CN110512879A - A kind of assembled architecture now fills wallboard Butt welder equipment - Google Patents
A kind of assembled architecture now fills wallboard Butt welder equipment Download PDFInfo
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- CN110512879A CN110512879A CN201910801695.6A CN201910801695A CN110512879A CN 110512879 A CN110512879 A CN 110512879A CN 201910801695 A CN201910801695 A CN 201910801695A CN 110512879 A CN110512879 A CN 110512879A
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- 230000007246 mechanism Effects 0.000 claims abstract description 89
- 230000003028 elevating effect Effects 0.000 claims abstract description 24
- 238000006073 displacement reaction Methods 0.000 claims abstract description 23
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 19
- 230000009184 walking Effects 0.000 claims abstract description 17
- 230000005540 biological transmission Effects 0.000 claims abstract description 14
- 238000009434 installation Methods 0.000 claims abstract description 6
- 230000008878 coupling Effects 0.000 claims description 8
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 239000007787 solid Substances 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract description 15
- 238000010586 diagram Methods 0.000 description 16
- 238000000034 method Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000003014 reinforcing effect Effects 0.000 description 3
- 230000002457 bidirectional effect Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 230000008520 organization Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
- E04G21/167—Tools or apparatus specially adapted for working-up plates, panels or slab shaped building elements
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- Engineering & Computer Science (AREA)
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Abstract
The invention belongs to construction engineering technical fields, more particularly to a kind of assembled architecture now fills wallboard Butt welder equipment, including executing agency, elevating mechanism, displacement mechanism, rotating mechanism and walking mechanism, wherein, the executing agency includes top connection frame, mechanical arm, two-way hydraulic cylinder, first manipulator and smooth shaft, the elevating mechanism includes lifter plate, screw drive component, moving slide board and polished rod, institute's displacement mechanism includes sliding platform, ball nut, motor, lead screw and hydraulic cylinder, the rotating mechanism includes runing rest, pivoting support, gear transmission part, pedestal and arc guide rail, the walking mechanism includes chassis and wheel, the pedestal of installation rotating mechanism above the chassis, wheel is installed below the chassis.The present invention provides the assembled architecture that a kind of assembly manipulation precision is high, construction safety coefficient is high and mechanical automation degree is high and now fills wallboard Butt welder equipment.
Description
Technical field
The invention belongs to construction engineering technical fields more particularly to a kind of assembled architecture now to fill wallboard Butt welder equipment.
Background technique
Assembled architecture is a kind of novel build model using " plant produced-in-site installation ".It is " existing relative to tradition
Pour " it builds, it is to solve the extensive urbanization in China that assembled architecture, which can shorten the construction period, reduce building waste, improve architecture quality,
The effective means of construction.Robot technology is used for assembled architecture, efficiency of construction and quality can be not only promoted, can also be achieved intelligence
It can build, digitlization is built.This both met " made in China 2025 " strategy, also complied with the direction of construction industry innovation.Therefore, it assembles
Formula construction robot technology is classified as significant development technology by various countries successively, it has also become whether a national building trade technology is advanced
Mark.
Nowadays, in the construction process of assembled architecture, for wallboard to joint stabilizing process, crane machine is needed to lift wallboard
To corresponding position, then human assistance positioned in alignment, puts down wallboard measurement adjustment position of wallboards later.This mode is entirely manually
Secondary alignment, error are difficult to ensure；And wallboard volume is big, weight weight, and panel edges and lifting steel wire are coarse and sharp, again
It is high altitude operation, carrys out very big hidden danger to construction personnel's safety belt.For this purpose, providing, a kind of assembly manipulation precision is high, construction safety system
Number is high and the high assembled wallboard Butt welder equipment of mechanical automation degree is this field urgent problem.
Summary of the invention
It is a primary object of the present invention to solve problems of the prior art, provide a kind of assembly manipulation precision it is high,
Construction safety coefficient height and the high assembled architecture of mechanical automation degree now fill wallboard Butt welder equipment.
Technical problem solved by the invention is realized using following technical scheme: a kind of assembled architecture now fills wallboard pair
Stitch device, including executing agency, elevating mechanism, displacement mechanism, rotating mechanism and walking mechanism, wherein
The executing agency includes top connection frame, mechanical arm, two-way hydraulic cylinder, the first manipulator and smooth shaft, described
Top connection frame front both ends are respectively symmetrically worn on the robotic arm, and two mechanical arms for wearing top connection frame are separately connected
Two-way hydraulic cylinder both ends, the other end of the mechanical arm are mounted on the first manipulator, top connection frame rear portion both ends point
It is not symmetricly set in smooth shaft, the smooth shaft is mounted on elevating mechanism；
The elevating mechanism includes lifter plate, screw drive component, moving slide board and polished rod, two middle side part of lifter plate
It is symmetrically installed the smooth shaft of executing agency, screw drive component, screw drive component bottom are provided among the lifter plate
Portion is fixed on moving slide board, and the lifter plate quadrangle is set on respectively on the polished rod on moving slide board top, the moving slide board
It is slidably connected on displacement mechanism；
Institute's displacement mechanism includes sliding platform, ball nut, motor, lead screw and hydraulic cylinder, the sliding platform top
Be slidably connected the moving slide board of elevating mechanism, and the sliding platform, which is worn, to be set on ball nut, and the ball nut is worn
It is arranged on the lead screw that motor is connected by shaft coupling, the two lateral edge moving slide board glide direction of sliding platform is symmetrically installed with
Hydraulic cylinder, the hydraulic cylinder connect on the outside of corresponding moving slide board, and the sliding platform basal sliding is connected to rotating mechanism
On；
The rotating mechanism includes runing rest, pivoting support, gear transmission part, pedestal and arc guide rail, the rotation
Turn frame upper to be slidably connected the sliding platform of displacement mechanism, be mounted on pivoting support in the middle part of the runing rest, described time
Turn bearing engagement connection gear transmission parts and be arranged on pedestal, the runing rest edge bottom is slidably arranged in pedestal
Arc guide rail on, the pedestal is mounted in walking mechanism；
The walking mechanism includes chassis and wheel, the pedestal of installation rotating mechanism above the chassis, under the chassis
Side is equipped with wheel.
Further, the executing agency further includes lower part connection frame, the second manipulator, smooth column and jacking hydraulic cylinder, institute
It states lower part connection frame front both ends respectively symmetrically to wear on the robotic arm, two mechanical arms for wearing lower part connection frame connect respectively
Two-way hydraulic cylinder both ends are connect, the other end of the mechanical arm is mounted on the second manipulator, pair of the close lower part connection frame
It is fixed on the smooth column lower part on the connection frame of lower part to hydraulic cylinder, the two-way hydraulic cylinder of the close top connection frame slides setting
In the sliding slot of smooth column, connected in the middle part of the connection frame of top in the middle part of the lower part connection frame by jacking hydraulic cylinder, the lower part
Connection frame rear portion both ends are respectively symmetrically mounted on smooth shaft bottom.
Further, the screw drive component includes motor, nut, worm gear, screw rod and worm screw, and the motor is mounted on liter
It drops on plate, wears and be set on nut among the lifter plate, the nut, which passes through axis connection worm gear and wears, is set on spiral shell
On bar, the worm gear engagement connects the worm screw on motor, and the screw rod is fixed on moving slide board.
Further, the moving slide board includes central slide plate, sideskid and stiffening plate, and the center slide plate two sides symmetrically connect
It is connected to sideskid, passes through stiffening plate in the middle part of the center slide plate and symmetrically connects sideskid.
Further, the sliding platform includes central platform, connecting rod and side platform, and the central platform is set on ball
On nut, the central platform two sides by the symmetrical connecting side platform of connecting rod, between the central platform and side platform between
It is corresponding away from the spacing between central slide plate and sideskid, central slide plate is provided in the sliding slot of the central platform, it is described
Sideskid is provided in the sliding slot of side platform.
Further, the gear transmission part includes worm gear, motor, worm screw and gear, the worm gear engagement connection motor
On worm screw, the worm gear passes through the gear of axis connection engagement connection pivoting support.
Further, there are three support rod, the support rod bottom is connected on arc guide rail for the runing rest bottom setting
Sliding block.
Further, the wheel number is four, and the axle of the wheel connects motor by shaft coupling.
The invention has the benefit that
1, the walking mechanism of the present apparatus is walked to wallboard designated position, and then executing agency catches wallboard, then goes up and down
Mechanism, displacement mechanism and rotating mechanism are sequentially adjusted in the position of wallboard, keep pre-manufactured hole below wallboard chimeric with corresponding reinforcing bar, realization
Wallboard installs positioning completely.Wherein whole work process is entirely mechanical automation operation, hence it is evident that reduces worker than manual operation
Labour degree and improve construction safety coefficient, and elevating mechanism, displacement mechanism and rotating mechanism successively adjust wallboard angle,
Left and right distance, longitudinal separation and upper-lower height, this multi-faceted adjusting method significantly improve assembly manipulation precision.
2, executing agency is successively adjusted between the distance between the first manipulator crawl wallboard, the second manipulator clamping wallboard
Distance, the distance between the first manipulator and the second manipulator are adjusted according to wallboard actual height again, utilize the second manipulator
Wallboard is clamped to guarantee the stability of the first manipulator crawl process, and then improves assembly manipulation precision.
3, the operation among the lifter plate of the screw drive component of elevating mechanism drive lifter plate quadrangle along polished rod rise or under
Drop, from lifter plate middle position, driving lifter plate is moved up and down and lifter plate quadrangle covers on polished rod, ensure that lifter plate moves
Stability, accuracy during dynamic, and then improve assembly manipulation precision.
4, the sliding platform of displacement mechanism, which is worn, is fixed on ball nut and top is slidably connected moving slide board, motor
Driving lead screw drives the sliding platform on ball nut to move left and right, and Driven by Hydraulic Cylinder moving slide board is before sliding platform upper hopper chute
After move, it is this to realize that the design organization that moves left and right and is moved forward and backward is easy and stability is high, accurately using sliding platform
Property it is high, and then improve assembly manipulation precision.
5, the gear transmission part of rotating mechanism drives pivoting support rotation, and then drives the runing rest on pivoting support
It is rotated on arc guide rail, gear transmission part guarantees that degree of regulation, runing rest are designed in pivoting support using motor driven
With stability, accuracy when ensure that rotation on arc guide rail, and then improve assembly manipulation precision.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that a kind of assembled architecture of the present invention now fills wallboard Butt welder equipment.
Fig. 2 is the structural schematic diagram of executing agency of the invention.
Fig. 3 is the structural schematic diagram of elevating mechanism of the invention.
Fig. 4 is the screw drive modular construction schematic diagram of elevating mechanism of the invention.
Fig. 5 is the structural schematic diagram of displacement mechanism of the invention.
Fig. 6 is the structural schematic diagram of rotating mechanism of the invention.
Fig. 7 is the gear transmission part structural schematic diagram of rotating mechanism of the invention.
Fig. 8 is the structural schematic diagram of walking mechanism of the invention.
In figure:
1, executing agency 2, elevating mechanism 3, displacement mechanism
4, rotating mechanism 5, walking mechanism 6, top connection frame
7, mechanical arm 8, two-way hydraulic cylinder 9, the first manipulator
10, smooth shaft 11, lifter plate 12, screw drive component
13, moving slide board 14, polished rod 15, sliding platform
16, ball nut 17, motor 18, shaft coupling
19, lead screw 20, hydraulic cylinder 21, runing rest
22, pivoting support 23, gear transmission part 24, pedestal
25, arc guide rail 26, chassis 27, wheel
28, lower part connection frame 29, the second manipulator 30, smooth column
31, hydraulic cylinder 32, nut 33, worm gear are jacked
34, screw rod 35, worm screw 36, central slide plate
37, sideskid 38, stiffening plate 39, central platform
40, connecting rod 41, side platform 42, gear
43, support rod 44, sliding block 45, axle
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's all other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.In addition, term " first ", " second ",
" third " is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Fig. 1 is the structural schematic diagram that a kind of assembled architecture of the present invention now fills wallboard Butt welder equipment.
Fig. 2 is the structural schematic diagram of executing agency of the invention.
Fig. 3 is the structural schematic diagram of elevating mechanism of the invention.
Fig. 4 is the screw drive modular construction schematic diagram of elevating mechanism of the invention.
Fig. 5 is the structural schematic diagram of displacement mechanism of the invention.
Fig. 6 is the structural schematic diagram of rotating mechanism of the invention.
Fig. 7 is the gear transmission part structural schematic diagram of rotating mechanism of the invention.
Fig. 8 is the structural schematic diagram of walking mechanism of the invention.
As shown in Figures 1 to 8, a kind of assembled architecture provided by the invention now fills wallboard Butt welder equipment, including executes machine
Structure 1, elevating mechanism 2, displacement mechanism 3, rotating mechanism 4 and walking mechanism 5, wherein
Executing agency 1 includes top connection frame 6, mechanical arm 7, two-way hydraulic cylinder 8, the first manipulator 9 and smooth shaft 10, on
Connection frame 6 front both ends in portion's are respectively symmetrically set on mechanical arm 7, wear top connection frame 6 two mechanical arms 7 be separately connected it is double
To 8 both ends of hydraulic cylinder, the other end of mechanical arm 7 is mounted on the first manipulator 9, and 6 rear portion both ends of top connection frame are respectively symmetrically
It is arranged in smooth shaft 10, smooth shaft 10 is mounted on elevating mechanism 2.
Executing agency 1 further includes lower part connection frame 28, the second manipulator 29, smooth column 30 and jacking hydraulic cylinder 31, lower part
28 front both ends of connection frame are respectively symmetrically set on mechanical arm 7, wear lower part connection frame 28 two mechanical arms 7 be separately connected it is double
To 8 both ends of hydraulic cylinder, the other end of mechanical arm 7 is mounted on the second manipulator 29, close to the bidirectional hydraulic of lower part connection frame 28
Cylinder 8 is fixed on 30 lower part of smooth column on lower part connection frame 28, and the two-way hydraulic cylinder 8 close to top connection frame 6 is slidably arranged in
In the sliding slot of smooth column 30,6 middle part of top connection frame, lower part connection are connected by jacking hydraulic cylinder 31 in the middle part of lower part connection frame 28
28 rear portion both ends of frame are respectively symmetrically mounted on 10 bottom of smooth shaft.
8 two sides of two-way hydraulic cylinder on smooth 30 top of column symmetrically connect the first manipulator 9, smooth column 30 by mechanical arm 7
By mechanical arm 7, symmetrically the second manipulator 29 of connection, this structure design ensure that left and right two for 8 two sides of two-way hydraulic cylinder of lower part
The structure of side crawl, the consistency for clamping wallboard, the first manipulator 9 and the second manipulator 29, which is provided with gap, can avoid wall
Exposed reinforcing bar on plate.
The two-way hydraulic cylinder 8 on 30 top of smooth column of executing agency 1 symmetrically adjust two the first manipulators 9 crawl wallboards it
Between distance, the two-way hydraulic cylinder 8 of smooth 30 lower part of column symmetrically adjusts the distance between two the second manipulators 29 clamping wallboards,
Two two-way hydraulic cylinders 8 control the movement of the first manipulator 9 and the second manipulator 29 respectively, ensure that the one of symmetrical moving distance
Cause property drives top connection frame 6 to move along smooth shaft 10, and then drives connection according to wallboard actual height by jacking hydraulic cylinder 31
The two-way hydraulic cylinder 8 of first manipulator 9 moves in the sliding slot of smooth column 30, to adjust the first manipulator 9 and the second manipulator
The distance between 29, guarantee the stability of crawl wallboard.
Elevating mechanism 2 includes lifter plate 11, screw drive component 12, moving slide board 13 and polished rod 14,11 two sides of lifter plate
Middle part is symmetrically installed the smooth shaft 10 of executing agency 1, and screw drive component 12, screw drive component are provided among lifter plate 11
12 bottoms are fixed on moving slide board 13, and 11 4 jiaos of lifter plate are set on respectively on the polished rod 14 on 13 top of moving slide board, mobile
Slide plate 13 is slidably connected on displacement mechanism 3.
11 structure of lifter plate is designed as matrix pattern structure, not only reduces product using this matrix pattern structure design method and uses
Material, and greatly alleviate gravity when screw drive component 12 drives lifter plate 11 mobile and bear.
Screw drive component 12 includes motor 17, nut 32, worm gear 33, screw rod 34 and worm screw 35, and motor 17 is mounted on liter
It drops on plate 11, wears and be set on nut 32 among lifter plate 11, nut 32, which passes through axis connection worm gear 33 and wears, to be set on
On screw rod 34, the engagement of worm gear 33 connects the worm screw 35 on motor 17, and screw rod 34 is fixed on moving slide board 13.
Motor 17 drives worm screw 35 to rotate, thus make the worm gear 33 of the engagement connection of worm screw 35 that nut 32 be driven to rotate, due to
Screw rod 34 is fixed, therefore nut 32 drives lifter plate 11 to move in a straight line on screw rod 34, realizes elevating function, and motor 17
It is higher to control the mobile precision of lifter plate 11.
Moving slide board 13 includes that central slide plate 36, sideskid 37 and stiffening plate 38, central 36 two sides of slide plate are symmetrically connected with
Sideskid 37 passes through the symmetrical connection sideskid 37 of stiffening plate 38 in the middle part of central slide plate 36.
Moving slide board 13 is symmetrical arranged the epsilon-type structure of sideskid 37 using central 36 two sides of slide plate, not only reduces product
Materials, and make hydraulic cylinder 20 lighter when pushing moving slide board 13 mobile and stablize；It again will be central using stiffening plate 38
Slide plate 36 is symmetrically connect with sideskid 37, ensure that the structural stability of moving slide board 13.
The motor 17 of elevating mechanism 2 drives worm screw 35 to rotate and then worm gear 33 is driven to rotate, and worm gear 33 drives nut 32 to revolve
Turn, and then nut 32 drives lifter plate 11 to rise or fall along screw rod 34, and screw rod 34 passes through 11 middle position of lifter plate, electricity
Driving lifter plate 11 rises or falls for 11 4 jiaos of lifter plate machine 17 from middle position operation drive along polished rod 14 indirectly, from lifter plate
11 middle positions driving lifter plate 11 moves up and down and 11 4 jiaos of lifter plate cover on polished rod 14, ensure that lifter plate 11 is mobile
Stability, accuracy in the process.
Displacement mechanism 3 includes sliding platform 15, ball nut 16, motor 17, lead screw 19 and hydraulic cylinder 20, sliding platform 15
Top is slidably connected the moving slide board 13 of elevating mechanism 2, and sliding platform 15, which is worn, to be set on ball nut 16, ball nut 16
It wears and is set on the lead screw 19 that motor 17 is connected by shaft coupling 18,15 liang of 13 glide directions of lateral edge moving slide board of sliding platform
It is symmetrically installed with hydraulic cylinder 20, hydraulic cylinder 20 connects corresponding 13 outside of moving slide board, 15 basal sliding of sliding platform connection
On rotating mechanism 4.
Motor 17 is connect with lead screw 19 by shaft coupling 18, and bearing uses bearing type to roll for needle roller and bidirectional propulsion cylinder
Sub-portfolio bearing can either bear biggish axial force, and be able to bear biggish radial force.
Sliding platform 15 includes central platform 39, connecting rod 40 and side platform 41, and central platform 39 is set on ball nut
On 16,39 two sides of central platform by the symmetrical connecting side platform 41 of connecting rod 40, between central platform 39 and side platform 41 between
It is corresponding away from the spacing between central slide plate 36 and sideskid 37, central slide plate 36 is provided in the sliding slot of central platform 39,
Sideskid 37 is provided in the sliding slot of side platform 41.
Sliding platform 15 is designed using the structure of the symmetrical connecting side platform 41 in 39 two sides of central platform, with moving slide board 13
Design structure is corresponding, not only reduces raw material than single Platform Designing, but also significantly reduce frictional force.
The motor 17 of displacement mechanism 3 drives lead screw 19 to rotate and then the central platform 39 or so on ball nut 16 is driven to move
Dynamic, central platform 39 drives the side platform 41 of two sides and hydraulic cylinder 20 to move left and right along 21 upper rail of runing rest, sliding platform
The hydraulic cylinder 20 of 15 two sides is moved forward and backward from 13 two sides of moving slide board driving moving slide board 13 along 15 upper hopper chute of sliding platform respectively,
Wherein central slide plate 36 and sideskid 37 are moved forward and backward one in the sliding slot of central platform 39, in the sliding slot of side platform 41 respectively
It causes, it is this to realize that the design organization for moving left and right and being moved forward and backward was not only easy using sliding platform 15, but also improve the steady of operation
Qualitative and accuracy.
Rotating mechanism 4 includes runing rest 21, pivoting support 22, gear transmission part 23, pedestal 24 and arc guide rail 25,
21 top of runing rest is slidably connected the sliding platform 15 of displacement mechanism 3, is mounted on pivoting support 22 in the middle part of runing rest 21,
Pivoting support 22 engages connection gear transmission parts 23 and is arranged on pedestal 24, the sliding setting of 21 edge bottom of runing rest
On the arc guide rail 25 of pedestal 24, pedestal 24 is mounted in walking mechanism 5.
Gear transmission part 23 includes worm gear 33, motor 17, worm screw 35 and gear 42, and the engagement of worm gear 33 connects on motor 17
Worm screw 35, worm gear 33 passes through the gear 42 of axis connection engagement connection pivoting support 22.
Motor 17 drives worm screw 35 to rotate, thus rotate the worm gear 33 of the engagement connection of worm screw 35 with moving gear 42, gear
42 rotations drive pivoting support 22 to rotate, and then the runing rest 21 on pivoting support 22 is driven angularly to rotate, between motor 17
It is higher to connect the precision that control runing rest 21 angularly rotates.
There are three support rod 43,43 bottoms of support rod to connect the sliding block on arc guide rail 25 for the setting of 21 bottom of runing rest
44.The design of three support rods 43 not only ensure that the stability of runing rest 21 prevented from overturning, but also runing rest 21 is rotated
It is light and quick.
The motor 17 of rotating mechanism 4 drives worm screw 35 to rotate, to make the worm gear 33 of the engagement connection of worm screw 35 with moving gear
42 rotations, the rotation of gear 42 drives pivoting support 22 to rotate, and then the runing rest 21 on pivoting support 22 is driven angularly to turn
Dynamic, runing rest 21 is angularly rotated on arc guide rail 25 by the sliding block 44 on three support rods 43, when ensure that rotation
Stability, accuracy.
Walking mechanism 5 includes chassis 26 and wheel 27, the pedestal 24 of installation rotating mechanism 4 above chassis 26, under chassis 26
Side is equipped with wheel 27.27 numbers of wheel are four, and the axle 45 of wheel 27 connects motor 17 by shaft coupling 18.Wheel 27 is adopted
With the Mecanum wheel for being 400mm or so, each wheel 27 is individually controlled by a motor 17, and motor 17 and axle 45 pass through connection
Axis device 18 is connected, and chassis 26 and 4 pedestal 24 of rotating mechanism pass through 20 and be bolted fixation.
Assembled architecture of the present invention now fills the course of work of wallboard Butt welder equipment, firstly, being filled wallboard opposite joint by loop wheel machine
It sets and removes to roof, connect other wiring units such as power supply, recycle loop wheel machine that wallboard is hung to the work model of wallboard Butt welder equipment
In enclosing (apart from placement location up and down front and back within one meter)；Walking mechanism 5 passes through four wheels that motor 17 controls
Wallboard designated position is arrived in 27 walkings；Executing agency 1 successively utilizes the two-way hydraulic cylinder 8 on smooth 30 top of column right according to wallboard length
Claim to adjust the distance between two the first manipulator 9 crawl wallboards, the two-way hydraulic cylinder 8 of smooth 30 lower part of column symmetrically adjusts two
Second manipulator 29 clamps the distance between wallboard, drives top connection frame 6 along light by jacking hydraulic cylinder 31 according to wall-plate level
Slide bar 10 is mobile, and then the two-way hydraulic cylinder 8 of the first manipulator 9 of connection is driven to move in the sliding slot of smooth column 30, to adjust
The distance between first manipulator 9 and the second manipulator 29, then by the symmetrical crawl wallboards of two the first manipulators 9, two the
Two manipulators 29 clamp wallboard to assist the first manipulator 9 to keep grasping stability；The motor 17 of rotating mechanism 4 drives 35 turns of worm screw
Dynamic and then drive worm gear 33 rotates, and worm gear 33 is rotated with moving gear 42, and the rotation of gear 42 drives the rotation of pivoting support 22, and then band
21 top mechanism of runing rest on dynamic pivoting support 22 is pressed on arc guide rail 25 by the sliding block 44 on three support rods 43
Angular turn adjusts wallboard windup-degree, keeps wallboard front parallel with floor sideline；15 two sides of sliding platform of displacement mechanism 3
Hydraulic cylinder 20 respectively drive 13 liang of 15 upper hopper chutes of lateral edge sliding platform of moving slide board and be moved forward and backward, wherein central slide plate 36 and side
Slide plate 37 is slided and is moved forward and backward unanimously in the sliding slot of central platform 39, in the sliding slot of side platform 41 respectively, realizes wallboard
The adjusting of longitudinal separation；The motor 17 of displacement mechanism 3 drives lead screw 19 to rotate and then drives the central platform on ball nut 16
39 move left and right, and central platform 39 drives side platform 41, the hydraulic cylinder 20 of two sides to move left and right along 21 upper rail of runing rest, real
The adjusting of existing wallboard or so distance；The motor 17 of elevating mechanism 2 drives worm screw 35 to rotate and then worm gear 33 is driven to rotate, worm gear 33
Nut 32 is driven to rotate, and then nut 32 drives 11 middle position of lifter plate to move up and down and 11 4 jiaos of edges of lifter plate along screw rod 34
Polished rod 14 moves up and down, and the decline for realizing wallboard is moved down by lifter plate 11, keeps pre-manufactured hole below wallboard chimeric with corresponding reinforcing bar,
Realize that wallboard installs positioning completely.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (8)
1. a kind of assembled architecture now fills wallboard Butt welder equipment, it is characterised in that: including executing agency, elevating mechanism, displacement machine
Structure, rotating mechanism and walking mechanism, wherein
The executing agency includes top connection frame, mechanical arm, two-way hydraulic cylinder, the first manipulator and smooth shaft, the top
Connection frame front both ends are respectively symmetrically worn on the robotic arm, and two mechanical arms for wearing top connection frame are separately connected two-way
Hydraulic cylinder both ends, the other end of the mechanical arm are mounted on the first manipulator, and top connection frame rear portion both ends are right respectively
Claim to be arranged in smooth shaft, the smooth shaft is mounted on elevating mechanism；
The elevating mechanism includes lifter plate, screw drive component, moving slide board and polished rod, and two middle side part of lifter plate is symmetrical
The smooth shaft of executing agency is installed, screw drive component is provided among the lifter plate, the screw drive feature bottom is solid
It is scheduled on moving slide board, the lifter plate quadrangle is set on respectively on the polished rod on moving slide board top, the moving slide board sliding
It is connected on displacement mechanism；
Institute's displacement mechanism includes sliding platform, ball nut, motor, lead screw and hydraulic cylinder, the sliding platform top sliding
The moving slide board of elevating mechanism is connected, the sliding platform, which is worn, to be set on ball nut, and the ball nut wears setting
On the lead screw that motor is connected by shaft coupling, the two lateral edge moving slide board glide direction of sliding platform is symmetrically installed with hydraulic
Cylinder, the hydraulic cylinder connect on the outside of corresponding moving slide board, and the sliding platform basal sliding is connected on rotating mechanism；
The rotating mechanism includes runing rest, pivoting support, gear transmission part, pedestal and arc guide rail, the rotation branch
Frame top is slidably connected the sliding platform of displacement mechanism, is mounted on pivoting support in the middle part of the runing rest, the revolution is propped up
It holds engagement connection gear transmission parts and is arranged on pedestal, the runing rest edge bottom is slidably arranged in the circle of pedestal
On arc guide rail, the pedestal is mounted in walking mechanism；
The walking mechanism includes chassis and wheel, the pedestal of installation rotating mechanism above the chassis, chassis lower section peace
Equipped with wheel.
2. a kind of assembled architecture according to claim 1 now fills wallboard Butt welder equipment, it is characterised in that: the execution machine
Structure further includes that lower part connection frame, the second manipulator, smooth column and jacking hydraulic cylinder, lower part connection frame front both ends are right respectively
Title is worn on the robotic arm, and two mechanical arms for wearing lower part connection frame are separately connected two-way hydraulic cylinder both ends, the machinery
The other end of arm is mounted on the second manipulator, and the two-way hydraulic cylinder of the close lower part connection frame is fixed on the connection frame of lower part
Smooth column lower part, the two-way hydraulic cylinder of the close top connection frame is slidably arranged in the sliding slot of smooth column, the lower part
It is connected in the middle part of the connection frame of top in the middle part of connection frame by jacking hydraulic cylinder, lower part connection frame rear portion both ends are respectively symmetrically installed
In smooth shaft bottom.
3. a kind of assembled architecture according to claim 1 now fills wallboard Butt welder equipment, it is characterised in that: the screw rod passes
Dynamic component includes motor, nut, worm gear, screw rod and worm screw, and the motor is mounted on lifter plate, is worn among the lifter plate
It is arranged on nut, the nut, which passes through axis connection worm gear and wears, to be set on screw rod, the worm gear engagement connection motor
On worm screw, the screw rod is fixed on moving slide board.
4. a kind of assembled architecture according to claim 1 now fills wallboard Butt welder equipment, it is characterised in that: described mobile sliding
Plate includes central slide plate, sideskid and stiffening plate, and the center slide plate two sides are symmetrically connected with sideskid, in the center slide plate
Portion symmetrically connects sideskid by stiffening plate.
5. a kind of assembled architecture according to claim 4 now fills wallboard Butt welder equipment, it is characterised in that: the sliding is flat
Platform includes central platform, connecting rod and side platform, and the central platform is set on ball nut, and the central platform two sides are logical
The symmetrical connecting side platform of connecting rod is crossed, between the spacing and central slide plate and sideskid between the central platform and side platform
Spacing is corresponding, and central slide plate is provided in the sliding slot of the central platform, is provided with sideskid in the sliding slot of the side platform.
6. a kind of assembled architecture according to claim 1 now fills wallboard Butt welder equipment, it is characterised in that: the gear passes
Dynamic component includes worm gear, motor, worm screw and gear, and the worm gear engagement connects the worm screw on motor, and the worm gear passes through axis and connects
The gear engagement connection pivoting support connect.
7. a kind of assembled architecture according to claim 1 now fills wallboard Butt welder equipment, it is characterised in that: the rotation branch
There are three support rod, the support rod bottoms to connect the sliding block on arc guide rail for the setting of frame bottom.
8. a kind of assembled architecture according to claim 1 now fills wallboard Butt welder equipment, it is characterised in that: the wheel
Number is four, and the axle of the wheel connects motor by shaft coupling.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910801695.6A CN110512879A (en) | 2019-08-28 | 2019-08-28 | A kind of assembled architecture now fills wallboard Butt welder equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910801695.6A CN110512879A (en) | 2019-08-28 | 2019-08-28 | A kind of assembled architecture now fills wallboard Butt welder equipment |
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| CN110512879A true CN110512879A (en) | 2019-11-29 |
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| CN201910801695.6A Pending CN110512879A (en) | 2019-08-28 | 2019-08-28 | A kind of assembled architecture now fills wallboard Butt welder equipment |
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Cited By (7)
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| CN112459503A (en) * | 2020-11-16 | 2021-03-09 | 吴传江 | Heat-preservation and energy-saving assembly type building wall installation construction method |
| CN112854684A (en) * | 2021-01-05 | 2021-05-28 | 临沂大学 | Assembled building processingequipment |
| CN113006505A (en) * | 2021-03-15 | 2021-06-22 | 崔洁瑾 | A assembled building component circulation auxiliary device for construction |
| CN113323410A (en) * | 2021-02-05 | 2021-08-31 | 邵阳学院 | Equipment is adjusted well in installation of green integral type assembly type structure wallboard |
| CN114572893A (en) * | 2022-03-07 | 2022-06-03 | 中交一公局集团有限公司 | Adjustable vertical transportation equipment for prefabricated building |
| CN115822282A (en) * | 2022-12-09 | 2023-03-21 | 中能建建筑集团有限公司 | Prefabricated wallboard installation adjustment platform |
| CN116005967A (en) * | 2023-01-07 | 2023-04-25 | 菏泽城建工程发展集团安装有限公司 | Assembled building wallboard installation arm |
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| CN116005967B (en) * | 2023-01-07 | 2024-05-28 | 菏泽城建工程发展集团安装有限公司 | Assembled building wallboard installation arm |
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