CN105151772A - Board carrying robot - Google Patents
Board carrying robot Download PDFInfo
- Publication number
- CN105151772A CN105151772A CN201510492184.2A CN201510492184A CN105151772A CN 105151772 A CN105151772 A CN 105151772A CN 201510492184 A CN201510492184 A CN 201510492184A CN 105151772 A CN105151772 A CN 105151772A
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- CN
- China
- Prior art keywords
- lifting
- fixedly connected
- chassis
- crane
- slide
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000000463 material Substances 0.000 claims description 33
- 230000000630 rising effect Effects 0.000 claims description 9
- 230000009286 beneficial effect Effects 0.000 abstract description 7
- 230000000694 effects Effects 0.000 description 10
- 238000009434 installation Methods 0.000 description 9
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 1
- 239000003463 adsorbent Substances 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007115 recruitment Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Landscapes
- Conveying And Assembling Of Building Elements In Situ (AREA)
Abstract
The invention discloses a board carrying robot. The board carrying robot comprises a chassis, and is characterized in that a supporting frame, a walking drive device, a lifting frame, a lifting sliding seat, a lifting drive device, a sucker support, sucker mechanical arms and a control system are arranged on the chassis; the chassis is driven by the walking drive device, the lower end of the supporting frame is connected with the chassis, and the front end of the supporting frame is fixedly connected with the lifting frame; slide ways are arranged on the two sides of the lifting frame, the lifting sliding seat is connected with the lifting frame through the lifting drive device, and sliding rails arranged on the two sides of the lifting sliding seat are connected with the slide ways of the lifting frame in a sliding manner; one end of a connecting frame is connected with the upper end of the lifting sliding seat, and the other end of the connecting frame is connected with the sucker support; and the sucker mechanical arms are evenly distributed on the sucker support, and the sucker mechanical arms, the lifting drive device and the walking drive device are controlled by the control system. Due to the above structure, the board carrying robot has the beneficial effects of being novel in structure, quick to transform, safe, reliable, high in automation degree, capable of facilitating carrying operation and the like.
Description
Technical field
The present invention relates to Architectural Equipment technical field, specifically a kind of sheet material transfer robot.
Background technology
At present, when carrying out wallboard to the building of steel structure frame and installing, normally utilize crane that wallboard is moved to installation position, there is several workmen to be propped up by wallboard again and dock with adjacent wall board and fixedly mount, its deficiency is: during installation, workmen's labour intensity is large, carrying is inconvenient, and recruitment cost is high.
CN201420626134 discloses a kind of interior panel transport trolley, and its deficiency is: unreasonable structure, wallboard can only be propped up, and according to the installation site of building, can not carry out evolution to wallboard.
Summary of the invention
The object of the invention is to solve above-mentioned the deficiencies in the prior art, a kind of novel structure, convenient in carrying be provided, conversion is quick, safe and reliable, sheet material transfer robot that degree of automation is high.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of sheet material transfer robot, comprises chassis, it is characterized in that described chassis is provided with support frame, travel driving unit, crane, lift slide, lifting driving device, sucker stand, sucker manipulator and control system, described chassis drives through travel driving unit, described support frame lower end is connected with chassis, front end is fixedly connected with crane, described crane both sides are provided with slideway, described lift slide is connected with crane through lifting driving device, and the slideway sliding block joint of the slide rail that both sides are provided with and crane, to make lift slide under the driving of lifting driving device, slideway straight line along crane rises, and described link span one end is connected with lift slide upper end, and the other end is connected with sucker stand, described sucker stand is laid with sucker manipulator, described sucker manipulator, lifting driving device, travel driving unit controls through control system respectively, reaches novel structure, convenient in carrying, the effect that degree of automation is high.
The present invention can be provided with vertical rotary device between described link span and lift slide, described vertical rotary device comprises vertical rotary frame and rotating driving device, described vertical rotary frame one end is fixedly connected with rotating driving device is vertical, the other end is fixedly connected with link span is vertical, described vertical rotary device controls through control system, be beneficial to drive vertical rotary frame to rotate centered by the rotating shaft of rotating driving device by rotating driving device, form the sheet material of plumbness after the sheet material of horizontality is rotated, reach the effect of convenient in carrying.
The present invention can be provided with horizontal rotation apparatus on described link span, described horizontal rotation apparatus comprises horizontal rotating frame, horizontally rotate cylinder, hinge and articulated slab, described link span inwall is provided with groove, described link span outer end is provided with hinge, the described cylinder that horizontally rotates is located in groove, the described cylinder one end that horizontally rotates is connected with link span the inner, the other end is connected with articulated slab through expansion link, described center, articulated slab side and hinge are hinged, opposite side is fixedly connected with horizontal rotating frame, described horizontal rotating frame is fixedly connected with sucker stand, be beneficial to rotate centered by hinge by horizontally rotating air cylinder driven articulated slab, when a side of articulated slab and link span end fit, namely sheet material horizontally rotated 90 degree, furthermore achieved that the installation of inner wall.
The present invention can be provided with horizontal mobile device on described lift slide, it comprises ram, slide and transverse shifting cylinder, described ram two ends are fixedly connected with lift slide both sides respectively, described ram is laterally provided with guide groove, described ram slidably connects slide, described ram one end is provided with transverse shifting cylinder, described transverse shifting cylinder is fixedly connected with slide through expansion link, described vertical rotary device is fixed on slide, be beneficial to drive slide laterally to slide along ram by transverse shifting cylinder, the sheet material side direction of vertical rotary device front end is driven to be close to wallboard, reach the effect of Auto-mounting.
Support frame rear end of the present invention is through HeiFin device and chassis, front end is hinged through hinge and chassis, described HeiFin device comprises screw mandrel, fine setting motor, handle and nut, described fine setting motor is connected with control system, described screw mandrel drives through fine setting motor, described screw mandrel lower end is hinged through bearing and chassis, upper end is fixedly connected with handle through bearing, described screw mandrel has been threaded nut, described support frame is connected with nut, when ground is uneven, by driving fine setting motor, drive screw mandrel rotates, nut is driven to do straight-line motion along screw mandrel, and then have adjusted the squareness of crane of support frame front end, ensure that the installation site of sheet material.
Lifting driving device of the present invention is made up of ball-screw, lifting nut and lifting drive motor, described crane both sides are respectively equipped with ball-screw, described ball-screw two ends are fixedly connected with crane through bearing, bearing seat respectively, described ball-screw drives through lifting drive motor, described ball-screw has been threaded lifting nut, described lift slide side is fixedly connected with lifting nut, to reach the stable effect of lifting.
The present invention can be provided with in described crane upper end and rise to level sensor, described lift slide is provided with rising sensor block, the described level sensor that rises to is connected with control system, sense that the information of putting in place is also uploaded to control system by the rising sensor block information that puts in place when rising to level sensor, control system and instruction lifting drive motor stop rising, and further increase the safety of carrying.
The structure that rotating driving device of the present invention can adopt variable-frequency motor and turbine and worm to combine, this structure is prior art, and this does not repeat.
The present invention can be provided with anti-rotation Locking Device on the trailing wheel of chassis, to reach the effect of location.
The present invention, owing to adopting said structure, has that novel structure, convenient in carrying, conversion are quick, safe and reliable, degree of automation advantages of higher.
Accompanying drawing explanation
Fig. 1 is the initial condition structural representation of adsorbent of the present invention.
Fig. 2 is that sheet material of the present invention rises to the structural representation of assigned address by lifting driving device.
Fig. 3 is that sheet material of the present invention rotates to the structural representation of vertical position by vertical rotary device.
Fig. 4 is the structural representation after sheet material of the present invention is horizontally rotated by horizontal rotation apparatus.
Fig. 5 is that A in Fig. 4 is to structural representation.
fig. 6 is the cutaway view of Fig. 5.
Reference numeral: chassis 1, support frame 2, travel driving unit 3, crane 4, lift slide 5, lifting driving device 6, sucker stand 7, link span 8, vertical rotary device 9, vertical rotary frame 10, horizontal rotating frame 11, hinge 12, articulated slab 13, handle 14, ram 15, slide 16, transverse shifting cylinder 17, guide groove 18.
Detailed description of the invention:
Below in conjunction with accompanying drawing, the present invention is further described:
As shown in drawings, a kind of sheet material transfer robot, comprise chassis 1, it is characterized in that described chassis 1 is provided with support frame 2, travel driving unit 3, crane 4, lift slide 5, lifting driving device 6, sucker stand 7, link span 8 sucker manipulator and control system, described chassis 1 drives through travel driving unit 3, described support frame 2 lower end is connected with chassis 1, front end is fixedly connected with crane 4, described crane 4 both sides are provided with slideway, described lift slide 5 is connected with crane 4 through lifting driving device 6, and the slideway sliding block joint of the slide rail that both sides are provided with and crane 4, to make lift slide 5 under the driving of lifting driving device 6, slideway straight line along crane 4 rises, described link span 4 one end is connected with lift slide 5 upper end, the other end is connected with sucker stand 7, described sucker stand 7 is laid with sucker manipulator, described sucker manipulator, lifting driving device 6, travel driving unit 3 controls through control system respectively, reach novel structure, convenient in carrying, the effect that degree of automation is high.
The present invention can be provided with vertical rotary device 9 between described link span 8 and lift slide 5, described vertical rotary device 9 comprises vertical rotary frame 10 and rotating driving device, described vertical rotary frame 10 one end is fixedly connected with the rotating driving device be fixed on lift slide is vertical, the other end is fixedly connected with link span 8 is vertical, described vertical rotary device controls through control system, be beneficial to drive vertical rotary frame to rotate centered by the rotating shaft of rotating driving device by rotating driving device, the sheet material of plumbness is formed after the sheet material of horizontality is rotated, reach the effect of convenient in carrying.
The present invention can be provided with horizontal rotation apparatus on described link span 8, described horizontal rotation apparatus comprises horizontal rotating frame 11, horizontally rotate cylinder, hinge 12 and articulated slab 13, described link span 8 inwall is provided with groove, described link span 8 outer end is provided with hinge 12, the described cylinder that horizontally rotates is located in groove, the described cylinder one end that horizontally rotates is connected with link span 8 the inner, the other end is connected with articulated slab 13 through expansion link, described center, articulated slab 13 side and hinge 12 are hinged, opposite side is fixedly connected with horizontal rotating frame 11, described horizontal rotating frame 11 is fixedly connected with sucker stand 7, be beneficial to rotate centered by hinge by horizontally rotating air cylinder driven articulated slab, when a side of articulated slab and link span end fit, namely sheet material horizontally rotated 90 degree, furthermore achieved that the installation of inner wall.
Support frame 2 rear end of the present invention is hinged through HeiFin device and chassis 1, front end is hinged through hinge and chassis 1, described HeiFin device comprises screw mandrel, fine setting motor, handle 14 and nut, described fine setting motor is connected with control system, described screw mandrel drives through fine setting motor, described screw mandrel lower end is hinged through bearing and chassis, upper end is fixedly connected with handle through bearing, described screw mandrel has been threaded nut, described support frame is connected with nut, when ground is uneven, by driving fine setting motor, drive screw mandrel rotates, nut is driven to do straight-line motion along screw mandrel, and then have adjusted the squareness of crane of support frame front end, ensure that the installation site of sheet material.
The present invention can be provided with horizontal mobile device on described lift slide 5, it comprises ram 15, slide 16 and transverse shifting cylinder 17, described ram 15 two ends are fixedly connected with lift slide 5 both sides respectively, described ram 16 is laterally provided with guide groove 18, described ram slidably connects slide, described ram 16 one end is provided with transverse shifting cylinder 17, described transverse shifting cylinder 17 is fixedly connected with slide 16 through expansion link, described vertical rotary device is fixed on slide, be beneficial to drive slide 16 laterally to slide along ram 15 by transverse shifting cylinder 17, the sheet material side direction of vertical rotary device front end is driven to be close to wallboard, reach the effect of Auto-mounting.
Lifting driving device 6 of the present invention is made up of ball-screw, lifting nut and lifting drive motor, described crane both sides are respectively equipped with ball-screw, described ball-screw two ends are fixedly connected with crane through bearing, bearing seat respectively, described ball-screw drives through lifting drive motor, described ball-screw has been threaded lifting nut, described lift slide side is fixedly connected with lifting nut, to reach the stable effect of lifting.
The present invention can be provided with in described crane 4 upper end and rise to level sensor, described lift slide is provided with rising sensor block, the described level sensor that rises to is connected with control system, sense that the information of putting in place is also uploaded to control system by the rising sensor block information that puts in place when rising to level sensor, control system and instruction lifting drive motor stop rising, and further increase the safety of carrying.
The structure that rotating driving device of the present invention can adopt variable-frequency motor and turbine and worm to combine, this structure is prior art, and this does not repeat.
The present invention can be provided with anti-rotation Locking Device on the trailing wheel of chassis, to reach the effect of location.
The present invention in use, operating personal holds handle, start control system, travel driving unit drives chassis walking, travel driving unit of the present invention can adopt movable motor f-w-d, the structure that trailing wheel is turned to by handle, before shifting the present invention onto sheet material, stop walking, start lifting driving device action, sucker stand is driven to move down into setting height, restart sucker manipulator behavior, adsorbent center also rises to setting height by lifting driving device along crane, and then the rotating driving device action started in vertical rotary actuating device, worm and gear action is driven by variable-frequency motor, drive sheet material 90-degree rotation centered by worm screw axle center, after sheet material is vertically got up, stop vertical rotary, according to the installation site of sheet material, can restart and horizontally rotate cylinder action in horizontal rotation apparatus, sheet material horizontal rotary is driven to turn 90 degrees, stop the rotation after making sheet material face forward, start travel driving unit, sheet material is close to installation position of wallboards, and promote slide by transverse shifting cylinder, drive sheet material to be close to and body of wall is installed and side direction compression.
The present invention, owing to adopting said structure, has that novel structure, convenient in carrying, conversion are quick, safe and reliable, degree of automation advantages of higher.
Claims (7)
1. a sheet material transfer robot, comprise chassis, it is characterized in that described chassis is provided with support frame, travel driving unit, crane, lift slide, lifting driving device, sucker stand, sucker manipulator and control system, described chassis drives through travel driving unit, described support frame lower end is connected with chassis, front end is fixedly connected with crane, described crane both sides are provided with slideway, described lift slide is connected with crane through lifting driving device, and the slideway sliding block joint of the slide rail that both sides are provided with and crane, described link span one end is connected with lift slide upper end, the other end is connected with sucker stand, described sucker stand is laid with sucker manipulator, described sucker manipulator, lifting driving device, travel driving unit controls through control system respectively.
2. a kind of sheet material transfer robot according to claim 1, it is characterized in that being provided with vertical rotary device between described link span and lift slide, described vertical rotary device comprises vertical rotary frame and rotating driving device, described vertical rotary frame one end is fixedly connected with rotating driving device is vertical, the other end is fixedly connected with link span is vertical, and described vertical rotary device controls through control system.
3. a kind of sheet material transfer robot according to claim 1, it is characterized in that described link span is provided with horizontal rotation apparatus, described horizontal rotation apparatus comprises horizontal rotating frame, horizontally rotate cylinder, hinge and articulated slab, described link span inwall is provided with groove, described link span outer end is provided with hinge, the described cylinder that horizontally rotates is located in groove, the described cylinder one end that horizontally rotates is connected with link span the inner, the other end is connected with articulated slab through expansion link, described center, articulated slab side and hinge are hinged, opposite side is fixedly connected with horizontal rotating frame, described horizontal rotating frame is fixedly connected with sucker stand.
4. a kind of sheet material transfer robot according to claim 1, it is characterized in that described lift slide is provided with horizontal mobile device, it comprises ram, slide and transverse shifting cylinder, described ram two ends are fixedly connected with lift slide both sides respectively, described ram is laterally provided with guide groove, described ram slidably connects slide, described ram one end is provided with transverse shifting cylinder, described transverse shifting cylinder is fixedly connected with slide through expansion link, and described vertical rotary device is fixed on slide.
5. a kind of sheet material transfer robot according to claim 1, it is characterized in that described support frame rear end is through HeiFin device and chassis, front end is hinged through hinge and chassis, described HeiFin device comprises screw mandrel, fine setting motor, handle and nut, described fine setting motor is connected with control system, described screw mandrel drives through fine setting motor, described screw mandrel lower end is hinged through bearing and chassis, upper end is fixedly connected with handle through bearing, described screw mandrel has been threaded nut, and described support frame is connected with nut.
6. a kind of sheet material transfer robot according to claim 1, it is characterized in that described lifting driving device is made up of ball-screw, lifting nut and lifting drive motor, described crane both sides are respectively equipped with ball-screw, described ball-screw two ends are fixedly connected with crane through bearing, bearing seat respectively, described ball-screw drives through lifting drive motor, described ball-screw has been threaded lifting nut, and described lift slide side is fixedly connected with lifting nut.
7. a kind of sheet material transfer robot according to claim 1, it is characterized in that described crane upper end is provided with and rise to level sensor, described lift slide is provided with rising sensor block, described in rise to level sensor and be connected with control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510492184.2A CN105151772A (en) | 2015-08-12 | 2015-08-12 | Board carrying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510492184.2A CN105151772A (en) | 2015-08-12 | 2015-08-12 | Board carrying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105151772A true CN105151772A (en) | 2015-12-16 |
Family
ID=54792917
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510492184.2A Pending CN105151772A (en) | 2015-08-12 | 2015-08-12 | Board carrying robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105151772A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106124557A (en) * | 2016-06-30 | 2016-11-16 | 芜湖鸣人热能设备有限公司 | The resistance to heat detecting device of hot-water boiler handle |
| CN106364904A (en) * | 2016-08-26 | 2017-02-01 | 广东精毅科技股份有限公司 | Discharging mechanical arm and discharging method thereof |
| CN108584412A (en) * | 2018-03-30 | 2018-09-28 | 山东七星实业有限公司 | A kind of lining transfer robot |
| CN109262215A (en) * | 2018-07-17 | 2019-01-25 | 山西伟捷瑞铁路工程有限公司 | A kind of device and method of subway shield door transport installation mechanization |
| CN112482778A (en) * | 2019-09-11 | 2021-03-12 | 广东博智林机器人有限公司 | Lifting feeding device |
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- 2015-08-12 CN CN201510492184.2A patent/CN105151772A/en active Pending
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106124557A (en) * | 2016-06-30 | 2016-11-16 | 芜湖鸣人热能设备有限公司 | The resistance to heat detecting device of hot-water boiler handle |
| CN106364904A (en) * | 2016-08-26 | 2017-02-01 | 广东精毅科技股份有限公司 | Discharging mechanical arm and discharging method thereof |
| CN106364904B (en) * | 2016-08-26 | 2019-05-07 | 广东精毅科技股份有限公司 | Blanking mechanical hand and its baiting method |
| CN108584412A (en) * | 2018-03-30 | 2018-09-28 | 山东七星实业有限公司 | A kind of lining transfer robot |
| CN109262215A (en) * | 2018-07-17 | 2019-01-25 | 山西伟捷瑞铁路工程有限公司 | A kind of device and method of subway shield door transport installation mechanization |
| CN112482778A (en) * | 2019-09-11 | 2021-03-12 | 广东博智林机器人有限公司 | Lifting feeding device |
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Application publication date: 20151216 |
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