CN111910886A - Method for installing unit window with upright post module - Google Patents

Abstract

The invention provides a method for installing a unit window with a stand column module, which comprises the following steps: a mobile robot comprising a hoist system; the sucker frame comprises a first plane, a second plane and a third plane, the first plane, the second plane and the third plane are connected into a C shape, and a space between the first plane and the second plane is used for accommodating a post to be installed in front of a main body structure of the unit window; the glass sucker is fixed on the second plane and used for sucking the glass of the unit window; and the unit window fixing device is arranged on the main body structure of the unit window to be installed. The robot is completely not influenced by weather when being installed indoors, so that the construction period can be effectively shortened; the robot is installed indoors, and construction is stopped when dark weather does not exist; the robot installation control precision is easy to control, is higher than the manual installation precision, and is easier to meet the design requirement.

Description

Installation method of unit window with column module

technical field

The invention relates to an installation method of a unit window with a column module.

Background technique

In the process of project construction, the construction period is getting tighter and tighter, and it is common for multiple types of work to start work at the same time. The key milestone node that affects the construction period of the project is the time when the external wall is cut off, that is, the installation of the unit windows with pillars behind, that is, after the external wall is closed, the rainwater from the outside will not enter the room, and the indoor finishing process can be started.

However, the existing installation method of the unit window with the column behind has the problem of inefficiency.

SUMMARY OF THE INVENTION

The object of the present invention is to provide an installation method of a unit window with a column module.

In order to solve the above problems, the present invention provides a method for installing a unit window with a column module, including:

Set up a lifting system on the mobile robot;

The suction cup frame is connected to the lifting system, wherein the suction cup frame includes a first plane, a second plane and a third plane, the first plane is parallel to the second plane, and the third plane is respectively parallel to the first plane. A plane and a second plane are vertically connected, the first plane, the second plane and the third plane are connected in a C-shape, the first plane is connected with the hoisting system, and the second plane is far away from the hoisting system system;

fixing the glass suction cup on the second plane;

A unit window fixing device is arranged on the main structure;

After controlling the mobile robot to absorb the glass of the unit window through the glass suction cup, the mobile robot drives the unit window through the C-shaped suction cup frame to bypass the column in front of the main structure where the unit window is to be installed, so as to move the unit window to the desired position. In the vicinity of the main structure, the mobile robot is controlled to fix the unit window on the unit window fixing device of the main structure.

Further, in the above method, a hoisting system is set on the mobile robot, including:

set the body system;

connecting the vehicle-mounted control system with the body system;

connecting the laser shock absorber sensor with the vehicle control system;

connecting the hydraulic system with the vehicle-mounted control system, and connecting the hydraulic system with the hoisting system;

Connect the wheat wheel drive system with the vehicle control system.

Further, in the above method, the unit window fixing device is arranged on the main structure, including:

upper and lower embedded parts respectively provided on the main structure;

connecting the upper keel with the embedded part of the upper part of the main structure;

connecting the lower keel with the embedded part of the lower part of the main structure;

connecting the lower mouth profile with the lower keel;

Connect the catcher profile to the top keel.

Further, in the above method, controlling the mobile robot to fix the unit window on the unit window fixing device on the main structure includes:

connecting the lower mouth profile with the lower part of the unit window;

Press the upper part of the unit window against the upper profile.

Further, in the above method, connecting the lower mouth profile with the lower part of the unit window includes:

The convex part provided on the lower mouth profile is engaged with the concave part provided on the lower part of the unit window.

Further, in the above method, after the upper part of the unit window is abutted on the upper mouth profile, the method further includes:

Connect the indoor snap cover to the upper section of the upper opening and the upper part of the unit window.

Further, in the above method, before connecting the upper keel with the embedded part of the upper part of the main structure, the method further includes:

The upper keel is set as a telescopic structure.

Further, in the above method, before the glass suction cup is fixed on the suction cup frame, the method further includes:

A vacuum chuck was used as the glass chuck.

Further, in the above method, before the glass suction cup is fixed on the suction cup frame, the method further includes:

Choose suction power up to 35KN per glass suction cup.

Compared with the prior art, the advantages of the present invention are:

1. The indoor installation of the robot is completely unaffected by the weather, which can effectively shorten the construction period;

2. When the robot is installed indoors, there is no situation that the construction will stop when it is dark;

3. The robot installation control accuracy is easy to control, which is higher than the manual installation accuracy and easier to meet the design requirements.

Description of drawings

1 is a schematic diagram of a mobile robot according to an embodiment of the present invention;

2 is a schematic diagram of a mobile robot for installing a suction cup frame and a glass suction cup according to an embodiment of the present invention;

3 is a schematic diagram of a mobile robot moving to a unit window according to an embodiment of the present invention;

4 is a schematic front view of a mobile robot adsorption unit window according to an embodiment of the present invention;

5 is a schematic view of the reverse side of a mobile robot adsorption unit window according to an embodiment of the present invention;

6 is a schematic diagram of a mobile robot sucking a unit plate and moving it to the vicinity of a column according to an embodiment of the present invention;

7 is a schematic diagram of a mobile robot sucking the unit plate and moving it to the left side of the column according to an embodiment of the present invention;

8 is a schematic diagram of a mobile robot moving a sucked unit window to a position where it needs to be installed between a column and a scaffold according to an embodiment of the present invention;

9 is a schematic diagram of the mobile robot translating the sucked unit window according to an embodiment of the present invention;

Fig. 10 is a schematic diagram of installing the sucked unit window in place by the mobile robot according to an embodiment of the present invention;

11 is a schematic diagram of the embedded parts of the upper and lower parts of the main structure of an embodiment of the present invention;

12 is a schematic diagram of the installation of the upper keel and the lower keel according to an embodiment of the present invention;

13 is a schematic diagram of the upper mouth profile and the lower mouth profile to be installed according to an embodiment of the present invention;

FIG. 14 is a schematic diagram of the completed installation of the upper profile and the lower profile according to an embodiment of the present invention;

15 is a schematic diagram of the mobile robot moving the unit window to the vicinity of the installation site according to an embodiment of the present invention;

16 is a schematic diagram of the engagement process of the convex part and the concave part according to an embodiment of the present invention;

FIG. 17 is a schematic diagram illustrating the completion of engagement of the convex part and the concave part according to an embodiment of the present invention;

FIG. 18 is a schematic diagram of a process in which the upper part of the unit window abuts on the upper mouth profile according to an embodiment of the present invention;

FIG. 19 is a schematic diagram of the upper part of the unit window abutting on the upper mouth profile according to an embodiment of the present invention;

20 is a schematic diagram of an installation process of an indoor snap cover according to an embodiment of the present invention;

21 is a schematic diagram of the installation of the indoor snap cover according to an embodiment of the present invention;

22 is a schematic diagram of a unit window installed in place according to an embodiment of the present invention.

Detailed ways

In order to make the above objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

As shown in Figures 1-22, the present invention provides an installation device for a unit window with a column module, including:

A mobile robot 1, the mobile robot 1 includes a lifting system 11;

The suction cup frame includes a first plane 21, a second plane 22 and a third plane 23, the first plane 21 and the second plane 22 are parallel, and the third plane 23 is respectively the first plane 21 and the third plane 23. The two planes 22 are connected vertically, the first plane 21, the second plane 22 and the third plane 23 are connected in a C-shape, the first plane is connected to the hoisting system, and the second plane is far away from the hoisting system 11. The space between the first plane 21 and the second plane 22 is used to accommodate the column 24 before the main structure of the unit window to be installed;

The glass suction cup 3, the glass suction cup 3 is fixed on the second plane 22, and the glass suction cup 3 is used to absorb the glass of the unit window 4;

A unit window fixing device, the unit window fixing device is arranged on the main structure to which the unit window is to be installed.

Specifically, the present invention can be applied to the stone curtain wall between the outer wall layers, and the lighting of the building depends on the unit window system with a height of 2250mm and a width of various specifications.

As shown in Figure 6, the mobile robot sucks the unit plate and moves it to the vicinity of the column;

Then, as shown in Figure 7, the mobile robot sucks the unit plate and moves it to the left of the column;

Then, as shown in Figure 8, the mobile robot moves the sucked unit window to the position to be installed between the column and the scaffold;

Next, as shown in Figure 9, the mobile robot translates the sucked unit window;

Finally, as shown in Figure 10, the mobile robot installs the sucked cell window in place.

The unit window installed in place is shown in Figure 22.

The advantages of the present invention are:

1. The indoor installation of the robot is completely unaffected by the weather, which can effectively shorten the construction period;

2. When the robot is installed indoors, there is no situation that the construction will stop when it is dark;

3. The robot installation control accuracy is easy to control, which is higher than the manual installation accuracy and easier to meet the design requirements.

In an embodiment of the device for installing a unit window with a column module of the present invention, as shown in FIG. 1 , the mobile robot further includes:

body system 12;

an in-vehicle control system 13 connected to the body system 12;

a laser shock absorber sensor 14 connected to the vehicle control system 13;

a hydraulic system 15 connected to the on-board control system 13, the hydraulic system 15 is connected to the hoisting system 11;

A wheat wheel drive system 16 connected to the vehicle-mounted control system 13 .

As shown in FIGS. 11 to 21 , in an embodiment of the device for installing a unit window with a column module of the present invention, the unit window fixing device includes:

The embedded parts 51 and the lower embedded parts 52 are respectively arranged on the upper part of the main structure 5;

connecting the upper keel 53 of the embedded part 51 on the upper part of the main structure 5;

Connect the lower keel 54 of the embedded part 52 in the lower part of the main structure 5;

Connecting the lower mouth profile 56 of the lower keel 54, the lower mouth profile 56 is used for connecting with the lower part of the unit window 4;

The upper mouth profile 55 of the upper keel 53 is connected, and the upper portion of the unit window 4 abuts on the upper mouth profile 55 .

As shown in FIGS. 16 and 17 , in an embodiment of the device for installing a unit window with a column module of the present invention, a convex portion 57 is provided on the lower mouth profile 56 , and a lower portion of the unit window 4 is provided with a convex portion 57 . The concave portion 41 that the portion 57 is engaged with is convenient for convenient and firm engagement.

As shown in FIGS. 18 to 21 , in an embodiment of the device for installing a unit window with a column module of the present invention, it further includes an indoor snap cover 58 , and the indoor snap cover 58 connects the upper profile 55 and the unit window. 4 upper.

In an embodiment of the device for installing a unit window with a column module of the present invention, the upper keel 53 is a telescopic structure, so that the upper part of the unit window 4 can smoothly rest on the upper mouth profile 55 .

In an embodiment of the device for installing a unit window with a column module of the present invention, the glass suction cup is a vacuum suction cup.

In an embodiment of the installation device for a unit window with a column module of the present invention, the suction force of each glass suction cup is up to 35KN.

Here, the external glass suction cups on the robot belong to the vacuum suction cup equipment. The suction force of each glass suction cup is 35KN, and the glass suction cups and the glass are firmly fixed according to the use requirements of the glass suction cups.

As shown in Figures 1-22, according to another aspect of the present invention, there is also provided a method for installing a unit window with a column module, the method comprising:

A hoisting system 11 is provided on the mobile robot 1;

Connect the suction cup frame to the lifting system 11, wherein the suction cup frame includes a first plane 21, a second plane 22 and a third plane 23, the first plane is parallel to the second plane 22, the third plane The planes 23 are respectively vertically connected to the first plane 21 and the second plane 22, the first plane 21, the second plane 22 and the third plane 23 are connected in a C-shape, connecting the first plane 21 to the lift The system 11 is connected, the second plane 22 is away from the hoisting system;

Fix the glass suction cup 3 on the second plane 22;

A unit window fixing device is arranged on the main structure 5;

After controlling the mobile robot 1 to absorb the glass of the unit window 4 through the glass suction cup 3, the unit window 4 is driven by the C-shaped suction cup frame to bypass the column 24 in front of the main structure 5 on which the unit window is to be installed, so as to connect the unit window 4. The window 4 is moved to the vicinity of the main structure 5 , and the mobile robot is controlled to fix the unit window 4 on the unit window fixing device of the main structure 4 .

Specifically, as shown in Figure 6, the mobile robot sucks the unit plate and moves it to the vicinity of the column;

Then, as shown in Figure 7, the mobile robot sucks the unit plate and moves it to the left of the column;

Then, as shown in Figure 8, the mobile robot moves the sucked unit window to the position to be installed between the column and the scaffold;

Next, as shown in Figure 9, the mobile robot translates the sucked unit window;

Finally, as shown in Figure 10, the mobile robot installs the sucked cell window in place.

The unit window installed in place is shown in Figure 22.

The advantages of the present invention are:

1. The indoor installation of the robot is completely unaffected by the weather, which can effectively shorten the construction period;

2. When the robot is installed indoors, there is no situation that the construction will stop when it is dark;

3. The robot installation control accuracy is easy to control, which is higher than the manual installation accuracy and easier to meet the design requirements.

As shown in FIG. 1 , in an embodiment of the method for installing a unit window with a column module of the present invention, a hoisting system 11 is provided on the mobile robot 1, including:

set the body system 12;

connecting the vehicle-mounted control system 13 with the body system 12;

Connect the laser shock absorber sensor 14 to the vehicle control system 13;

Connect the hydraulic system 15 to the vehicle-mounted control system 13, and connect the hydraulic system 15 to the hoisting system 11;

Connect the wheat wheel drive system 16 to the vehicle-mounted control system 13 .

As shown in FIGS. 11-21 , in an embodiment of the method for installing a unit window with a column module of the present invention, a unit window fixing device is provided on the main structure, including:

The upper embedded part 51 and the lower embedded part 52 are respectively provided on the main structure 5;

Connect the upper keel 53 with the embedded part 51 on the upper part of the main structure 5;

Connect the lower keel 54 with the embedded part 52 in the lower part of the main structure 5;

Connect the lower mouth profile 56 with the lower keel 54;

Connect the upper profile 55 to the upper keel 53 .

As shown in FIGS. 11-21 , in an embodiment of the method for installing a unit window with a column module of the present invention, controlling a mobile robot to fix the unit window 5 on the unit window fixing device on the main structure 5 includes:

Connect the lower mouth profile 56 to the lower part of the unit window 4;

The upper part of the unit window 4 is pressed against the upper mouth profile 55 .

As shown in Figures 16 and 17, in an embodiment of the method for installing a unit window with a column module of the present invention, connecting the lower mouth profile to the lower part of the unit window includes:

The convex part 57 provided on the lower mouth profile 56 is engaged with the concave part 41 provided at the lower part of the unit window 4, so as to facilitate convenient and firm engagement.

As shown in FIGS. 18-21 , in an embodiment of the method for installing a unit window with a column module of the present invention, after the upper part of the unit window is abutted on the upper mouth profile, the method further includes:

The indoor snap cover 58 is connected to the upper opening profile 55 and the upper part of the unit window 4 .

In an embodiment of the method for installing a unit window with a column module of the present invention, before connecting the upper keel to the embedded part of the upper part of the main structure, the method further includes:

The upper keel is set as a telescopic structure, so that the upper part of the unit window can smoothly abut on the upper mouth profile.

In an embodiment of the method for installing a unit window with a column module of the present invention, before the glass suction cup is fixed on the suction cup frame, the method further includes:

A vacuum chuck was used as the glass chuck.

In an embodiment of the method for installing a unit window with a column module of the present invention, before the glass suction cup is fixed on the suction cup frame, the method further includes:

Choose suction power up to 35KN per glass suction cup.

The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the various embodiments can be referred to each other.

Obviously, those skilled in the art can make various changes and modifications to the invention without departing from the spirit and scope of the invention. Thus, provided that these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (9)

1. A method for installing a unit window with a column module is characterized by comprising the following steps:

a lifting system is arranged on the mobile robot;

connecting a sucker frame to the lifting system, wherein the sucker frame comprises a first plane, a second plane and a third plane, the first plane is parallel to the second plane, the third plane is respectively and vertically connected with the first plane and the second plane, the first plane, the second plane and the third plane are connected into a C shape, the first plane is connected with the lifting system, and the second plane is far away from the lifting system;

fixing a glass sucker on the second plane;

a unit window fixing device is arranged on the main body structure;

after controlling the mobile robot to adsorb the glass of the unit window through the glass sucker, the mobile robot drives the unit window to bypass a column in front of a main structure of the unit window through the C-shaped sucker frame so as to move the unit window to a position near the main structure, and controls the mobile robot to fix the unit window on a unit window fixing device of the main structure.

2. The method of installing a unit window with a pillar module according to claim 1, wherein a hoist system is provided to the mobile robot, comprising:

arranging a vehicle body system;

connecting a vehicle-mounted control system with the vehicle body system;

connecting the laser shock absorption sensor with the vehicle-mounted control system;

connecting a hydraulic system with the vehicle-mounted control system, and connecting the hydraulic system with the lifting system;

and connecting the wheat wheel driving system with the vehicle-mounted control system.

3. The method of installing a unit window with a pillar module according to claim 1, wherein the unit window fixing means provided on the main body structure comprises:

the embedded parts are arranged on the upper part and the lower part of the main body structure respectively;

connecting an upper keel with an embedded part on the upper part of the main body structure;

connecting a lower keel with an embedded part at the lower part of the main body structure;

connecting the lower opening section bar with the lower keel;

and connecting the upper opening section bar with the upper keel.

4. The method of installing a unit window with a pillar module according to claim 3, wherein controlling a mobile robot to fix the unit window to the unit window fixing means on the main body structure comprises:

connecting the lower opening section bar with the lower part of the unit window;

and the upper parts of the unit windows are abutted against the upper opening section bars.

5. The method of installing a unit window with a pillar module according to claim 4, wherein the coupling of the lower port section bar to the lower portion of the unit window comprises:

and clamping a convex part arranged on the lower opening section bar with a concave part arranged at the lower part of the unit window.

6. The method of installing a unit window with a pillar module according to claim 4, wherein after the upper portion of the unit window is pressed against the upper opening section bar, further comprising:

and connecting the indoor buckle cover with the upper opening section bar and the upper part of the unit window.

7. The method of installing a unit window with a column module of claim 1, wherein prior to connecting the upper keel to the embedment of the upper portion of the main structure, further comprising:

the upper keel is set to be a telescopic structure.

8. The method of installing a unit window with pillar modules as set forth in claim 1, wherein before fixing the glass suction cups to the suction cup frame, further comprising:

and taking a vacuum chuck as the glass chuck.

9. The method of installing a unit window with pillar modules as set forth in claim 1, wherein before fixing the glass suction cups to the suction cup frame, further comprising:

the suction force of each glass suction cup was selected to be 35 KN.

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