CN112775987A - Building board installation robot - Google Patents
Building board installation robot Download PDFInfo
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- CN112775987A CN112775987A CN202110008880.7A CN202110008880A CN112775987A CN 112775987 A CN112775987 A CN 112775987A CN 202110008880 A CN202110008880 A CN 202110008880A CN 112775987 A CN112775987 A CN 112775987A
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- hydraulic cylinder
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- swing hydraulic
- connecting rod
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
Abstract
The invention relates to a building board mounting robot which comprises a base, two mechanical arms and a mounting tail end, wherein the base is provided with the two mechanical arms, and the tail end of each mechanical arm is connected with the mounting tail end; the two mounting ends can independently clamp a workpiece or the two mounting ends can clamp a workpiece together; the mounting tail end comprises a mounting piece I, a second swing hydraulic cylinder, a mounting piece II, a third swing hydraulic cylinder, a mounting piece III, a fourth swing hydraulic cylinder, a clamping frame and a sucker; the first installation part is fixed at the tail end of the mechanical arm, the clamping frame is installed on an output shaft of the fourth swing hydraulic cylinder, and suckers are installed at two ends of the clamping frame. All actions are realized by adopting hydraulic drive, the bearing capacity of the mechanical arm is improved, the mechanical arm is suitable for plate installation operation in various environments, and the mechanical arm has the advantages of good safety performance, high working efficiency, large bearing capacity, low labor intensity and the like, is particularly suitable for the installation of partition boards with large indoor size and heavy weight, and realizes the mechanization of plate installation.
Description
Technical Field
The invention belongs to the technical field of building auxiliary equipment and automatic installation of building boards, and particularly relates to a building board installation robot.
Background
At present, because the indoor space of the occasions such as offices, classrooms, dormitories, laboratories and the like is limited, the indoor plates (curtain walls, partition walls, ceilings and the like) cannot be installed by means of lifting and the like, and the installation is mainly completed manually. For the installation of heavy and large-size plates, a plurality of construction workers are required to operate simultaneously, the mode completely depends on manual work, the installation process is complicated, the labor intensity is high, the construction safety is poor, and the installation quality is difficult to guarantee. In order to improve the building automation level, scholars at home and abroad are dedicated to the research on the building robot and obtain certain effect. The domestic research on the construction robot mainly focuses on the processes of spraying, welding and the like.
For example, chinese patent application No. 201811359668.X discloses an indoor building profile mounting robot mechanical structure, which includes a base, a robot arm, and a mounting end; the structure of the mounting tail end is complex, the load of the whole mechanical arm is increased, the phenomenon that the head and the feet of the mechanical arm are heavy is easily caused, and the gravity center of the whole mechanical structure is unstable; the sectional materials with different models and sizes are clamped only by one mounting tail end, the working form is single, and the application range is limited.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a building board mounting robot.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a building board mounting robot comprises a base, two mechanical arms and a mounting tail end, wherein the base is provided with the two mechanical arms, and the tail end of each mechanical arm is connected with the mounting tail end; the workpiece clamping device is characterized in that the two mounting tail ends can be used for clamping a workpiece independently or the two mounting tail ends can be used for clamping a workpiece together;
the mounting tail end comprises a first mounting piece, a second swing hydraulic cylinder, a second mounting piece, a third swing hydraulic cylinder, a third mounting piece, a fourth swing hydraulic cylinder, a clamping frame and a sucker; the first mounting piece is fixed at the tail end of the mechanical arm, the second swing hydraulic cylinder is mounted on one side of the first mounting piece, an output shaft of the second swing hydraulic cylinder penetrates through one side of the first mounting piece to be fixedly connected with one side of the second mounting piece, and the other side of the second mounting piece is hinged to the other side of the first mounting piece; the third swing hydraulic cylinder is fixed on the second mounting piece, and an output shaft of the third swing hydraulic cylinder is fixedly connected with the top of the third mounting piece; and the fourth swing hydraulic cylinder is arranged on the side part of the third mounting part, a clamping frame is arranged on an output shaft of the fourth swing hydraulic cylinder, and suckers are arranged at two ends of the clamping frame.
The mechanical arm comprises a base connecting piece, a first swing hydraulic cylinder and a plurality of arm rod modules; each arm rod module comprises a swing hydraulic cylinder, a connecting rod group and an end connecting piece;
the first swing hydraulic cylinder is arranged on the base, and the base connecting piece is arranged on an output shaft of the first swing hydraulic cylinder; the first connecting piece is arranged on the base connecting piece, one end of the connecting rod group of the first arm rod module is hinged with one side of the first connecting piece, and one end of the swing hydraulic cylinder of the first arm rod module is fixedly connected with one side of the first connecting piece; the other end of the connecting rod group of the first arm rod module and the other end of the swing hydraulic cylinder of the first arm rod module are hinged with one side of the end part connecting piece of the first arm rod module;
one end of the connecting rod group of the next arm lever module is hinged with one side of the end part connecting piece of the previous arm lever module, and one end of the swing hydraulic cylinder of the next arm lever module is fixedly connected with one side of the end part connecting piece of the previous arm lever module; the other end of the connecting rod group of the next arm rod module and the other end of the swing hydraulic cylinder of the next arm rod module are hinged with one side of the end part connecting piece of the next arm rod module; the mounting end is fixedly connected with the end connecting piece of the last arm lever module.
The mechanical arm comprises three arm rod modules, wherein the first arm rod module comprises a first connecting rod group, a first telescopic hydraulic cylinder and a second connecting piece, the second arm rod module comprises a second connecting rod group, a second telescopic hydraulic cylinder and a third connecting piece, and the third arm rod module comprises a third connecting rod group, a third telescopic hydraulic cylinder and a fourth connecting piece;
the first connecting rod group, the second connecting rod group and the third connecting rod group have the same structure and are all composed of four parallel connecting rods with equal length; one end of the first connecting rod group is hinged with one side of the first connecting piece, and the other end of the first connecting rod group is hinged with one side of the second connecting piece; one end of the second connecting rod group is hinged with the other side of the second connecting piece, and the other end of the second connecting rod group is hinged with one side of the third connecting piece; one end of the third connecting rod group is hinged with the other side of the third connecting piece, and the other end of the third connecting rod group is hinged with the fourth connecting piece; one end of the first telescopic hydraulic cylinder is fixedly connected with the upper part of the first connecting piece, and the other end of the first telescopic hydraulic cylinder is hinged with the lower part of one side of the second connecting piece connected with the first connecting rod group; one end of the second telescopic hydraulic cylinder is fixedly connected with the lower part of one side of the second connecting piece connected with the second connecting rod group, and the other end of the second telescopic hydraulic cylinder is hinged with the lower part of one side of the third connecting piece connected with the second connecting rod group; one end of a third telescopic hydraulic cylinder is fixedly connected with the upper part of one side of the third connecting piece connected with the third connecting rod group, and the other end of the third telescopic hydraulic cylinder is hinged with the lower part of the fourth connecting piece.
The first connecting piece consists of a quadrangular bottom plate, two irregular hexagonal plates and two cylindrical shafts; the two irregular hexagonal plates are welded on two sides of the quadrilateral bottom plate, two ends of the two cylindrical shafts are fixedly connected with the two irregular hexagonal plates respectively, and the two cylindrical shafts are located on the upper portion and the lower portion of the first connecting piece respectively.
The second connecting piece and the third connecting piece have the same structure and are composed of two trapezoidal plates and four equal-length cylindrical connecting rods; two trapezoidal plates are fixed at two ends of four cylindrical connecting rods, and the four cylindrical connecting rods are respectively positioned at four end corners of the trapezoidal plates.
The fourth connecting piece comprises an L-shaped plate, two right-angle trapezoidal plates and two cylindrical shafts; two right angle trapezoidal plates are welded on two sides of the L-shaped plate, two ends of two cylindrical shafts are fixedly connected with the two right angle trapezoidal plates, and the two cylindrical shafts are located on the oblique edges of the right angle trapezoidal plates.
The clamping frame comprises a connecting plate, a straight connecting rod and an irregular connecting rod; the connecting plate is fixedly connected with an output shaft of the fourth swing hydraulic cylinder, irregular connecting rods are respectively arranged on two sides of the connecting plate, and two ends of each irregular connecting rod are respectively connected with the corresponding straight connecting rod; the two ends of each straight connecting rod are respectively provided with a sucking disc.
The irregular connecting rod is formed by bending a straight rod twice, and the straight rod is bent by 60 degrees every time, so that the irregular connecting rod is of a concave structure.
The first mounting part comprises a base plate and two side plates positioned on two sides of the base plate, so that the first mounting part is in a double-lug shape; the second swing hydraulic cylinder is installed on a side plate of the first installation part, an output shaft of the second swing hydraulic cylinder penetrates through the side plate of the first installation part and is fixedly connected with one side of the second installation part, and the other side of the second installation part is hinged to the other side plate of the first installation part.
The mounting piece III is L-shaped and comprises a vertical plate and a horizontal plate; the mounting piece II comprises a U-shaped plate and a top plate positioned in the U-shaped opening; the third swing hydraulic cylinder is fixed at the bottom of the top plate of the second mounting piece, and an output shaft of the third swing hydraulic cylinder penetrates through the top plate of the second mounting piece to be fixedly connected with the horizontal plate of the third mounting piece; and an output shaft of the fourth swing hydraulic cylinder penetrates through the vertical plate of the mounting part III to be fixedly connected with the middle part of the clamping frame.
Compared with the prior art, the invention has the beneficial effects that:
1. the robot comprises two mechanical arms, the two mechanical arms can simultaneously clamp a large-size plate and can also independently clamp a small-size plate, the use mode is more flexible, the work efficiency is higher, and the application range is wider.
2. All actions are realized by adopting hydraulic drive, the bearing capacity of the mechanical arm is improved, the mechanical arm is suitable for plate installation operation under various environments, the mechanical arm has the advantages of good safety performance, high working efficiency, high bearing capacity, low labor intensity and the like, is particularly suitable for the installation of partition boards with large indoor size and heavy weight, realizes the mechanization of plate installation, greatly reduces the requirement on the number of constructors, reduces the workload of the constructors, and has simple operation, smooth and labor-saving operation, high efficiency and safety.
3. Compared with the existing construction robot, the robot has the advantages of small occupied space, wider applicable scene, stronger practicability and the like. The oil supply equipment of all hydraulic cylinders is arranged on the chassis, so that the center of gravity of the robot is positioned on the chassis, the overturning problem which can occur in the moving process of the robot under the heavy-load condition is avoided, and the safety of the robot in the installation operation process is improved. The robot realizes moving through the track, has further increased stability. The installation end is subjected to light-weight mechanism design on the basis of not reducing the structural strength, and the load capacity of the mechanical arm is improved. To sum up, this robot has advantages such as safer, nimble, high-efficient, structural strength is big, load and dead weight ratio are high, has realized supplementary installation and the automatic installation to indoor panel, has improved production efficiency, has reduced workman's intensity of labour, has improved the construction security.
Drawings
FIG. 1 is a schematic overall structure diagram of an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a base according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a robotic arm according to one embodiment of the present invention;
FIG. 4 is a schematic structural view of a mounting tip in accordance with one embodiment of the present invention;
FIG. 5 is a schematic view of a profile held by two mounting ends according to an embodiment of the present invention;
in the figure: 1. a base; 2. a mechanical arm; 3. mounting the tail end;
101. a base body; 102. a control cabinet 103 and a left crawler belt; 104. a right track;
201. a first swing hydraulic cylinder; 202. a base connector; 203. a first connecting member; 204. a first link group; 205. a first telescopic hydraulic cylinder; 206. a second connecting member; 207. a second linkage; 208. a second telescopic hydraulic cylinder; 209. a third connecting member; 210. a third linkage; 211. a third telescopic hydraulic cylinder; 212. a fourth connecting member;
301. a first mounting part; 302. a second swing hydraulic cylinder; 303. a second mounting part; 304. a third swing hydraulic cylinder; 305. a mounting part III; 306. a fourth swing hydraulic cylinder; 307. a clamping frame; 308. a suction cup;
307-1, connecting plates; 307-2, a straight connecting rod; 307-3, irregular connecting rod.
Detailed Description
The following describes the technical solution of the present invention with reference to the following embodiments and drawings, but the technical solution is not limited to the scope of the present invention.
As shown in fig. 1, the invention relates to a building board mounting robot (a robot for short, see fig. 1-5), which comprises a base 1, two mechanical arms 2 and a mounting end 3, wherein the base 1 is provided with the two mechanical arms 2, and the end of each mechanical arm 2 is connected with the mounting end 3;
as shown in fig. 2, the base 1 includes a base body 101, a control cabinet 102, a left crawler belt set 103 and a right crawler belt set 104; the left crawler wheel set 103 and the right crawler wheel set 104 are arranged on two sides of the bottom of the base body 1, and oil supply equipment of all hydraulic cylinders of the robot is arranged on the base body 1, so that the stability of the robot is improved; a control cabinet 102 is mounted on the base body 101, and the control cabinet 102 is used for controlling the coordinated movement of each part of the robot.
As shown in fig. 3, the mechanical arm 2 includes a base link 202, a first swing hydraulic cylinder 201, a first link 203, a first linkage 204, a first telescopic hydraulic cylinder 205, a second link 206, a second linkage 207, a second telescopic hydraulic cylinder 208, a third link 209, a third linkage 210, a third telescopic hydraulic cylinder 211, and a fourth link 212;
the base connecting piece 202 is formed by welding a quadrilateral plate and a rectangular plate, wherein the quadrilateral plate is positioned at the bottom of the rectangular plate; the center of the quadrilateral plate is provided with a round hole; an output shaft of the first swing hydraulic cylinder 201 is inserted into a round hole of the quadrilateral plate, and the output shaft of the first swing hydraulic cylinder 201 is fixedly connected with the quadrilateral plate; the cylinder barrel of the first swing hydraulic cylinder 201 is mounted on the base body 101;
the first connecting piece 203 consists of a quadrangular bottom plate, two irregular hexagonal plates and two cylindrical shafts; the two irregular hexagonal plates are welded on two sides of the quadrilateral base plate, two ends of two cylindrical shafts are fixedly connected with the two irregular hexagonal plates respectively, and the two cylindrical shafts are positioned on the upper part and the lower part of the first connecting piece 203 respectively; the quadrilateral bottom plate of the first connecting piece 203 is fixedly connected with the square-shaped plate of the base connecting piece 201;
the second connecting piece 206 and the third connecting piece 209 have the same structure, and are composed of two trapezoidal plates and four equal-length cylindrical connecting rods; four cylindrical connecting rods are fixed between the two trapezoidal plates and are respectively positioned at the four end corners of the trapezoidal plates;
the fourth connecting member 212 comprises an L-shaped plate, two right-angle trapezoidal plates and two cylindrical shafts; the two right-angle trapezoidal plates are welded on two sides of the L-shaped plate, two ends of the two cylindrical shafts are fixedly connected with the two right-angle trapezoidal plates, namely the two cylindrical shafts are connected with the two right-angle trapezoidal plates, and the two cylindrical shafts are positioned on the bevel edges of the right-angle trapezoidal plates; all the cylindrical shafts, the cylindrical shafts and the cylindrical connecting rods are spatially parallel;
the first link group 204, the second link group 207 and the third link group 210 have the same structure and are all composed of four parallel links with equal length; one end of the first connecting rod group 204 is hinged with the two cylindrical shafts of the first connecting piece 203, and the other end of the first connecting rod group 204 is hinged with the two cylindrical connecting rods on one side of the second connecting piece 206;
one end of the second connecting rod group 207 is hinged with the two cylindrical connecting rods on the other side of the second connecting piece 206, and the other end of the second connecting rod group 207 is hinged with the two cylindrical connecting rods on one side of the third connecting piece 209; one end of the third connecting rod group 210 is hinged with the two cylindrical connecting rods on the other side of the third connecting piece 209, and the other end of the third connecting rod group 210 is hinged with the two cylindrical shafts of the fourth connecting piece 212;
one end of the first telescopic hydraulic cylinder 205 is fixedly connected with a cylindrical shaft at the upper part of the first connecting piece 203, and the other end of the first telescopic hydraulic cylinder is hinged with a cylindrical connecting rod at the lower part of one side of the second connecting piece 206 connected with the first connecting rod group 204;
one end of the second telescopic hydraulic cylinder 208 is fixedly connected with the cylindrical connecting rod at the lower part of the side where the second connecting piece 206 and the second connecting rod group 207 are connected, and the other end of the second telescopic hydraulic cylinder 208 is hinged with the cylindrical connecting rod at the lower part of the side where the third connecting piece 209 and the second connecting rod group 207 are connected;
one end of a third telescopic hydraulic cylinder 211 is fixedly connected with the cylindrical connecting rod at the upper part of one side of the third connecting piece 209 connected with the third connecting rod group 210, and the other end of the third telescopic hydraulic cylinder 211 is hinged with the cylindrical shaft at the lower part of the fourth connecting piece 212;
the horizontal rotation motion of the base connecting piece 202 is realized through the first swing hydraulic cylinder 201, so that the horizontal rotation of the mechanical arm is realized; the first telescopic hydraulic cylinder 205 is telescopic, so that the first connecting rod group 204 rotates relative to the first connecting piece 203; the second telescopic hydraulic cylinder 208 is telescopic, so that the second connecting rod group 207 rotates relative to the second connecting piece 206; the third telescopic hydraulic cylinder 211 is telescopic to enable the third connecting rod group 210 to rotate relative to the third connecting piece 209; the telescopic motion of the mechanical arm is realized through the combined action of the three telescopic hydraulic cylinders; the first swing hydraulic cylinder 201, the first telescopic hydraulic cylinder 205, the second telescopic hydraulic cylinder 208 and the third telescopic hydraulic cylinder 211 are all electrically connected with the control cabinet 102. The robot arm may be modular, with the first linkage 204, the first telescopic cylinder 205 and the second linkage 206 forming one module.
The mounting end 3 comprises a first mounting part 301, a second swing hydraulic cylinder 302, a second mounting part 303, a third swing hydraulic cylinder 304, a third mounting part 305, a fourth swing hydraulic cylinder 306, a clamping frame 307 and a suction cup 308;
the first mounting part 301 comprises a base plate and two side plates positioned on two sides of the base plate, so that the first mounting part 301 is in a double-lug shape; the base plate of the first mounting piece 301 is fixedly connected with the vertical side face of the fourth connecting piece 212; the second mounting part 303 comprises a U-shaped plate and a top plate positioned in the U-shaped opening; the second swing hydraulic cylinder 302 is installed on one side plate of the first installation part 301, an output shaft of the second swing hydraulic cylinder 302 penetrates through the side plate of the first installation part 301 to be fixedly connected with one side of the U-shaped plate of the second installation part 303, the other side of the U-shaped plate of the second installation part 303 is hinged with the other side plate of the first installation part 301 through a pin shaft, and the second swing hydraulic cylinder 302 is used for realizing pitching motion of the second installation part 303;
mounting member III 305 is L-shaped and includes a vertical plate and a horizontal plate; the third swing hydraulic cylinder 304 is fixed at the bottom of the top plate of the second mounting part 303, an output shaft of the third swing hydraulic cylinder 304 penetrates through the top plate of the second mounting part 303 to be fixedly connected with the horizontal plate of the third mounting part 305, and the third mounting part 305 rotates around the output shaft of the third swing hydraulic cylinder 304 through the third swing hydraulic cylinder 304; the fourth swing hydraulic cylinder 306 is fixedly connected with the vertical plate of the mounting member III 305, an output shaft of the fourth swing hydraulic cylinder 306 penetrates through the vertical plate of the mounting member III 305 to be fixedly connected with the middle part of the clamping frame 307, and the clamping frame 307 is enabled to rotate in the vertical direction through the fourth swing hydraulic cylinder 306; two ends of the clamping frame 307 are respectively provided with two suckers 308 for adsorbing the plate; suction cup 308 provides suction through an external pneumatic system, not shown; the second swing hydraulic cylinder 302, the third swing hydraulic cylinder 304 and the fourth swing hydraulic cylinder 306 are all electrically connected with the control cabinet 102.
The clamping frame 307 comprises a connecting plate 307-1, a straight connecting rod 307-2 and an irregular connecting rod 307-3; the connecting plate 307-1 is fixedly connected with an output shaft of the fourth swing hydraulic cylinder 306, irregular connecting rods 307-3 are respectively welded on two sides of the connecting plate 307-1, and two ends of the two irregular connecting rods 307-3 are respectively welded with respective straight connecting rods 307-2; suction cups 308 are respectively installed at both ends of each straight link 307-2. The irregular connecting rod 307-3 is formed by bending a straight rod twice, and the bending is performed by 60 degrees each time, so that the irregular connecting rod 307-3 is of a concave structure.
The working principle and the working process of the invention are as follows:
before the indoor partition board is installed and works, the control cabinet 102 controls the robot to move to a working position; starting a first swing hydraulic cylinder 201 to control the rotation of the whole mechanical arm 2 in a horizontal plane; the first telescopic hydraulic oil cylinder 205, the second telescopic hydraulic cylinder 208 and the third telescopic hydraulic cylinder 211 work to realize telescopic motion of the mechanical arm, and the mounting tail end 3 is moved to a specified position; then, the second swing hydraulic cylinder 302 realizes pitching motion of the second mounting part 303, the third swing hydraulic cylinder 304 realizes rotation of the third mounting part 305 around an output shaft of the third swing hydraulic cylinder 304, the fourth swing hydraulic cylinder 306 realizes rotation of the clamping frame 307 in the vertical direction, and further position adjustment of the clamping frame 307 in a range of 360 degrees is realized, so that the suction cup 308 adsorbs the plate;
then adjusting the position of the mechanical arm, and conveying the plate to a position to be installed; and then adjusting the position of the clamping frame 307 again, adjusting the plate to be completely overlapped with the position to be installed, and completing the installation work of the plate by a worker through welding, bonding and other modes.
The two mechanical arms 2 can be used independently and respectively clamp smaller plates; the two robot arms 2 can also be used together to form a parallel robot for gripping the same larger sheet.
Nothing in this specification is said to apply to the prior art.
Claims (10)
1. A building board mounting robot comprises a base, two mechanical arms and a mounting tail end, wherein the base is provided with the two mechanical arms, and the tail end of each mechanical arm is connected with the mounting tail end; the workpiece clamping device is characterized in that the two mounting tail ends can be used for clamping a workpiece independently or the two mounting tail ends can be used for clamping a workpiece together;
the mounting tail end comprises a first mounting piece, a second swing hydraulic cylinder, a second mounting piece, a third swing hydraulic cylinder, a third mounting piece, a fourth swing hydraulic cylinder, a clamping frame and a sucker; the first mounting piece is fixed at the tail end of the mechanical arm, the second swing hydraulic cylinder is mounted on one side of the first mounting piece, an output shaft of the second swing hydraulic cylinder penetrates through one side of the first mounting piece to be fixedly connected with one side of the second mounting piece, and the other side of the second mounting piece is hinged to the other side of the first mounting piece; the third swing hydraulic cylinder is fixed on the second mounting piece, and an output shaft of the third swing hydraulic cylinder is fixedly connected with the top of the third mounting piece; and the fourth swing hydraulic cylinder is arranged on the side part of the third mounting part, a clamping frame is arranged on an output shaft of the fourth swing hydraulic cylinder, and suckers are arranged at two ends of the clamping frame.
2. The building board mounting robot of claim 1, wherein the robotic arm includes a base connection, a first swing cylinder, and a plurality of arm modules; each arm rod module comprises a swing hydraulic cylinder, a connecting rod group and an end connecting piece;
the first swing hydraulic cylinder is arranged on the base, and the base connecting piece is arranged on an output shaft of the first swing hydraulic cylinder; the first connecting piece is arranged on the base connecting piece, one end of the connecting rod group of the first arm rod module is hinged with one side of the first connecting piece, and one end of the swing hydraulic cylinder of the first arm rod module is fixedly connected with one side of the first connecting piece; the other end of the connecting rod group of the first arm rod module and the other end of the swing hydraulic cylinder of the first arm rod module are hinged with one side of the end part connecting piece of the first arm rod module;
one end of the connecting rod group of the next arm lever module is hinged with one side of the end part connecting piece of the previous arm lever module, and one end of the swing hydraulic cylinder of the next arm lever module is fixedly connected with one side of the end part connecting piece of the previous arm lever module; the other end of the connecting rod group of the next arm rod module and the other end of the swing hydraulic cylinder of the next arm rod module are hinged with one side of the end part connecting piece of the next arm rod module; the mounting end is fixedly connected with the end connecting piece of the last arm lever module.
3. The building board mounting robot of claim 2, wherein the robotic arm comprises three arm modules, arm module one comprising a first linkage, a first telescopic hydraulic cylinder and a second connector, arm module two comprising a second linkage, a second telescopic hydraulic cylinder and a third connector, arm module three comprising a third linkage, a third telescopic hydraulic cylinder and a fourth connector;
the first connecting rod group, the second connecting rod group and the third connecting rod group have the same structure and are all composed of four parallel connecting rods with equal length; one end of the first connecting rod group is hinged with one side of the first connecting piece, and the other end of the first connecting rod group is hinged with one side of the second connecting piece; one end of the second connecting rod group is hinged with the other side of the second connecting piece, and the other end of the second connecting rod group is hinged with one side of the third connecting piece; one end of the third connecting rod group is hinged with the other side of the third connecting piece, and the other end of the third connecting rod group is hinged with the fourth connecting piece; one end of the first telescopic hydraulic cylinder is fixedly connected with the upper part of the first connecting piece, and the other end of the first telescopic hydraulic cylinder is hinged with the lower part of one side of the second connecting piece connected with the first connecting rod group; one end of the second telescopic hydraulic cylinder is fixedly connected with the lower part of one side of the second connecting piece connected with the second connecting rod group, and the other end of the second telescopic hydraulic cylinder is hinged with the lower part of one side of the third connecting piece connected with the second connecting rod group; one end of a third telescopic hydraulic cylinder is fixedly connected with the upper part of one side of the third connecting piece connected with the third connecting rod group, and the other end of the third telescopic hydraulic cylinder is hinged with the lower part of the fourth connecting piece.
4. A building board mounting robot as claimed in claim 3, wherein the first connecting member is composed of a quadrangular base plate, two irregular hexagonal plates and two cylindrical shafts; the two irregular hexagonal plates are welded on two sides of the quadrilateral bottom plate, two ends of the two cylindrical shafts are fixedly connected with the two irregular hexagonal plates respectively, and the two cylindrical shafts are located on the upper portion and the lower portion of the first connecting piece respectively.
5. The building board mounting robot of claim 3, wherein the second connecting member and the third connecting member are identical in structure and each consists of two trapezoidal plates and four equal-length cylindrical connecting rods; two trapezoidal plates are fixed at two ends of four cylindrical connecting rods, and the four cylindrical connecting rods are respectively positioned at four end corners of the trapezoidal plates.
6. A building board mounting robot as claimed in claim 3, wherein the fourth connecting member comprises one L-shaped plate, two right-angled trapezoidal plates and two cylindrical shafts; two right angle trapezoidal plates are welded on two sides of the L-shaped plate, two ends of two cylindrical shafts are fixedly connected with the two right angle trapezoidal plates, and the two cylindrical shafts are located on the oblique edges of the right angle trapezoidal plates.
7. The building board mounting robot according to claim 1, wherein the clamping frame includes a connecting plate, a straight link, and an irregular link; the connecting plate is fixedly connected with an output shaft of the fourth swing hydraulic cylinder, irregular connecting rods are respectively arranged on two sides of the connecting plate, and two ends of each irregular connecting rod are respectively connected with the corresponding straight connecting rod; the two ends of each straight connecting rod are respectively provided with a sucking disc.
8. The building board mounting robot as claimed in claim 7, wherein the irregular connecting rod is formed by bending a straight rod twice, each time bending is 60 °, so that the irregular connecting rod has a concave structure.
9. A building board mounting robot as recited in claim 1, wherein the first mounting member comprises a base plate and two side plates disposed on opposite sides of the base plate, such that the first mounting member is binaural; the second swing hydraulic cylinder is installed on a side plate of the first installation part, an output shaft of the second swing hydraulic cylinder penetrates through the side plate of the first installation part and is fixedly connected with one side of the second installation part, and the other side of the second installation part is hinged to the other side plate of the first installation part.
10. The building board mounting robot as claimed in claim 1, wherein the mounting member three is L-shaped and includes a vertical plate and a horizontal plate; the mounting piece II comprises a U-shaped plate and a top plate positioned in the U-shaped opening; the third swing hydraulic cylinder is fixed at the bottom of the top plate of the second mounting piece, and an output shaft of the third swing hydraulic cylinder penetrates through the top plate of the second mounting piece to be fixedly connected with the horizontal plate of the third mounting piece; and an output shaft of the fourth swing hydraulic cylinder penetrates through the vertical plate of the mounting part III to be fixedly connected with the middle part of the clamping frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110008880.7A CN112775987A (en) | 2021-01-05 | 2021-01-05 | Building board installation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110008880.7A CN112775987A (en) | 2021-01-05 | 2021-01-05 | Building board installation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113384350A (en) * | 2021-06-17 | 2021-09-14 | 北京航空航天大学 | Ophthalmic surgical robotic system with visual guidance and micro-force perception capabilities |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113384350A (en) * | 2021-06-17 | 2021-09-14 | 北京航空航天大学 | Ophthalmic surgical robotic system with visual guidance and micro-force perception capabilities |
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