The structure box is fixedly installed on the shaft arm body. The servo motor and the worm are accommodated in the structure box. The rotating shaft is connected to the inner wall of the structure box through a bearing.

[0008] In some embodiments, the auxiliary folding mechanism further comprises a connecting block. The connecting block is fixedly connected to the folding arm and fixedly sleeved on the rotating shaft to realize the fixed connection of the folding arm and the rotating shaft.

[0009] In some embodiments, an auxiliary support mechanism is further included, which comprises a vertical slot formed in the shaft arm body and a fixing rod, one end of the fixing rod is hinged to the folding arm, the other end extends into the vertical slot and is slidable along the vertical slot, the auxiliary support mechanism further comprises a driving member installed in the vertical slot, an output end of the driving member is connected to the end of the fixing rod away from the shaft arm body, and the driving member is used to drive the fixing rod to slide.

[0010] In some embodiments, the driving member is a multi-stage hydraulic rod, and the rotating shaft is a cylinder.

[0011] In some embodiments, the folding arm is a telescopic arm, and a telescopic mechanism is arranged inside the telescopic arm, the telescopic mechanism comprises a driving motor fixedly installed in the folding arm, a threaded rod connected to an output end of the driving motor, and a telescopic arm, the telescopic arm is threadedly connected to the threaded rod, and the driving motor drives the threaded rod to rotate to drive the telescopic arm to extend or retract along the axial direction of the folding arm.

[0012] In some embodiments, the telescopic mechanism further comprises at least one auxiliary member, the telescopic arm is provided with a guide slot matched with the auxiliary member, the auxiliary member is arranged in the telescopic arm and fixedly connected to the inner wall of the folding arm through the guide slot, and one side of the auxiliary member facing the threaded rod is provided with a connecting port for connecting to the end of the threaded rod away from the driving motor.

[0013] In some embodiments, a limiting ring is further arranged on the rotating shaft for axially limiting the worm wheel.

[0014] In some embodiments, a notch is formed in the top and bottom of the structural box, and the notch is used to cooperate with the movement of the folding arm.

[0015] The utility model has the advantages of:

[0016] The auxiliary folding mechanism composed of the servo motor, the worm, the rotating shaft and the worm wheel is arranged, based on the meshing connection of the worm and the worm wheel, the folding arm can be quickly folded stably, the worm and the worm wheel have good self-locking property, the folding arm can be more stable during folding, even without continuous external force, the folding arm can be kept in the folded position, accidental loosening is not prone to occur, the stability of the folding arm during working can be improved, the defects of insufficient rigidity of the traditional series joint arm are overcome, when the masonry robot performs masonry, carrying and other load operations, the shaft arm is not prone to bending or deformation, and the accuracy of operation is improved.

[0017] Further, the auxiliary support mechanism of the present application can provide additional support for the folding arm after it is unfolded by setting vertical grooves, fixed rods and driving elements (such as multi-stage hydraulic rods), and the auxiliary support mechanism and the auxiliary folding mechanism together form a stable support structure, effectively suppressing the vibration and swing of the folding arm during operation. Secondly, the auxiliary element in the telescopic mechanism cooperates with the guide groove on the telescopic arm to provide precise guidance for the linear motion of the telescopic arm, preventing it from deviating or jamming during telescopic movement. In addition, the slot on the structure box provides sufficient space for the rotation of the folding arm, avoiding unexpected motion interference. These features work together to greatly improve the overall stability of the shaft arm during complex motion, laying the foundation for fine masonry work.

[0018] In general, the present application drives the worm to drive the worm gear to rotate by the engagement connection of the worm gear and the worm, and then drives the folding arm to fold. Since the worm gear and the worm transmission have the characteristics of reverse self-locking, when the servo motor stops driving, the transmission system can rely on its own friction angle to achieve reliable locking to prevent the folding arm from moving due to external force or gravity. This design allows the folding arm to be safely and reliably parked at any angle position within the motion range and to maintain the pose, allowing the masonry robot to complete accurate positioning and work in a limited space, ensuring construction quality. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is the overall structure of the masonry robot shaft arm folding mechanism of the utility model three-dimensional schematic view;

[0020] Figure 2 is the side view of the masonry robot shaft arm folding mechanism of the utility model three-dimensional schematic view;

[0021] Figure 3 is the side view of the masonry robot folding arm of the utility model three-dimensional schematic view;

[0022] Figure 4 is the auxiliary element and the threaded rod of the utility model split three-dimensional schematic view.

[0023] In the drawings, the component list represented by each reference sign is as follows:

[0024] 1, shaft arm main body;101, folding arm;201, structure box;202, connecting block;203, cylinder;204, worm gear;205, servo motor;206, worm;301, vertical groove;302, multi-stage hydraulic rod;303, fixed rod;401, driving motor;402, threaded rod;403, telescopic arm;5, auxiliary element;6, guide groove;7, limit ring;8, slot. DETAILED DESCRIPTION

[0025] The embodiments of the present application will be described in detail below. It should be emphasized that the following description is only exemplary and is not intended to limit the scope of the present application and its applications.

[0026] It should be noted that when an element is referred to as being "fixed" or "set" on another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, the connection can be for fixing or for coupling or communicating.

[0027] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0028] In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second", etc. can explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified.

[0029] As shown in Figures 1-4 A masonry robot shaft arm folding mechanism, comprising a shaft arm body 1 and a folding arm 101, the folding arm 101 is installed at the top of the shaft arm body 1, and the top of the shaft arm body 1 is provided with an auxiliary folding mechanism; the auxiliary folding mechanism comprises a structure box 201, a connecting block 202, a rotating shaft, the rotating shaft is preferably a cylinder 203, a worm gear 204, a servo motor 205 and a worm 206, the structure box 201 is fixedly installed at the top end of the shaft arm body 1, the connecting block 202 is fixedly connected to the rear end of the folding arm 101, the cylinder 203 is connected to the inner wall of the structure box 201 through a bearing, the cylinder 203 is fixedly connected to the inside of the connecting block 202, the worm gear 204 is fixedly sleeved on the surface of the cylinder 203, the servo motor 205 is fixedly installed in the inside of the structure box 201, one end of the worm 206 is fixedly connected to the output end of the servo motor 205, and the other end of the worm 206 is connected to the inner wall of the structure box 201 through the rotating shaft.

[0030] Through the meshing connection of the worm 206 and the worm gear 204, the folding arm 101 can be stably and quickly folded, and the design of the worm gear 204 and the worm 206 has good self-locking property, so that the folding arm 101 can be more stable during folding, and even without continuous external force, the folding arm 101 can also be kept in the folded position and is not prone to accidental loosening, and the stability of the folding arm 101 during work can be improved.

[0031] In some embodiments, as shown in Figure 1 and Figure 2 , the auxiliary support mechanism further includes a vertical groove 301 formed in the shaft arm body 1 and a fixed rod 303, the bottom of the shaft arm body 1 is hinged to one end of the fixed rod 303 through an ear plate, the other end of the fixed rod 303 is slidingly connected to the inside of the vertical groove 301, and a driving member is installed at the bottom of the inner wall of the vertical groove 301, which can be a multi-stage hydraulic rod 302, the top end of the multi-stage hydraulic rod 302 is hinged to the end of the fixed rod 303, when the folding arm 101 is folded, the folding arm 101 drives the fixed rod 303 to slide in the vertical groove 301, and the fixed rod 303 will press the output end of the multi-stage hydraulic rod 302 downward to shrink, and when the folding arm 101 needs to be extended during work, the one end of the fixed rod 303 will slide upward in the vertical groove 301, and at the same time, the output end of the multi-stage hydraulic rod 302 will be extended upward. Through the above arrangement, the auxiliary support mechanism can assist in supporting the folding arm 101 through the cooperation of the multi-stage hydraulic rod 302 and the fixed rod 303, prevent the folding arm 101 from being affected by excessive load, effectively improve the load capacity of the folding arm 101, and ensure the stability of the folding arm 101 during work.

[0032] In some embodiments, as shown in Figure 2 and Figure 3 , a telescopic mechanism is arranged in the folding arm 101, the telescopic mechanism includes a driving motor 401, a threaded rod 402 and a telescopic arm 403, the driving motor 401 is fixedly installed in the folding arm 101, the threaded rod 402 is fixedly connected to the output end of the driving motor 401, and the telescopic arm 403 is threadedly connected to the surface of the threaded rod 402 and slidingly connected to the inside of the folding arm 101. Through the above arrangement, the length of the folding arm 101 can be flexibly adjusted according to the working space and scene, so that the masonry robot can complete work in different spaces, and the flexibility of application is improved. At the same time, the design of the telescopic mechanism enables the folding arm 101 to be shortened when needed and extended when not needed, effectively saving storage and transportation space, which is very practical especially in the environment with limited space.

[0033] In some embodiments, as shown in Figure 2 and Figure 4As shown, the front end of the threaded rod 402 is sleeved with an auxiliary part 5, which is fixedly connected to the inner wall of the folding arm 101. The auxiliary part 5 can assist in fixing one end of the threaded rod 402, preventing the threaded rod 402 from rotating excessively or shaking when driven by the driving motor 401, and enhancing the overall stability of the telescopic mechanism, preventing the threaded rod 402 from shaking when rotating and affecting the normal telescoping of the telescopic arm 403.

[0034] In some embodiments, as shown in Figure 2 As shown, the telescopic arm 403 is provided with a guide groove 6 cooperating with the auxiliary part 5, the auxiliary part 5 is arranged in the telescopic arm 403 and fixedly connected to the inner wall of the folding arm 101 through the guide groove 6, and the side of the auxiliary part 5 facing the threaded rod 402 is provided with a connecting port for connecting with the end of the threaded rod 402 away from the driving motor 401. When the threaded rod 402 drives the threaded telescopic arm 403 to slide in the folding arm 101, the guide grooves 6 on both sides of the telescopic arm 403 cooperate with the auxiliary part 5, which can smoothly slide under the cooperation and guidance of the guide grooves 6 and the internal auxiliary part 5, preventing the telescopic arm 403 from shaking or deviating when sliding, thereby improving the stability of the telescopic arm 403 during telescopic adjustment.

[0035] In some embodiments, as shown in Figure 2 As shown, the surface of the cylinder 203 is sleeved with a limiting ring 7, which is respectively located on both sides of the worm gear 204. When the worm gear 204 drives the cylinder 203 to rotate for a long time, in order to prevent the worm gear 204 from displacing on the surface of the cylinder 203 due to wear between the worm gear 204 and the cylinder 203, the worm gear 204 can be assisted to be limited on the surface of the cylinder 203 by the limiting ring 7, so that the worm gear 204 and the worm gear 204 are more precisely connected.

[0036] In some embodiments, as shown in Figure 1 and Figure 2 As shown, the top and bottom of the structural box 201 are provided with notches 8, which are respectively used in cooperation with the folding arm 101. When the folding arm 101 is folded, in order to prevent the rear end of the folding arm 101 from colliding with the structural box 201, the folding arm 101 can have sufficient space when folded through the notches 8.

[0037] The utility model discloses a working principle is: when transporting the masonry robot, and need to fold the folding arm 101, can run servo motor 205, and servo motor 205 operation will drive the worm 206 counterclockwise rotation, to drive the worm gear 204 meshing connection counterclockwise rotation, and the worm gear 204 rotation will drive cylindrical 203 and the connecting block 202 counterclockwise rotation, and the connecting block 202 rotation can simultaneously drive folding arm 101 counterclockwise rotation around the axis of cylindrical 203, and folding arm 101 rotation can be folded in the front side of axle arm main part 1.

[0038] The utility model has the advantages of:

[0039] In the utility model, when transporting the robot, and need to fold the folding arm, can drive the worm counterclockwise rotation through running servo motor, and the worm rotation will drive the worm gear meshing connection counterclockwise rotation, and then drive the rotating shaft counterclockwise rotation, to simultaneously drive folding arm counterclockwise rotation around the axis of rotating shaft, and folding arm counterclockwise rotation can be folded in the front side of axle arm main part, and the meshing folding design of worm gear and worm can enhance the carrying capacity of folding arm, and can improve the stability of axle arm of masonry robot when working.

[0040] Further, in the utility model, through the cooperation of telescopic mechanism, when working in some narrow space, the length of folding arm can be adjusted flexibly, when adjusting the length of folding arm, drive motor can be run, and drive motor operation will drive screw rod rotation, and screw rod rotation will drive telescopic arm sliding in the inside of folding arm, when screw rod is forward, can make telescopic arm slide backward in the inside of folding arm, to shorten the length of folding arm, when screw rod reverses, can make telescopic arm slide forward, and can lengthen folding arm, thereby can adapt to different space and work demand, and the flexibility makes masonry robot can complete more kinds of work in narrow space, and improves the flexibility of application.

[0041] The background part of the utility model can contain the background information about the problem or environment of the utility model, and not necessarily describe the prior art. Therefore, the content contained in the background art part is not the acknowledgement of the prior art by the applicant.

[0042] The above is further detailed description of the utility model in combination with specific / preferred embodiments, and cannot be deemed as limitation of the specific implementation of the utility model to these descriptions. For ordinary skilled in the art to which the utility model belongs, without departing from the concept of the utility model, some substitutions or variations can be made to the described embodiments, and these substitutions or variations shall be deemed as falling within the protection scope of the utility model. In the description of the specification, the description of the reference terms "an embodiment", "some embodiments", "preferred embodiment", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in combination with the embodiment or example are contained in at least one embodiment or example of the utility model. In the specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In the case of not mutually contradictory, the skilled in the art can combine and combine the different embodiments or examples described in the specification and the features of different embodiments or examples. Although the embodiments of the utility model and its advantages have been described in detail, it should be understood that various changes, substitutions and modifications can be made herein without departing from the protection scope of the patent application.

Claims

1. A masonry robot axis arm folding mechanism, characterized by, The auxiliary folding mechanism further comprises a structure box (201) fixedly installed on the shaft arm body (1), the servo motor (205) and the worm (206) are accommodated in the structure box (201), and the rotating shaft is connected to the inner wall of the structure box (201) through a bearing.

2. The masonry robot arm folding mechanism of claim 1, wherein, The auxiliary folding mechanism further comprises a connecting block (202) fixedly connected to the folding arm (101) and fixedly sleeved on the rotating shaft, so that the folding arm (101) and the rotating shaft are fixedly connected.

3. The masonry robot arm folding mechanism of claim 2, wherein, Further comprising an auxiliary supporting mechanism, the auxiliary supporting mechanism comprises a vertical slot (301) opened in the shaft arm body (1) and a fixed rod (303), one end of the fixed rod (303) is hingedly connected with the folding arm (101), the other end of the fixed rod (303) extends into the vertical slot (301) and can slide along the vertical slot (301), and the auxiliary supporting mechanism further comprises a driving member installed in the vertical slot (301), an output end of the driving member is connected with the end of the fixed rod (303) away from the shaft arm body (1), and the driving member is used for driving the fixed rod (303) to slide.

4. The masonry robot arm folding mechanism of claim 1, wherein, The driving member is a multi-stage hydraulic rod (302), and the rotating shaft is a cylinder (203).

5. The masonry robot arm folding mechanism of claim 4, wherein, The folding arm (101) is a telescopic arm, and a telescopic mechanism is arranged in the folding arm (101), the telescopic mechanism comprises a driving motor (401) fixedly installed in the folding arm (101), a threaded rod (402) connected with an output end of the driving motor (401), and a telescopic arm (403), the telescopic arm (403) is threadedly connected with the threaded rod (402), and the driving motor (401) drives the threaded rod (402) to rotate, so that the telescopic arm (403) is driven to extend or retract along the axial direction of the folding arm (101).

6. The masonry robot arm folding mechanism of claim 1, wherein, The telescopic mechanism further comprises at least one auxiliary member (5), the telescopic arm (403) is provided with a guide groove (6) matched with the auxiliary member (5), the auxiliary member (5) is arranged in the telescopic arm (403) and is fixedly connected with the inner wall of the folding arm (101) through the guide groove (6), one side of the auxiliary member (5) facing the threaded rod (402) is provided with a connecting port, and the connecting port is used for being connected with the end of the threaded rod (402) away from the driving motor (401).

7. The masonry robot arm folding mechanism of claim 6, wherein, The rotating shaft is further provided with a limiting ring (7) for axially limiting the worm gear (204).

8. The masonry robot arm folding mechanism of claim 1, wherein, ​ 9. The masonry robot arm folding mechanism of claim 2, wherein, The top and bottom of the structure box (201) are provided with notches (8), which are used to match the movement of the folding arms (101).

Images