CN113833281A - Intelligent wallboard mounting robot with adjustable mounting range and mounting method - Google Patents
Intelligent wallboard mounting robot with adjustable mounting range and mounting method Download PDFInfo
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- CN113833281A CN113833281A CN202111168921.5A CN202111168921A CN113833281A CN 113833281 A CN113833281 A CN 113833281A CN 202111168921 A CN202111168921 A CN 202111168921A CN 113833281 A CN113833281 A CN 113833281A
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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
- E04G21/162—Handles to carry construction blocks
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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
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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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- 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
- E04G21/18—Adjusting tools; Templates
- E04G21/1841—Means for positioning building parts or elements
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Abstract
The application provides an intelligent wallboard mounting robot with an adjustable mounting range and a mounting method. The intelligent wallboard mounting robot provided by the invention is driven by the crawler-type travelling mechanism to travel and keep the body stable, and the wallboard can be moved to a higher mounting position through the two-stage lifting unit to realize mounting. In the process of installing the wall boards, the three-stage aligning units respectively arranged at the middle part of the machine body at the bottom of the machine body and at the top of the machine body are used for correcting and adjusting the installation positions and the installation angles of the wall boards, so that each wall board can be accurately installed, and the working safety, the reliability and the installation precision of the intelligent installation robot are improved.
Description
Technical Field
The application relates to the field of building equipment, in particular to an intelligent wallboard mounting robot with an adjustable mounting range and a mounting method, which can be used in the fields of intelligent construction, assembly type construction, building industrialization and the like.
Background
The construction industry has developed at a high rate, but the efficiency of wallboard installation and the quality of construction are often limited by the skill level of the field workers. At present, the wallboard installation mode in the building industry mainly adopts manual installation, and the manual installation can be carried out only by using the cooperation of tools such as crowbars and the like by at least two workers. In the construction process, the wall panels need to be adjusted and fixed manually by workers in the procedures of wall panel righting, adjusting and the like, so that the workers have to be exposed to danger. In addition, the existing manual installation mode also has the problems of low manual installation working efficiency, uneven installation quality and the like. In response to this situation, the construction industry is currently attempting to improve this situation by means of mechanical automation.
At present, most of wallboard mounting machines in the market adopt a portal frame structure to complete wallboard lifting work. The wallboard lifting device is simple in structure and convenient for lifting the wallboard, but can also cause the problems of single applicable mounting place and fixed mounting height of a product. The existing equipment for lifting the wallboard by adopting the portal frame structure cannot simultaneously ensure the installation height and the movement flexibility. In the prior art, part of equipment adopts a wheel type walking mechanism to drive a wallboard to move, but the intelligent installation robot has the problem of poor passing performance and controllability. And, because the walking wheel support mode stability is not enough, consequently, the lifting power of some products is little can only be used for installing light weight wallboard. In addition, most of the existing intelligent installation robots are not provided with a special alignment mechanism, and are inconvenient to adjust and correct when installation errors occur.
In general, although the existing intelligent installation robot can improve the work efficiency by reducing the labor burden, the existing intelligent installation robot still has great progress space in many aspects. The existing wallboard installation equipment cannot adjust the installation height in a large range, is not flexible and sufficient when moving, is difficult to adapt to various workplaces, and has low wallboard installation efficiency and poor installation precision.
Disclosure of Invention
This application is to prior art's not enough, provides a wallboard intelligence installation robot and mounting method with adjustable installation scope, and this application realizes through multistage lifting mode that the centre gripping, transport, upset and the high lifting of wallboard alleviate workman's burden greatly, and it is big to have an installation scope, and the wallboard of the multiple size of mountable can be used to multiple installation place, and the security is high, the good reliability, installs accurate, remove advantages such as nimble, convenient operation. The technical scheme is specifically adopted in the application.
First, in order to achieve the above object, a wallboard intelligent installation robot with an adjustable installation range is provided, which includes: the walking mechanism is arranged at the bottom of the intelligent wallboard mounting robot and drives the intelligent wallboard mounting robot to move by a crawler; the goods carrying rack is arranged above the walking mechanism and comprises a horizontal platform and a balancing weight arranged above the front part of the horizontal platform; the first-stage aligning unit is arranged at the rear side of the horizontal platform of the goods loading frame, comprises a track arranged along the surface of the horizontal platform and an aligning trolley moving along the track and is used for preliminarily adjusting the aligning and mounting area of the wallboard clamped by the intelligent wallboard mounting robot; the second-stage lifting unit is vertically arranged on the alignment trolley of the first-stage alignment unit and comprises a vertical electro-hydraulic push rod fixed on the alignment trolley through a positioning bolt, and a rotary lifting mechanism is arranged at the top end of the vertical electro-hydraulic push rod; the top end of the first-stage lifting unit is connected with a rotary lifting mechanism of the second-stage lifting unit, the first-stage lifting unit is arranged on the front side of the second-stage lifting unit and moves up and down relatively aligned with the trolley along with the upward extension or downward retraction of the vertical electro-hydraulic push rod, a strip-shaped guide rail frame is further arranged on the front side of the first-stage lifting unit, a lifting belt is arranged in the strip-shaped guide rail frame, a sliding block is fixed on the lifting belt, and the sliding block is driven by the lifting belt to move up and down along the strip-shaped guide rail frame; the arm is adjusted well to the second grade, and its rear end and slider fixed connection, the level setting is in the front side of one-level lifting unit, and the arm is adjusted well to the second grade includes: the telescopic plate is driven by the telescopic rod to horizontally move back and forth along the mounting plate rail relative to the mounting plate; anchor clamps, its fixed connection is at the front end of expansion plate, including lower riser, go up the riser, the flat board, front bezel and electric putter, wherein, the bottom rear side of lower riser and the front end fixed connection of expansion plate, the upside of lower riser is provided with vertical track, it installs the upside in lower riser along vertical track is vertical to go up the riser, go up riser vertical movement about vertical track relative lower riser, the both ends of going up the riser still are provided with the flat board at the top level respectively, the flat board is improved level and is provided with electric putter, the front bezel top is connected to electric putter's front end, electric putter drive front bezel is followed the relative riser back-and-forth movement of horizontal direction and is in order the centre gripping or to relieve the wallboard.
Optionally, the wallboard intelligent installation robot with adjustable installation range as described in any one of the above, wherein the rotary lifting mechanism includes: the lifting device comprises a rotating track, a direct-current torque motor, a first miniature direct-current speed reducing motor, a gear, a steel wire rope and a reel, wherein the rotating track is fixedly arranged between the top end of a vertical type electro-hydraulic push rod and the top end of a primary lifting unit, the rotating track is fixedly provided with the first miniature direct-current speed reducing motor, an output shaft of the first miniature direct-current speed reducing motor is meshed with the top end of the vertical type electro-hydraulic push rod through the gear, and the rotating track is driven to horizontally rotate around the top end of the vertical type electro-hydraulic push rod through the gear meshing in the operation process of the first miniature direct-current speed reducing motor; the guide wheel is installed behind the rectangular shape guide rail frame of one-level lifting unit, the guide wheel embedding inside the swivel rail, by reel, wire rope and the direct current torque motor drive that establish on the swivel rail and along swivel rail vertical motion, promote one-level lifting unit.
Optionally, the intelligent wallboard mounting robot with the adjustable mounting range is as described in any one of the above, wherein a third-stage aligning unit is further disposed between the second-stage aligning mechanical arm and the slider on the front side of the first-stage lifting unit.
Optionally, the wallboard intelligent installation robot with an adjustable installation range as described in any one of the above, wherein the three-stage aligning unit includes: the rear end of the gear box is fixedly arranged on the front side of the sliding block of the primary lifting unit through a fixing bolt; the second micro direct current speed reducing motor is arranged at the front end of the gear box and is fixedly arranged on the upper part of the mounting plate, and an output shaft of the second micro direct current speed reducing motor is connected with a driving gear in the gear box and drives the driving gear to rotate; and the driven gear is arranged inside the gear box, is meshed with the driving gear, is fixedly connected with the telescopic plate of the mounting plate through a connecting rod in the axis direction, and drives the second-stage alignment mechanical arm and the clamp connected with the front end of the second-stage alignment mechanical arm to rotate in the vertical plane of the clamping wallboard through relative rotation between the driving gear and the driven gear.
Optionally, the intelligent wallboard mounting robot with an adjustable mounting range is described above, wherein the track is made of rubber, a driving system composed of a driving wheel, a tensioning wheel, a supporting wheel and a tensioning buffer device is arranged in the track, and the track is coated on the periphery of the driving system to drive the intelligent wallboard mounting robot to move on the ground.
Optionally, as arbitrary as above wallboard intelligence installation robot with adjustable installation scope, wherein, the middle part of riser and the front end fixed connection of expansion plate down, the both ends of riser are located the both sides of expansion plate respectively down, vertical track setting is at the middle part upside of riser down, and the middle part and the vertical rail connection of riser go up, and the rear end face of riser reciprocates along vertical track on the riser down under the preceding terminal surface laminating of going up the riser, the parallel plate still is connected with electric putter and front bezel respectively including installing two sets of at riser top both ends respectively on each group parallel plate for the centre gripping wallboard.
Optionally, in the primary lifting unit, the lifting belt is driven by a dc torque motor to operate, and the slider is fixed to the front side of the lifting belt by a belt clamp and is slidably connected to the elongated guide rail frame.
Meanwhile, in order to achieve the above object, the present application further provides a wallboard installation method, for use in any one of the above intelligent wallboard installation robots, including the following steps: firstly, driving a traveling mechanism to move the intelligent wallboard mounting robot to a front wall mounting area; secondly, adjusting the rotary lifting mechanism, the primary aligning unit, the secondary aligning mechanical arm and the tertiary aligning unit to enable the clamp to be tightened after moving to a proper position, and clamping a wallboard to be installed; driving a rotary lifting mechanism to drive a first-stage lifting unit and a front-side clamp thereof to drive a wallboard to be installed to be lifted preliminarily; fourthly, driving a first-stage lifting unit to lift the wallboard to be installed to a specified height; fifthly, driving a first micro direct current speed reducing motor of the rotary lifting mechanism to drive the clamp and the wallboard to be installed to horizontally rotate for 180 degrees, so that the wallboard to be installed initially reaches an installation position; sixthly, driving a second miniature direct-current speed reduction motor of the third-stage alignment unit to work, enabling the wallboard to be installed to rotate ninety degrees from a horizontal state to a vertical state, and then driving a clamp by the second-stage alignment mechanical arm and the first-stage alignment unit to enable the wallboard to be installed to be adjusted, attached and installed; and seventhly, loosening the clamp and withdrawing.
Optionally, in the wallboard installation method, when the first-stage lifting unit is driven to lift the wallboard to be installed to the designated height in the fourth step, the second-stage lifting unit is driven to further lift the whole first-stage lifting unit and the clamp installed on the front side of the first-stage lifting unit when the designated height exceeds the stroke range of the first-stage lifting unit.
Advantageous effects
Wallboard intelligence installation robot with adjustable installation scope that this application provided, by the walking of crawler-type running gear drive and keep the fuselage stable, can remove the wallboard to higher mounted position through two-stage lifting unit and realize the installation. This application is at the in-process of installation wallboard, adjusts the unit through setting up the tertiary of fuselage bottom middle part and fuselage top respectively and realizes the correction adjustment to wallboard mounted position, installation angle, can guarantee that each wallboard is accurate to be installed, has promoted intelligent installation robot work security, reliability and installation accuracy.
Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the application.
Drawings
The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application and not limit the application. In the drawings:
FIG. 1 is a schematic diagram of the overall structure of an installation range adjustable wallboard intelligent installation robot of the present application;
FIG. 2 is a side view of a robot arm portion of the wallboard intelligent mounting robot of the present application;
FIG. 3 is a top view of a robot arm portion of the wallboard intelligent mounting robot of the present application;
fig. 4 is a detailed view of a portion of the structure of the wall panel intelligent installation robot of the present application.
In the figure: 1-running gear, 2-one-level alignment unit, 3-second-level lifting unit, 4-rotatory hoist mechanism, 5-one-level lifting unit, 6-anchor clamps, 7-second-level alignment mechanical arm, 8-third-level alignment unit, 9-cargo carrying frame, 61-fixing bolt, 62-gear box, 63-the miniature direct current gear motor of second, 64-telescopic link, 65-lower vertical plate, 66-upper vertical plate, 67-translation board, 68-electric putter, 69-front bezel, 10-telescopic bezel, 11-mounting panel.
Detailed Description
In order to make the purpose and technical solutions of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings of the embodiments of the present application. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the application without any inventive step, are within the scope of protection of the application.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The meaning of "inside and outside" in the application refers to that the direction pointing to the inside of the intelligent wall panel mounting robot is inside, and vice versa, relative to the intelligent wall panel mounting robot per se; and not as a specific limitation on the mechanism of the device of the present application.
The meaning of "left and right" in this application means that when the user is just facing the advancing direction of the intelligent wallboard mounting robot, the direction from the mounting plate to the translational plate on one side is the left, and the direction from the mounting plate to the translational plate on the other side is the right, rather than the specific limitation on the device mechanism of this application.
The term "connected" as used herein may mean either a direct connection between components or an indirect connection between components via other components.
The meaning of "up, down" in this application means that when the user is just facing wallboard intelligence installation robot, the direction that is pointed to rotatory hoist mechanism top by running gear is ascending, otherwise is down, and is not the specific restriction to the device mechanism of this application.
When the user who indicates is just to wallboard intelligence installation robot in this application "preceding, back", the direction that is directional load-carrying rack by vertical type electricity liquid push rod is just preceding, otherwise promptly the back.
Fig. 1 is a wallboard intelligent installation robot with adjustable installation range according to the application, which includes:
the walking mechanism 1 is arranged at the bottom of the intelligent wallboard mounting robot, and drives the intelligent wallboard mounting robot to move by a rubber crawler belt, and the rubber crawler belt is supported by a driving system which is arranged in the rubber crawler belt and consists of a driving wheel, a tension wheel, a supporting wheel, a riding wheel and a tension buffer device, is coated on the periphery of the driving system and drives the intelligent wallboard mounting robot to move on the ground;
the cargo carrying frame 9 is arranged above the travelling mechanism 1 and comprises a horizontal platform and a balancing weight arranged above the front part of the horizontal platform;
the primary aligning unit 2 is arranged at the rear side of the horizontal platform of the loading rack 9, comprises a track arranged along the surface of the horizontal platform and an aligning trolley moving along the track, and is used for preliminarily adjusting the aligning and mounting area of a wallboard clamped by the intelligent wallboard mounting robot;
the second-stage lifting unit 3 is vertically arranged on the alignment trolley of the first-stage alignment unit 2 and comprises a vertical electro-hydraulic push rod fixed on the alignment trolley through a positioning bolt, and a rotary lifting mechanism 4 is arranged at the top end of the vertical electro-hydraulic push rod;
the top end of the first-stage lifting unit 5 is connected with a rotary lifting mechanism 4 of the second-stage lifting unit 3, the first-stage lifting unit 5 is arranged on the front side of the second-stage lifting unit 3 and extends upwards or retracts downwards along with a vertical electro-hydraulic push rod to move up and down relative to the alignment trolley, a long strip-shaped guide rail frame is further arranged on the front side of the first-stage lifting unit 5, a lifting belt is arranged in the long strip-shaped guide rail frame and driven by a direct-current torque motor to operate, a sliding block can be fixed on the front side of the belt through a belt clamp and driven by the lifting belt to be in sliding connection with the long strip-shaped guide rail frame, and therefore the first-stage lifting unit can move up and down along the long strip-shaped guide rail frame to achieve displacement driving of the second-stage alignment mechanical arm and the clamp;
When the intelligent wallboard mounting robot works, firstly, a walking mechanism 1 is driven to move the intelligent wallboard mounting robot to a front wall mounting area; secondly, adjusting the rotary lifting mechanism 4 and each pair of the positive units to move the clamp to a proper position and then tighten the clamp to clamp the wallboard to be installed; thirdly, driving the rotary lifting mechanism 4 to drive the first-stage lifting unit 5 and a front-side clamp thereof to drive the wallboard to be installed to be lifted preliminarily; fourthly, driving the first-stage lifting unit to lift the wallboard to be installed to a specified height, and further driving the second-stage lifting unit 3 to further lift the whole first-stage lifting unit 5 and a clamp installed on the front side of the first-stage lifting unit to expand the installation range of the wallboard when the specified height of the wallboard exceeds the stroke range of the first-stage lifting unit; fifthly, driving a first micro direct current speed reducing motor of the rotary lifting mechanism to drive the clamp and the wallboard to be installed to horizontally rotate for 180 degrees, so that the wallboard to be installed initially reaches an installation position; sixthly, driving a corresponding aligning unit motor in the intelligent wallboard installing robot to work, enabling the wallboard to be installed to rotate ninety degrees from a horizontal state to a vertical state, and then driving a clamp by the secondary aligning mechanical arm 7 and the primary aligning unit 2, so that the wallboard to be installed is adjusted, attached and installed; and seventhly, loosening the clamp and withdrawing, and restoring each part of the intelligent wallboard mounting robot to the initial state for mounting the next wallboard.
Therefore, the range of the installation height of the wallboard is effectively enlarged through the structure of multi-stage lifting, the size is not huge, and the wallboard can be suitable for various installation places. The rubber crawler-type traveling mechanism is adopted to improve the trafficability of the intelligent installation robot, so that the intelligent installation robot can turn to and walk more flexibly, the grounding ratio is reduced, and the damage to the ground can be effectively avoided. The invention innovatively adopts the electro-hydraulic push rod as a lifting force source of the secondary lifting unit, and the electro-hydraulic push rod has the advantages that: 1, compact structure and simple maintenance; 2, the device can be started with a load and has an overload protection function; 3 can stop at any position in the specified stroke and is self-locked; 4, push-pull force and speed are infinitely adjustable; 5, sensitive action, stable operation, accurate stroke control and the like. The characteristics of the electro-hydraulic push rod can well meet the working requirements of the intelligent wallboard mounting robot, and therefore the electro-hydraulic push rod is very suitable for lifting of the intelligent wallboard mounting robot. The aligning mechanism provided by the invention can effectively adjust the positions and angles of the wallboard in multiple directions, so that the wallboard can be corrected more quickly when a position error occurs in the process of installing the wallboard. Other products can only carry one wallboard each time, and the goods carrier provided by the invention can carry 6-10 wallboards, so that the number of times of reciprocating between an installation place and a material stacking place after the installation is finished is reduced, and the installation efficiency is improved.
In concrete implementation, the rotary lifting mechanism 4 in the above-mentioned wallboard intelligent installation robot can be specifically set up to include:
a rotating track, a DC torque motor, a first micro DC speed reducing motor, a gear, a steel wire rope and a reel, wherein,
the rotating track is fixedly arranged between the top end of the vertical type electro-hydraulic push rod and the top end of the primary lifting unit 5, a first miniature direct-current speed reducing motor is fixedly arranged on the rotating track, an output shaft of the first miniature direct-current speed reducing motor is meshed with the top end of the vertical type electro-hydraulic push rod through a gear, and the rotating track is driven to horizontally rotate around the top end of the vertical type electro-hydraulic push rod through gear meshing in the operation process of the first miniature direct-current speed reducing motor;
the guide wheel is installed behind the rectangular shape guide rail frame of one-level lifting unit 5, the guide wheel embedding inside the swivel rail, by reel, wire rope and the direct current torque motor drive that establish on the swivel rail and along swivel rail vertical motion, promote one-level lifting unit.
Therefore, a gear mounted on an output shaft of the miniature direct current speed reducing motor fixed on the rotary rail is meshed with a gear fixed on the top end of the electro-hydraulic push rod, a guide wheel is mounted behind a vertical plate of the primary lifting unit and can be assembled into a guide rail of the rotary rail, a direct current torque motor mounted on the rotary rail is provided with a winding wheel, and a steel wire rope on the winding wheel is fixed on the vertical plate. The rotary track can rotate around the electro-hydraulic push rod level under the drive of miniature direct current gear motor meshing gear to can drive anchor clamps level and rotate, and then angle of adjustment is in order to reach the effect that lets the wallboard be on a parallel with the vertical face of installation, plays certain effect of adjusting well. When the direct current torque motor installed on the rotating track works, the reel rotates to enable the whole first-stage lifting unit to vertically move along the track of the rotating track through the steel wire rope, and therefore the lifting effect on the first-stage lifting unit is achieved.
For more accurately adjusting the mounting position of wallboard, still can further in this application under some implementation, adjust between the slider of arm 7 and one-level lifting unit 5 front side well in the second grade and add the tertiary unit 8 of adjusting well that has following structure:
a gear box 62, the rear end of which is fixedly arranged at the front side of the slide block of the primary lifting unit 5 through a fixing bolt 61;
a second micro dc reduction motor 63 which is provided at the front end of the gear box 62 and is fixedly provided at the upper portion of the mounting plate 11, and an output shaft of the second micro dc reduction motor 63 is connected to a driving gear inside the gear box 62 to drive the driving gear to operate;
and the driven gear is arranged inside the gear box 62, is meshed with the driving gear, is fixedly connected with the telescopic plate 10 of the mounting plate 11 through a connecting rod in the axial direction of the driven gear, and drives the second-stage alignment mechanical arm and the clamp 6 connected with the front end of the second-stage alignment mechanical arm to rotate in a vertical plane for clamping the wallboard through relative rotation between the driving gear and the driven gear.
From this, the unit is adjusted well to the tertiary by the gear, miniature direct current gear motor 63, gear box 62, the output shaft is constituteed, the casing passes through fixing bolt 61 to be fixed on the elevator, two meshing gears are equipped with in casing inside, miniature direct current gear motor 63 and output shaft are connected respectively to two gears, the unit is adjusted well to the second is being connected to the output shaft, the gear box is constituteed with axle and gear to the gear box shell, when motor during operation, the gear transmits rotary motion for the output shaft, so can accomplish and carry out rotatory effect with anchor clamps and the wallboard above on vertical plane, thereby accomplish and adjust well work.
Consider that fixture of wallboard intelligence installation robot of this application is mainly responsible for snatching and the fixed work to the wallboard, its different length that need adapt to different kind wallboards, width, height size. In order to better fix wallboards of different sizes, the fixture of the intelligent installation robot clamping mechanism should have adjustability and ensure that the clamping mechanism has sufficient clamping force to ensure the operation safety. Therefore, the application further can be with wallboard intelligence installation robot's anchor clamps mechanism by lower riser 65, upper riser 66, dull and stereotyped 67, front bezel 69 and electric putter 68 constitute. The lower vertical plate 65 mainly serves to connect the intelligent mounting robot arm with the rest of the jig. The upper part of the lower vertical plate 65 is provided with a vertical track, the upper vertical plate 66 can vertically move on the vertical track, and a friction plate is arranged on the inner side of the upper vertical plate 66 and the front plate 69, so that the friction plate and the friction plate of the front plate can provide vertical upward friction force when the wallboard is fastened. The upper vertical plate 66 is connected on the track of the lower vertical plate 65, the size of the clamp in the vertical direction can be adjusted through the vertical movement of the lower vertical plate along the track, and the clamp can be more smoothly withdrawn from the installation position through the movement of the upper vertical plate after the wallboard is installed. The upper end of the upper riser is provided with a horizontal track to mount two translational plates 67. Two translation plates 67 mounted on the upper riser rails can move back and forth horizontally along the rails and achieve the effect of changing the clamping size of the clamp in the horizontal direction by changing the positions of the translation plates. The upper part of the translational plate is provided with an electric push rod 68 and a section of track, the other end of the electric push rod 68 is fixed on the front plate, the front plate can horizontally move along the track longitudinally under the action of the electric push rod, one surface of the front plate is provided with a friction material, and when the electric push rod is tightened, the front plate and the lower vertical plate are close to each other, so that the effect of fixing the wallboard is achieved.
Wherein, down riser 65 can set up the long slab structure that extends to the level, and its middle part and the front end fixed connection of expansion plate 10, down riser 65 equally can set up the long slab structure that extends to the level and from this through setting up its both ends respectively in the left and right sides of expansion plate 10, will vertical track setting is at the middle part upside of riser down, with the middle part and the vertical track connection of last riser 66, and the rear end face of riser 65 reciprocates along vertical track on the riser down under the laminating of the preceding terminal surface of last riser 66, and further will flat plate 67 is installed respectively at last riser top both ends to connect electric putter 68 and front bezel 69 respectively through two sets of flat plates 67, realize the centre gripping to the wallboard of different widths.
Under preferred implementation, the wallboard intelligence installation robot of this application, its lifting mechanism contains one-level lifting and two units of second grade lifting altogether. The first-stage lifting unit 5 is a lifting mechanism close to the fixture, and when the fixture descends to a proper position to grab the wallboard and the installation height is lower, the first-stage lifting unit is mainly used for lifting and lowering the fixture. The secondary lifting unit 3 performs lifting work when the height reached by the primary lifting unit is not enough for installation height. The primary lifting unit 5 is a belt type lifting mechanism, and consists of a strip-shaped guide rail frame, a sliding block, a belt clamp, a lifting belt and a direct current torque motor. One side of the guide rail frame is provided with a guide rail, the sliding block can vertically move along the guide rail, is also fixed on the belt through a belt clamp, and can be used for installing the third aligning unit on the sliding block. The motor transmits power to the belt, so that the lifting effect of the vertical up-and-down movement of the sliding block is driven. The second-stage lifting unit works when the first-stage lifting height is not enough, the main body of the second-stage lifting unit is a vertically-placed vertical electro-hydraulic push rod, the vertical electro-hydraulic push rod is fixed on the first-stage alignment trolley through a positioning bolt, and the top end of the second-stage lifting unit is connected with the first-stage lifting unit through a rotary rail. The wallboard can be driven to rise only by starting the electro-hydraulic push rod during working, the electro-hydraulic push rod has the advantages of being strong in reliability, capable of being started with loads and the like, and the working safety of the intelligent installation robot is greatly improved.
Meanwhile, the aligning mechanism of the intelligent wallboard mounting robot comprises three aligning units. The first-stage alignment unit consists of a track arranged on the machine body and a trolley with a second-stage lifting unit fixed above the machine body, the trolley is provided with a direct-current servo motor and can move along the track under the action of the motor, and the rough alignment part of the intelligent installation robot can work through the movement of the trolley. The second is that intelligence installation robot installs the arm of anchor clamps, and the arm comprises mounting panel 11, telescopic link 64, expansion plate 10 and go-between, and all parts are installed on the mounting panel, and the expansion plate can be under the promotion of telescopic link along the track removal on the mounting panel, and the one end coupling jig of expansion plate so alright realize the function of adjustment anchor clamps position, and the go-between can be in the same place the output shaft of unit with the third output shaft of adjusting well with the mounting panel.
Considering the complex danger of wallboard intelligence installation robot operational environment, this application promotes its running gear's trafficability characteristic and reliability through rubber track structure. The running gear of wallboard intelligence installation robot adopts whole platform truck walking to be track structure to obtain more even earth pressure, improve adhesion property. The running mechanism comprises a driving wheel, a tension wheel, a thrust wheel, a riding wheel, a tension buffer device and a rubber track. The problem that the rubber track for the intelligent installation robot is damaged on the road surface when the track mechanism passes through can be effectively solved, and meanwhile, the friction force can be increased.
The operating environment of wallboard intelligence installation robot itself is considered, consequently, this application still further selects its shell material for the material that has sufficient intensity is in order to protect inside components and parts, prevents that intelligence installation robot control system components and parts from receiving the damage. And in order to guarantee that the primary alignment unit can stably run, two rails are further arranged on the machine body, and the trolley provided with the alignment mechanism can move in parallel along the rails so as to adjust the installation position of the wallboard. The rear part above the machine body is provided with a loading rack for carrying the wallboard, and the inner space of the machine body is used for placing and installing electrical elements so as to provide a protection effect for the electrical elements.
Therefore, the intelligent installation robot carrying wallboard can firstly move to an installation area, the clamping mechanism is enabled to reach a proper position by adjusting the rotary lifting mechanism and the alignment mechanism, then the clamp is tightened to clamp the wallboard, then the rotary lifting mechanism is firstly used for carrying out primary lifting on the first-stage lifting unit together with the wallboard, then the first-stage lifting unit is used for lifting the wallboard to a specified height (when the first-stage lifting height is insufficient, the second-stage lifting unit can be continuously used for further lifting), the rotary motor of the rotary lifting mechanism works to drive the clamping mechanism and the wallboard to horizontally rotate 180 degrees after the wallboard reaches the specified height, so that the wallboard initially reaches the installation position, then the rotary motor of the third alignment unit connected with the clamping mechanism works to enable the wallboard to rotate ninety degrees from the horizontal state to the vertical state, and then other alignment mechanisms work and adjust to enable the wallboard to further meet the installation position, and finally, loosening the clamp and withdrawing, and restoring each mechanism to an initial state to finish one-time installation.
The utility model provides a wallboard intelligence installation robot can accomplish wallboard centre gripping, transport, upset, wallboard among the wallboard installation and erect and highly lift work such as, alleviates workman's burden greatly. The invention has the advantages of large installation range, high safety, strong reliability, accurate installation, flexible movement, convenient operation and the like, can be used for installing wallboards with various sizes and can be used in various installation places.
The above are merely embodiments of the present application, and the description is specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the protection scope of the present application.
Claims (9)
1. The utility model provides a wallboard intelligence installation robot with adjustable installation scope which characterized in that includes:
the walking mechanism (1) is arranged at the bottom of the intelligent wallboard mounting robot and drives the intelligent wallboard mounting robot to move by a crawler;
the goods carrying rack (9) is arranged above the travelling mechanism (1) and comprises a horizontal platform and a balancing weight arranged above the front part of the horizontal platform;
the primary aligning unit (2) is arranged on the rear side of a horizontal platform of the goods carrying rack (9), comprises a track arranged along the surface of the horizontal platform and an aligning trolley moving along the track, and is used for preliminarily adjusting the aligning and mounting area of a wallboard clamped by the intelligent wallboard mounting robot;
the second-stage lifting unit (3) is vertically arranged on the alignment trolley of the first-stage alignment unit (2) and comprises a vertical electro-hydraulic push rod fixed on the alignment trolley through a positioning bolt, and a rotary lifting mechanism (4) is arranged at the top end of the vertical electro-hydraulic push rod;
the top end of the first-stage lifting unit (5) is connected with a rotary lifting mechanism (4) of the second-stage lifting unit (3), the first-stage lifting unit (5) is arranged on the front side of the second-stage lifting unit (3) and extends upwards or retracts downwards along with a vertical electro-hydraulic push rod to move up and down relatively aligned with the trolley, a strip-shaped guide rail frame is further arranged on the front side of the first-stage lifting unit (5), a lifting belt is arranged in the strip-shaped guide rail frame, a sliding block is fixed on the lifting belt, and the sliding block is driven by the lifting belt to move up and down along the strip-shaped guide rail frame;
arm (7) are adjusted well to the second grade, its rear end and slider fixed connection, and the level setting includes at the front side of one-level lifting unit (5) the arm is adjusted well to the second grade: the telescopic plate comprises a horizontally arranged mounting plate (11), a mounting plate rail arranged on the mounting plate, a telescopic plate (10) connected to the mounting plate rail and a telescopic rod (64) connected between the telescopic plate and the mounting plate, wherein the telescopic plate (10) is driven by the telescopic rod (64) to horizontally move back and forth relative to the mounting plate (11) along the mounting plate rail;
a clamp (6) which is fixedly connected with the front end of the expansion plate (10) and comprises a lower vertical plate (65), an upper vertical plate (66), a translation plate (67), a front plate (69) and an electric push rod (68), wherein, the bottom rear side of lower riser (65) and the front end fixed connection of expansion plate (10), the upside of lower riser (65) is provided with vertical track, it installs in the upside of lower riser (65) vertically to go up riser (66) along vertical track, it moves vertically from top to bottom to go up riser (66) along vertical track relative lower riser (65), the both ends of going up riser (66) still are provided with dull and stereotyped board (67) at the top level respectively, dull and stereotyped board (67) are improved level and are provided with electric putter (68), front bezel (69) top is connected to the front end of electric putter (68), electric putter (68) drive front bezel (69) are followed relative last riser (66) back-and-forth movement of horizontal direction and are in order the centre gripping or to release the wallboard.
2. The adjustable installation range wallboard intelligent installation robot of claim 1, wherein the rotary lifting mechanism (4) comprises: a rotating track, a DC torque motor, a first micro DC speed reducing motor, a gear, a steel wire rope and a reel, wherein,
the rotating track is fixedly arranged between the top end of the vertical type electro-hydraulic push rod and the top end of the primary lifting unit (5), a first miniature direct-current speed reducing motor is fixedly arranged on the rotating track, an output shaft of the first miniature direct-current speed reducing motor is meshed with the top end of the vertical type electro-hydraulic push rod through a gear, and the rotating track is driven to horizontally rotate around the top end of the vertical type electro-hydraulic push rod through gear meshing in the operation process of the first miniature direct-current speed reducing motor;
the guide wheel is installed behind the rectangular shape guide rail frame of one-level lifting unit (5), the guide wheel embedding inside the swivel rail, by the drive of reel, wire rope and the direct current torque motor that establish on the swivel rail and along swivel rail vertical motion, promote one-level lifting unit.
3. The wallboard intelligent installation robot with the adjustable installation range according to claim 1, wherein a third-stage alignment unit (8) is further arranged between the second-stage alignment mechanical arm (7) and the slide block on the front side of the first-stage lifting unit (5).
4. The wallboard intelligent installation robot with adjustable installation range according to claim 3, wherein the three-stage aligning unit (8) comprises:
the rear end of the gear box (62) is fixedly arranged on the front side of the sliding block of the primary lifting unit (5) through a fixing bolt (61);
a second micro direct current speed reducing motor (63) which is arranged at the front end of the gear box (62) and is fixedly arranged at the upper part of the mounting plate (11), and an output shaft of the second micro direct current speed reducing motor (63) is connected with a driving gear inside the gear box (62) and drives the driving gear to rotate;
and the driven gear is arranged inside the gear box (62), is meshed with the driving gear, is fixedly connected with the expansion plate (10) of the mounting plate (11) through a connecting rod in the axis direction, and drives the second-stage alignment mechanical arm and the clamp (6) connected with the front end of the second-stage alignment mechanical arm to rotate in a vertical plane for clamping the wallboard through relative rotation between the driving gear and the driven gear.
5. The intelligent wallboard installing robot with the adjustable installing range according to claims 1-4, wherein the crawler belt is made of rubber, a driving system composed of a driving wheel, a tension wheel, a thrust wheel, a riding wheel and a tension buffer device is arranged in the crawler belt, the crawler belt is coated on the periphery of the driving system, and the intelligent wallboard installing robot is driven to move on the ground.
6. The wallboard intelligent installation robot with the adjustable installation range of claim 1, wherein the middle of the lower vertical plate (65) is fixedly connected with the front end of the expansion plate (10), the two ends of the lower vertical plate (65) are respectively located on the two sides of the expansion plate (10), the vertical track is arranged on the upper side of the middle of the lower vertical plate, the middle of the upper vertical plate (66) is connected with the vertical track, the rear end face of the upper vertical plate (66) is attached to the rear end face of the lower vertical plate (65) and moves up and down along the vertical track on the lower vertical plate, the flat plates (67) comprise two groups which are respectively installed at the two ends of the top of the upper vertical plate, and each group of the flat plates (67) is further respectively connected with an electric push rod (68) and a front plate (69) for clamping a wallboard.
7. The wallboard intelligent installation robot with the adjustable installation range according to claim 1, wherein in the primary lifting unit (5), the lifting belt is driven by a direct current torque motor to operate, and a sliding block is fixed on the front side of the lifting belt by a belt clamp and is in sliding connection with the elongated guide rail frame.
8. A wall panel installation method for a wall panel intelligent installation robot according to any one of claims 1 to 7, comprising the steps of:
firstly, driving a travelling mechanism (1) to move a wallboard intelligent installation robot to a front wall installation area;
secondly, adjusting the rotary lifting mechanism (4), the primary aligning unit (2), the secondary aligning mechanical arm (7) and the tertiary aligning unit (8) to enable the clamp to be moved to a proper position and then tightened, and clamping a wallboard to be installed;
thirdly, driving a rotary lifting mechanism (4) to drive a first-stage lifting unit (5) and a front-side clamp thereof to drive a wallboard to be installed to be lifted initially;
fourthly, driving a first-stage lifting unit to lift the wallboard to be installed to a specified height;
fifthly, driving a first micro direct current speed reducing motor of the rotary lifting mechanism to drive the clamp and the wallboard to be installed to horizontally rotate for 180 degrees, so that the wallboard to be installed initially reaches an installation position;
sixthly, driving a second miniature direct-current speed reduction motor (63) of the third-stage alignment unit (8) to work, enabling the wallboard to be installed to rotate ninety degrees from a horizontal state to a vertical state, and then driving a clamp by the second-stage alignment mechanical arm (7) and the first-stage alignment unit (2) to enable the wallboard to be installed to be adjusted, attached and installed at the installation position;
and seventhly, loosening the clamp and withdrawing.
9. The wall panel installation method according to claim 8, wherein in the fourth step, when the primary lifting unit is driven to lift the wall panel to be installed to a specified height, the secondary lifting unit (3) is driven to further lift the whole primary lifting unit (5) and the fixture installed on the front side thereof when the specified height exceeds the stroke range of the primary lifting unit.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111168921.5A CN113833281B (en) | 2021-10-08 | 2021-10-08 | Intelligent wallboard mounting robot with adjustable mounting range and mounting method |
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| CN202111168921.5A CN113833281B (en) | 2021-10-08 | 2021-10-08 | Intelligent wallboard mounting robot with adjustable mounting range and mounting method |
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| CN113833281B CN113833281B (en) | 2022-07-22 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114458024A (en) * | 2022-01-12 | 2022-05-10 | 上海鸢飞文化策划有限公司 | A mounting tool that is used for picture and text design culture wall to make |
| CN115257506A (en) * | 2022-06-30 | 2022-11-01 | 安徽阿莫斯流体技术有限公司 | Multipurpose rescue vehicle structure |
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2021
- 2021-10-08 CN CN202111168921.5A patent/CN113833281B/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114458024A (en) * | 2022-01-12 | 2022-05-10 | 上海鸢飞文化策划有限公司 | A mounting tool that is used for picture and text design culture wall to make |
| CN115257506A (en) * | 2022-06-30 | 2022-11-01 | 安徽阿莫斯流体技术有限公司 | Multipurpose rescue vehicle structure |
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| CN113833281B (en) | 2022-07-22 |
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