CN108555561B - Multi-dimensional installation machine head for glass plates - Google Patents
Multi-dimensional installation machine head for glass plates Download PDFInfo
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- CN108555561B CN108555561B CN201810429910.XA CN201810429910A CN108555561B CN 108555561 B CN108555561 B CN 108555561B CN 201810429910 A CN201810429910 A CN 201810429910A CN 108555561 B CN108555561 B CN 108555561B
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- cylinder
- telescopic
- frame
- turnover
- vertical sliding
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- 239000011521 glass Substances 0.000 title claims abstract description 15
- 238000009434 installation Methods 0.000 title abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 40
- 230000007306 turnover Effects 0.000 claims abstract description 40
- 241000252254 Catostomidae Species 0.000 claims description 7
- 238000000034 method Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 3
- 238000005034 decoration Methods 0.000 description 6
- 238000010276 construction Methods 0.000 description 5
- 230000006872 improvement Effects 0.000 description 5
- 230000001419 dependent effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
- 239000004566 building material Substances 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000003340 mental effect Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000002834 transmittance Methods 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
Abstract
The invention discloses a multi-dimensional glass plate mounting machine head which comprises a lifting mechanism, a telescopic mechanism, a turnover mechanism, a sliding steering mechanism and a sucker frame. The invention can realize the installation and the transportation of more angles and directions, and the concrete realization is as follows: the lifting mechanism is utilized to realize the lifting and descending movement of the whole machine head; the multi-stage telescopic movement of the machine head is realized by using a telescopic mechanism; the tilting and pitching movement of the machine head is realized by using the turnover mechanism; the sliding steering mechanism is utilized to realize the rotation, side rotation and vertical movement of the sucker frame. In summary, the invention can realize movement in at least 6 directions, solves the difficult problems of multi-dimensional and multi-angle installation and transportation, fully utilizes coarse adjustment and fine adjustment, and achieves the effects of high efficiency and flexibility in the installation and transportation processes.
Description
Technical Field
The invention relates to the field of plate installation, in particular to a multi-dimensional glass plate installation machine head.
Background
The board originates from a solid wood board for woodworking, is used for making furniture or other living facilities, is widely defined nowadays in technological development, and has boards of different materials in furniture manufacturing, construction industry, processing industry and the like.
The glass plate has excellent light transmittance, and has the characteristics of filtering more than 70% of ultraviolet light, heat resistance, cold resistance, corrosion resistance, insulation, stable dimension, easy processing and the like, and has a place in building materials. In the whole building construction process, the decoration construction period accounts for 40% -50% of the whole construction period, the installation of wall decoration plates is an important component part in the decoration industry, and the installation of wall decoration, glass curtain walls, ceilings and the like belongs to plate installation. In the construction process, auxiliary facilities such as scaffolds are needed, more installers need to operate, the installation process is difficult, the labor intensity is high, the construction period is prolonged, and even accidents and the like are caused.
The development of modern technology is gradually changed, and robots replace manual work to gradually become a trend. A robot arm is an automatic operation device which can simulate some action functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools, and is an important branch of an industrial robot arm. In developed countries, the application of the manipulator to the building decoration industry has achieved a certain achievement, and the contrary observation of the aspect of China is still in a weaker stage. At present, although a manipulator applicable to multi-angle installation and transportation exists in the field of building decoration, the manipulator cannot solve the problems of more angles, multi-azimuth installation and transportation.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide a multi-dimensional mounting machine head for glass plates, which aims to solve the problem that flexible strain is not realized for multi-angle and multi-azimuth mounting and carrying in the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a multi-dimensional glass plate mounting machine head comprises a lifting mechanism, a telescopic mechanism, a turnover mechanism, a sliding steering mechanism and a sucker frame;
the lifting mechanism comprises a lifting oil cylinder, one end of the lifting oil cylinder is hinged to the frame base, the other end of the lifting oil cylinder is hinged to the telescopic fixed beam, and one end of the telescopic fixed beam is hinged to the frame base;
the telescopic mechanism comprises a first telescopic cylinder, a second telescopic cylinder and a third telescopic cylinder which are coaxially arranged at the top of the telescopic fixed beam, the first telescopic cylinder is connected with a first movable arm through bolts, the second telescopic cylinder is connected with a second movable arm through bolts, the third telescopic cylinder is connected with a third movable arm through bolts, the first movable arm, the second movable arm and the third movable arm are sequentially sleeved in the telescopic fixed beam from outside to inside, and the top end of the third movable arm is connected with a translation frame through bolts;
the turnover mechanism comprises a turnover oil cylinder, a piston rod of the turnover oil cylinder is hinged to a turnover connecting rod connecting pipe, two ends of the turnover connecting rod connecting pipe are hinged to a turnover plate and a turnover connecting rod plate, the other end of the turnover connecting rod plate is hinged to a translation frame, and the other end of the turnover plate is hinged to the turnover frame;
the sliding steering mechanism comprises a vertical sliding frame, a vertical sliding frame rotating shaft is arranged at the top of the vertical sliding frame, the vertical sliding frame rotating shaft penetrates through the top of the vertical sliding frame to the top of the roll-over frame and is fixed on the roll-over frame through bolts, a vertical sliding shaft is further arranged in the vertical sliding frame, a bearing seat is fixedly arranged on the vertical sliding shaft, the bearing seat is connected with a sucker frame rotating device through bolts, and a plurality of sucker rotating devices are connected with the sucker frame through bolts;
the sucker frame comprises a main beam, a plurality of auxiliary beams, a plurality of suckers and a vacuum generating device, wherein the main beam is connected with the plurality of auxiliary beams through bolts and is perpendicular to the plurality of auxiliary beams, the plurality of auxiliary beams are provided with the plurality of suckers, and the plurality of suckers are connected with the vacuum generating device.
As a further improvement of the invention, the telescopic fixed beam is provided with a long angle sensor.
As a further improvement of the invention, a plurality of suckers are connected with the vacuum generating device through PVC pipelines, and are provided with vacuum generating loop electromagnetic valves.
As a further improvement of the invention, the bearing seat is fixedly connected to the piston rod end of the vertical sliding cylinder.
As a further improvement of the invention, the frame base comprises a hydraulic motor, the hydraulic motor is connected with an oil storage cylinder through a pipeline, the output end of the oil storage cylinder is respectively connected with a lifting cylinder, a first telescopic cylinder, a second telescopic cylinder, a third telescopic cylinder, a turning cylinder and a vertical sliding cylinder through oil pipes, and the oil return end oil pipe of the oil storage cylinder is respectively provided with a lifting cylinder electromagnetic valve, a first telescopic cylinder electromagnetic valve, a second telescopic cylinder electromagnetic valve, a third telescopic cylinder electromagnetic valve, a turning cylinder electromagnetic valve and a vertical sliding cylinder electromagnetic valve.
As a further improvement of the invention, the vertical sliding frame rotating shaft is connected with a driving motor.
Compared with the prior art, the invention has the beneficial effects that:
compared with the prior art, the invention can realize the installation and the transportation of more angles and directions, and the concrete realization is as follows: the lifting mechanism is utilized to realize the lifting and descending movement of the whole machine head; the telescopic mechanism is used for realizing the extension and retraction movement of the machine head, and is provided with three oil cylinders, so that the telescopic length can be specifically selected according to actual conditions, and the purpose of multistage telescopic is achieved; the tilting and pitching movement of the machine head is realized by using the turnover mechanism; the sliding steering mechanism can realize the rotation, side rotation and vertical movement of the sucker frame, and the sucker frame is respectively dependent on: the rotating shaft of the vertical sliding frame is driven to rotate, so that the whole side rotating motion of the vertical sliding frame can be realized; the rotary device is driven to rotate, so that the rotary motion of the sucker frame can be realized; the vertical sliding shaft is driven, so that the motion of the sucker frame in the vertical direction can be realized. In summary, the invention can realize movement in at least 6 directions, solves the difficult problems of multi-dimensional and multi-angle installation and transportation, fully utilizes coarse adjustment and fine adjustment, and achieves the effects of high efficiency and flexibility in the installation and transportation processes.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic plan view of the present invention;
FIG. 3 is a schematic view of the rear structure of the handpiece of the present invention;
FIG. 4 is a schematic view of a vertical carriage of the present invention;
fig. 5 is a schematic view of the structure of the suction cup stand of the present invention.
Description of the embodiments
The invention will now be further described with reference to the accompanying drawings and examples:
a multi-dimensional glass plate mounting machine head comprises a lifting mechanism 1, a telescopic mechanism 2, a turnover mechanism 3, a sliding steering mechanism 4 and a sucker frame 5;
the lifting mechanism 1 comprises a lifting oil cylinder 12, one end of the lifting oil cylinder 12 is hinged to the frame base 11, the other end of the lifting oil cylinder is hinged to a telescopic fixed beam 13, and one end of the telescopic fixed beam 13 is hinged to the frame base 11;
the telescopic mechanism 2 comprises a first telescopic cylinder 21, a second telescopic cylinder 22 and a third telescopic cylinder 23 which are coaxially arranged at the top of the telescopic fixed beam 13, the first telescopic cylinder 21 is connected with a first movable arm 24 through bolts, the second telescopic cylinder 22 is connected with a second movable arm 25 through bolts, the third telescopic cylinder 23 is connected with a third movable arm 26 through bolts, the first movable arm 24, the second movable arm 25 and the third movable arm 26 are sequentially sleeved in the telescopic fixed beam 13 from outside to inside, and the top end of the third movable arm 26 is connected with a translation frame 27 through bolts;
the turnover mechanism 3 comprises a turnover oil cylinder 31, a piston rod of the turnover oil cylinder 31 is hinged to a turnover connecting rod connecting pipe 32, two ends of the turnover connecting rod connecting pipe 32 are hinged to a turnover plate 33 and a turnover connecting rod plate 34, the other end of the turnover connecting rod plate 34 is hinged to a translation frame 27, and the other end of the turnover plate 33 is hinged to a turnover frame 35;
the sliding steering mechanism comprises a vertical sliding frame 41, a vertical sliding frame rotating shaft 42 is arranged at the top of the vertical sliding frame, the vertical sliding frame rotating shaft 42 penetrates through the top of the vertical sliding frame 41 to the top of the roll-over frame 35 and is fixed on the roll-over frame 35 through bolts, a vertical sliding shaft 43 is further arranged in the vertical sliding frame 41, a bearing seat 44 is fixedly arranged on the vertical sliding shaft 43, the bearing seat 44 is connected with a sucker frame rotating device 54 through bolts, and a plurality of sucker rotating devices are connected with a sucker frame 56 through bolts;
the suction cup frame 56 comprises a main beam 53, a plurality of auxiliary beams 52, a plurality of suction cups 51 and a vacuum generating device 55, wherein the main beam 53 is connected with the plurality of auxiliary beams 52 through bolts and is perpendicular to the plurality of auxiliary beams 52, the plurality of auxiliary beams 52 are provided with the plurality of suction cups 51, and the plurality of suction cups 51 are connected with the vacuum generating device 55.
The telescopic fixed beam 13 is mounted with a long angle sensor 131.
The sucking discs 51 are connected with a vacuum generating device 55 through PVC pipelines and are provided with vacuum generating loop electromagnetic valves.
The bearing block 44 is bolted to the up-down slide plate 46, and the up-down slide plate 46 is fixedly connected to the piston rod end of the vertical slide cylinder 45.
The frame base 11 comprises a hydraulic motor, an oil storage cylinder is connected to a pipeline of the hydraulic motor, the output end of the oil storage cylinder is connected with a lifting cylinder 12, a first telescopic cylinder 21, a second telescopic cylinder 22, a third telescopic cylinder 23, a turnover cylinder 31 and a vertical sliding cylinder 45 through oil pipes, and oil pipes at the oil return end of the oil storage cylinder are respectively provided with a lifting cylinder electromagnetic valve, a first telescopic cylinder electromagnetic valve, a second telescopic cylinder electromagnetic valve, a third telescopic cylinder electromagnetic valve, a turnover cylinder electromagnetic valve and a vertical sliding cylinder electromagnetic valve.
A driving motor is connected to the vertical carriage shaft 42.
The working principle of the invention is as follows:
compared with the prior art, the invention can realize the installation and the transportation of more angles and directions, and the concrete realization is as follows: lifting and lowering movements of the whole machine head are realized by using a lifting oil cylinder 12 of the lifting mechanism 1; the telescopic mechanism 2 is used for realizing the extension and retraction movement of the machine head, and is provided with three oil cylinders, namely a first telescopic oil cylinder 21, a second telescopic oil cylinder 22 and a third telescopic oil cylinder 23, so that the telescopic length can be specifically selected according to actual conditions, and the purpose of multistage telescopic is achieved; the tilting and pitching movement of the machine head is realized by using a tilting cylinder 31 of the tilting mechanism 3; the sliding steering mechanism 4 can realize the rotation, side rotation and vertical movement of the sucker frame 5, and the sucker frame is respectively dependent on: the vertical sliding frame rotating shaft 42 is driven to rotate, so that the overall side rotating motion of the vertical sliding frame 41 can be realized; the rotary device 54 is driven to rotate, so that the rotary motion of the sucker frame 56 can be realized; the vertical sliding shaft 43 is driven to realize the vertical movement of the suction cup frame 56. In conclusion, the invention can realize movement in at least 6 directions, solves the difficult problems of multi-dimensional and multi-angle installation and transportation, fully utilizes coarse adjustment and fine adjustment, and achieves the effects of high efficiency and flexibility in the installation and transportation processes.
In view of the above, after reading the present document, those skilled in the art should make various other corresponding changes without creative mental effort according to the technical scheme and the technical conception of the present invention, which are all within the scope of the present invention.
Claims (6)
1. The multi-dimensional glass plate mounting machine head is characterized by comprising a lifting mechanism, a telescopic mechanism, a turnover mechanism, a sliding steering mechanism and a sucker frame;
the lifting mechanism comprises a lifting oil cylinder, one end of the lifting oil cylinder is hinged to the frame base, the other end of the lifting oil cylinder is hinged to the telescopic fixed beam, and one end of the telescopic fixed beam is hinged to the frame base;
the telescopic mechanism comprises a first telescopic cylinder, a second telescopic cylinder and a third telescopic cylinder which are coaxially arranged at the top of the telescopic fixed beam, the first telescopic cylinder is connected with a first movable arm through bolts, the second telescopic cylinder is connected with a second movable arm through bolts, the third telescopic cylinder is connected with a third movable arm through bolts, the first movable arm, the second movable arm and the third movable arm are sequentially sleeved in the telescopic fixed beam from outside to inside, and the top end of the third movable arm is connected with a translation frame through bolts;
the turnover mechanism comprises a turnover oil cylinder, a piston rod of the turnover oil cylinder is hinged to a turnover connecting rod connecting pipe, two ends of the turnover connecting rod connecting pipe are hinged to a turnover plate and a turnover connecting rod plate, the other end of the turnover connecting rod plate is hinged to a translation frame, and the other end of the turnover plate is hinged to the turnover frame;
the sliding steering mechanism comprises a vertical sliding frame, a vertical sliding frame rotating shaft is arranged at the top of the vertical sliding frame, the vertical sliding frame rotating shaft penetrates through the top of the vertical sliding frame to the top of the roll-over frame and is fixed on the roll-over frame through bolts, a vertical sliding shaft is further arranged in the vertical sliding frame, a bearing seat is fixedly arranged on the vertical sliding shaft, the bearing seat is connected with a sucker frame rotating device through bolts, and a plurality of sucker rotating devices are connected with the sucker frame through bolts;
the sucker frame comprises a main beam, a plurality of auxiliary beams, a plurality of suckers and a vacuum generating device, wherein the main beam is connected with the plurality of auxiliary beams through bolts and is perpendicular to the plurality of auxiliary beams, the plurality of auxiliary beams are provided with the plurality of suckers, and the plurality of suckers are connected with the vacuum generating device.
2. A multi-dimensional glass sheet mounting head as defined in claim 1 wherein the telescoping fixed beam has a long angle sensor mounted thereon.
3. The multi-dimensional glass sheet mounting machine head according to claim 1, wherein a plurality of sucking discs are connected with the vacuum generating device through PVC pipelines and are provided with vacuum generating loop electromagnetic valves.
4. The multi-dimensional glass sheet mounting head of claim 1 wherein the bearing housing is fixedly connected to a piston rod end of a vertical sliding cylinder.
5. The multi-dimensional glass plate mounting machine head according to claim 1 or 4, wherein the frame base comprises a hydraulic motor, an oil storage cylinder is connected to the hydraulic motor through a pipeline, the output end of the oil storage cylinder is connected with a lifting cylinder, a first telescopic cylinder, a second telescopic cylinder, a third telescopic cylinder, a turnover cylinder and a vertical sliding cylinder through oil pipes, and oil return end oil pipes of the oil storage cylinder are respectively provided with a lifting cylinder electromagnetic valve, a first telescopic cylinder electromagnetic valve, a second telescopic cylinder electromagnetic valve, a third telescopic cylinder electromagnetic valve, a turnover cylinder electromagnetic valve and a vertical sliding cylinder electromagnetic valve.
6. The multi-dimensional glass sheet mounting head of claim 1, wherein the vertical carriage shaft is connected to a drive motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810429910.XA CN108555561B (en) | 2018-05-08 | 2018-05-08 | Multi-dimensional installation machine head for glass plates |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810429910.XA CN108555561B (en) | 2018-05-08 | 2018-05-08 | Multi-dimensional installation machine head for glass plates |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108555561A CN108555561A (en) | 2018-09-21 |
| CN108555561B true CN108555561B (en) | 2023-10-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810429910.XA Active CN108555561B (en) | 2018-05-08 | 2018-05-08 | Multi-dimensional installation machine head for glass plates |
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| CN (1) | CN108555561B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109623770A (en) * | 2018-12-13 | 2019-04-16 | 清华大学 | A kind of Li Kong construction and installation robot based on hybrid mechanism |
| CN109623784A (en) * | 2018-12-13 | 2019-04-16 | 清华大学 | A kind of movable building mounting robot |
| CN110053069A (en) * | 2019-04-23 | 2019-07-26 | 昆山宝锦激光拼焊有限公司 | A kind of multi-function robot suction cup carrier |
| CN112692546B (en) * | 2020-12-17 | 2023-01-06 | 江苏科伯瑞工业技术有限公司 | Feeding and press-mounting device for actuator cover |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001019386A (en) * | 1999-07-07 | 2001-01-23 | Koa:Kk | Glass attaching executing machine, and glass sucking device |
| CN203621863U (en) * | 2013-11-13 | 2014-06-04 | 宁波敏实汽车零部件技术研发有限公司 | Mechanical hand device |
| CN105152036A (en) * | 2015-10-13 | 2015-12-16 | 广州市柯西机械设备有限公司 | Electric transportation trolley for automatic glass mounting |
| CN105538303A (en) * | 2016-02-22 | 2016-05-04 | 河北工业大学 | Three-degree-of-freedom high-altitude mounting manipulator for large plates |
| CN206554825U (en) * | 2017-01-11 | 2017-10-13 | 河南铁福来装备制造股份有限公司 | A kind of colliery multi-angle drilling rod catching robot |
| CN107585711A (en) * | 2017-10-17 | 2018-01-16 | 广东亚克迪智能物流科技有限公司 | A kind of forklift for moving glass |
| CN208575471U (en) * | 2018-05-08 | 2019-03-05 | 广州市柯西机械设备有限公司 | A kind of glass board material various dimensions installation head |
-
2018
- 2018-05-08 CN CN201810429910.XA patent/CN108555561B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001019386A (en) * | 1999-07-07 | 2001-01-23 | Koa:Kk | Glass attaching executing machine, and glass sucking device |
| CN203621863U (en) * | 2013-11-13 | 2014-06-04 | 宁波敏实汽车零部件技术研发有限公司 | Mechanical hand device |
| CN105152036A (en) * | 2015-10-13 | 2015-12-16 | 广州市柯西机械设备有限公司 | Electric transportation trolley for automatic glass mounting |
| CN105538303A (en) * | 2016-02-22 | 2016-05-04 | 河北工业大学 | Three-degree-of-freedom high-altitude mounting manipulator for large plates |
| CN206554825U (en) * | 2017-01-11 | 2017-10-13 | 河南铁福来装备制造股份有限公司 | A kind of colliery multi-angle drilling rod catching robot |
| CN107585711A (en) * | 2017-10-17 | 2018-01-16 | 广东亚克迪智能物流科技有限公司 | A kind of forklift for moving glass |
| CN208575471U (en) * | 2018-05-08 | 2019-03-05 | 广州市柯西机械设备有限公司 | A kind of glass board material various dimensions installation head |
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| CN108555561A (en) | 2018-09-21 |
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