CN108547461A - A kind of prefabricated panel installation manipulator - Google Patents
A kind of prefabricated panel installation manipulator Download PDFInfo
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- CN108547461A CN108547461A CN201810309137.3A CN201810309137A CN108547461A CN 108547461 A CN108547461 A CN 108547461A CN 201810309137 A CN201810309137 A CN 201810309137A CN 108547461 A CN108547461 A CN 108547461A
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- oscillating motor
- underarm
- otic placode
- waist
- module
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
- E04G21/167—Tools or apparatus specially adapted for working-up plates, panels or slab shaped building elements
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- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of prefabricated panel installation manipulators, including waist revolution module, large arm module, wrist module and vacuum chuck device.It includes oscillating motor that waist, which turns round module, base housing, case top lid, shell lower cover, gear wheel, pinion gear, transmission shaft, positioning shaft sleeve, bearing and positioning thread insert, large arm module includes waist main body, underarm, oscillating motor, small axis, parallel arms and limited block, wrist module includes intermediate connector, long axis, upper arm, short axle, parallel bar, lower link, upper connecting rod, oscillating motor and moving platform, vacuum chuck device includes mounting platform, stand connection, fixedly connected part, sliding bar, vacuum cup, piston rod and hydraulic cylinder, a kind of prefabricated panel installation manipulator provided by the invention is simple in structure, it is easy to control, high degree of automation, greatly reduce operating personnel, work efficiency is high, and it is high with positioning accuracy, stationarity is good, scalability is strong, reliability is high, the features such as safety is good.
Description
Technical field
The present invention relates to a kind of prefabricated panel installation manipulators, belong to the mechanical equipment of building field.
Background technology
With the continuous improvement of building industrialization level, full assembled is built using precast concrete wall panel and assembly is whole
Formula large panel building, it has also become one of the approach that China develops to building industrialization.It is carried out by the way of precast concrete wall panel
Construction can not only improve batch production, mechanized construction degree and reduce situ wet operation, but also can save live use
Work overcomes seasonal effect and shortens the construction period.Installment work for prefabricated panel, it is in the prior art, conventional
Installation method be to set up scaffold, use crane（Tower crane or tyre crane）Handling wallboard is aloft carried out to installation place, by worker
Installation.However since the weight of prefabricated panel is big, installation accuracy is higher, and is working at height, and is held very much using crane handling
It is vulnerable to place limitation, causes installation difficulty larger, installation effectiveness is slower, so the installation of prefabricated panel is a heavy, expense
Operation when expenses of labour, dangerous.Therefore in construction industry, especially in the case where building skilled worker's shortage, it is badly in need of development prefabricated panel
The mechanization or automation of installation.
Currently, based on traditional the problems of prefabricated panel mounting process, China is just being dedicated to wallboard installation equipment
Research and development.Such as patent CN104878940A provide it is a kind of by mechanical equipment realize to the feeding of wallboard, carrying,
Feeding and the wallboard mounting machine of positioning, whole includes vehicle frame, lifting assembly and manipulator.Although integral device can be realized
It is remote to carry, but there are three important disadvantages：First, the manipulator in this equipment only has three degree of freedom, it is only capable of completing folder
It holds, translate, vertically moving three actions, and is complicated；Second is that the clamp assemblies of manipulator can by regulating device adjustment
Distance between retaining part realizes the function of clamping wallboard.This mode controls complexity, it is difficult to reach required Adjustment precision,
Reliability is not high；It is extended by lifting assembly third, the stretching, extension of integral device is highly desirable, structure is complicated, cumbersome.
In another example patent CN204983689U only provides a kind of simple in structure, easy-to-mount wallboard mounting machine handgrip
Device comprising the handgrip and hydraulic device of two L-type structures, operation principle are the wallboard specifications pair of carrying and installation as needed
Spacing between two handgrips is adjusted, between being changed between mandril and handgrip by the synchronization telescope of two hydraulic cylinders
Away to determine whether wallboard is fixed between mandril and handgrip.Although this gripper equipment is solved using hydraulic device
It states and relies solely on uncertain factor existing for mechanic adjustment unit adjusting spacing in patent, one kind is provided for wallboard mounting machine
Executing agency, but there are one important limitations：The length of channel column in this gripper equipment determines between two handgrips
Adjustable spacing, this spacing determine the size that can capture wallboard.So, the very long gripper equipment volume of channel column is excessive,
Difficult to install, universality is not high；The size that the gripper equipment of channel column moderate length can pick up wallboard is limited, and universality is still
It is not high.
Invention content
The purpose of the present invention is to provide a kind of prefabricated panel installation manipulators simple in structure, easy to use.The present invention
Crawl and release to wallboard is realized using vacuum chuck device, is inhaled by adjusting the vacuum degree inside vacuum cup to control
Attached power size can enhance the stationarity of crawl process, and control is simple, and reliability is high；The present invention uses oscillating motor for joint
Form realizes the movement of 4DOF, each degree of freedom corresponds to a driving joint and determines relative to other joint forms
Precisely, easily controllable, service life is long for position, can enhance the stationarity moved during wall board conveying, solve above-mentioned background skill
Shortcoming in art.
The technical solution adopted in the present invention is：A kind of prefabricated panel installation manipulator, by waist revolution module, large arm mould
Block, wrist module and vacuum chuck device composition, wherein：
Waist revolution module is by pinion gear 1, positioning thread insert 2, bearing 3, positioning shaft sleeve 4, transmission shaft 5, case top lid 8, the
One oscillating motor（Waist revolution driving）9, base housing 10, gear wheel 11 and shell lower cover 12 form；Wherein：Described first
Oscillating motor（Waist revolution driving）Gear wheel 11 is installed, the lower end of the transmission shaft 5 is equipped with small tooth on 9 output shaft
Wheel 1, the upper end is bolted with waist main body 7；The pinion gear 1 is meshed with the gear wheel 11, forms level-one tooth
Wheel set；4 connection otic placodes are arranged in the bottom surrounding of the base housing 10, and are equipped with gusset, to increase its strength and stiffness,
The upper end and lower end are separately installed with case top lid 8, shell lower cover 12, and bearing 3 is sleeved on outside transmission shaft 5, base housing 10 and biography
It is realized and is relatively rotated by a pair of bearings 3 between moving axis 5；The positioning shaft sleeve 4 is separately mounted to a pair with the positioning thread insert 2
The upper and lower ends of bearing 3 play the role of positioning a pair of bearings 3；
The large arm module is by waist main body 7, the second oscillating motor（Parallel arms drive）13, small axis 14, parallel arms 15, limit
Block I 16, underarm 22, limited block II 23 and third oscillating motor（Underarm drives）24 compositions, wherein：The waist main body 7
Structure be in "U" shaped, the otic placode of both sides fixes the second oscillating motor 13 and third oscillating motor 24, waist master respectively
Central floor panel on body 7 is connected on transmission shaft 5；The underarm 22 is hollow, rectangular structure, and two end side surfaces are welded with otic placode,
The otic placode of one side directly with third oscillating motor（Underarm drives）24 are connected, and the side of the otic placode is equipped with limit simultaneously
Block II 23, the limited block II 23 are applied in combination with the boss on 7 both sides otic placode of waist main body, to limit turning for underarm 22
It is dynamic；15 one end of the parallel arms is bolt-connected to the second oscillating motor（Parallel arms drive）On 13 output end, and
Limited block I 16 is installed at the end, is connected by small axis 14 between the other end and underarm 22；The small axis 14 passes through aligning
Roller bearing is connect with the otic placode of the other side of underarm 22；
The wrist module is by intermediate connector 17, long axis 18, upper arm 19, short axle 20, parallel bar 21, lower link 25, upper connecting rod
26, the 4th oscillating motor（End revolution driving）27 and moving platform 28 form, wherein：The upper arm 19 is a rectangle steel
Pipe, both ends are welded with otic placode, and one end otic placode is connected with 22 upper end of underarm and intermediate connector 17 respectively by long axis 18, the other end
Otic placode is directly connected to by short axle 20 and 22 upper end of underarm；The parallel bar 21 is I-shaped structure, both ends respectively with it is flat
Row arm 15 and upper arm 19 are hinged；The upper connecting rod 26 and the lower link 25 are I-shaped structure, 25 one end of lower link
It is hinged with underarm 22,26 one end of upper connecting rod is hinged with moving platform 28；17 structure triangular in shape of the intermediate connector, thirdly
A angle is hinged with upper connecting rod 26, lower link 25 and underarm 22 respectively；It is set on the moving platform 28 there are two the otic placode stretched out,
It is hinged respectively with upper arm 19；4th oscillating motor（End revolution driving）27 are mounted on moving platform 28, for real
The rotary motion of existing vacuum chuck device；
The vacuum chuck device is by mounting platform 29, stand connection 30, fixedly connected part 31, sliding bar 32, vacuum cup
33, piston rod 34 and hydraulic cylinder 35 form, wherein：The mounting platform 29 is bolted in the 4th oscillating motor（End
Hold revolution driving）On 27 output shaft；The mounting platform 29 is bolted stand connection 30, stand connection 30 with
31 side of fixedly connected part is bolted；The hydraulic cylinder 35 is fixedly mounted on 31 other side of fixedly connected part, described
35 both sides of hydraulic cylinder are equipped with piston rod 34, and the piston rod 34 is connected with sliding bar 32；The sliding bar 32 can be with hydraulic cylinder
Piston rod 34 on 35 is flexible, is slided in fixedly connected part 31；The vacuum cup 33 is mounted on the both ends of sliding bar 32, uses
In crawl and release of the realization to prefabricated panel.
In the present invention, first oscillating motor 9, the second oscillating motor 13, third oscillating motor 24 and the 4th
Oscillating motor 27 is double-screw type oscillating motor.
In the present invention, the hydraulic cylinder 35 is double acting circle hydraulic cylinder.
The basic principle of prefabricated panel installation manipulator of the present invention is：
1, this manipulator shares 4 degree of freedom, is that waist turns round degree of freedom, large arm rotary freedom and wrist posture certainly respectively
By degree and end effector（That is vacuum chuck device）An axial revolution degree of freedom, the kinematic sketch of body construction is such as
Shown in Fig. 8, there are three parallelogram closed linkages altogether for mass motion chain, and 4 revolute joints are for 4 degree of freedom.Waist master
The revolution of body 7 can drive the integral-rotation in this machinery portion on hand（In addition to base housing 10）, the swing of underarm 22 can be larger
Amplitude adjusted end effector（That is vacuum chuck device）Position, parallel arms 15 then pass through parallel bar 21 and upper arm 19 and control wrist
The posture in portion；Upper connecting rod 26, intermediate connector 17 and lower link 25 then primarily serve the auxiliary adjustment effect to wrist pose,
Therefore counter structure is made to form parallelogram connection-rod structure.The realization of 4 degree of freedom, i.e. waist revolute joint AXIS 1,
Underarm drives joint AXIS 2, parallel arms driving joint AXIS 3, end revolute joint AXIS 4, is by corresponding 4
A oscillating motor revolution control and realize.
2, the end effector mechanism of this manipulator is vacuum chuck device, is realized by the reasonable absorption of vacuum cup 33
Crawl to prefabricated panel.Meanwhile the vacuum chuck device can be stretched by the piston rod 34 on hydraulic cylinder 35 to adjust two
The distance between sliding bar 32, therefore can be adjusted between vacuum cup 33 according to the size of the prefabricated panel of required installation
Spacing.
3, after prefabricated panel is adsorbed, this manipulator can be adjusted by controlling the revolution of 4 oscillating motors
Posture so as to which the prefabricated panel adsorbed is moved to installation region, and multi-faceted adjusts the prefabricated panel being crawled
Setting angle, you can the prefabricated panel being crawled is put into specified frame and completes to install.
Compared with prior art, the present invention has the advantage that and has the beneficial effect that：
1, high degree of automation, safety are good.When wallboard being installed using the present invention, scaffold need not be set up, large size is not needed
Hoisting machinery, avoidable worker are engaged in working at height, greatly reduce operating personnel, and homework precision is high, and safety is good, and work efficiency is high.
2, accurate positioning facilitates control.The driving joint of the present invention is all made of oscillating motor driving.Common mechanical hand closes
When section is using servo motor driving, it will be slowed down by deceleration mechanism, be driven by a series of transmission mechanism.Relative to motor
For driving, oscillating motor driving is not required to slow down, simple in structure, accurate positioning, and output torque wants bigger, speed adjustable range
Larger, control is more convenient, and movement is more steady.
3, the present invention controls the size of adsorption capacity to realize to dry wall by adjusting the vacuum degree inside vacuum cup
The crawl and release of plate, this mode compare other clamping device compact and portables, are hardly damaged wallboard, can enhance crawl and discharge
The stationarity of journey, control is simple, and reliability is high.
4, scalability is strong.The present invention can adjust 2 cunnings by the flexible of the hydraulic cylinder piston rod of vacuum chuck device
Spacing between lever, i.e. spacing between vacuum cup capture the prefabricated panel of different sizes to realize
And release；The replaceable different operation attachment of the present invention, is engaged in different operations, and availability is high.
Description of the drawings
Fig. 1 is the whole installation diagram of prefabricated panel installation manipulator.
Fig. 2 is the installation diagram of waist revolution module in the present invention shown in FIG. 1.
Fig. 3 is the sectional view of waist revolution module in the present invention shown in FIG. 1.
Fig. 4 is the installation diagram of large arm module in the present invention shown in FIG. 1.
Fig. 5 is the sectional view of large arm module in the present invention shown in FIG. 1.
Fig. 6 is the installation diagram of wrist module in the present invention shown in FIG. 1.
Fig. 7 is the installation diagram of vacuum chuck device in the present invention shown in FIG. 1.
Fig. 8 is the kinematic sketch of prefabricated panel installation manipulator body construction.
Figure label：1-pinion gear；2-positioning thread inserts；3-bearings；4-positioning shaft sleeves；5-transmission shafts；6-limits
Block；7-waist main bodys；8-case top lids；9-the first oscillating motor（Waist revolution driving）；10-base housings；11—
Gear wheel；12-shell lower covers；13-the second oscillating motor（Parallel arms drive）；14-small axis；15-parallel arms；16-limits
Position block I；17-intermediate connectors；18-long axis；19-upper arm；20-short axles；21-parallel bars；22-underarms；23-limits
Block II；24-third oscillating motors（Underarm drives）；25-lower links；26-upper connecting rods；27-the four oscillating motor（End
Hold revolution driving）；28-moving platforms；29-mounting platforms；30-stand connection；31-fixedly connected parts；32-sliding bars；
33-vacuum cups；34-piston rods；35-hydraulic cylinders.
Specific implementation mode
Below in conjunction with the accompanying drawings by providing the details of the present invention to the description of embodiment, any limit is not constituted to the present invention
System.
Embodiment 1：
As shown in Figure 1, a kind of prefabricated panel installation manipulator of the present invention is by waist revolution module, large arm module, wrist module, true
Empty Acetabula device composition.As Figure 2-3, the waist revolution module is mainly by pinion gear 1, positioning thread insert 2, bearing 3, positioning
Axle sleeve 4, transmission shaft 5, case top lid 8, the first oscillating motor（Waist revolution driving）9, base housing 10, gear wheel 11, shell
Body lower cover 12 forms；As illustrated in figures 4-5, the large arm module is mainly by waist main body 7, the second oscillating motor（Parallel arms are driven
It is dynamic）13, small axis 14, parallel arms 15, limited block I 16, underarm 22, limited block II 23, third oscillating motor（Underarm drives）
24 compositions；As shown in fig. 6, the wrist module is mainly by intermediate connector 17, long axis 18, upper arm 19, short axle 20, parallel bar
21, lower link 25, upper connecting rod 26, the 4th oscillating motor（End revolution driving）27, moving platform 28 forms；As shown in fig. 7, institute
State vacuum chuck device mainly by mounting platform 29, stand connection 30, fixedly connected part 31, sliding bar 32, vacuum cup 33,
Piston rod 34 and hydraulic cylinder 35 form.Wherein：
As Figure 2-3, the bottom of base housing 10, which is arranged, 4 connection otic placodes and adds gusset, be conducive to increase its intensity and
Rigidity plays the supporting role to entire manipulator, inside a pair of of level-one gear pair is installed（By gear wheel 11 and pinion gear
1 composition）, transmission shaft 5 and its connection driving member（Such as a pair of bearings 3, positioning thread insert 2, positioning shaft sleeve 4）, upper and lower ends point
Not An Zhuan case top lid 8, shell lower cover 12, be tightly connected；First oscillating motor（Waist revolution driving）9 output shaft
It is connected with gear wheel 11, pinion gear 1 is mounted on 5 lower end of transmission shaft, while 5 upper end of transmission shaft is connected with waist main body 7 by bolt
It connects, then by one-stage gear pair passing power between the first oscillating motor 9 and transmission shaft 5, to realize returning for waist main body 7
Transhipment is dynamic；The relative rotation for realizing the two between transmission shaft 5 and base housing 10 by a pair of bearings 3, utilizes 2 He of positioning thread insert
Positioning shaft sleeve 4 positions bearing 3.
As illustrated in figures 4-5, for underarm 22 based on a hollow, rectangular tubing, both ends are welded with two pieces of otic placodes respectively, under
End connection waist main body 7, the otic placode of wherein side is directly connected to oscillating motor（Underarm drives）24, while side installation is limited
Position block II 23, is applied in combination with the boss on 7 both sides otic placode of waist main body to limit the rotation of underarm 22；7 structure of waist main body
In "U" shaped, installation of the both sides otic placode for the second oscillating motor 13, third oscillating motor 24 is fixed, in-between bottom
Plate is then connected on transmission shaft 5；One end of parallel arms 15 is directly connected to the second oscillating motor（Parallel arms drive）13, and
Limited block I 16 is installed at the end, and the other end is connected for otic placode with 22 lower end of underarm by small axis 14, realizes the end of underarm 22
Support and relative motion, while parallel arms 15 there are one stretch out structure, be directly hinged with parallel bar 21.
As shown in fig. 6, upper arm 19, based on a rectangular steel pipe, both ends are welded with otic placode, one end otic placode passes through long axis
18 are connected with 22 upper end of underarm, intermediate connector 17, and other end otic placode is connected directly by short axle 20 and 22 upper end of underarm；It is parallel
The structure of bar 21 is I-shaped, and both ends are hinged with parallel arms 15, upper arm 19 respectively；The knot of upper connecting rod 26 and lower link 25
Structure is I-shaped, and one end and the underarm 22 of lower link 25 are hinged, and one end and the moving platform 28 of upper connecting rod 26 are hinged, and two
Person is connected by intermediate connector 17；The structure of intermediate connector 17 is triangular in shape, with upper connecting rod 26, lower link 25 and under
Arm 22 is hinged；The structure of moving platform 28 is hinged there are two the otic placode stretched out with upper arm 19；4th oscillating motor（End
Revolution driving）27 are mounted on moving platform 28, for driving end effector（That is vacuum chuck device）Rotary motion.
As shown in fig. 7, the 4th oscillating motor（End revolution driving）It is flat that installation is bolted on 27 output shaft
Platform 29；Fixedly connected part 31, stand connection 30 are bolted between each other with mounting platform 29；Hydraulic cylinder 35 is one
A double-act-ing hydraulic J-Horner is fixedly mounted in fixedly connected part 31, the piston rods 34 of both sides respectively with 2 32 phases of sliding bar
Even；Sliding bar 32 can be slided with stretching for 35 upper piston rod 34 of hydraulic cylinder in fixedly connected part 31；Vacuum cup 33 is installed
At the both ends of sliding bar 34, for adsorbing wallboard.
Specific work process is as follows：
It 1, on the mobile device by integral installation of the present invention, will be of the invention whole in the mobile present invention to working space or directly
It is fixedly mounted in working space.
2, to the first oscillating motor（Waist revolution driving）9, the second oscillating motor（Parallel arms drive）13, third is put
Hydrodynamic cylinder pressure（Underarm drives）24 carry out revolution control, so as to adjust the position and attitude of the present invention, keep vacuum chuck device close
The prefabricated panel of required installation.
3, after prefabricated panel of the vacuum chuck device close to required installation, control 35 upper piston rod 34 of hydraulic cylinder is stretched
Contracting, to adjust the distance between 2 sliding bars 32 to adapt to the size of the required prefabricated panel installed.Meanwhile to
Four oscillating motors（End revolution driving）27 revolution control, make 4 vacuum cups 33 on vacuum chuck device with it is required
The prefabricated panel of installation fits.Then, inside vacuum cup 33 vacuum degree is adjusted to provide enough adsorption capacities to realize
Crawl to prefabricated panel.
4, after the prefabricated panel crawl installed needed for determining is completed, to the first oscillating motor（Waist revolution driving）9、
Second oscillating motor（Parallel arms drive）13, third oscillating motor（Underarm drives）24, the 4th oscillating motor（End is returned
Turn driving）27, which carry out revolution control, carrys out position and attitude that is multi-faceted, adjusting the present invention with multi-angle until prefabricated by what is be crawled
Wallboard is put into specified installation frame.
5, pre- to this by construction personnel after determining that the prefabricated panel being crawled accurately has been put into specified installation frame
Wallboard processed is fixed.After the completion of fixation, adjusts vacuum and inhale the vacuum degree inside 33 disks to be gradually reduced adsorption capacity until reality
Now to the release of this prefabricated panel.
6, after this prefabricated panel is released, to the first oscillating motor（Waist revolution driving）9, second hydraulic pressure is swung
Cylinder（Parallel arms drive）13, third oscillating motor（Underarm drives）24, the 4th oscillating motor（End revolution driving）27 into
Row revolution control restores until the position and attitude of the adjustment present invention to initial pose, therefore completes the crawl of prefabricated panel, carries
And installation.
The foregoing is merely the examples that the present invention applies in prefabricated panel installation, for the art
For technical staff, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by
Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (3)
1. a kind of prefabricated panel installation manipulator, by waist revolution module, large arm module, wrist module and vacuum chuck device group
At, it is characterised in that：
The waist turns round module by pinion gear (1), positioning thread insert (2), bearing (3), positioning shaft sleeve (4), transmission shaft (5), shell
Body upper cover (8), the first oscillating motor (9), base housing (10), gear wheel (11) and shell lower cover (12) composition；Wherein：Institute
It states and gear wheel (11) is installed on the output shaft of the first oscillating motor (9), the lower end of the transmission shaft (5) is equipped with pinion gear
(1), the upper end is bolted with waist main body (7)；The pinion gear (1) is meshed with the gear wheel (11), composition
One-stage gear pair；(4) a connection otic placode is arranged in the bottom surrounding of the base housing (10), and is equipped with gusset, to increase it
Strength and stiffness, the upper end and lower end are separately installed with case top lid (8), shell lower cover (12), and bearing (3) is sleeved on transmission shaft
(5) outside, it is realized and is relatively rotated by a pair of bearings (3) between base housing (10) and transmission shaft (5)；The positioning shaft sleeve (4)
It is separately mounted to the upper and lower ends of a pair of bearings (3) with the positioning thread insert (2), plays the role of positioning a pair of bearings (3)；
The large arm module is by waist main body (7), the second oscillating motor (13), small axis (14), parallel arms (15), limited block I
(16), underarm (22), limited block II (23) and third oscillating motor (24) composition, wherein：The knot of the waist main body (7)
Structure is in "U" shaped, and the otic placode of both sides fixes the second oscillating motor (13) and third oscillating motor (24), waist master respectively
Central floor panel on body (7) is connected on transmission shaft (5)；The underarm (22) is hollow, rectangular structure, and two end side surfaces are welded
There are otic placode, the otic placode of one side to be directly connected with third oscillating motor (24), the side of the otic placode is equipped with limit simultaneously
Block II (23), the limited block II (23) is applied in combination with the boss on the otic placode of waist main body (7) both sides, to limit underarm
(22) rotation；Described parallel arms (15) one end is bolt-connected on the output end of the first oscillating motor (13), and
Limited block I (16) is installed at the end, is connect by small axis (14) between the other end and underarm (22)；The small axis (14)
It is connect with the otic placode of the other side of underarm (22) by self-aligning roller bearing；
The wrist module is by intermediate connector (17), long axis (18), upper arm (19), short axle (20), parallel bar (21), lower link
(25), upper connecting rod (26), the 4th oscillating motor (27) and moving platform (28) composition, wherein：The upper arm (19) is a square
Shape steel pipe, both ends are welded with otic placode, one end otic placode by long axis (18) respectively with underarm (22) upper end and intermediate connector (17)
It is connected, other end otic placode is directly connected to by short axle (20) and underarm (22) upper end；The parallel bar (21) is I-shaped knot
Structure, both ends are hinged with parallel arms (15) and upper arm (19) respectively；The upper connecting rod (26) is with the lower link (25)
I-shaped structure, lower link (25) one end are hinged with underarm (22), and upper connecting rod (26) one end is hinged with moving platform (28)；
The intermediate connector (17) structure triangular in shape, three of them angle respectively with upper connecting rod (26), lower link (25) and underarm
(22) it is hinged；It is set on the moving platform (28) there are two the otic placode stretched out, is hinged respectively with upper arm (19)；4th pendulum
Hydrodynamic cylinder pressure (27) is mounted on moving platform (28), for realizing the rotary motion of vacuum chuck device；
The vacuum chuck device by mounting platform (29), stand connection (30), fixedly connected part (31), sliding bar (32),
Vacuum cup (33), piston rod (34) and hydraulic cylinder (35) composition, wherein：The mounting platform (29) is bolted
On the output shaft of four oscillating motors (27)；Stand connection (30) is bolted in the mounting platform (29), and holder connects
Fitting (30) is bolted with fixedly connected part (31) side；The hydraulic cylinder (35) is fixedly mounted on fixedly connected part
(31) on the other side, hydraulic cylinder (35) both sides are equipped with piston rod (34), and the piston rod (34) is connected with sliding bar (32)；
The sliding bar (32) can be flexible with the piston rod (34) on hydraulic cylinder (35), is slided in fixedly connected part (31)；It is described
Vacuum cup (33) is mounted on the both ends of sliding bar (32), for realizing the crawl and release to prefabricated panel.
2. a kind of prefabricated panel installation manipulator according to claim 1, it is characterised in that first oscillating motor
(9), the second oscillating motor (13), third oscillating motor (24) and the 4th oscillating motor (27) are that double-screw type is swung
Hydraulic cylinder.
3. a kind of prefabricated panel installation manipulator according to claim 1, it is characterised in that the hydraulic cylinder (35) is double
The round hydraulic cylinder of effect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810309137.3A CN108547461A (en) | 2018-04-09 | 2018-04-09 | A kind of prefabricated panel installation manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810309137.3A CN108547461A (en) | 2018-04-09 | 2018-04-09 | A kind of prefabricated panel installation manipulator |
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| CN108547461A true CN108547461A (en) | 2018-09-18 |
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| CN201810309137.3A Pending CN108547461A (en) | 2018-04-09 | 2018-04-09 | A kind of prefabricated panel installation manipulator |
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| CN109623770A (en) * | 2018-12-13 | 2019-04-16 | 清华大学 | A kind of Li Kong construction and installation robot based on hybrid mechanism |
| CN109623784A (en) * | 2018-12-13 | 2019-04-16 | 清华大学 | A kind of movable building mounting robot |
| CN109653518A (en) * | 2019-02-18 | 2019-04-19 | 中铁建设集团有限公司 | It is a kind of can quality inspection and electromagnetism lifting accurate adjustment the efficient preassembling equipment of prefabricated member |
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| CN111005576A (en) * | 2018-10-04 | 2020-04-14 | 山东安泰建筑安装工程有限公司 | Plate mounting machine |
| CN113460274A (en) * | 2021-08-06 | 2021-10-01 | 哈尔滨工程大学 | AUV (autonomous underwater vehicle) autonomous recovery/distribution device and implementation method thereof |
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| CN109623770A (en) * | 2018-12-13 | 2019-04-16 | 清华大学 | A kind of Li Kong construction and installation robot based on hybrid mechanism |
| CN109623784A (en) * | 2018-12-13 | 2019-04-16 | 清华大学 | A kind of movable building mounting robot |
| CN109514102A (en) * | 2018-12-28 | 2019-03-26 | 安徽联合智能装备有限责任公司 | A kind of laser cutting machine with manipulator |
| CN109537424A (en) * | 2019-01-23 | 2019-03-29 | 温州广德建设有限公司 | A kind of municipal works asphalt surface repair apparatus |
| CN109653518A (en) * | 2019-02-18 | 2019-04-19 | 中铁建设集团有限公司 | It is a kind of can quality inspection and electromagnetism lifting accurate adjustment the efficient preassembling equipment of prefabricated member |
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| CN110480620A (en) * | 2019-09-17 | 2019-11-22 | 洛阳戴梦特智能装备制造有限公司 | A kind of transfer robot of mechanical pressing refractory brick |
| CN110539390A (en) * | 2019-09-17 | 2019-12-06 | 洛阳戴梦特智能装备制造有限公司 | robot for refractory material machine-pressing system |
| CN113460274A (en) * | 2021-08-06 | 2021-10-01 | 哈尔滨工程大学 | AUV (autonomous underwater vehicle) autonomous recovery/distribution device and implementation method thereof |
| CN113460274B (en) * | 2021-08-06 | 2022-11-25 | 哈尔滨工程大学 | AUV (autonomous underwater vehicle) autonomous recovery/distribution device and implementation method thereof |
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