CN103009374B - Large plate installation mechanical arm - Google Patents
Large plate installation mechanical arm Download PDFInfo
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- CN103009374B CN103009374B CN201210546466.2A CN201210546466A CN103009374B CN 103009374 B CN103009374 B CN 103009374B CN 201210546466 A CN201210546466 A CN 201210546466A CN 103009374 B CN103009374 B CN 103009374B
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Abstract
The invention provides a kind of large-sized sheet material carrying and installation manipulator, comprise lower end walking module, telescopic machine mechanical arm module, end adjusting module and end Executive Module, described telescopic machine mechanical arm module is arranged in the walking module of described lower end, and described end adjusting module is positioned at one end of described telescopic machine mechanical arm module; Described end adjusting module also connects described end Executive Module.The invention has the beneficial effects as follows realize large glass sheet material crawl, carrying, the mechanization of installation and assisted automated operation, improve large-sized sheet material installation quality, production efficiency and benefit, significantly save labour, reduce labour intensity, save construction cost.
Description
Technical field
The invention belongs to auxiliary robot and building decorative plates automation mounting technique field, especially relate to a kind of large plate installation mechanical arm.
Background technology
In recent years, along with the fast development of building industry, interior decoration task is also day by day heavy.At present in whole building construction process, fit up the 40%-50% that the duration accounts for whole duration.In repairs profession, the installation of wall fitting sheet material is important part, and the installation of wall body decoration, glass curtain wall, ceiling etc. all belongs to sheet material and installs.The curtain wall fitting-out work of the heavy construction such as large stadium, Lou Tang palace, railway station, the materials such as main employing large glass.These materials are plate shape (i.e. sheet material), and heavy, size are large, cracky; Need in work progress to set up scaffold and auxiliary equipment, more need the installer of One's name is legion, installation process difficulty high labor strength is very large, and speed of application is slow, poor stability.The processes such as the production and processing of the large-sized sheet material simultaneously and carrying conveying all because the size of sheet material is large, weight is large, easily the problem such as fragmentation operate very difficult.Therefore in the urgent need to a kind of large-sized sheet material carrying mainly for large scale, greatly weight, cracky, erection unit, work with indirect labor and improve efficiency of construction and security.
Along with the fast development of scientific and technological level, the further expansion in mankind's activity field, the research of people to nonmanufacturing industry manipulator is unprecedentedly active.These industries are compared with manufacturing industry, and its main feature is destructuring and the uncertainty of working environment, thus higher to the requirement of manipulator, needs manipulator to have better environmental suitability and operating flexibility.And manipulator also belongs to a brand-new field in the application of architectural decoration.The country of the technology prosperities such as the U.S., Japan, Korea S very payes attention to for construction robot technology, successively implements the research and development plan of the building machinery hand of oneself and achieves certain achievement.As the ceiling mounting robot (CFR-1) of Japan's exploitation, the one of Korea S's Han Yang University research and development in 2008, utilize the glass ceiling install machinery robot system of personal-machine partner systems, and in several special installation of GRR company of Britain development, the accessory machinery etc. of large glass curtain wall.Domestic relatively less mainly for the research in construction robot, be in the starting stage, the aspects such as current research mainly concentrates on that skyscraper is clean, spray robot and some constructional engineering machinery automations, be directed to sheet material carrying, installation aspect Robotics research be still blank field, so in the urgent need to researching and developing a series of building machinery hand system that can be applied to actual building site.
Summary of the invention
The problem to be solved in the present invention is to provide a kind of large plate installation mechanical arm, is particularly useful for the automatic and mechanical installation of large scale, heavy weight building or dalle.
For solving the problems of the technologies described above, the technical solution used in the present invention is: a kind of large plate installation mechanical arm, it is characterized in that: comprise lower end walking module, telescopic machine mechanical arm module, end adjusting module and end Executive Module, described telescopic machine mechanical arm module is arranged in the walking module of described lower end, and described end adjusting module is positioned at one end of described telescopic machine mechanical arm module; Described end adjusting module also connects described end Executive Module.
Described end adjusting module comprises double leval jib elevating movement module, Linear Moving Module and oscillating motion module, and described double leval jib elevating movement module is connected with described Linear Moving Module, and described Linear Moving Module is connected with described oscillating motion module again.
Described double leval jib elevating movement module comprises the first electric pushrod, driving lever, pull bar, transition connecting rod and head support body, one end of described transition connecting rod connects described head support body, the other end connects one end of described first electric pushrod, the other end of described first electric pushrod connects described driving lever, described driving lever is also connected with the middle part of described transition connecting rod, and described pull bar connects described head support body and described driving lever simultaneously.
Described Linear Moving Module comprises ball-screw, motor, the first synchronous pulley, the second synchronous pulley, Timing Belt, primary optic axis, the second optical axis, linear bearing and end contiguous block, the lower right corner of described head support body is provided with motor, described motor is connected with described first synchronous pulley, described first synchronous pulley, by described Timing Belt, is connected with the second synchronous pulley be arranged on the right side of described head support body;
In described head support body, horizontal parallel arranges described primary optic axis, ball-screw and the second optical axis successively from top to bottom, one end of described ball-screw connects described second synchronous pulley, the nut of described ball-screw connects described end contiguous block, and described end contiguous block is also connected by linear bearing with described primary optic axis, the second optical axis simultaneously slidably.
Described oscillating motion module comprises swing contiguous block and bearing pin, and described swing contiguous block is connected with described end contiguous block by described bearing pin.
Described end Executive Module comprises suction cup carrier and sucker, and the corner of described suction cup carrier is respectively provided with a described sucker, and described swing contiguous block and described suction cup carrier are fixedly linked.
Described suction cup carrier is " work " font structure, and described swing contiguous block is fixed on the centre of described suction cup carrier.
Described lower end walking module comprises load-bearing vehicle frame, bogie, drive train, operating grip, driven bearing roller, main shaft frame and mechanical arm load-bearing vertical beam, described load-bearing vehicle frame front end is provided with described main shaft frame, and described main shaft frame two ends respectively connect driven bearing roller described in;
The rear end of described load-bearing vehicle frame connects described bogie, and described bogie bottom is provided with described drive train, and described bogie top is provided with described operating grip, and described operating grip is directly connected with described drive train;
Described load-bearing vehicle frame is also provided with a control cabinet, and described control cabinet top is connected with described mechanical arm load-bearing vertical beam by a mechanical arm bearing frame;
An adjustable pedestal is also provided with between described main shaft frame two ends and described driven bearing roller, can according to the requirement adjustment width of the carbody of operating environment.
Described telescopic machine mechanical arm module comprises one-level arm, secondary arm and the second electric pushrod, the afterbody of described secondary arm and the head of described one-level arm are slidably connected, described secondary arm can in the inner linear slide of described one-level arm, the afterbody of described one-level arm connects the afterbody of described second electric pushrod, and the head of described second electric pushrod, the head of described secondary arm are all connected with described transition connecting rod;
The afterbody of described one-level arm is also connected with described mechanical arm load-bearing vertical beam, and the middle part of described one-level arm is also connected with the front portion of described load-bearing vehicle frame by a large arm pitching electric pushrod.
The advantage that the present invention has and good effect are:
1, realize the crawl of large glass sheet material, carrying, the mechanization of installation and assisted automated operation, improve large-sized sheet material installation quality, production efficiency and benefit, significantly save labour, reduce labour intensity, save construction cost;
2, do not need to set up scaffold and dismounting auxiliary equipment, construction technology is simple, and construction environment optimization, working security is high.
3, processing ease can come into operation fast.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention
Fig. 2 is the structural representation of end adjusting module of the present invention
Fig. 3 is the structural representation of end Executive Module of the present invention
Fig. 4 is the structural representation of lower end of the present invention walking module
Fig. 5 is the structural representation of telescopic machine mechanical arm module of the present invention
In figure:
1, lower end walking module 2, telescopic machine mechanical arm module 3, end adjusting module
4, end Executive Module 5, electric pushrod 6, driving lever
7, pull bar 8, transition connecting rod 9, ball-screw
10, motor 11, synchronous pulley 12, synchronous pulley
13, Timing Belt 14, optical axis 15, optical axis
16, linear bearing 17, linear bearing 18, nut
19, contiguous block 20, bearing pin 21, head support body is swung
22, end contiguous block 23, suction cup carrier 24, sucker
25, contiguous block 26, load-bearing vehicle frame 27, bogie
28, drive train 29, operating grip 30, driven bearing roller
31, main shaft frame 32, mechanical arm load-bearing vertical beam 33, control cabinet
34, adjustable pedestal 35, one-level arm 36, secondary arm
37, electric pushrod 38, large arm pitching electric pushrod 39, nylon slide block
40, connecting plate 41, battery pack
Detailed description of the invention
As shown in Figure 1, the present invention includes lower end walking module 1, telescopic machine mechanical arm module 2, end adjusting module 3 and end Executive Module 4, telescopic machine mechanical arm module 2 is arranged in lower end walking module 1, and end adjusting module 4 is positioned at one end of telescopic machine mechanical arm module 2; End adjusting module 3 also connects end Executive Module 4.
As shown in Figure 2, end adjusting module 3 comprises double leval jib elevating movement module, Linear Moving Module and oscillating motion module, and double leval jib elevating movement module is connected with Linear Moving Module, and Linear Moving Module is connected with oscillating motion module again.
Double leval jib elevating movement module comprises electric pushrod 5, driving lever 6, pull bar 7, transition connecting rod 8 and head support body 21, one end connection header support body 21 of transition connecting rod 8, the other end connects one end of electric pushrod 5, the other end of electric pushrod 5 connects driving lever 6, driving lever 6 is also connected with the middle part of transition connecting rod 8, and pull bar 7 is connection header support body 21 and driving lever 6 simultaneously.All by pinned connection between four bars, realize the elevating movement of head support body 21 using electric pushrod 5 as drive unit, and this four-bar linkage structure can make head support body 21 luffing angle reach maximum, is convenient to the pose adjustment of manipulator.
Linear Moving Module comprises ball-screw 9, motor 10, synchronous pulley 11,12 Timing Belt 13, optical axis 14,15 linear bearing 16,17 and end contiguous block 22, the lower right corner of head support body 21 is provided with a gripper shoe, the inner side of gripper shoe is provided with motor 10, motor 10 is connected with the synchronous pulley 11 be arranged on outside gripper shoe, the right side of head support body 21 is provided with synchronous pulley 12, and synchronous pulley 11 is connected by Timing Belt 13 with synchronous pulley 12;
In head support body 21, horizontal parallel arranges optical axis 14, ball-screw 9 and optical axis 15 successively from top to bottom, one end of ball-screw 9 connects synchronous pulley 12, the nut 18 of ball-screw 9 connects end contiguous block 22, and end contiguous block 22 is also connected by linear bearing 16,17 with optical axis 14, optical axis 15 simultaneously slidably.Motor 10 drives synchronous pulley 11 to rotate as power source, synchronous pulley 11 drives synchronous pulley 12 to rotate by Timing Belt 13, synchronous pulley 12 drives ball-screw 9 to rotate, and then the promotion end contiguous block 22 be connected on feed screw nut 18 does rectilinear motion along primary optic axis 14, second optical axis 15.
Oscillating motion module comprises swing contiguous block 19 and bearing pin 20, swing contiguous block 19 to be connected with end contiguous block 22 by bearing pin 20, formation can swing adjust structure around the end of positive and negative 30 ° of bearing pin 20, during robot work, assist operators can require manually to adjust pendulum angle according to terminal angle.
As shown in Figure 3, end Executive Module 4 comprises " work " font suction cup carrier 23, sucker 24, the corner of suction cup carrier 23 is respectively provided with a sucker 24, four suckers 24 are all floated by M16 bolt and are fixed in suction cup carrier 23, the centre position of suction cup carrier 23 is fixedly linked by a contiguous block 25 and swing contiguous block 19, and contiguous block 25 and swing contiguous block 19 are bolted to connection.Sucker 24 is used for directly drawing sheet material, the heaviest sheet material drawing 200KG weight.
As shown in Figure 4, lower end walking module comprises load-bearing vehicle frame 26, bogie 27, drive train 28, operating grip 29, driven bearing roller 30, main shaft frame 31 and mechanical arm load-bearing vertical beam 32, load-bearing vehicle frame 26 front end is provided with main shaft frame 31, main shaft frame 31 two ends connect a driven bearing roller 30 respectively by an adjustable pedestal 34, and adjustable pedestal 34 suitably can adjust width of the carbody according to the requirement of operating environment;
The rear end of load-bearing vehicle frame 26 connects bogie 27, and bogie 27 bottom is provided with drive train 28, and bogie 27 top is provided with operating grip 29, and operating grip 29 is directly connected with drive train 28, can operate system flexibly, quickly;
Load-bearing vehicle frame 26 is also provided with a control cabinet 33, control cabinet 33 top is connected with mechanical arm load-bearing vertical beam 32 by a mechanical arm bearing frame; Be provided with 24V battery pack 41 in control cabinet 33, this battery pack 41 is the power source of system, can be used as again manipulator counterweigh front end load.
Mechanical arm load-bearing vertical beam 32 is the transition of lower end walking module 1 and telescopic machine mechanical arm module 2, and its lower end is connected with mechanical arm bearing frame by bolt, and upper end has dead eye and is connected with telescopic machine mechanical arm module 2.
As shown in Figure 5, telescopic machine mechanical arm module 2 comprises one-level arm 35, secondary arm 36 and electric pushrod 37, the afterbody of secondary arm 36 and the head of one-level arm 35 are slidably connected, and secondary arm 36 in the inner linear slide of one-level arm 35, can be equipped with nylon slide block 39 and lubricate between two-arm.The afterbody of one-level arm 35 connects the afterbody of electric pushrod 37, the head of electric pushrod 37, the head of secondary arm 36 all with transition connecting rod 8 bolt.
Transition connecting rod 8 being also provided with drag chain, working required tracheae and electric wire for driving telescopic machine mechanical arm module 2 and end Executive Module 4.
One-level arm 35 is connected with mechanical arm load-bearing vertical beam 32 by connecting plate 40, and the middle part of one-level arm 35 is also connected with the front portion of load-bearing vehicle frame 26 by large arm pitching electric pushrod 38.
The course of work of the present invention is: first sheet material captures: need two operating personnel during work, operator 1 is responsible for running fix and the gripper pose adjustment of car body, operator 2 is responsible in arm end auxiliary operation, operator 1 arrives sheet material crawl position by the attitude that operating grip 29 operates lower end walking module 1, adjust telescopic machine mechanical arm module 2 position and end adjusting module 3, the crawl position of operator 2 auxiliary direction manipulator and crawl deviation;
Secondly sheet material carrying, after crawl sheet material, operator 2 prevents end Executive Module 4 from freely swinging with hand steered firmly sheet material, instructs operator 1, by operating grip 29 manipulator, sheet material is carried to position to be installed simultaneously;
Last sheet material is installed, after sheet material is carried to position to be installed by manipulator, fixing lower end walking module 1, operator 2 instructs operator 1 to adjust attitude and the position of sheet material at arm end, operator 2 manually will adjust the angle that swings of end Executive Module 4 sheet material if desired, and when sheet material reaches installation site and installation accuracy requires, operator 2 is by technological requirement fixed plate, operator 1 discharges sheet material, installation.Each execution original paper of whole installation process manipulator can adjust by point operation control, can adjust each execution original paper respectively by position and attitude as requested.
The version of this mechanical hand getting series connection, can realize the adjustment location of five frees degree, the pitching of large arm pitching electric pushrod 28, the pitching three degree of freedom that is flexible, end adjusting module 3 of contracting mechanical arm module 2 can realize the moving up and down and front and back feeding along vertical wall of end Executive Module 4 by coupling control algorithm; End Executive Module 4 translation, end Executive Module 4 swing and can realize sheet material fine adjustment of attitude.This five degree of freedom adjusts, and directly can capture and conveying device as power-assisted, can be used as sheet material charging appliance on a large scale during carrying when carrying among a small circle.
Above one embodiment of the present of invention have been described in detail, but described content being only preferred embodiment of the present invention, can not being considered to for limiting practical range of the present invention.All equalizations done according to the present patent application scope change and improve, and all should still belong within patent covering scope of the present invention.
Claims (6)
1. a large plate installation mechanical arm, comprise lower end walking module, telescopic machine mechanical arm module, end adjusting module and end Executive Module, described telescopic machine mechanical arm module is arranged in the walking module of described lower end, and described end adjusting module is positioned at one end of described telescopic machine mechanical arm module; Described end adjusting module also connects described end Executive Module; It is characterized in that: described end adjusting module comprises double leval jib elevating movement module, Linear Moving Module and oscillating motion module, described double leval jib elevating movement module is connected with described Linear Moving Module, and described Linear Moving Module is connected with described oscillating motion module again;
Described double leval jib elevating movement module comprises the first electric pushrod, driving lever, pull bar, transition connecting rod and head support body, one end of described transition connecting rod connects described head support body, the other end connects one end of described first electric pushrod, the other end of described first electric pushrod connects described driving lever, described driving lever is also connected with the middle part of described transition connecting rod, and described pull bar connects described head support body and described driving lever simultaneously;
Described Linear Moving Module comprises ball-screw, motor, the first synchronous pulley, the second synchronous pulley, Timing Belt, primary optic axis, the second optical axis, linear bearing and end contiguous block, the lower right corner of described head support body is provided with motor, described motor is connected with described first synchronous pulley, described first synchronous pulley, by described Timing Belt, is connected with the second synchronous pulley be arranged on the right side of described head support body; Described oscillating motion module comprises swing contiguous block and bearing pin, and described swing contiguous block is connected with described end contiguous block by described bearing pin;
In described head support body, horizontal parallel arranges described primary optic axis, ball-screw and the second optical axis successively from top to bottom, one end of described ball-screw connects described second synchronous pulley, the nut of described ball-screw connects described end contiguous block, and described end contiguous block is also connected by linear bearing with described primary optic axis, the second optical axis simultaneously slidably.
2. manipulator according to claim 1, is characterized in that: described end Executive Module comprises suction cup carrier and sucker, and the corner of described suction cup carrier is respectively provided with a described sucker, and described swing contiguous block and described suction cup carrier are fixedly linked.
3. manipulator according to claim 2, is characterized in that: described suction cup carrier is " work " font structure, and described swing contiguous block is fixed on the centre of described suction cup carrier.
4. manipulator according to claim 1, it is characterized in that: described lower end walking module comprises load-bearing vehicle frame, bogie, drive train, operating grip, driven bearing roller, main shaft frame and mechanical arm load-bearing vertical beam, described load-bearing vehicle frame front end is provided with described main shaft frame, and described main shaft frame two ends respectively connect driven bearing roller described in;
The rear end of described load-bearing vehicle frame connects described bogie, and described bogie bottom is provided with described drive train, and described bogie top is provided with described operating grip, and described operating grip is directly connected with described drive train;
Described load-bearing vehicle frame is also provided with a control cabinet, and described control cabinet top is connected with described mechanical arm load-bearing vertical beam by a mechanical arm bearing frame.
5. manipulator according to claim 4, is characterized in that: be also provided with an adjustable pedestal between described main shaft frame two ends and described driven bearing roller, can according to the requirement adjustment width of the carbody of operating environment.
6. manipulator according to claim 5, it is characterized in that: described telescopic machine mechanical arm module comprises one-level arm, secondary arm and the second electric pushrod, the afterbody of described secondary arm and the head of described one-level arm are slidably connected, described secondary arm can in the inner linear slide of described one-level arm, the afterbody of described one-level arm connects the afterbody of described second electric pushrod, and the head of described second electric pushrod, the head of described secondary arm are all connected with described transition connecting rod;
The afterbody of described one-level arm is also connected with described mechanical arm load-bearing vertical beam, and the middle part of described one-level arm is also connected with the front portion of described load-bearing vehicle frame by a large arm pitching electric pushrod.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210546466.2A CN103009374B (en) | 2012-12-14 | 2012-12-14 | Large plate installation mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210546466.2A CN103009374B (en) | 2012-12-14 | 2012-12-14 | Large plate installation mechanical arm |
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| CN103009374A CN103009374A (en) | 2013-04-03 |
| CN103009374B true CN103009374B (en) | 2016-02-10 |
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