CN114658198B - Grabbing device, wallboard mounting equipment and wallboard grabbing control method - Google Patents
Grabbing device, wallboard mounting equipment and wallboard grabbing control method Download PDFInfo
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- CN114658198B CN114658198B CN202011532877.7A CN202011532877A CN114658198B CN 114658198 B CN114658198 B CN 114658198B CN 202011532877 A CN202011532877 A CN 202011532877A CN 114658198 B CN114658198 B CN 114658198B
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- supporting
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- claw
- mounting
- clamping
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/18—Implements for finishing work on buildings for setting wall or ceiling slabs or plates
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/18—Implements for finishing work on buildings for setting wall or ceiling slabs or plates
- E04F21/1838—Implements for finishing work on buildings for setting wall or ceiling slabs or plates for setting a plurality of similar elements
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- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
Abstract
The embodiment of the application provides a grabbing device, wallboard mounting equipment and a wallboard grabbing control method. At least one pair of clamping mechanisms are arranged on opposite sides of the mounting frame and used for clamping two sides of a material; the supporting claw mechanism is arranged on the adjacent side of the mounting frame relative to the clamping mechanism and used for supporting the bottom of the material; the detection mechanism is arranged on one of the supporting claw mechanism and the mounting frame, the supporting claw mechanism comprises a starting position for starting to contact the material and a safety position for propping against the material, the supporting claw mechanism moves from the starting position to the safety position, and the detection mechanism is used for detecting whether the supporting claw mechanism is located at the safety position. The grabbing device, the wallboard mounting equipment and the wallboard grabbing control method enable workers to ensure that the claw supporting mechanism safely supports or butts against the wallboard, and therefore next operation can be conveniently started.
Description
Technical Field
The application relates to the technical field of building decoration, in particular to a grabbing device, wallboard mounting equipment and a wallboard grabbing control method.
Background
At present, when wallboard installation is carried out to interior decoration, use wallboard installation robot can improve the efficiency of installation greatly, can practice thrift manpower and materials moreover. When the wallboard installation robot grabs and installs the wallboards, the wallboards need to be supported by the supporting claws so as to be convenient for conveying and installing the wallboards, however, the wallboards cannot be clamped by the clamping claws, whether the supporting claws safely support or lean against the wallboards cannot be ensured, and therefore whether the following operation can be performed cannot be ensured.
Disclosure of Invention
The embodiment of the application aims to provide a grabbing device, wallboard mounting equipment and a wallboard grabbing control method, which are used for solving the problem that the existing wallboard mounting robot cannot ensure whether a supporting claw of the wallboard is safely supported or leaned against the wallboard.
The embodiment of the application provides a grabbing device, which comprises:
a mounting frame;
the clamping mechanisms are arranged on opposite sides of the mounting frame and used for clamping two sides of a material;
the supporting claw mechanism is arranged on the adjacent side of the mounting frame relative to the clamping mechanism and used for supporting the bottom of the material;
the detection mechanism is arranged on one of the supporting claw mechanism and the mounting frame, the supporting claw mechanism comprises a starting position for starting to contact materials and a safety position for propping the materials, the supporting claw mechanism moves from the starting position to the safety position, and the detection mechanism is used for detecting whether the supporting claw mechanism is located at the safety position.
In one embodiment, the claw supporting mechanism comprises a supporting seat and supporting feet, the supporting seat is connected with the mounting frame, the supporting feet are rotatably arranged on the supporting seat, and the detection mechanism is arranged on the supporting seat; the supporting leg comprises a starting position for starting to contact the material and a safety position for abutting the material, when the supporting leg contacts the material from the starting position to the safety position to enable the supporting leg to abut against the material, one end, adjacent to the supporting seat, of the supporting leg abuts against the supporting seat, and the detection mechanism is used for detecting whether the supporting leg abuts against the supporting seat or not.
In one embodiment, the support base is provided with an elastic supporting piece, one end of the support leg adjacent to the support base is provided with a supporting surface, when the support leg is gradually unfolded, the elastic supporting piece is elastically abutted to the supporting surface, and the detection mechanism is used for sensing whether the supporting surface is abutted to the support base.
In one embodiment, the elastic abutting piece comprises a guide pillar and an elastic portion, one end of the elastic portion is connected with the supporting seat, the other end of the elastic portion is connected with the guide pillar, and when the supporting foot is gradually unfolded, one end, far away from the elastic portion, of the guide pillar abuts against the abutting surface.
In one embodiment, the support base has a mounting surface, a mounting hole is formed in the mounting surface, the guide post and the elastic portion are sequentially arranged in the mounting hole, and when the support leg is gradually unfolded, one end, away from the elastic portion, of the guide post is located outside the mounting hole and is abutted to the abutting surface.
In one embodiment, the supporting leg rotates to enable the supporting leg to retract relative to the supporting seat, and when the supporting leg is gradually retracted, one end, away from the detection mechanism, of the supporting leg rotates to be detachably connected with the supporting seat.
In one embodiment, the number of the supporting claw mechanisms is a plurality, and a plurality of the supporting seats of a plurality of the supporting claw mechanisms are arranged on the mounting frame at intervals.
A wallboard mounting apparatus comprising a mobile chassis and a gripping device according to any of the embodiments above, the mounting being provided on the mobile chassis.
In one embodiment, the clamping mechanism has a clamping surface for abutting against the wallboard, the supporting legs have supporting surfaces for supporting the wallboard, the supporting surfaces are perpendicular to the clamping surfaces, the mounting frame is rotatably arranged on the movable chassis, and the rotation axis of the mounting frame is parallel to the clamping surfaces and parallel to the supporting surfaces.
The wallboard grabbing control method is applied to the grabbing device or the wallboard installation equipment in any embodiment, and comprises the following steps:
moving the mounting frame to a first position towards the wallboard so that the clamping mechanisms are positioned on two sides of the wallboard;
and moving the mounting frame to a second position along an extending direction parallel to the top to bottom of the wallboard, enabling the claw supporting mechanism to contact the wallboard and move from the initial position to the safety position, and receiving a safety signal sent by the detection mechanism when the detection mechanism detects that the claw supporting mechanism is positioned at the safety position.
In one embodiment, the step of moving the pawl mechanism from the home position to the safety position further comprises: the number of the supporting claw mechanisms is multiple, and the number of the supporting claw mechanisms used for contacting the wallboard and the positions of the supporting claw mechanisms used for contacting the wallboard are controlled according to the type of the wallboard to be grabbed.
According to the grabbing device, the wallboard mounting equipment and the wallboard grabbing control method, the supporting claw mechanism is arranged on the adjacent side of the clamping mechanism, so that the clamping mechanism is matched with the supporting claw mechanism to be convenient for firmly grabbing the wallboard, the supporting claw mechanism is located at the initial position when just contacting materials and is located at the safety position when propping materials, the supporting claw mechanism is indicated to safely support or prop against the wallboard, the detection mechanism is arranged to detect whether the supporting claw mechanism is located at the safety position, and when the supporting claw mechanism is located at the safety position, the detection mechanism detects and then sends a safety signal to indicate that the supporting claw mechanism props against the wallboard, so that workers can ensure that the supporting claw mechanism safely supports or props against the wallboard, and further operation can be performed.
Additional features and advantages of the disclosure will be set forth in the description which follows, or in part will be obvious from the description, or may be learned by practice of the techniques of the disclosure.
In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and other related drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of a wallboard mounting apparatus provided in an embodiment of the present application;
FIG. 2 is an enlarged schematic view of a portion of the wallboard mounting apparatus shown in FIG. 1 at A;
fig. 3 is a schematic structural view of a claw supporting mechanism according to an embodiment of the present application;
fig. 4 is a schematic structural view of another state of the claw supporting mechanism according to the embodiment of the present application;
FIG. 5 is a schematic view of a structure of a claw supporting mechanism according to another embodiment of the present application;
fig. 6 is a schematic diagram of a standard wallboard lifted by the claw supporting mechanism according to the embodiment of the present application;
fig. 7 is a schematic diagram of a claw supporting mechanism for supporting a special-shaped wallboard according to an embodiment of the present application;
fig. 8 is a schematic view of another use state of the wallboard mounting apparatus provided by the embodiment of the present application;
fig. 9 is a schematic flow chart of a wallboard grabbing control method according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.
In the present application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate an azimuth or a positional relationship based on that shown in the drawings. These terms are only used to better describe the present application and its embodiments and are not intended to limit the scope of the indicated devices, elements or components to the particular orientations or to configure and operate in the particular orientations.
Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in the present application will be understood by those of ordinary skill in the art according to the specific circumstances.
Furthermore, the terms "mounted," "configured," "provided," "connected," and "connected" 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 a point 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 above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
Furthermore, the terms "first," "second," and the like, are used primarily to distinguish between different devices, elements, or components (the particular species and configurations may be the same or different), and are not used to indicate or imply the relative importance and number of devices, elements, or components indicated. Unless otherwise indicated, the meaning of "a plurality" is two or more.
In one embodiment, a gripping device includes a mounting bracket, a clamping mechanism, a jaw supporting mechanism, and a detection mechanism. At least one pair of clamping mechanisms are arranged on opposite sides of the mounting frame and used for clamping two sides of a material; the supporting claw mechanism is arranged on the adjacent side of the mounting frame relative to the clamping mechanism and used for supporting the bottom of the material; the detection mechanism is arranged on one of the supporting claw mechanism and the mounting frame, the supporting claw mechanism comprises a starting position for starting to contact materials and a safety position for propping the materials, the supporting claw mechanism moves from the starting position to the safety position, and the detection mechanism is used for detecting whether the supporting claw mechanism is located at the safety position.
As shown in fig. 1 to 5, a gripping device 10 according to an embodiment includes a mounting frame 100, a clamping mechanism 200, a gripper mechanism 300, and a detecting mechanism 400. At least one pair of clamping mechanisms 200 are arranged on opposite sides of the mounting frame 100 and are used for clamping two sides of a material; the claw supporting mechanism 300 is arranged on the adjacent side of the mounting frame 100 relative to the clamping mechanism 200 and is used for supporting the bottom of materials; the detection mechanism 400 is disposed on one of the holding claw mechanism and the mounting frame 100, the holding claw mechanism 300 includes a starting position for starting to contact the material and a safety position for abutting the material, the holding claw mechanism moves from the starting position to the safety position, and the detection mechanism 400 is used for detecting whether the holding claw mechanism 300 is located at the safety position. In this embodiment, the material is wallboard 20.
The above-mentioned grabbing device 10, hold in the palm the claw mechanism to set up in the adjacent side of fixture 200, be convenient for firmly snatch wallboard 20 through fixture 200 and hold in the palm claw mechanism cooperation like this, hold in the palm the claw mechanism and be located the home position when just contacting the material, be located the safe position when supporting the material, indicate to hold in the palm claw mechanism safety and hold in or hold in the palm wallboard 20 this moment, owing to set up detection mechanism 400, can detect and hold in the palm claw mechanism and be in safe position, when holding in the claw mechanism and be located the safe position, detect the back and send the safety signal, indicate that hold in the palm claw mechanism 300 has held in the palm the wallboard 20, therefore the staff can ensure to hold in the palm claw mechanism and hold in the palm the wallboard 20 safely, thereby can carry out next operation.
In one embodiment, the detecting mechanism 400 is an inductor for sensing whether the pawl mechanism 300 is in the safety position.
In order to facilitate the movement of the claw supporting mechanism from the initial position to the safety position, in one embodiment, the claw supporting mechanism includes a supporting seat 310 and supporting legs 320, the supporting seat 310 is connected with the mounting frame 100, the supporting legs 320 are rotatably disposed on the supporting seat 310, and the detecting mechanism 400 is disposed on the supporting seat 310; the supporting leg 320 includes a starting position where the supporting leg 320 starts to contact the material and a safety position where the supporting leg 320 abuts against the material, when the supporting leg 320 moves from the starting position to the safety position such that the supporting leg 320 abuts against the material, the end of the supporting leg 320 adjacent to the supporting base 310 abuts against the supporting base 310, the detecting means 400 is used to detect whether the supporting leg 320 abuts against the supporting base 310, and since the detecting means 400 is provided on the supporting base 310, it is possible to detect whether the end of the supporting leg 320 adjacent to the supporting base 310 abuts against the supporting base 310, and if the supporting leg 320 abuts against the supporting base 310, it is possible to determine that the supporting leg 320 is already in the safety position, and that the supporting leg 320 has safely supported the wall plate 20, and the supporting leg 320 achieves the movement of the starting position to the safety position by rotating on the supporting base 310.
In this embodiment, the end of the supporting leg 320 adjacent to the supporting base 310 abuts against the supporting base 310, at this time, the supporting leg 320 is fully unfolded and supports the wall board 20, so that the unfolding of the supporting leg 320 is already in place, i.e. the supporting leg 320 has been rotated to the safe position. In this embodiment, the abutment of the end of the supporting leg 320 adjacent to the supporting base 310 with the supporting base 310 is divided into two cases: first, the end of the supporting leg 320 adjacent to the supporting seat 310 is close to but not in contact with the supporting seat 310, at this time, a preset distance is provided between the end of the supporting leg 320 adjacent to the supporting seat 310 and the supporting seat 310, and the detecting mechanism 400 is a distance sensor, such as a proximity switch, where the preset distance is the maximum sensing distance from the sensor, when the supporting leg 320 is gradually unfolded, the distance sensor starts to sense the end of the supporting leg 320 adjacent to the supporting seat 310, which indicates that the distance between the end of the supporting leg 320 adjacent to the supporting seat 310 and the supporting seat 310 is the preset distance, which indicates that the supporting leg 320 is fully unfolded and supports the wallboard 20, i.e. the unfolding of the supporting leg 320 is already in place; second, the end of the supporting leg 320 adjacent to the supporting seat 310 is tightly abutted to the supporting seat 310, at this time, the end of the supporting leg 320 adjacent to the supporting seat 310 is in zero-distance contact with the supporting seat 310, and the pressure sensor is used by the detecting mechanism 400 to sense the pressure of the end of the supporting leg 320 adjacent to the supporting seat 310, because the wallboard 20 will react to the supporting leg 320, when the pressure sensor senses the pressure of the end of the supporting leg 320 adjacent to the supporting seat 310, the end of the supporting leg 320 adjacent to the supporting seat 310 is tightly abutted to the supporting seat 310, at this time, the supporting leg 320 is fully unfolded and supports the wallboard 20, i.e. the supporting leg 320 is unfolded in place, i.e. the supporting leg 320 is rotated to reach the safety position. In one embodiment, the supporting leg 320 is hinged to the supporting base 310.
In order to avoid erroneous judgment caused by the sensing of the supporting leg 320 by the detecting mechanism 400 before the wallboard 20 is grabbed, in one embodiment, as shown in fig. 3, an elastic supporting member 311 is disposed on the supporting seat 310, one end of the supporting leg 320 adjacent to the supporting seat 310 has a supporting surface 321, when the supporting leg 320 is gradually unfolded, the elastic supporting member 311 is elastically abutted against the supporting surface 321, the detecting mechanism 400 is used for sensing whether the supporting surface 321 abuts against the supporting seat 310, and an elastic supporting member 311 is disposed between the supporting leg 320 and the supporting seat 310, and when the supporting leg 320 does not support or abuts against the wallboard 20, the supporting leg 320 does not approach the detecting mechanism 400 due to the abutting of the supporting leg 320 by the elastic supporting member 311, so that erroneous judgment is avoided, and it is possible to determine that the supporting leg 320 does not support or abut against the wallboard 20; when the supporting leg 320 supports or abuts against the wall board 20, the wall board 20 applies a large reaction force to the supporting leg 320, the supporting leg 320 presses the elastic supporting member 311 under the reaction force of the wall board 20 and completely abuts against the supporting seat 310, that is, abuts against the supporting seat 310, at this time, the detecting mechanism 400 on the supporting seat 310 detects that the abutting surface 321 of the supporting leg 320 abuts against the supporting seat 310, that is, when the distance between the abutting surface 321 of the supporting leg 320 and the supporting seat 310 is a preset distance, the supporting leg 320 is sensed, or when the abutting surface 321 of the supporting leg 320 abuts against the supporting seat 310, the pressure of the abutting surface 321 of the supporting leg 320 is sensed, at this time, the supporting leg 320 of the supporting leg mechanism is indicated to have already supported the corresponding wall board 20.
In order to facilitate the elastic abutting piece 311 to elastically abut against the supporting leg 320, in one embodiment, as shown in fig. 3, the elastic abutting piece includes a guide post 3111 and an elastic portion 3112, one end of the elastic portion 3112 is connected to the supporting seat 310, the other end is connected to the guide post 3111, when the supporting leg 320 is gradually unfolded, an end of the guide post 3111 far away from the elastic portion 3112 abuts against the abutting surface 321, so that by the cooperation of the elastic piece and the guide post 3111, the abutting surface 321 of the supporting leg 320 can gradually approach the supporting seat 310 against the elastic force when the supporting leg 320 is unfolded, and in addition, the abutting surface 321 of the supporting leg 320 can be abutted against the supporting seat 310 without the wallboard 20. In one embodiment, the elastic portion 3112 is a spring.
In order to facilitate the arrangement of the elastic supporting member 311 on the supporting seat 310, so that the elastic supporting member 311 stably supports the supporting leg 320, in one embodiment, as shown in fig. 3, the supporting seat 310 has a mounting surface 312, a mounting hole is formed in the mounting surface 312, the guide post 3111 and the elastic portion 3112 are sequentially disposed in the mounting hole, and when the supporting leg 320 is gradually unfolded, one end of the guide post 3111, which is far away from the elastic portion 3112, is located outside the mounting hole and abuts against the abutting surface 321, and due to the arrangement of the mounting hole, the elastic portion 3112 is disposed in the mounting hole without being biased and bent, so that the elastic supporting member 3112 can stably stretch, so that the guide post 3111 and the supporting leg 320 can be abutted, and thus the elastic supporting member 311 stably supports the supporting leg 320.
In one embodiment, the detection mechanism 400 includes one of a proximity switch, a pressure sensor, and a displacement sensor.
In one embodiment, the detecting mechanism 400 is a proximity switch or a displacement sensor, and is configured to sense whether the abutment surface 321 of the supporting leg 320 is in place.
In one embodiment, the detecting mechanism 400 is a pressure sensor, the detecting mechanism 400 is disposed on the guide post 3111 and is used for abutting against the abutting surface 321, or the detecting mechanism 400 is disposed on the supporting seat 310 and abuts against the elastic portion 3112, and in both the two disposing manners, the supporting leg 320 and the mounting surface 312 may have a certain distance when in place, that is, a preset distance; alternatively, the detecting mechanism 400 is disposed on the mounting surface 312 and is used for abutting against the supporting leg 320, and in this arrangement, the supporting leg 320 completely presses the guide post 3111 and the elastic portion 3112 and then directly abuts against the mounting surface 312.
In order to retract the supporting leg 320 and enable the supporting leg 320 to be unfolded, in one embodiment, the supporting leg 320 rotates to retract the supporting leg 320 relative to the supporting seat 310, when the supporting leg 320 is gradually retracted, an end of the supporting leg 320 away from the detecting mechanism 400 rotates to be detachably connected with the supporting seat 310, and an end of the supporting leg 320 away from the detecting mechanism 400 is detachably connected with the supporting seat 310, so that the supporting leg 320 can be connected with the supporting seat 310 when retracted, the supporting leg 320 is kept in a retracted state, and when the supporting leg 320 needs to be unfolded, an end of the supporting leg 320 away from the detecting mechanism 400 is detached from the supporting seat 310.
In order to facilitate the retraction of the supporting leg 320 and facilitate the deployment of the supporting leg 320, in one embodiment, when the supporting leg 320 is retracted, an end of the supporting leg 320 away from the detection mechanism 400 is magnetically connected or clamped with the supporting seat 310, so that the connection relationship between the end of the supporting leg 320 away from the detection mechanism 400 and the supporting seat 310 can be released relatively quickly, and the retraction of the supporting leg 320 is facilitated.
In order to enable the grabbing device 10 to maintain the lifting effect on different types of wallboards 20, in one embodiment, as shown in fig. 6 and 7, the number of the supporting claw mechanisms is multiple, the supporting seats 310 of the supporting claw mechanisms are arranged on the mounting frame 100 at intervals, so that the supporting feet 320 are pulled down in the process of carrying and installing, the supporting feet 320 support the wallboards 20 for carrying and installing, the supporting feet 320 are retracted when no supporting is needed, the supporting feet 320 are shared, all the supporting feet 320 can be pulled down, or the middle supporting feet 320 are retracted when the standard wallboards 20 are ready to be grabbed, the detecting mechanisms 400 of the supporting seats 310 on two sides sense signals, and the supporting claws are indicated to safely support the wallboards 20; if the special-shaped wallboard 20 is used, the corresponding supporting legs 320 are retracted, and the other supporting legs are pulled down; both standard and profiled wall panels 20, 20 may have at least one support leg 320 of the claw mechanism to hold the wall panel 20, the robot may determine that the wall panel 20 is safely held whenever there is at least one proximity switch to detect that the support leg 320 is dead against the wall panel 20, e.g. when the number of claw mechanisms is three, the robot may determine that the wall panel 20 is safely held whenever there is one or two proximity switches to detect that the support leg 320 is dead against the wall panel 20, preferably two proximity switches to detect that the support leg 320 is dead against the wall panel 20.
In one embodiment, as shown in fig. 2, the claw mechanism further comprises a supporting frame 330, and the supporting base 310 is connected with the mounting frame 100 through the supporting frame 330, so that the positions of the supporting base 310 and the supporting legs 320 are prolonged, and the longer or wider wallboard 20 can be lifted conveniently.
In one embodiment, the claw supporting mechanism further includes a driving member, and the driving member is in driving connection with the supporting leg 320, so as to drive the supporting leg 320 to rotate relative to the supporting seat 310.
In order to facilitate the operator to determine whether the holding claw mechanism has safely held the wall board 20, in one embodiment, the gripping device 10 further includes a reminding mechanism electrically connected to the detecting mechanism 400, the reminding mechanism is configured to receive the safety signal sent by the detecting mechanism 400, and after receiving the safety signal, the reminding mechanism performs an alarm reminding, so that the operator can timely determine that the holding claw mechanism has safely held the wall board 20.
As shown in fig. 1 and 8, a wall panel mounting apparatus 50 includes a mobile chassis 30 and a gripping device 10 according to any of the embodiments described above, the mounting bracket 100 being disposed on the mobile chassis 30.
The wallboard mounting apparatus 50 described above, the holding claw mechanism is disposed on the adjacent side of the clamping mechanism 200, so that the clamping mechanism 200 is matched with the holding claw mechanism to be convenient for firmly grabbing the wallboard 20, the holding claw mechanism is located at the initial position when just contacting the material, and is located at the safety position when abutting against the material, at this time, the holding claw mechanism is indicated to safely hold or abut against the wallboard 20, because the detecting mechanism 400 is disposed, whether the holding claw mechanism is located at the safety position can be detected, when the holding claw mechanism is located at the safety position, the detecting mechanism 400 detects and then sends a safety signal to indicate that the holding claw mechanism 300 abuts against the wallboard 20, so that the staff can ensure that the holding claw mechanism has safely held or abutted against the wallboard 20, thereby the next operation can be performed.
In one embodiment, the wallboard mounting apparatus 50 further includes a plurality of driving sources and a controller, wherein the controller is electrically connected to the plurality of driving sources, and the controller is configured to control the plurality of driving sources to operate respectively, so as to drive the respective components, such as the clamping mechanism 200 and the claw supporting mechanism, respectively, and is further electrically connected to the detecting mechanism 400, and is configured to control the detecting mechanism 400 to operate.
In order to stably clamp wallboards 20 in different placement states, in one embodiment, as shown in fig. 1, 5 and 8, the clamping mechanism 200 has a clamping surface for abutting against the wallboards 20, the supporting leg 320 has a supporting surface 322 for supporting the wallboards 20, the supporting surface 322 is perpendicular to the clamping surface, the mounting frame 100 is rotatably arranged on the movable chassis 30, and the rotation axis of the mounting frame 100 is parallel to the clamping surface and parallel to the supporting surface 322, so that when two clamping mechanisms 200 clamp the wallboards 20 left and right, the supporting leg 320 of the supporting leg mechanism can support the wallboards 20 from bottom to top, and the grabbing method can adapt to the wallboards 20 placed vertically; when two clamping mechanisms 200 clamp the wall board 20 up and down, the supporting legs 320 of the supporting claw mechanisms can abut against the wall board 20 from left and right.
In one embodiment, a method for controlling grabbing of a wall board 20 is applied to the grabbing device 10 described in any one of the above embodiments or the wall board installation device 50 described in any one of the above embodiments, and the method for controlling grabbing of a wall board 20 includes the following steps: moving the mounting frame 100 toward the wall panel 20 to a first position with the clamping mechanism 200 on both sides of the wall panel 20; moving the mounting frame 100 in a direction parallel to the top-to-bottom extension of the wall panel 20 to a second position causes the pawl mechanism 300 to contact the wall panel 20 and move from the home position to the safety position and receive a safety signal from the detection mechanism 400 when the detection mechanism 400 detects that the pawl mechanism is in the safety position.
As shown in fig. 9, a method for controlling grabbing of a wall board 20 is applied to the grabbing device 10 according to any one of the above embodiments or the wall board installation device 50 according to any one of the above embodiments, and the method for controlling grabbing of a wall board 20 includes the following steps:
510. the mounting bracket 100 is moved toward the wall panel 20 to a first position with the clamping mechanism 200 on either side of the wall panel 20.
520. Moving the mounting frame 100 in a direction parallel to the top-to-bottom extension of the wall panel 20 to a second position causes the pawl mechanism 300 to contact the wall panel 20 and move from the home position to the safety position and receive a safety signal from the detection mechanism 400 when the detection mechanism 400 detects that the pawl mechanism is in the safety position.
According to the wallboard 20 grabbing control method, the supporting claw mechanisms are arranged on the adjacent sides of the clamping mechanism 200, so that the clamping mechanism 200 is matched with the supporting claw mechanisms to be convenient for firmly grabbing the wallboard 20, the supporting claw mechanisms are located at the initial positions when just contacting materials and located at the safety positions when abutting materials, the supporting claw mechanisms are used for safely supporting or abutting the wallboard 20, the detection mechanism 400 is arranged and can detect whether the supporting claw mechanisms are located at the safety positions, when the supporting claw mechanisms are located at the safety positions, the detection mechanism 400 detects that the supporting claw mechanisms send out safety signals to indicate that the supporting claw mechanisms 300 abut the wallboard 20, and therefore workers can ensure that the supporting claw mechanisms safely support or abut the wallboard 20, and further operation can be performed.
To facilitate a worker's determination of whether the claw mechanism has safely held the wall panel 20, in one embodiment, the safety signal from the detection mechanism 400 is received by a reminder mechanism, such that upon receipt of the safety signal, the reminder mechanism alerts so that the worker can timely determine that the claw mechanism has safely held the wall panel 20.
In one embodiment, the support feet 320 are driven by the drive member to retract or extend.
To enable gripping different types of wall panels 20, in one embodiment, the step of moving the gripper mechanism 300 from the home position to the safe position to contact the wall panel 20 further comprises: the number of the holding jaw mechanisms 300 is plural, the number of the holding jaw mechanisms 300 for contacting the wall board 20 and the position of the holding jaw mechanisms 300 for contacting the wall board 20 are controlled according to the type of the wall board 20 to be grasped, the number of the holding jaw mechanisms for contacting the wall board 20 and which position of the holding jaw mechanisms is required to contact the wall board 20 can be determined according to the type of the wall board 20, such as the shape or size of the wall board 20, so that the wall board 20 of different types can be lifted.
In all embodiments of the present application, "large" and "small" are relative terms, "more" and "less" are relative terms, "upper" and "lower" are relative terms, and the description of such relative terms is not repeated herein.
It should be appreciated that reference throughout this specification to "in this embodiment," "in an embodiment of the present application," or "as an alternative" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in this embodiment," "in an embodiment of the application," or "as an alternative embodiment" in various places throughout this specification are not necessarily referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. Those skilled in the art will also appreciate that the embodiments described in the specification are alternative embodiments and that the acts and modules referred to are not necessarily required for the present application.
In various embodiments of the present application, it should be understood that the sequence numbers of the foregoing processes do not imply that the execution sequences of the processes should be determined by the functions and internal logic of the processes, and should not be construed as limiting the implementation of the embodiments of the present application.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the application shall be subject to the protection scope of the claims.
Claims (11)
1. A grasping device, comprising:
a mounting frame;
the clamping mechanisms are arranged on opposite sides of the mounting frame and used for clamping two sides of a material;
the supporting claw mechanism is arranged on the adjacent side of the mounting frame relative to the clamping mechanism, the supporting claw mechanism comprises a supporting seat and supporting feet, the supporting seat is connected with the mounting frame, the supporting feet are rotatably arranged on the supporting seat, the supporting feet comprise a starting position for starting to contact materials and a safety position for propping the materials, and the supporting feet are used for supporting the bottoms of the materials;
the detection mechanism is arranged on one of the supporting claw mechanism and the mounting frame, the supporting claw mechanism comprises a starting position for starting to contact materials and a safety position for propping the materials, the supporting claw mechanism supporting feet move from the starting position to the safety position, and the detection mechanism is used for detecting whether the supporting claw mechanism is located at the safety position.
2. The gripping device of claim 1, wherein the detection mechanism is disposed on the support base; when the supporting feet contact the material from the starting position to the safety position to enable the supporting feet to abut against the material, one end, adjacent to the supporting seat, of the supporting feet abuts against the supporting seat, and the detection mechanism is used for detecting whether the supporting feet abut against the supporting seat or not.
3. The grabbing device as claimed in claim 2, wherein the support base is provided with an elastic supporting member, an end of the supporting leg adjacent to the support base is provided with a supporting surface, the elastic supporting member elastically abuts against the supporting surface when the supporting leg is gradually unfolded, and the detecting mechanism is used for sensing whether the supporting surface abuts against the support base.
4. A gripping device according to claim 3, wherein the elastic abutment member includes a guide post and an elastic portion, one end of the elastic portion is connected to the support base, the other end is connected to the guide post, and when the support leg is gradually unfolded, an end of the guide post away from the elastic portion abuts against the abutment surface.
5. The grabbing device as claimed in claim 4, wherein the support base has a mounting surface, a mounting hole is formed in the mounting surface, the guide post and the elastic portion are sequentially disposed in the mounting hole, and when the support legs are gradually unfolded, one end of the guide post, which is far away from the elastic portion, is located outside the mounting hole and abuts against the abutment surface.
6. The grasping device according to claim 1, wherein the support leg rotates to retract the support leg with respect to the support base, and wherein an end of the support leg remote from the detection mechanism rotates to be detachably connected to the support base when the support leg is gradually retracted.
7. The grasping device according to any one of claims 1 to 6, wherein the number of the gripper mechanisms is plural, and the plurality of the support seats of the plural gripper mechanisms are provided on the mount at intervals.
8. A wallboard mounting apparatus comprising a mobile chassis and a gripping device according to any one of claims 1 to 6, the mounting being provided on the mobile chassis.
9. The wall panel mounting apparatus of claim 8, wherein the clamping mechanism has a clamping surface for abutting against a wall panel, the support leg has a support surface for supporting the wall panel, the support surface is perpendicular to the clamping surface, the mounting bracket is rotatably disposed on the mobile chassis, and the mounting bracket has a rotational axis parallel to the clamping surface and parallel to the support surface.
10. A wallboard grabbing control method, applied to the grabbing apparatus of any one of claims 1 to 7, the wallboard mounting apparatus of claim 8 or claim 9, comprising the steps of:
moving the mounting frame to a first position towards the wallboard so that the clamping mechanisms are positioned on two sides of the wallboard;
and moving the mounting frame to a second position along an extending direction parallel to the top to bottom of the wallboard, enabling the claw supporting mechanism to contact the wallboard and move from the initial position to the safety position, and receiving a safety signal sent by the detection mechanism when the detection mechanism detects that the claw supporting mechanism is positioned at the safety position.
11. The wallboard grabbing control method of claim 10, wherein said step of bringing the gripper mechanism into contact with the wallboard and moving from the home position to the safe position further comprises: the number of the supporting claw mechanisms is multiple, and the number of the supporting claw mechanisms used for contacting the wallboard and the positions of the supporting claw mechanisms used for contacting the wallboard are controlled according to the type of the wallboard to be grabbed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011532877.7A CN114658198B (en) | 2020-12-22 | 2020-12-22 | Grabbing device, wallboard mounting equipment and wallboard grabbing control method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011532877.7A CN114658198B (en) | 2020-12-22 | 2020-12-22 | Grabbing device, wallboard mounting equipment and wallboard grabbing control method |
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| CN114658198A CN114658198A (en) | 2022-06-24 |
| CN114658198B true CN114658198B (en) | 2023-09-22 |
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