CN101691808A - Plate dry-hanging and mounting robot - Google Patents

Plate dry-hanging and mounting robot Download PDF

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Publication number
CN101691808A
CN101691808A CN200910070741A CN200910070741A CN101691808A CN 101691808 A CN101691808 A CN 101691808A CN 200910070741 A CN200910070741 A CN 200910070741A CN 200910070741 A CN200910070741 A CN 200910070741A CN 101691808 A CN101691808 A CN 101691808A
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module
axis
degree
freedom
moving platform
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CN101691808B (en
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李铁军
赵海文
刘今越
杨冬
王海玲
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Hebei University of Technology
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Hebei University of Technology
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Abstract

The invention relates to a plate dry-hanging and mounting robot which is characterized by being in a modular structure and comprising a movable body module, a mounting operating module, a visually-guided mounting positioning module and a motion controlling system module. The movable body module mainly comprises an improved electrical fork truck; the mounting operating module is loaded on the lifting platform of the electrical fork truck and mainly comprises a three degree-of-freedom parallel rotating platform module, a three degree-of-freedom serial moving module and an end-effector module, wherein the three degree-of-freedom serial moving module is arranged above the three degree-of-freedom parallel rotating platform module, and the end-effector module is connected with the three degree-of-freedom serial moving module; the visually-guided mounting positioning module comprise a camera, a laser distance measuring sensor, a tilt angle sensor, image acquiring software and image processing software; and the motion controlling system module comprises an industrial control computer, a motion control card, a signal acquiring card and a servo driving unit.

Description

A kind of sheet material dry-hanging and mounting robot
Technical field
The present invention relates to robot application and build the peace technology, be specially a kind of large-sized sheet material dry-hanging and mounting robot in the building finishing field, purpose is to enhance productivity and installation quality, strengthens the job safety coefficient, reduces labour intensity.
Background technology
Along with the fast development of scientific and technological level, robot is applied in growing field, and construction robot is a brand-new application of Robotics.The development architecture robot is intended to improve the automaticity of building operations operation, promotes speed of application and safety, and reduces working strength of workers.Developed country such as the U.S., Japan very payes attention to this, has successively implemented the construction robot research and development plan of oneself and has obtained certain achievement.Domestic be primarily aimed in the research of construction robot less relatively, be in the starting stage, present research mainly concentrates on aspects such as highrise building cleaning, spray robot and some constructional engineering machinery automations, and the Robotics research that is directed to sheet material installation aspect still is blank field.For example, some achievements in research of construction robot research field mainly contain: Japanese Takenaka company develops a kind of " the ground model is wipeed robot off "---Surf Robo, mainly developed the automation equipment (Dooil Hwang.EXPERIMENTALSTUDY OF FULL SCALE CONCRETE WALL CONSTRUCTION USINGCONTOUR CRAFTING UNIVERSITY OF SOUTHERN CALIFORNIA.MAY2005.) that ground is wipeed off, (the BehrokhKhoshnevis.Automated construction by contour crafting-related robotics andinformation technologies.Automation in Construction.13 (2004): 5-19) of the robot that builds a house that the Behrokh Khoshnevis of the U.S. is developed, Korea S Hyeun-Seok Choia, construction robot (the Hyeun-Seok Choia of small-sized glass of the installation that the people developed such as Chang-Soo Hana and wallboard, Chang-Soo Hana, Kye-young Leeb, Sang-heon Lee.Development of hybrid robot for construction works with pneumatic actuator.Automation in Construction 14 (2005): 452-459) etc.In these researchs, the manipulating object of construction robot is generally small-sized glass or wallboard, or has the structure of the integral house of specific function, still fails to set foot in but for the automation of large-sized sheet material carrying is installed.And the curtain wall fitting-out work of heavy constructions such as present large stadium, Lou Tang palace, railway terminal mainly adopts materials such as marble or glass.These materials are plate shape (being sheet material), heavy, size are big, the general dry-hanging that adopts is constructed, and needs to set up scaffold and supporting facility in the work progress, more needs the installer of One's name is legion, labor strength is very big, and speed of application is slow, and therefore poor stability presses for a kind of mounting robot that large scale, big weight stone lumber or curtain wall use dry-hanging that is primarily aimed at, to replace manual working, improve efficiency of construction and safety.
Summary of the invention
At the deficiencies in the prior art, the technical problem that quasi-solution of the present invention is determined is, a kind of sheet material dry-hanging and mounting robot is provided, this robot can overcome the existing shortcoming of current technology with not enough, be specially adapted to mechanization, the automation installation of large scale, heavy weight building or dalle, have artificial province, the efficient height, advantages such as safety is good
The technical scheme that the present invention solve the technical problem is: design a kind of sheet material dry-hanging and mounting robot, it is characterized in that this mounting robot adopts modular construction, comprises mobile body module, fitting operation module, visual guidance mounting positioning module and kinetic control system module;
Described mobile body module mainly comprises 3-5 the ultrasonic range finder sensor that install electri forklift, automaton and the bottom around the electri forklift car body; Described automaton is installed on the hand held console of electri forklift, is with the manual joystick of traction forklift to move forward and backward synchronously by three; Synchronous pulley with an end can freely rotate synchronously, and the synchronous pulley of the other end is respectively by the electromagnetic clutch and the step motor control of correspondence;
Described fitting operation module mainly is made of the six degree of freedom installation manipulator, this installation manipulator carries on the lifting platform of electri forklift, this installation manipulator comprises freedom degree parallel connection rotatable platform module, is installed in the Three Degree Of Freedom series connection mobile module and the end effector module that is connected with Three Degree Of Freedom series connection mobile module of freedom degree parallel connection rotatable platform module top; Described freedom degree parallel connection rotatable platform module comprises silent flatform and moving platform, the center of silent flatform and the center of moving platform are provided with constrained branched chain, constrained branched chain comprises the fixed support bar and the center ball pivot of mechanical connection, the fixed support bar is connected with the center of silent flatform, and the center ball pivot is connected with the center of moving platform; The place, three summits that with the constrained branched chain is the equilateral triangle of the centre of form on silent flatform is equipped with Hooke's hinge respectively, and one of them Hooke's hinge be positioned at constrained branched chain-the Y direction; The place, three summits that with the constrained branched chain is the equilateral triangle of the centre of form on moving platform is equipped with ball pivot respectively, and one of them ball pivot be positioned at constrained branched chain+the Y direction; The corresponding respectively electric pushrod that can stretch that is connected with between three Hooke's hinges and three ball pivots constitutes three and rotates side chains; Described Three Degree Of Freedom series connection mobile module comprises Y-axis, two moving sets of Z axle and an X-axis revolute pair; The line slideway of Y-axis moving sets, Y-axis leading screw and Y-axis servomotor are directly installed on the described moving platform; The Y-axis slide unit is driven by the Y-axis leading screw by the Y-axis servomotor; The X-axis revolute pair adopts the four-bar mechanism of parallelogram: the lower end of two isometric parallel dwangs is connected with the slide unit of Y-axis by turning cylinder respectively, the upper end of dwang respectively with the two ends mechanical connection of flat motion bar; The two ends of electric pushrod respectively with a dwang and Y-axis slide unit mechanical connection, constitute the driver part of four-bar mechanism; The substrate of Z axle moving sets is contained in work one end of flat motion bar, and Z axle servomotor, line slideway and Z axial filament thick stick are installed in respectively on the Z axle substrate, and Z axle slide unit is driven by Z axial filament thick stick by Z axle servomotor, along moving perpendicular to the direction on moving platform plane; Described end effector module comprises the suction cup carrier that is fixed on the Z axle slide unit and at four vacuum cups of four jiaos of uniform installations of suction cup carrier;
Described visual guidance mounting positioning module comprises video camera, laser range sensor, obliquity sensor, image capture software and image processing software; Described video camera is installed on the described flat motion bar; Described laser range sensor is installed in the both sides below the moving platform; Described obliquity sensor is installed in the centre position below the moving platform, and parallel with the moving platform surface;
Described kinetic control system module comprises industrial control computer, motion control card, data acquisition card and servo drive unit.
Compared with prior art, the present invention has following beneficial effect:
1, realizes the mechanization and the automated job of extracting, carrying, installation and the quality examination of large-sized sheet material, improve sheet material installation quality, production efficiency and economic benefit, significantly save the labour, reduce labour intensity, save construction cost;
2, do not need to set up and auxiliary equipment such as dismounting scaffold, the cladding mounting process of sheet material of directly constructing, and operating procedure is simple, construction environment optimization, and working security improves.
Description of drawings
Fig. 1 is the complete machine structure schematic diagram of a kind of embodiment of sheet material dry-hanging and mounting robot of the present invention.
Fig. 2 is the electri forklift structural representation of a kind of embodiment of sheet material dry-hanging and mounting robot of the present invention.
Fig. 3 is the automaton schematic diagram of a kind of embodiment of sheet material dry-hanging and mounting robot of the present invention.
Fig. 4 is the freedom degree parallel connection rotating module structural representation of a kind of embodiment of sheet material dry-hanging and mounting robot of the present invention.
Fig. 5 is the Three Degree Of Freedom mobile module structural representation of a kind of embodiment of sheet material dry-hanging and mounting robot of the present invention.
Fig. 6 is the end effector structural representation of a kind of embodiment of sheet material dry-hanging and mounting robot of the present invention.
Fig. 7 is the assist location support frame structure schematic diagram of a kind of embodiment of sheet material dry-hanging and mounting robot of the present invention.
Fig. 8 is the sustaining wall mechanism structure schematic diagram of a kind of embodiment of sheet material dry-hanging and mounting robot of the present invention.
The specific embodiment:
Below in conjunction with embodiment and accompanying drawing thereof, the specific embodiment, structure, feature and effect thereof to sheet material dry-hanging and mounting robot of the present invention is provided are described in detail as follows:
The sheet material dry-hanging and mounting robot of the present invention's design (being called for short mounting robot, referring to Fig. 1-8) adopts modular construction, comprises mobile body module, fitting operation module, visual guidance mounting positioning module and kinetic control system module.Described each module in actual applications in conjunction with or be used, realize that effectively sheet material automation and mechanization installs purpose.
The present invention moves body module and mainly realizes mounting robot walking freely and mobile flexibly in the operating space on indoor coarse cement floor, and fitting operation module (installation manipulator) can be risen to specified altitude assignment, realizes the coarse positioning that sheet material is installed.It is that (referring to Fig. 1,2) transformed on the basis with existing electri forklift 1 that the present invention moves body module: mainly be included in the automaton 2 that installs additional on the hand held console of electri forklift 1, the rising that makes pallet fork transform automatic control by industrial computer as by original manual control, and the ultrasonic range finder sensor of on the car body of electri forklift 1, installing, make mobile body have the flexible movement function and the function that keeps in obscurity, and have enough supporting capacitys and hoisting depth.The door frame reach formula electri forklift 1 that the embodiment of the invention is selected for use, door frame 102 can move by whole fore-and-aft direction along fork truck, and fork leg 101 can move along door frame above-below direction and left and right directions.In order to realize the barrier avoiding function of mobile body, the bottom around car body is equipped with 3-5 ultrasonic range finder sensor 104.Described automaton 2 (referring to Fig. 2,3), major function are the automatic control that realizes that door frame 102 reaches and fork leg 101 rise.This automaton 2 is installed on the hand held console of fork truck, is with the manual joystick 103 of 205 traction forklifts to move forward and backward synchronously by three.Synchronous pulley 201 with an end can freely rotate synchronously, and the synchronous pulley 203 of the other end is connected with stepper motor 202 with corresponding electromagnetic clutch 204 respectively.The rotation by control step motor 202 and the branch of electromagnetic clutch 204 with close, can control the moving forward and backward of manual joystick 103 of electri forklift 1.
Fitting operation module of the present invention mainly is made of six degree of freedom installation manipulator (abbreviation installation manipulator), and this installation manipulator carries on the lifting platform of electri forklift 1, finishes the final location and installation of sheet material.The fitting operation manipulator not necessarily has very big space, but has enough supporting capacitys and intensity, and own wt is light as far as possible.This installation manipulator comprises freedom degree parallel connection rotatable platform module 8, is installed in the Three Degree Of Freedom series connection mobile module 5 and the end effector module 6 that is connected with Three Degree Of Freedom series connection mobile module 5 of freedom degree parallel connection rotatable platform module 8 tops.
Freedom degree parallel connection rotatable platform module 8 (referring to Fig. 4) described in the present invention comprises silent flatform 801 and moving platform 807 as pedestal; The center of silent flatform 801 is provided with the fixed support bar 804 of constrained branched chain, and the center of moving platform 807 is connected with fixed support bar 804 by center ball pivot 809, forms constrained branched chain; Three Hooke's hinges are installed on the silent flatform 801, i.e. first Hooke's hinge 802, second Hooke's hinge 812 and the 3rd Hooke's hinge 813, it is the place, three summits of the equilateral triangle of the centre of form that three Hooke's hinges are installed on respectively with fixed support bar 104, and one of them Hooke's hinge (embodiment is the 3rd Hooke's hinge 813) is positioned at fixed support bar 804-Y direction; Three ball pivots are installed on the moving platform 807, i.e. first ball pivot 806, second ball pivot 808 and the 3rd ball pivot 805, three ball pivots are installed on the constrained branched chain place, three summits of the equilateral triangle that is the centre of form respectively, and one of them ball pivot (embodiment is first ball pivot 806) is positioned at constrained branched chain+Y direction.(i.e. first Hooke's hinge 802 of three Hooke's hinges on the silent flatform 801, second Hooke's hinge 812 and the 3rd Hooke's hinge 813) with moving platform 807 on three ball pivots (i.e. first ball pivot 806, second ball pivot 805 and the 3rd ball pivot 808) between the installation site corresponding mutually, and correspondingly respectively between three Hooke's hinges and three ball pivots be connected with three electric pushrods that can stretch, promptly be connected with first electric pushrod 803 between first Hooke's hinge 802 and first ball pivot 806, be connected with second electric pushrod 811 between second Hooke's hinge 812 and second ball pivot 808, be connected with the 3rd electric pushrod 810 between the 3rd Hooke's hinge 813 and the 3rd ball pivot 805, described ball pivot, Hooke's hinge and electric pushrod constitute the rotation side chain of moving platform 807, and the stretching motion of three electric pushrods can order about moving platform 807 and rotate on three degree of freedom.Say that simply described module 1 has adopted the 3-UPS/S structure of prior art, comprise a constrained branched chain and three rotation side chains, can effectively increase the supporting capacity of manipulator, simplify the parallel-connection decoupling computing, and help the overall work scope of calculating machine hand.
Three Degree Of Freedom mobile module 5 of the present invention comprises Y-axis, two moving sets of Z axle and an X-axis revolute pair (referring to Fig. 1,5).The left line slideway 501 of Y-axis moving sets, right line slideway 516, Y-axis leading screw 517 and Y-axis servomotor 518 are directly installed on the described moving platform 807, to save installing space.Y-axis slide unit 502 is driven by Y-axis leading screw 517 by Y-axis servomotor 518, moves along left and right line slideway 501,516.In order to improve the supporting capacity of X-axis, X-axis revolute pair of the present invention has adopted the four-bar mechanism of parallelogram: two the isometric parallel left dwangs 504 and the lower end of right dwang 513 are connected with the slide unit 502 of Y-axis with right-hand rotation moving axis 515 by left-hand rotation moving axis 503 respectively, the upper end of left dwang 504 and right dwang 513 respectively with the two ends mechanical connection of flat motion bar 506.The two ends of electric pushrod (cylinder) 514 respectively with described right dwang 513 and Y-axis slide unit 502 mechanical connections.Electric pushrod 514 is driver parts of described four-bar mechanism.The translation that the change in length of electric pushrod (cylinder) 514 produces along arc track flat motion bar 506.The substrate 512 of Z axle moving sets is installed in work one end (embodiment is right-hand member or front end) of flat motion bar 506.Z axle servomotor 508, line slideway 511 and Z axial filament thick stick 510 are installed in respectively on the Z axle substrate 512.Z axle slide unit 509 is driven by Z axial filament thick stick 510 by Z axle servomotor 508, moves along line slideway 511, realizes the motion perpendicular to moving platform 807 in-planes.Module 5 of the present invention can realize the accurate location of large-sized sheet material on X-axis, Y-axis and three directions of Z axle.The four-bar mechanism of designed parallelogram can be saved space, and end effector 6 positions that are installed in above it can be improved, and helps the operation of dry-hanging.
End effector 6 of the present invention (referring to Fig. 6) mainly comprise on the Z axle slide unit 509 that is fixed on mobile module 5 suction cup carrier 601 and at four vacuum cups of four jiaos of uniform installations of suction cup carrier 601, promptly go up left vacuum cup 602, go up right vacuum cup 603, bottom left vacuum cup 604 and bottom right vacuum cup 605.The vacuum cup technology is used for drawing sheet material to be installed originally as prior art.The vacuum cup of embodiment design can adsorb the large-sized sheet material of the 50kg that weighs.
In addition, the present invention has also designed assist location bracing frame 7 (referring to Fig. 1,7), when being used for further guaranteeing to draw sheet material, and the vertical axis of sheet material and the good coincidence of Z-direction or parallel.Assist location bracing frame 7 comprises the bracing frame 701 of H shape, bracing frame 701 vertically is installed on work one (preceding) end of Y-axis slide unit 502, be respectively arranged with the left block 702 and the right block 703 that play the role of positioning on two heel posts of bracing frame 701, and left block 702 and right block 703 installation sites or highly consistent.Draw in the sheet material process at manipulator, as long as make the lower limb of sheet material contact the attitude requirement in the time of to satisfy the sheet material absorption with left block 702 and right block 703 on the bracing frame 701.
In order to prevent or reduce installation manipulator rocking on electri forklift 1 that the further feature of the present invention is also to have designed sustaining wall mechanism 9 (referring to Fig. 1,8).There are two covers in sustaining wall mechanism 9, is installed on the described silent flatform 801, and left and right symmetry respectively is provided with a cover; Sustaining wall mechanism 9 comprises pedestal 908, is installed in the sustaining wall electric pushrod 902 on the pedestal 908, and sustaining wall electric pushrod 902 is connected with servomotor 907; Sustaining wall electric pushrod 902 both sides are equipped with optical axis 901, and sustaining wall electric pushrod 902 is connected with two optical axises 901 by the one side of junction plate 906, between optical axis 901 and the junction plate 906 linear bearing 903 is installed; When sustaining wall electric pushrod 902 stretches, can drive optical axis 901 property bearings 903 along the line and move; Another side at junction plate 906 is connected with sustaining wall sucker 905, and is symmetrically arranged with two travel switches 904 in the bindiny mechanism of junction plate 906 and sustaining wall sucker 905, so that the collapsing length of sustaining wall electric pushrod 902 is controlled.During work, sustaining wall sucker 905 can be adsorbed on the work metope, can effectively prevent or reduce installation manipulator rocking on electri forklift 1.
Described visual guidance mounting positioning module comprises video camera, laser range sensor, obliquity sensor, image capture software and image processing software.Described video camera 3 is installed on the described flat motion bar 506.Described laser range sensor is installed in the both sides below the moving platform 807, comprises left laser range sensor 815 and right laser range sensor 816, is used for measuring the angle of moving platform 807 and metope.Described obliquity sensor 814 is installed in the centre position below the moving platform 807, and installation site and moving platform 807 is surperficial parallel, is used for measuring the angle of moving platform 807 and horizontal plane.Visual guidance installing and locating system adopts prior art, finishes guiding, location and the attitude updating of installation site in the sheet material installation process, realizes the good combination of sheet material mounting groove and suspension member, and the installation quality after the sheet material installation is detected assessment immediately.
Described kinetic control system module is a prior art, comprises industrial control computer, motion control card, data acquisition card and servo drive unit.In the installation process, by the angle of sensor detection ground elevation, mobile body and metope to be installed, by resolving of the equation of motion, operation decision-making and electronic and pneumatic combination drive, realize the attitude control of rotatable platform 807, make sheet material to be installed parallel with metope and vertical with horizontal plane; After the attitude of install machinery hand is determined, treat the position that sheet material is installed according to the information of vision sensor (video camera 3) and other sensor acquisition and carry out SERVO CONTROL, finish grab (suction) of sheet material and get, move, accurately locate and install.The kinetic control system module is to the motion control of mobile body and plate installation mechanical arm and auxiliary body etc., but both direct controls, and also remote-controlled operation makes things convenient for real work.
Need to prove, the installation position speech of component such as " upper and lower " of the present invention, " forward and backward ", " left and right " is according to operation position or embodiment diagram, only having relativity, perhaps only is in order to narrate conveniently, not represent the uniqueness of this installation site.The embodiment of mounting robot of the present invention can do as required fully and nonessentially suitably adjust and change.
The present invention does not address part and is applicable to prior art.
The working method and the step of mounting robot of the present invention are as follows: mounting robot of the present invention needs two operating personnel, operating personnel's (being called for short operator A) that one mobile body by name is an electri forklift, the operating personnel of another install machinery hand by name (being called for short operator B).During work, mounting robot is walked in indoor architecture environment under the operation control of operator A, moves to sheet material placement location to be installed (raw material placement location), carries out the absorption of sheet material.When drawing sheet material, guarantee that the lower limb of sheet material contacts with left block 702 and right block 703, to guarantee the initial attitude of sheet material location.Move to the installation site (work plane) of sheet material again by operator A control robot.In the adsorbent walking process, monitor external environment condition in real time by ultrasonic range finder sensor 104, avoid crashing.After arriving the sheet material installation site, start erection procedure by operator B, 103 reaches of industrial control computer control door frame, fork leg 101 hoists, sidesway, carries out the coarse positioning of fitting operation device; After coarse positioning was finished, the optical axis 901 that the sustaining wall electric pushrod 902 in the sustaining wall mechanism 9 drives both sides stretched out forward, when travel switch 904 is run into metope, and 902 stop motions of sustaining wall electric pushrod.All run into metope until two travel switches 904, when promptly sustaining wall sucker 905 all contacts with metope, begin to vacuumize, make sustaining wall sucker 905 be adsorbed in metope, rock to prevent manipulator.
Next will finish the accurate location that sheet material is installed: it mainly comprises attitude adjustment and location, position.The adjustment process of attitude is: record the current attitude of the moving platform 807 of parallel connection platform by left and right distance measuring sensor 815,816 and obliquity sensor 814, and calculate in the parallel connection platform the flexible length of three electric pushrods 803,810,811 according to targeted attitude.Three electric pushrods of Industrial Computer Control, 803,810,811 flexible corresponding length are finished the adjustment of installation manipulator attitude.After the attitude adjustment is finished, carry out the accurate location adjustment of position again.Gather the sheet material current images by video camera 3, and obtain the current position of sheet material through the image processing software analysis.Industrial Personal Computer (IPC) is according to the position of current sheet material, and control X, Y, Z axle move accordingly, and suspension member is entered in the groove of sheet material bottom, finishes the stable installation of sheet material.
After the installation, by the described video camera 3 instant installation qualities that detect sheet material.If defective, carry out corresponding manual adjustment by operator B by joystick 4, until satisfying quality requirement.Provide the order of installation as operator B after, operator A control mounting robot is recessed work plane, sets back, and finishes a work cycle.Prepare then or directly start next work cycle.

Claims (3)

1. a sheet material dry-hanging and mounting robot is characterized in that this mounting robot adopts modular construction, comprises mobile body module, fitting operation module, visual guidance mounting positioning module and kinetic control system module;
Described mobile body module mainly comprises 3-5 the ultrasonic range finder sensor that install electri forklift, automaton and the bottom around the electri forklift car body; Described automaton is installed on the hand held console of electri forklift, is with the manual joystick of traction forklift to move forward and backward synchronously by three; Synchronous pulley with an end can freely rotate synchronously, and the synchronous pulley of the other end is respectively by the electromagnetic clutch and the step motor control of correspondence;
Described fitting operation module mainly is made of the six degree of freedom installation manipulator, this installation manipulator carries on the lifting platform of electri forklift, this installation manipulator comprises freedom degree parallel connection rotatable platform module, is installed in the Three Degree Of Freedom series connection mobile module and the end effector module that is connected with Three Degree Of Freedom series connection mobile module of freedom degree parallel connection rotatable platform module top; Described freedom degree parallel connection rotatable platform module comprises silent flatform and moving platform, the center of silent flatform and the center of moving platform are provided with constrained branched chain, constrained branched chain comprises the fixed support bar and the center ball pivot of mechanical connection, the fixed support bar is connected with the center of silent flatform, and the center ball pivot is connected with the center of moving platform; The place, three summits that with the constrained branched chain is the equilateral triangle of the centre of form on silent flatform is equipped with Hooke's hinge respectively, and one of them Hooke's hinge be positioned at constrained branched chain-the Y direction; The place, three summits that with the constrained branched chain is the equilateral triangle of the centre of form on moving platform is equipped with ball pivot respectively, and one of them ball pivot be positioned at constrained branched chain+the Y direction; The corresponding respectively electric pushrod that can stretch that is connected with between three Hooke's hinges and three ball pivots constitutes three and rotates side chains; Described Three Degree Of Freedom series connection mobile module comprises Y-axis, two moving sets of Z axle and an X-axis revolute pair; The line slideway of Y-axis moving sets, Y-axis leading screw and Y-axis servomotor are directly installed on the described moving platform; The Y-axis slide unit is driven by the Y-axis leading screw by the Y-axis servomotor; The X-axis revolute pair adopts the four-bar mechanism of parallelogram: the lower end of two isometric parallel dwangs is connected with the slide unit of Y-axis by turning cylinder respectively, the upper end of dwang respectively with the two ends mechanical connection of flat motion bar; The two ends of electric pushrod respectively with a dwang and Y-axis slide unit mechanical connection, constitute the driver part of four-bar mechanism; The substrate of Z axle moving sets is contained in work one end of flat motion bar, and Z axle servomotor, line slideway and Z axial filament thick stick are installed in respectively on the Z axle substrate, and Z axle slide unit is driven by Z axial filament thick stick by Z axle servomotor, along moving perpendicular to the direction on moving platform plane; Described end effector module comprises the suction cup carrier that is fixed on the Z axle slide unit and at four vacuum cups of four jiaos of uniform installations of suction cup carrier;
Described visual guidance mounting positioning module comprises video camera, laser range sensor, obliquity sensor, image capture software and image processing software; Described video camera is installed on the described flat motion bar; Described laser range sensor is installed in the both sides below the moving platform; Described obliquity sensor is installed in the centre position below the moving platform, and parallel with the moving platform surface;
Described kinetic control system module comprises industrial control computer, motion control card, data acquisition card and servo drive unit.
2. sheet material dry-hanging and mounting robot according to claim 1, it is characterized in that described installation manipulator also comprises the assist location bracing frame, the assist location bracing frame comprises the bracing frame of H shape, bracing frame vertically is installed on work one end of Y-axis slide unit, be respectively arranged with the block that plays the role of positioning on two heel posts of bracing frame, and the installation site unanimity of two blocks.
3. sheet material dry-hanging and mounting robot according to claim 1 is characterized in that described mounting robot has also designed sustaining wall mechanism; Sustaining wall mechanism comprises two covers, and left and right symmetry is installed on the described silent flatform; The sustaining wall electric pushrod links to each other with two optical axises by the one side of junction plate, when the sustaining wall electric pushrod stretches, can drive optical axis property along the line bearing and move; Another side at junction plate is connected with the sustaining wall sucker, and is symmetrically arranged with two travel switches in the bindiny mechanism of junction plate and sustaining wall sucker.
CN2009100707416A 2009-10-09 2009-10-09 Plate dry-hanging and mounting robot Expired - Fee Related CN101691808B (en)

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CN106049838A (en) * 2016-05-22 2016-10-26 安庆海纳信息技术有限公司 Building wall whitewashing robot based on negative pressure principle
CN106049834A (en) * 2016-05-22 2016-10-26 安庆海纳信息技术有限公司 Outdoor building wall whitewashing robot based on parallel mechanism
CN106049833A (en) * 2016-05-22 2016-10-26 安庆海纳信息技术有限公司 Intelligent lifting manipulator for building whitewashing
CN105839900A (en) * 2016-05-22 2016-08-10 安庆海纳信息技术有限公司 Height adjustable type outdoor building movable supporting equipment
CN105952118A (en) * 2016-05-22 2016-09-21 安庆海纳信息技术有限公司 Intelligent whitewashing robot used for indoor building wall decoration
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CN107313581A (en) * 2017-08-19 2017-11-03 合肥耀世同辉科技有限公司 A kind of plastering machine and its operating method
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