CN105538303B - Three-degree-of-freedom high-altitude mounting manipulator for large plates - Google Patents

Abstract

A three-degree-of-freedom high-altitude mounting manipulator for large plates is characterized by comprising four vacuum suckers, a sucker rack, a main electric pushing rod, a main electric pushing rod rack, a main support arm, a rotary lead screw pushing rod, an oscillating screw rod pushing rod, a pitching support plate, an oscillating support plate, a spindle, a planar connecting rod and a vacuum pump matched with the vacuum suckers, wherein the bottom edge of the sucker rack can rotate relative to a horizontal plane for +/-20 degrees; when a push rod body of the rotary lead screw push rod extends and retracts, the oscillating support plate is driven to oscillate relative to the pitching support plate by taking a pivot body of a pivot connecting mechanism as a rotation axis, and the maximum included angles between the oscillating support plate and the left and right ends of the pitching support plate are 20 degrees; when a push rod body of the main electric push rod extends and retracts, the pitching support plate is driven to perform pitching movement of 80 degrees.

Description

Three-degree-of-freedom large plate high-altitude installation manipulator

technical field

The invention relates to a manipulator, in particular to a manipulator for high-altitude installation of large plate with three degrees of freedom.

Background technique

The curtain wall decoration project of large buildings mainly uses materials such as large glass plates. These boards have the characteristics of large quality, large size, easy damage and high installation precision, and the manual installation and construction efficiency is low and the safety is poor. Therefore, it is of great practical significance to design a large-scale plate manipulator that is easy to operate, stable in work, and strong in anti-interference ability and suitable for high-altitude operations. The existing high-altitude plate installation manipulator can only be absorbed by the plate at the end of the manipulator, and only provides assistance during the high-altitude transportation process. During the installation process, high-altitude workers need to manually adjust the position of the plate, which cannot fundamentally realize automatic installation and overcome manual installation. bring about problems. Therefore, it is a major technical problem to provide a manipulator capable of precisely adjusting the position of a plate that is roughly aligned with the installation position, and to realize the automation of the high-altitude installation of large plates.

Contents of the invention

Aiming at the deficiencies of the prior art, the technical problem to be solved by the present invention is to provide a three-degree-of-freedom large plate high-altitude installation manipulator. The manipulator is installed at the end of heavy-duty machinery such as a crane, and can adjust the three degrees of freedom of pitch, rotation and swing of the large plate to be installed to meet the needs of high-altitude installation of large plates, thereby realizing automatic high-altitude installation of large plates.

For solving the problems in the prior art the technical scheme that the present invention adopts is:

Provides a three-degree-of-freedom large plate high-altitude installation manipulator, which is characterized in that it includes four vacuum suction cups 1, suction cup holder 2, main electric push rod 3, main electric push rod holder 4, main support arm 6, and rotary screw push rod 7 , swing screw push rod 8, pitch support plate 9, swing support plate 10, main shaft 11, plane connecting rod 12 and a vacuum pump matched with the vacuum suction cup;

The rectangular distribution of the vacuum suction cups is fixed on the suction cup frame, the suction cup ends of the four vacuum suction cups are located on the same plane, the plane is taken as the suction plane, and the rectangle formed by the four suction cup axes and the intersection points of the suction plane is the suction cup plane rectangle;

The two ends of the main shaft are vertically connected with the suction cup frame and the swing support plate respectively, the main shaft is perpendicular to the adsorption plane, and the intersection point of the main shaft axis and the adsorption plane is located at the center of the rectangle formed by the intersection points of the four suction cup axes and the adsorption plane. The push rod base is fixedly connected with the swing support plate, the push rod of the rotary screw push rod is parallel to the swing support plate and the end of the push rod is hinged with the suction cup frame, when the push rod of the rotary screw push rod extends and retracts, the suction cup can be driven The frame rotates, and the rotation angle range of the bottom edge of the suction cup frame relative to the horizontal plane is ±20°;

The side of the swing support plate close to the suction cup frame is the front, the back of the swing support plate is connected with the pivot mounting surface of the pitch support plate through a pivot connection mechanism 13, and the pivot axis of the pivot connection mechanism is parallel to the swing support plate , the projection on the pivot axis adsorption plane coincides with the symmetry axis of the suction cup plane rectangle passing through the upper and lower bottom edges, the push rod seat of the swing screw push rod is fixedly connected with the pitch support plate, and the push rod end of the swing lead screw push rod Hinged with the swing support plate, when the push rod of the swing lead screw push rod is stretched out and retracted, it can drive the swing support plate to swing relative to the pitch support plate with the pivot of the pivot connection mechanism as the rotation axis. When swinging, the swing support plate and the pitch support The maximum angle between the left and right ends of the board is 20°;

The back side of the pivot mounting surface of the pitching support plate is the pitching mechanism mounting surface, the middle part of the pitching mechanism mounting surface has a main hinge seat, the end of the main support arm is hinged on the pitch mechanism mounting surface through the main hinge seat, and the main hinge The rotation axis of the seat is parallel to the pitching mechanism mounting surface and perpendicular to the pivot axis. The pitching mechanism mounting surface has a connecting rod hinged seat near the end. The axis of the connecting rod hinged seat is parallel to the axis of the main hinged seat. The rods consist of a third link 1201 , a fourth link 1202 and a fifth link 1203 which are hinged. The two ends of the fourth connecting rod are respectively hinged with one end of the third connecting rod and the fifth connecting rod, and the other ends of the third connecting rod and the fifth connecting rod are respectively hinged at the connecting rod hinge seat and the main support as the two ends of the plane connecting rod. In the middle of the arm, the included angle between the fourth link and the fifth link is fixed between 135° and 145°, forming an L-shaped link, and a planar four-bar linkage mechanism composed of the planar link, the main support arm and the pitch support plate. The push rod base of the main electric push rod is hinged on the main electric push rod frame fixedly connected to the root of the main support arm, the push rod of the main electric push rod is parallel to the movement plane of the planar four-bar linkage mechanism and the end of the push rod Hinged on the angle formed by the fourth connecting rod and the fifth connecting rod. The extension and retraction of the push rod of the main electric push rod can drive the pitch support plate, that is, the suction cup adsorption plane, to realize a range of pitch motion of 80°.

The three-degree-of-freedom large plate high-altitude installation manipulator is characterized in that the third link length l ₃ , the fourth link length l ₄ , the fifth link length l ₅ , and the link The relationship between the distance _l2 between the hinged seat and the main hinged seat, and the distance _l1 from the main hinged seat to the hinged position of the main support arm and the _fifth connecting rod is, _l1 : _l2 : _l3 : _l4 : l5 =100:170～175:65～130:40～70:90～210.

The high-altitude installation manipulator for large plate with three degrees of freedom is characterized in that the included angle range between the main electric push rod and the main support arm is 3.5-6 degrees.

The beneficial effects of the technical solution of the present invention are:

1) The three-degree-of-freedom large plate high-altitude installation manipulator provided by the manipulator of the present invention can realize 80° pitch motion and ±20° rotation and swing operation, which meets the needs of high-altitude grabbing and mounting plate.

2) The structure of the rotary motion mechanism is optimized. The suction cup frame is connected to the rotary support plate through a rotatable main shaft, and the rotary screw push rod fixed on the swing support plate is used to drive the suction cup frame to rotate. The structure is compact and serves as the suction cup at the end of the manipulator. The rotation of the frame is not affected by the movement of other mechanisms. Since the rotation adjustment of the suction cup frame is generally the final adjustment step during the panel installation operation, the rotary motion mechanism of the manipulator of the present invention is easy to realize the final precise positioning and fine-tuning, which can improve the quality of panel installation .

3) The structure of the swing motion mechanism and its connection with the rotary connection mechanism are optimized. The swing support plate is connected to the pitch support plate through a pivot connection mechanism arranged in sections, and the swing screw push rod is fixed on the pitch support plate. When the known swing support plate swings through the swing screw push rod, the width of the support plate is used to limit the swing range. At the same time, because the axis of the pivot shaft is perpendicular to the axis of the main shaft, the movement of the swing support plate is easy to control, and the swing wire The push rod can realize the swing control of the manipulator with a small thrust and a large stroke.

4) The structure of the pitching motion mechanism is optimized. Since the pitching motion mechanism is the main motion mechanism for plate grabbing and conveying, the requirements for its motion range and mechanism load capacity are greater than those of the swing and rotation motion mechanisms. Therefore, the combination of the equivalent planar four-bar linkage mechanism and the main electric push rod is adopted. Through the structure of the planar four-bar linkage mechanism and the main electric push rod, the need for a large pitching movement of the main electric push rod with as small a stroke as possible is met. , and in this process, the range of push-pull force of the main electric push rod is small, and the load utilization is repeated, which is convenient for manual and automatic control.

In summary, the three-degree-of-freedom large-scale plate high-altitude installation manipulator provided by the present invention can be applied to large-scale plate high-altitude automatic installation operations such as curtain wall installation by optimizing the structural design of the motion mechanism. The structure is compact and simple, and the space utilization is reasonable. The pitching motion mechanism of the mechanism and the pitching and swinging motion mechanism as a fine-tuning mechanism are independent of each other, and they cooperate with each other to form an organic whole, which is reliable in operation, reduces the overall mass of the end of the manipulator, and is easy to operate. High-altitude panel installation requirements.

Description of drawings

Fig. 1 is the overall structural schematic diagram of an embodiment of the three-degree-of-freedom large plate high-altitude installation manipulator provided by the present invention;

Fig. 2 is a schematic structural diagram of a planar four-bar linkage mechanism of a three-degree-of-freedom large plate high-altitude installation manipulator provided by a specific embodiment of the present invention.

Fig. 3 is a schematic structural diagram of a pivotal connection mechanism of an embodiment of a three-degree-of-freedom large plate high-altitude installation manipulator provided by the present invention.

In the picture:

1. Suction cup, 2. Suction cup frame, 3. Main electric push rod, 4. Main electric push rod frame, 5. Vacuum pump, 6. Main support arm, 7. Rotating lead screw push rod, 8. Swing lead screw push rod, 9, pitch support plate, 10 swing support plate, 11, main shaft, 12, plane connecting rod, 1201, the third connecting rod, 1202, the fourth connecting rod, 1203, the fifth connecting rod; 13, pivot shaft rod, 14 , Shaft

detailed description

The present invention will be further described below in conjunction with the embodiments and accompanying drawings, but it is not used as a limitation to the protection scope of the present application.

The three-degree-of-freedom large plate high-altitude installation manipulator (referred to as the manipulator) provided by the present invention includes four vacuum suction cups 1, suction cup holders 2, main electric push rods 3, main electric push rod holders 4, main support arms 6, and rotary screw push rods. 7. Swing screw push rod 8, pitch support plate 9, swing support plate 10, main shaft 11, plane connecting rod 12 and vacuum pump matched with vacuum suction cup

The rectangular distribution of the vacuum suction cups is fixed on the suction cup frame, the suction cup ends of the four vacuum suction cups are located on the same plane, the plane is taken as the suction plane, and the rectangle formed by the four suction cup axes and the intersection points of the suction plane is the suction cup plane rectangle;

The two ends of the main shaft are vertically connected with the suction cup frame and the swing support plate respectively, the main shaft is perpendicular to the adsorption plane, and the intersection point of the main shaft axis and the adsorption plane is located at the center of the rectangle formed by the intersection points of the four suction cup axes and the adsorption plane. The push rod base is fixedly connected with the swing support plate, the push rod of the rotary screw push rod is parallel to the swing support plate and the end of the push rod is hinged with the suction cup frame, when the push rod of the rotary screw push rod extends and retracts, the suction cup can be driven The frame rotates, and the rotation angle range of the bottom edge of the suction cup frame relative to the horizontal plane is ±20°

The side of the swing support plate close to the suction cup frame is the front, the back of the swing support plate is connected with the pivot mounting surface of the pitch support plate through a pivot connection mechanism 13, and the pivot axis of the pivot connection mechanism is parallel to the swing support plate , the projection on the pivot axis adsorption plane coincides with the symmetry axis of the suction cup plane rectangle passing through the upper and lower bottom edges, the push rod seat of the swing screw push rod is fixedly connected with the pitch support plate, and the push rod end of the swing lead screw push rod Hinged with the swing support plate, when the push rod of the swing lead screw push rod is stretched out and retracted, it can drive the swing support plate to swing relative to the pitch support plate with the pivot of the pivot connection mechanism as the rotation axis. When swinging, the swing support plate and the pitch support The maximum angle between the left and right ends of the board is 20°,

The back side of the pivot mounting surface of the pitching support plate is the pitching mechanism mounting surface, the middle part of the pitching mechanism mounting surface has a main hinge seat, the end of the main support arm is hinged on the pitch mechanism mounting surface through the main hinge seat, and the main hinge The rotation axis of the seat is parallel to the pitching mechanism mounting surface and perpendicular to the pivot axis. The pitching mechanism mounting surface has a connecting rod hinged seat near the end. The axis of the connecting rod hinged seat is parallel to the axis of the main hinged seat. The rods consist of a third link 1201 , a fourth link 1202 and a fifth link 1203 which are hinged. The two ends of the fourth connecting rod are respectively hinged with one end of the third connecting rod and the fifth connecting rod, and the other ends of the third connecting rod and the fifth connecting rod are respectively hinged at the connecting rod hinge seat and the main support as the two ends of the plane connecting rod. In the middle of the arm, the included angle between the fourth link and the fifth link is fixed between 135° and 145°, forming an L-shaped link, and a planar four-bar linkage mechanism composed of the planar link, the main support arm and the pitch support plate. The push rod base of the main electric push rod is hinged on the main electric push rod frame fixedly connected to the root of the main support arm, the push rod of the main electric push rod is parallel to the movement plane of the planar four-bar linkage mechanism and the end of the push rod Hinged on the angle formed by the fourth connecting rod and the fifth connecting rod. The extension and retraction of the push rod of the main electric push rod can drive the pitch support plate to realize a pitch motion range of 80°.

The schematic diagram of the connection structure of the planar four-bar linkage mechanism is shown in Figure 3, the length of the third link is l ₃ , the length of the fourth link is l ₄ , the length of the fifth link is l ₅ , the length of the fourth link and the fifth link are The equivalent length of the L-shaped connecting rod with a fixed angle formed by the rod is l ₆ , the distance between the hinged seat of the connecting rod and the main hinged seat is l ₂ , and the distance from the main hinged seat to the hinged position of the main support arm and the fifth connecting rod The distance is l ₁ , in Figure 3, AB=l ₁ , AD=l ₂ , CD=l ₃ , CE=l ₄ , BE=l ₅ , BC=l ₆ , the angle between the main electric push rod and the main support arm The range is 3.5-6 degrees, l ₁ : l ₂ : l ₃ : l ₄ : l ₅ ＝100:170～175:65～130:40～70:90～210, the board installation plane is perpendicular to the horizontal plane, as shown in Figure 3 The x-axis is the horizontal coordinate axis perpendicular to the panel installation plane, and the y-axis is the vertical coordinate axis parallel to the panel installation plane.

The plane four-bar linkage mechanism provided by the present invention has the following kinematic characteristics:

The fourth link and the fifth link form an L-shaped link with a fixed angle, which can make ∠DCE rapidly increase during the movement of the planar four-bar linkage mechanism. When point D moves relative to the y-axis, the movement of point E is significantly smaller than that of point D. In this way, the small movement stroke of the main electric pushrod can be used to achieve a large adjustment of the pitch angle of the end of the manipulator, and during the action of the main electric pushrod, the actual load changes little, making full use of the main electric pushrod Under the condition of rated load, the moving stroke of the electric push rod is greatly reduced, saving the space at the end of the manipulator. In addition, through this mechanism, the rotation angle range of the main electric push rod relative to the main support arm is small, and the adverse effect on the stability of the mechanism caused by the large longitudinal swing of the active electric push rod is avoided. The motion stability of the manipulator has been improved.

Example

The suction cup frame is an I-shaped structure composed of a beam and a longitudinal beam. The four vacuum suction cups are respectively located at the ends of the two longitudinal beams. The two ends of the beam are respectively connected to the middle of the two longitudinal beams. . The vacuum pump is a leak-proof vacuum pump.

The pivot connection mechanism includes a pivot shaft rod and a shaft cylinder respectively fixed on the back of the swing support plate and the pivot mounting surface of the pitch support plate. The two ends of the pivot shaft rod respectively extend into different shaft cylinders. One end is fixed in the shaft cylinder, and the other end can rotate relative to the shaft cylinder. In order to make the structure of the pitch support plate and the swing support plate more compact, there are two sets of pivot connection mechanisms, which are respectively located above and below the end of the main shaft.

The parameters of each link of the planar four-bar linkage mechanism are as follows: AB=l ₁ =122mm, AD=l ₂ =210.34mm, CD=l ₃ =134mm, CE=l ₄ =72.5mm, BE=l ₅ =201.4mm , The angle between l ₄ and l ₅ ∠BEC = 140° where the stroke of the main electric push rod is 200mm, and the rated load is 9000N.

The overall structure of the manipulator is shown in FIG. 1 . The structure of the pivot connection mechanism is shown in Figure 2.

The operation method of the three-degree-of-freedom large-scale plate high-altitude installation manipulator provided by the present invention (hereinafter referred to as the manipulator) is as follows when the plate is installed on a frame perpendicular to the horizontal plane:

1) Install the manipulator at the end of the plate lifting equipment, use a vacuum suction cup to grab the plate and move it to a position close to the installation to start the installation operation;

2) Start the main electric push rod, adjust the pitch angle of the pitch support plate, so that the plate is basically in an upright state and close to the installation position;

3) Start the swing screw push rod, adjust the swing angle of the swing support plate, so that the plate is basically parallel to the installation plane;

4) Start the rotary screw push rod, adjust the rotation angle of the suction cup holder, align the plate with the installation position, and prepare for the next installation step.

Because the working environment of the manipulator is high altitude, the whole process from grabbing the plate to the completion of the plate installation is controlled by remote control on the ground. It realizes full automation and guarantees the safety of operating workers.

The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the industry need to understand that the above-mentioned embodiments do not limit the present invention in any form, and all technical solutions obtained by equivalent replacement or simple modification and modification fall within the protection scope of the present invention.

Claims (3)

1. Three Degree Of Freedom large-sized sheet material high-altitude installation manipulator, is characterized in that including four vacuum cups, suction cup carrier, leads electronic pushing away Bar, main electric pushrod frame, master arm, rotating threaded shaft push rod, swing screw mandrel push rod, pitching gripper shoe, swinging support plate, master Axle, planar linkage and the vacuum pump matched with vacuum cup；

The vacuum cup distributed rectangular is fixed in suction cup carrier, and the sucker end of four vacuum cups is generally aligned in the same plane, with The plane is adsorbing plane, and the rectangle with four sucker axis and adsorbing plane intersection point composition is as sucker planar rectangular；

Main shaft two ends respectively with suction cup carrier and swinging support plate is vertical is connected, main shaft perpendicular to adsorbing plane, main-shaft axis with inhale The intersection point of attached plane is located at the center of four sucker axis and the rectangle of adsorbing plane intersection point composition, the rotating threaded shaft push rod Ram seat is fixedly connected with swinging support plate, and the push rod of rotating threaded shaft push rod is parallel to swinging support plate and push rod end and sucker Frame is hinged, and suction cup carrier can be driven to rotate when the push rod of rotating threaded shaft push rod stretches out and withdraws, and the suction cup carrier base is relative In horizontal plane rotation angle range be ± 20 °；

The swinging support plate to press close to suction cup carrier one side as front, with the pivot of pitching gripper shoe pacify by the back side of swinging support plate Dress face is pivotally connected mechanism's connection, and the pivotal axis of the pivotal connection are parallel to swinging support plate, pivotal axis Projection on adsorbing plane is overlapped with sucker planar rectangular by the axis of symmetry of upper bottom, described to swing pushing away for leading screw push rod Pole socket is fixedly connected with pitching gripper shoe, and the push rod end for swinging leading screw push rod is hinged with swinging support plate, pushes away when leading screw is swung The push rod of bar can drive swinging support plate with the pivot of pivotal connection as rotary shaft relative pitching when stretching out and withdrawing Fagging swings, and the maximum angle at swinging support plate and pitching gripper shoe or so two ends is 20 ° during swing；

The back side in the pivotal mounting face of the pitching gripper shoe is luffing mechanism mounting surface, luffing mechanism mounting surface middle part tool There is main hinged seat, master arm end is hinged on luffing mechanism mounting surface by main hinged seat, the rotation of the main hinged seat Diameter parallel is in luffing mechanism mounting surface and vertical with pivotal axis, and there is the close end of the luffing mechanism mounting surface connecting rod to cut with scissors Joint chair, the diameter parallel of the axis of rod hinge connection seat and main hinged seat, the planar linkage is by the third connecting rod being hinged, the 4th company Bar and the 5th connecting rod are constituted, and fourth link two ends are hinged respectively with one end of third connecting rod and the 5th connecting rod, third connecting rod and the The other end of five connecting rods as the two ends of planar linkage be respectively hinged at rod hinge connection seat and master arm middle part, fourth link and 5th connecting rod angle angle is fixed between 135 °～145 °, forms L-shaped connecting rod, and planar linkage, master arm and pitching are supported The lanar four rod mechanism that plate is constituted, the ram seat of the main electric pushrod is hinged on the master being fixedly connected with master arm root On electric pushrod frame, the push rod of main electric pushrod is parallel with the plane of movement of the lanar four rod mechanism and push rod end is hinged On the angle that fourth link and the 5th connecting rod are formed, being stretched out by the push rod of main electric pushrod and withdrawn can drive pitching Fagging realizes 80 ° of range of pitch motion.

2. Three Degree Of Freedom large-sized sheet material high-altitude installation manipulator as claimed in claim 1, is characterized in that the composition plane four Third connecting rod length l of linkage₃, fourth link length l₄, the 5th length of connecting rod l₅, rod hinge connection seat and main hinged seat it Between apart from l₂, main hinged seat away to master arm and the 5th rod hinge connection position apart from l₁Relation be, l₁：l₂：l₃：l₄： l₅=100:170～175:65～130：40～70:90～210.

3. Three Degree Of Freedom large-sized sheet material high-altitude installation manipulator as claimed in claim 2, is characterized in that main electric pushrod and master The angular range of support arm is 3.5 ° -6 °.