CN117733816A - Adjustable manipulator structure with extension function for building construction - Google Patents

Abstract

The invention discloses an adjustable manipulator structure with an extending function for building construction, which relates to the technical field of manipulator structure correlation, and comprises a base, a lifting rotating mechanism, a lifting arm and an extending manipulator, wherein the lifting rotating mechanism is arranged at the top of the base, the lifting arm is connected to the top of the lifting rotating mechanism, the interior of the lifting arm is hollow, and is connected with the extending manipulator, and the extending manipulator extends to the outer side of the lifting arm; according to the invention, when the building materials are grabbed and moved, the balancing weights can move oppositely, the extended and moved building materials are supported and balanced, the probability of overturning or overturning of the device is reduced, the safety of the building materials is further improved when the building materials are transported, meanwhile, the grabbed building materials can move vertically and horizontally respectively, and the directions of the A axis and the B axis are rotated, so that different requirements of transportation, grabbing, placing and installing of the building materials are met.

Description

Adjustable manipulator structure with extension function for building construction

Technical Field

The invention relates to the technical field related to manipulator structures, in particular to an adjustable manipulator structure with an extension function for building construction.

Background

In building construction, particularly when transporting building materials, a large amount of building materials need to be transported beside a building, and at the moment, in order to improve the safety during transportation, the materials are generally moved to the building by adopting a mechanical arm or other modes, so that the subsequent operations of transporting, placing, installing and the like of the building materials are convenient to complete.

The prior Chinese patent application with the publication number of CN116197882B discloses a rectangular tube grabbing manipulator for building engineering construction and a use method thereof, wherein the rectangular tube grabbing manipulator comprises a base, a positioning seat, an extension frame, a shell, a reverse grabbing mechanism and a reverse telescopic mechanism; wherein: the lower sliding shell is arranged on the upper side of the base, the surface of the lower sliding shell is connected with the upper sliding shell in a sliding way, the top of the upper sliding shell is fixedly connected with the mounting seat, a horizontal steering mechanism is arranged between the upper sliding shell and the base, and the angle of the lower sliding shell can be horizontally rotated through the horizontal steering mechanism; the positioning seat is arranged on one side of the mounting seat, and a linear telescopic mechanism is arranged between the positioning seat and the mounting seat; according to the invention, the height and the extension length of the positioning seat can be adjusted through the linear telescopic mechanism, and the teeth of the multi-tooth clamping jaw extend into the lower side of the rectangular tube, so that the rectangular tube cannot fall under the blocking of the multi-tooth clamping jaw, the occurrence of engineering accidents caused by falling of the rectangular tube is effectively avoided, and the safety of constructors can be effectively ensured.

However, this grasping manipulator structure has the following drawbacks when specifically used:

1. when the existing grabbing mechanical arm structure grabs and transports building materials, the weight of one end of the grabbing material of the mechanical arm is far greater than that of the other end of the mechanical arm due to the weight of the grabbing material, at the moment, when the building materials are transported by subsequent continuous operation, the device is easy to turn over or overturn, safety is not high, moreover, the probability of damage such as breakage of the mechanical arm is increased due to the fact that the mechanical arm is too heavy, and the service life of the device is influenced;

2. the current manipulator structure of snatching when snatching the transportation to building material, in order to make things convenient for follow-up installation and the use to snatching the material, adopts horizontal steering mechanism and sharp telescopic machanism in the above-mentioned scheme, adjusts the angle of snatching the material in the horizontal direction and the position of vertical direction, but is in the in-process of building construction in practice, sometimes need to adjust the installation of centre gripping material and the state of putting, and at this moment, the regulation of different directions and angle is difficult to realize to above-mentioned structure, needs manual auxiliary operation, leads to building construction's efficiency to become low.

Disclosure of Invention

The invention aims to provide an adjustable manipulator structure with an extension function for building construction, so as to solve the problems in the prior art.

In order to achieve the aim of the invention, the invention adopts the following technical scheme:

the invention provides an adjustable manipulator structure with an extension function for building construction, which comprises a base, a lifting rotating mechanism, a lifting arm and an extension manipulator, wherein the lifting rotating mechanism is arranged at the top of the base, the lifting arm is connected to the top of the lifting rotating mechanism, the interior of the lifting arm is hollow and is connected with the extension manipulator, the extension manipulator extends to the outer side of the lifting arm and is used for grabbing and fixing building materials, a balancing weight is arranged at the top of the extension manipulator, and the extension manipulator further comprises:

the gear telescopic assembly is arranged in the lifting arm and driven by a first motor, the first motor is arranged at the center of the top of the lifting arm, the gear telescopic assembly extends to the outer side of the lifting arm, and the top of one side of the gear telescopic assembly supports the balancing weight;

the deflection rotating assembly is arranged on the other side of the gear telescopic assembly and driven by a second motor, the second motor is arranged on the side face of the gear telescopic assembly, a mechanical grabbing assembly is arranged at the bottom of the deflection rotating assembly, and the mechanical grabbing assembly grabs and fixes building materials.

As a preferable scheme of the invention, the lifting rotating mechanism is composed of a hydraulic lifting assembly, an outer supporting assembly and a horizontal rotating assembly, wherein the hydraulic lifting assembly is arranged on the inner side of the outer supporting assembly, the hydraulic lifting assembly is arranged on the top of the base, a lifting arm is supported on the top of the hydraulic lifting assembly, the horizontal rotating assembly is arranged at the eccentric position of the top of the outer supporting assembly, and the horizontal rotating assembly is positioned on the outer side of the hydraulic lifting assembly.

As a preferred embodiment of the present invention, the gear telescopic assembly includes:

the main shaft gear is rotationally connected to the inside of the lifting arm and is positioned at the center of the lifting arm, and the main shaft gear is connected with the output end of the first motor;

the tooth bars are connected to the outer side of the main shaft gear in a meshed mode, two groups of tooth bars are arranged, extend to the outer portion of the lifting arm and are connected with the inner wall of the lifting arm in a sliding mode;

the side face of one group of tooth bars is provided with a supporting seat, the top of the supporting seat is provided with a balancing weight, the side face of the other group of tooth bars is provided with a connecting seat, one side of the connecting seat is provided with a second motor, and the inside of the connecting seat is provided with a deflection rotating assembly.

As a preferable scheme of the invention, one end of the tooth bar extending to the outside of the lifting arm is U-shaped, two groups of tooth bars are arranged in mirror image relative to the central shaft of the main shaft gear, the top of the tooth bar is also provided with an outer positioning part through a screw, the outer positioning part is connected with the top of a guide bulge in a sliding way, and the guide bulge is arranged at the top of the lifting arm and is positioned on the side surface of the first motor;

wherein, outer locating part and direction arch all are provided with two sets of.

As a preferred embodiment of the present invention, the deflection rotation assembly includes:

the mounting seat is movably connected to the inner side of the connecting seat and is connected with the output end of the second motor, and a peripheral frame is arranged at the bottom of the mounting seat;

the servo motor is arranged on one side of the peripheral frame, the output end of the servo motor is connected with a rotating gear, and the side surface of the rotating gear is connected with a lifting tooth plate in a meshed manner;

the lifting tooth plate is connected inside the peripheral frame in a sliding mode and extends to the bottom of the peripheral frame, and the bottom of the lifting tooth plate is provided with a mechanical grabbing component.

As a preferable scheme of the invention, the rotating gear is rotatably connected to the inside of the peripheral frame, and one side of the lifting tooth plate extending to the outside of the peripheral frame is U-shaped.

As a preferred aspect of the present invention, the mechanical grabbing assembly includes:

the outer frame is arranged on the side face of the lifting tooth plate, the inner side of the outer frame is rotationally connected with a guide screw rod, and the guide screw rod is movably connected in the positioning block;

the positioning blocks are fixedly arranged at the bottom of the outer frame, two groups of guide screw rods are arranged, and the directions of spiral rollaway nest in the guide screw rods are opposite;

the first conical gear is fixedly arranged on the side face of the guide screw rod, a second conical gear is connected to the side face of the first conical gear in a meshed mode, the second conical gear is connected with the output end of a third motor, and the third motor is arranged at the center of the top of the lifting tooth plate;

the sliding block is connected to the outer side of the guide screw rod through a ball, the clamping component is installed at the bottom of the sliding block, and the clamping component is used for grabbing and fixing the inner side building material.

As a preferred embodiment of the present invention, the hydraulic lifting assembly includes:

the hydraulic cylinder is arranged at the top of the base, the output end of the hydraulic cylinder is connected with a supporting disc, the inner side of the supporting disc is movably connected with a supporting rod piece, and the top of the supporting rod piece is supported with a lifting arm;

the support body, the support body is installed the top of base, the inside of support body is provided with the pneumatic cylinder, the eccentric department at support body top is provided with outer supporting component.

As a preferred embodiment of the present invention, the outer support assembly includes:

the protection frame is arranged at the top of the supporting body, the supporting disc is connected inside the protection frame in a sliding manner, and an outer guide frame is arranged at the outer center of the protection frame;

the sliding seat is connected to the inside of the outer guide frame in a sliding manner and extends to the outside of the outer guide frame, a sleeve frame is connected to the inner side of the sliding seat in a rotating manner, and a connecting cylinder is arranged on the inner side of the sleeve frame;

the telescopic rod is connected to the inside of the connecting cylinder in a sliding manner and extends to the outside of the connecting cylinder, the telescopic rod is connected to the inner side of the positioning seat in a rotating manner, and the positioning seat is arranged at the bottom of the lifting arm;

the sliding seat, the sleeve frame, the connecting cylinder, the telescopic rod and the positioning seat are provided with three groups, and the top of the protection frame is supported with a horizontal rotating assembly.

As a preferred embodiment of the present invention, the horizontal rotation assembly includes:

the motor seat is arranged on one side of the top of the protective frame, a fourth motor is arranged on the top of the motor seat, and the output end of the fourth motor is connected with a first transmission gear;

the first transmission gear is rotationally connected to the top of the bottom seat, and the bottom seat is arranged on the top of the motor seat;

the second transmission gear is connected to the outer side of the first transmission gear in a meshed mode, the second transmission gear is connected with the unidirectional protrusions in a sliding mode, and the unidirectional protrusions are arranged outside the support rod piece and are in annular equidistant mode and are provided with three groups;

the second transmission gear is rotatably connected to the top of the bottom seat, and the bottom seat is movably connected with the support rod piece.

Compared with the prior art, the above technical scheme has the following beneficial effects:

1. the adjustable manipulator structure with the extending function is used for carrying, placing and installing building construction materials, in order to improve efficiency and ensure safety, after the manipulator is generally adopted to grasp, the manipulator is used for carrying out the operation, at the moment, in the actual operation, a first motor can drive a main shaft gear at the output end of the manipulator to rotate to drive a tooth rod, an outer positioning part, a supporting seat and a connecting seat to move, and the position of a bottom mechanical grasping assembly is adjusted by a mode of extending and moving a group of tooth rods, so that the subsequent carrying, placing and installing of the building materials are facilitated, meanwhile, the mechanical grasping assembly synchronously drives the side faces of the other group of tooth rods to move in opposite directions through a balancing weight supported by the supporting seat when moving, so that the probability of overturning or overturning the device is reduced, and the safety of carrying the building materials is further improved;

2. according to the adjustable manipulator structure with the extending function for building construction, when building materials are placed or installed, the output end installation seat of the adjustable manipulator structure can be driven by the second motor to rotate, so that the peripheral frame and the mechanical grabbing component installed at the bottom of the installation seat can rotate in the direction of the B axis, the state (horizontal or vertical) of the grabbed building materials is changed, the convenience of the subsequent placing or installation of the building materials is further improved, and the auxiliary operation of workers is not needed;

3. according to the adjustable manipulator structure with the extending function for building construction, when building materials are carried, grabbed, placed or installed, the hydraulic cylinder can drive the output end supporting disc and the supporting rod piece to move, the lifting arm which is positioned and supported by the supporting rod piece is driven to lift and move, the position of the mechanical grabbing component in the vertical direction is adjusted, the requirements of carrying, grabbing, placing or installing the building materials are met, meanwhile, the moving supporting rod piece can drive the first transmission gear and the second transmission gear at the output end of the supporting rod piece to rotate through the fourth motor, the unidirectional protrusions arranged outside the supporting rod piece are matched, so that the supporting rod piece can rotate, the lifting arm connected with the top of the supporting rod piece is driven to rotate in the A-axis direction, the lifting device can adjust according to different conditions, the effect of the lifting device in operation on the building materials is improved, the rotation and the movement of the supporting rod piece can be respectively carried out (through the supporting disc), the two requirements are not conflicting, the occupied space of the device can be effectively reduced, and the manufacturing cost is further reduced;

4. this construction is with manipulator structure with adjustable extending function, when squeezing building material, the sliding seat that accessible lifting arm bottom set up, the sleeve frame, the connecting cylinder, telescopic link and positioning seat, the support member of cooperation vertical direction constitutes triangle-shaped, through triangle-shaped's structural design this moment, carry out stable support to the lifting arm, effectively promote the lifting arm to the bearing capacity of heavy object, the life of extension lifting arm, and when the lifting arm is carrying out lifting movement and rotation, the sliding seat that accessible rotation was connected respectively, the sleeve frame, the connecting cylinder, telescopic link and positioning seat and above-mentioned structure are inside at outer leading truck, cooperate each other, guarantee that the lifting arm can carry out effectual support to the lifting arm all the time when taking place the operation.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.

Furthermore, the terms "install," "set," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic diagram of the overall side view of the present invention;

FIG. 3 is a schematic diagram of the overall side elevation and front view of the present invention;

FIG. 4 is a schematic illustration of the hydraulic lift assembly and lift arm connection of the present invention;

FIG. 5 is a schematic view of the structure of the outer support assembly of the present invention;

FIG. 6 is a schematic view of the connection of the hydraulic lift assembly and the horizontal rotation assembly of the present invention;

FIG. 7 is a schematic view of the gear telescoping assembly of the present invention;

FIG. 8 is a schematic view of the structure of the dental lever of the present invention coupled to a mechanical grabbing assembly via a yaw rotation assembly;

FIG. 9 is a schematic illustration of the structure of the present invention with the yaw rotation assembly and the mechanical gripping assembly connected in cross-section;

FIG. 10 is a schematic view of the connection of the lifting tooth plate and the mechanical grabbing component of the present invention;

FIG. 11 is a schematic view of the structure of the lifting tooth plate and mechanical grabbing assembly of the present invention in a connected cross-section;

FIG. 12 is a schematic view of the connection of the support bar and horizontal turning assembly of the present invention;

in the figure:

10. a base;

20. a lifting and rotating mechanism;

30. a lifting arm;

40. an extension manipulator; 40i, balancing weight;

50. a gear telescoping assembly; 50i, a first motor; 501. a spindle gear; 502. tooth bar; 502a, an outer positioning member; 502b, guide projections; 503. a support base; 504. a connecting seat;

60. a yaw rotation assembly; 60i, a second motor; 601. a mounting base; 602. a peripheral frame; 603. a servo motor; 604. rotating the gear; 605. lifting tooth plates;

70. a mechanical grabbing component; 701. an outer frame; 702. a guide screw rod; 703. a positioning block; 704. a first bevel gear; 705. a second bevel gear; 706. a third motor; 707. a sliding block; 708. a clamping member;

80. a hydraulic lifting assembly; 801. a hydraulic cylinder; 802. a support disc; 803. a support rod; 804. a support body;

90. an outer support assembly; 901. a protective frame; 902. an outer guide frame; 903. a sliding seat; 904. a sleeve frame; 905. a connecting cylinder; 906. a telescopic rod; 907. a positioning seat;

100. a horizontal rotation assembly; 1001. a motor base; 1002. a fourth motor; 1003. a first transmission gear; 1004. a bottom seat; 1005. a second transmission gear; 1006. a one-way bulge.

Detailed Description

In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.

Referring to fig. 1-12, an adjustable manipulator structure with an extension function for building construction comprises a base 10, a lifting rotating mechanism 20, a lifting arm 30 and an extension manipulator 40, wherein the lifting rotating mechanism 20 is installed at the top of the base 10, the lifting arm 30 is connected to the top of the lifting rotating mechanism 20, the inside of the lifting arm 30 is hollow and is connected with the extension manipulator 40, the extension manipulator 40 extends to the outer side of the lifting arm 30 and is used for grabbing and fixing building materials, a balancing weight 40i is arranged at the top of the extension manipulator 40, the extension manipulator 40 further comprises a gear telescopic assembly 50, the gear telescopic assembly 50 is installed inside the lifting arm 30 and is driven by a first motor 50i, the first motor 50i is installed at the center of the top of the lifting arm 30, the gear telescopic assembly 50 extends to the outer side of the lifting arm 30, and the balancing weight 40i is supported at the top of one side; the deflection rotating assembly 60, the deflection rotating assembly 60 is installed at the other side of the gear telescopic assembly 50 and is driven by a second motor 60i, the second motor 60i is installed at the side face of the gear telescopic assembly 50, a mechanical grabbing assembly 70 is arranged at the bottom of the deflection rotating assembly 60, and the mechanical grabbing assembly 70 grabs and fixes building materials.

The working principle is as follows: when the materials for building construction are transported, the materials are firstly grabbed and fixed through the design of the mechanical grabbing component 70, afterwards, the fixed materials are grabbed, the lifting movement in the vertical direction and the rotation in the B axis direction are realized through the design of the deflection rotating component 60, the states of the grabbed building materials are conveniently adjusted, different installation modes are met, wherein after the grabbing of the materials is completed, the gear telescoping component 50 is driven by the first motor 50i, the grabbed materials are conveniently installed in a mode that the grabbed materials are positioned, meanwhile, when the gear telescoping component 50 operates, the balancing weight 40i is simultaneously driven to move in the direction opposite to the directions of the building materials, the self-adjustment of the overall gravity center of the state is ensured in the actual carrying process, the probability of overturning or overturning of the device is reduced, meanwhile, the lifting rotating mechanism 20 is matched with the lifting and driving building materials to rotate in the A axis, the lifting movement in the vertical direction is met, the transportation operation of the building materials can be carried out, one side, which is close to the grabbing materials, of the lifting arm 30 is supported, the stability of the lifting arm 30 in the actual operation is further improved, and the service life of the device is prolonged.

Referring specifically to fig. 3, the lifting and rotating mechanism 20 is composed of a hydraulic lifting assembly 80, an outer supporting assembly 90 and a horizontal rotating assembly 100, the hydraulic lifting assembly 80 is installed on the inner side of the outer supporting assembly 90, the hydraulic lifting assembly 80 is installed on the top of the base 10, the lifting arm 30 is supported on the top of the hydraulic lifting assembly 80, the horizontal rotating assembly 100 is installed at the eccentric position of the top of the outer supporting assembly 90, and the horizontal rotating assembly 100 is located on the outer side of the hydraulic lifting assembly 80.

According to the adjustable manipulator structure with the extending function for building construction, the hydraulic lifting assembly 80 can drive the grabbing materials to lift and move, the outer supporting assembly 90 can support the lifting arm 30, the service life of the lifting arm 30 is prolonged, the horizontal rotating assembly 100 can drive the grabbing materials to rotate in the A axis direction, and grabbing of the materials and installation and placement of the grabbing materials are facilitated.

Referring specifically to fig. 7, the gear telescopic assembly 50 includes a spindle gear 501, wherein the spindle gear 501 is rotatably connected to the inside of the lifting arm 30 and is located at the center of the lifting arm 30, and the spindle gear 501 is connected to the output end of the first motor 50 i; the tooth bars 502 are engaged and connected to the outer side of the spindle gear 501, two groups of tooth bars 502 are provided, and the tooth bars 502 extend to the outer portion of the lifting arm 30 and are slidably connected to the inner wall of the lifting arm 30.

In this embodiment, the supporting seat 503 is installed on the side of a set of tooth pole 502, and the top of supporting seat 503 is provided with balancing weight 40i, and the removal of accessible balancing weight 40i realizes the automatic counter weight processing of device when carrying and installing building material, reduces the probability that the device takes place to roll over or topple, and is safer.

Meanwhile, in this embodiment, a connecting seat 504 is provided on a side surface of another set of tooth bars 502, a second motor 60i is installed on one side of the connecting seat 504, and a deflection rotating assembly 60 is provided inside, and the movement of the tooth bars 502 can be used to realize the extension movement of grabbing building materials, so that the installation and placement of the building materials are facilitated.

According to the adjustable manipulator structure with the extending function for building construction, when building materials are carried, grabbed, placed or installed, the second motor 60i can start the main shaft gear 501 to rotate, and the tooth bars 502 which are engaged and connected with the two sides of the main shaft gear 501 are driven to perform telescopic movement, wherein the movement of one group of tooth bars 502 can drive the grabbed materials to perform horizontal movement, the extending operation of grabbing the positions of the building materials is realized, and when the tooth bars 502 move, the other group of tooth bars 502 can be synchronously driven to perform reverse movement (relative to the grabbed building materials) through the balancing weights 40i supported by the supporting seat 503, the extending device is subjected to weight balancing treatment, and the safety of the device in transportation is improved.

Referring specifically to fig. 4, in the above-mentioned scheme, one end of the tooth bar 502 extending to the outside of the lifting arm 30 is configured as a "U", two sets of tooth bars 502 are mirror-image disposed with respect to the central axis of the spindle gear 501, the top of the tooth bar 502 is further provided with an outer positioning member 502a by a screw, the outer positioning member 502a is slidably connected to the top of the guiding protrusion 502b, and the guiding protrusion 502b is mounted on the top of the lifting arm 30 and located at the side of the first motor 50 i; wherein, the outer positioning member 502a and the guide protrusion 502b are provided with two groups.

According to the adjustable manipulator structure with the extending function for building construction, when the tooth bar 502 moves, the outer positioning component 502a connected with the top of the port of the adjustable manipulator structure can synchronously slide outside the guide protrusion 502b, at the moment, through the guide protrusion 502b and the outer positioning component 502a which are connected in a sliding way, only one-way movement of the two groups of tooth bars 502 is guaranteed, stability of the tooth bar 502 during extending is guaranteed, the port part of the tooth bar 502 can be stretched and positioned, and the weight bearing capacity of the tooth bar 502 is improved.

Referring specifically to fig. 8 and 9, the deflection rotation assembly 60 includes a mounting seat 601, the mounting seat 601 is movably connected to the inner side of the connection seat 504 and is connected to the output end of the second motor 60i, and a peripheral frame 602 is installed at the bottom of the mounting seat 601; the servo motor 603, servo motor 603 installs in one side of peripheral hardware frame 602, and servo motor 603's output is connected with rotation gear 604, and rotation gear 604's side meshing is connected with lift tooth plate 605.

In this embodiment, the lifting dental plate 605 is slidably connected inside the peripheral frame 602 and extends to the bottom of the peripheral frame 602, the mechanical grabbing component 70 is installed at the bottom of the lifting dental plate 605, and the mechanical grabbing component 70 and the grabbed building material skill type extending movement are driven by the movement of the lifting dental plate 605, so that the placing and installing of materials are facilitated.

Meanwhile, in this embodiment, the rotation gear 604 is rotatably connected to the inside of the peripheral frame 602, and one side of the lifting tooth plate 605 extending to the outside of the peripheral frame 602 is set to be "U" shape, and the lifting tooth plate 605 is driven to move up and down by the rotation of the rotation gear 604.

According to the adjustable manipulator structure with the extending function for building construction, when building materials are carried, grabbed, placed or installed, the second motor 60i can drive the output end installation seat 601 to rotate, so that the mechanical grabbing component 70 can rotate on the B axis, the servo motor 603 can drive the output end rotating gear 604 to rotate, the side face of the rotating gear 604 is driven to be meshed with the lifting tooth plate 605 to lift, and the mechanical grabbing component 70 connected to the bottom of the lifting tooth plate 605 is driven to lift correspondingly, so that the grabbing, placing and installing of the building materials are facilitated.

Referring specifically to fig. 9, 10 and 11, the mechanical grabbing assembly 70 includes an outer frame 701, the outer frame 701 is mounted on a side surface of the lifting tooth plate 605, a guide screw 702 is rotatably connected to an inner side of the outer frame 701, and the guide screw 702 is movably connected to an inner side of the positioning block 703; the first conical gear 704, the first conical gear 704 is fixedly arranged on the side surface of the guide screw 702, the second conical gear 705 is connected to the side surface of the first conical gear 704 in a meshed mode, the second conical gear 705 is connected with the output end of the third motor 706, and the third motor 706 is arranged at the center of the top of the lifting tooth plate 605; and a sliding block 707, wherein the sliding block 707 is connected to the outer side of the guide screw 702 through a ball, a clamping member 708 is mounted at the bottom of the sliding block 707, and the clamping member 708 grips and fixes the inner side building material.

In this embodiment, the positioning block 703 is mounted and fixed at the bottom of the outer frame 701, the guide screw 702 is provided with two groups, and the directions of the spiral raceways in the guide screw 702 are opposite, so that when the guide screw 702 rotates in the same direction, the outer slide blocks 707 can move in opposite directions, thereby realizing the grabbing and fixing of building materials.

According to the adjustable manipulator structure with the extending function for building construction, when building materials are grabbed, the third motor 706 can drive the second bevel gears 705 at the output ends of the adjustable manipulator structure to rotate, two groups of first bevel gears 704 which are connected with the two sides of the second bevel gears 705 in a meshed mode are driven to rotate in the same direction, the first bevel gears 704 rotate, the guide screw 702 arranged on the inner side of the first bevel gears are driven to rotate, the outer side of the guide screw 702 is driven to move through the sliding blocks 707 connected with balls, at the moment, the sliding blocks 707 move, the clamping parts 708 connected with the bottoms of the sliding blocks are driven to move, and the clamping and fixing of the building materials are achieved.

Referring specifically to fig. 6, the hydraulic lifting assembly 80 includes a hydraulic cylinder 801, the hydraulic cylinder 801 is mounted on the top of the base 10, an output end of the hydraulic cylinder 801 is connected with a support disc 802, an inner side of the support disc 802 is movably connected with a support rod 803, and a lifting arm 30 is supported on the top of the support rod 803; the support body 804, the support body 804 is installed at the top of base 10, and the inside of support body 804 is provided with pneumatic cylinder 801, and the eccentric department at support body 804 top is provided with outer supporting component 90.

According to the adjustable manipulator structure with the extending function for building construction, when building materials are carried, grabbed, placed or installed, the hydraulic cylinder 801 can drive the output end supporting disc 802 to move up and down, the supporting rod 803 connected with the top of the supporting disc 802 is driven to move up and down, and then the lifting arm 30 connected with the top of the supporting rod 803 is driven to move up and down.

Referring specifically to fig. 5, the outer support assembly 90 includes a protection frame 901, the protection frame 901 is mounted on the top of the support body 804, the inside of the protection frame 901 is slidably connected with a support disc 802, and an outer guide frame 902 is mounted at the outer center of the protection frame 901; the sliding seat 903, the sliding seat 903 is slidably connected inside the outer guide frame 902 and extends to the outside of the outer guide frame 902, the inner side of the sliding seat 903 is rotatably connected with a sleeve frame 904, and the inner side of the sleeve frame 904 is provided with a connecting cylinder 905; the telescopic link 906, telescopic link 906 sliding connection is in the inside of connecting cylinder 905, and extends to the outside of connecting cylinder 905, and telescopic link 906 rotates the inboard of connecting at locating seat 907, and the locating seat 907 is installed in the bottom of lifting arm 30.

In this embodiment, three sets of sliding seat 903, sleeve frame 904, connecting cylinder 905, telescopic rod 906 and positioning seat 907 are provided, and the top of the protection frame 901 supports the horizontal rotation assembly 100, so that the effect of supporting the lifting arm 30 is ensured by the design of the three sets of sliding seat 903, sleeve frame 904, connecting cylinder 905, telescopic rod 906 and positioning seat 907.

According to the adjustable manipulator structure with the extending function for building construction, when the lifting arm 30 rotates under the action of the horizontal rotating assembly 100, the sliding seat 903, the sleeve frame 904, the connecting cylinder 905, the telescopic rod 906 and the positioning seat 907 which are connected with the bottom of the lifting arm 30 are synchronously driven to turn around in the outer guide frame 902, the parts can be supported at any angle of the lifting arm 30, the bearing capacity and the service life of the lifting arm 30 are improved, when the lifting arm 30 moves in a lifting manner, the positioning seat 907 connected with the bottom is driven to move, at the moment, the telescopic rod 906 which is connected with the inner side in a rotating manner is driven to slide in the connecting cylinder 905, and synchronous telescopic movement is carried out in cooperation with the lifting movement of the lifting arm 30, wherein the connecting cylinder 905 is movably mounted on the side face of the sliding seat 903 through the outer sleeve frame 904, and corresponding rotation is carried out in cooperation with the lifting movement of the lifting arm 30, and no collision is generated between the two parts.

Referring specifically to fig. 6 and 12, the horizontal rotation assembly 100 includes a motor base 1001, the motor base 1001 is mounted on one side of the top of the protection frame 901, a fourth motor 1002 is mounted on the top of the motor base 1001, and an output end of the fourth motor 1002 is connected with a first transmission gear 1003; the second transmission gear 1005 is in meshed connection with the outer side of the first transmission gear 1003, the second transmission gear 1005 is in sliding connection with the unidirectional protrusions 1006, and the unidirectional protrusions 1006 are arranged outside the support rod 803 and are in annular equidistant three groups; wherein, the second transmission gear 1005 is rotatably connected to the top of the bottom seat 1004, and the bottom seat 1004 is movably connected to the support rod 803.

In this embodiment, the first transmission gear 1003 is rotatably connected to the top of the bottom base 1004, and the bottom base 1004 is mounted on the top of the motor base 1001, so that the first transmission gear 1003 can be supported by the design of the bottom base 1004.

According to the adjustable manipulator structure with the extending function for building construction, when building materials are carried, grabbed, placed or installed, the fourth motor 1002 can be started to operate, the first transmission gear 1003 connected with the output end of the fourth motor 1002 is driven to rotate, the second transmission gear 1005 connected with the side face of the first transmission gear 1003 is driven to rotate, at the moment, the first transmission gear 1003 and the second transmission gear 1005 are both connected to the top of the bottom seat 1004 in a rotating mode, stability of the first transmission gear 1003 and the second transmission gear 1005 in respective rotation is guaranteed, meanwhile, the second transmission gear 1005 is connected with the unidirectional protrusions 1006 in a matching mode, when the second transmission gear 1005 rotates, the inner side of the second transmission gear 1005 is driven to rotate through the supporting rod 803 connected with the unidirectional protrusions, the lifting arm 30 connected with the top of the supporting rod 803 is driven to rotate on the A axis, meanwhile, rotation of the supporting rod 802 is carried out on the inner side of the top of the supporting disc 803, and interference on the output end of the hydraulic cylinder 801 is avoided.

The present invention is not limited to the above-mentioned embodiments, and any person skilled in the art, based on the technical solution of the present invention and the inventive concept thereof, can be replaced or changed within the scope of the present invention.

Claims (10)

1. Building construction is with manipulator structure with adjustable function extends, its characterized in that: including base (10), lift rotary mechanism (20), lift arm (30) and extension manipulator (40), lift rotary mechanism (20) are installed at the top of base (10), the top of lift rotary mechanism (20) is connected with lift arm (30), the inside of lift arm (30) sets up to the cavity, and is connected with extension manipulator (40), extension manipulator (40) extend to the outside of lift arm (30), and snatch fixedly building material, the top of extension manipulator (40) is provided with balancing weight (40 i), extension manipulator (40) still including:

the gear telescopic assembly (50) is arranged in the lifting arm (30) and driven by a first motor (50 i), the first motor (50 i) is arranged at the center of the top of the lifting arm (30), the gear telescopic assembly (50) extends to the outer side of the lifting arm (30), and the balancing weight (40 i) is supported at the top of one side;

the deflection rotating assembly (60), the deflection rotating assembly (60) is installed on the other side of the gear telescopic assembly (50) and is driven by a second motor (60 i), the second motor (60 i) is installed on the side face of the gear telescopic assembly (50), a mechanical grabbing assembly (70) is arranged at the bottom of the deflection rotating assembly (60), and the mechanical grabbing assembly (70) grabs and fixes building materials.

2. The adjustable manipulator structure with an extending function for building construction according to claim 1, wherein: lifting rotating mechanism (20) comprises hydraulic lifting assembly (80), outer supporting component (90) and horizontal rotation subassembly (100), hydraulic lifting assembly (80) are installed the inboard of outer supporting component (90), hydraulic lifting assembly (80) are installed at the top of base (10), lifting arm (30) are supported at the top of hydraulic lifting assembly (80), horizontal rotation subassembly (100) are installed at the eccentric department in top of outer supporting component (90), horizontal rotation subassembly (100) are located the outside of hydraulic lifting assembly (80).

3. The adjustable manipulator structure with an extending function for building construction according to claim 1, wherein: the gear telescopic assembly (50) comprises:

the main shaft gear (501) is rotatably connected inside the lifting arm (30) and is positioned at the center of the lifting arm (30), and the main shaft gear (501) is connected with the output end of the first motor (50 i);

the tooth bars (502) are connected to the outer side of the spindle gear (501) in a meshed mode, two groups of tooth bars (502) are arranged, and the tooth bars (502) extend to the outer portion of the lifting arm (30) and are connected with the inner wall of the lifting arm (30) in a sliding mode;

the side face of one group of tooth bars (502) is provided with a supporting seat (503), the top of the supporting seat (503) is provided with a balancing weight (40 i), the side face of the other group of tooth bars (502) is provided with a connecting seat (504), one side of the connecting seat (504) is provided with a second motor (60 i), and the inside is provided with a deflection rotating assembly (60).

4. The adjustable manipulator structure with extending function for building construction according to claim 3, wherein: one end of each tooth bar (502) extending to the outside of the lifting arm (30) is U-shaped, two groups of tooth bars (502) are arranged in a mirror image mode relative to the central shaft of the main shaft gear (501), an outer positioning part (502 a) is further arranged at the top of each tooth bar (502) through a screw, the outer positioning part (502 a) is slidably connected to the top of each guide protrusion (502 b), and each guide protrusion (502 b) is arranged at the top of the lifting arm (30) and is located on the side face of the first motor (50 i);

wherein, the outer positioning component (502 a) and the guide protrusion (502 b) are provided with two groups.

5. The adjustable manipulator structure with extending function for building construction according to claim 3, wherein: the deflection rotation assembly (60) comprises:

the mounting seat (601), the mounting seat (601) is movably connected to the inner side of the connecting seat (504) and is connected with the output end of the second motor (60 i), and a peripheral frame (602) is mounted at the bottom of the mounting seat (601);

the servo motor (603), the servo motor (603) is installed on one side of the peripheral frame (602), the output end of the servo motor (603) is connected with a rotating gear (604), and the side surface of the rotating gear (604) is connected with a lifting tooth plate (605) in a meshed manner;

the lifting tooth plate (605) is slidably connected inside the peripheral frame (602) and extends to the bottom of the peripheral frame (602), and a mechanical grabbing component (70) is mounted at the bottom of the lifting tooth plate (605).

6. The adjustable manipulator structure with extending function for building construction according to claim 5, wherein: the rotating gear (604) is rotatably connected inside the peripheral frame (602), and one side of the lifting tooth plate (605) extending to the outside of the peripheral frame (602) is U-shaped.

7. The adjustable manipulator structure with extending function for building construction according to claim 5, wherein: the mechanical grabbing assembly (70) comprises:

the outer frame (701), the outer frame (701) is installed on the side face of the lifting tooth plate (605), a guide screw rod (702) is rotatably connected to the inner side of the outer frame (701), and the guide screw rod (702) is movably connected to the inner side of the positioning block (703);

the positioning blocks (703) are fixedly arranged at the bottom of the outer frame (701), two groups of guide screw rods (702) are arranged, and the directions of spiral rollaway nest inside the guide screw rods are opposite;

the first conical gear (704), the first conical gear (704) is fixedly arranged on the side face of the guide screw (702), a second conical gear (705) is connected to the side face of the first conical gear (704) in a meshed mode, the second conical gear (705) is connected with the output end of a third motor (706), and the third motor (706) is arranged at the center of the top of the lifting tooth plate (605);

the sliding block (707), the outside that sliding block (707) is in guide screw (702) through the ball connection, clamping part (708) are installed to the bottom of sliding block (707), clamping part (708) snatchs fixedly to inboard building material.

8. The adjustable manipulator structure with an extending function for building construction according to claim 2, wherein: the hydraulic lifting assembly (80) comprises:

the hydraulic cylinder (801), the hydraulic cylinder (801) is installed at the top of the base (10), the output end of the hydraulic cylinder (801) is connected with a supporting disc (802), the inner side of the supporting disc (802) is movably connected with a supporting rod piece (803), and the top of the supporting rod piece (803) is supported with a lifting arm (30);

the support body (804), the support body (804) is installed the top of base (10), the inside of support body (804) is provided with pneumatic cylinder (801), the eccentric department at support body (804) top is provided with outer supporting component (90).

9. The adjustable manipulator structure with extending function for building construction according to claim 8, wherein: the outer support assembly (90) comprises:

the protection frame (901), the protection frame (901) is installed at the top of the support body (804), a support disc (802) is connected inside the protection frame (901) in a sliding mode, and an outer guide frame (902) is installed at the outer center of the protection frame (901);

the sliding seat (903), the sliding seat (903) is slidably connected inside the outer guide frame (902) and extends to the outside of the outer guide frame (902), a sleeve frame (904) is rotatably connected to the inner side of the sliding seat (903), and a connecting cylinder (905) is arranged on the inner side of the sleeve frame (904);

the telescopic rod (906), the telescopic rod (906) is connected inside the connecting cylinder (905) in a sliding mode and extends to the outside of the connecting cylinder (905), the telescopic rod (906) is connected to the inner side of the positioning seat (907) in a rotating mode, and the positioning seat (907) is installed at the bottom of the lifting arm (30);

the sliding seat (903), the sleeve frame (904), the connecting cylinder (905), the telescopic rod (906) and the positioning seat (907) are arranged in three groups, and the top of the protection frame (901) is supported with the horizontal rotating assembly (100).

10. The adjustable manipulator structure with an extending function for building construction according to claim 9, wherein: the horizontal rotation assembly (100) comprises:

the motor base (1001), motor base (1001) is installed in one side at protection frame (901) top, fourth motor (1002) is installed at the top of motor base (1001), the output of fourth motor (1002) is connected with first drive gear (1003);

the first transmission gear (1003) is rotatably connected to the top of the bottom seat (1004), and the bottom seat (1004) is installed on the top of the motor seat (1001);

the second transmission gear (1005) is connected to the outer side of the first transmission gear (1003) in a meshing mode, the second transmission gear (1005) is connected with the unidirectional protrusions (1006) in a sliding mode, and the unidirectional protrusions (1006) are arranged outside the supporting rod piece (803) and are in annular equidistant mode and are provided with three groups;

the second transmission gear (1005) is rotatably connected to the top of the bottom seat (1004), and the bottom seat (1004) is movably connected with the support rod piece (803).