CN114102493B - Auxiliary positioning manipulator device and auxiliary positioning method - Google Patents
Auxiliary positioning manipulator device and auxiliary positioning method Download PDFInfo
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- CN114102493B CN114102493B CN202210090537.6A CN202210090537A CN114102493B CN 114102493 B CN114102493 B CN 114102493B CN 202210090537 A CN202210090537 A CN 202210090537A CN 114102493 B CN114102493 B CN 114102493B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
- B25B11/02—Assembly jigs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
Abstract
The invention belongs to the field of mechanical equipment, particularly relates to a space positioning mechanical arm device, and particularly relates to an auxiliary positioning mechanical arm device and an auxiliary positioning method, which can play a role in accurate auxiliary positioning and installation when a plate-shaped member is installed, greatly improves the installation efficiency, saves time and labor, and comprises a base, a push plate and a pushing mechanism, wherein two hooks capable of stretching back and forth are arranged on the front end surface of the base; the base is provided with a positioning hole, the pushing mechanism is arranged on the base, the push plate is vertically arranged on the pushing mechanism, and the pushing mechanism can drive the push plate to move forwards; when the pushing mechanism moves the push plate forward for the maximum distance, the front side surface of the push plate is superposed with the front end surface of the base.
Description
Technical Field
The invention belongs to the field of mechanical equipment, particularly relates to a spatial positioning manipulator device, and particularly relates to an auxiliary positioning manipulator device and an auxiliary positioning method.
Background
The manipulator is an automatic operating device which imitates some action functions of human hand and arm, and is used for grabbing, carrying objects or operating tools according to fixed program. The manipulator is used for mechanical engineering application, mainly uses the position removal or the holistic equipment of spare part on the space, is used for replacing manual operation, when improving the security, saves the labour.
In the field of mechanical engineering, heavy plate-like members need to be positioned and mounted vertically, for example, assembly plates of large machine tools. The plate-shaped member is characterized in that the length and the width of the plate-shaped member are more than 2m and the plate-shaped member has larger mass. In order to ensure the stability and the positioning accuracy of installation, two rows of positioning pins with the length of more than 15 centimeters are reserved on the installation surface, positioning sleeves are preassembled at the bottom of the plate-shaped member, and the positioning sleeves and the positioning pins are in one-to-one correspondence. Because the bottom of the plate-shaped member is in a rectangular outline, a positioning base line which is consistent with the outline size of the bottom of the plate-shaped member is drawn on the mounting surface in the mounting process, the plate-shaped member is firstly conveyed to the position above the mounting surface and then falls, and each positioning pin needs to be ensured to be inserted into the positioning sleeve in a one-to-one correspondence mode. Need 4-6 constructors to operate together in the installation, only rely on the cooperation of constructor's eye hand under the condition of the location that does not have the specialty, stop tool, not only waste time and energy, and be difficult to realize the accurate control of installation location, if do not install in place and assemble by force, find the problem when later stage is accepted, it is also late for the time, a large amount of manpower and materials and time have been wasted to the remedial measure, in the prior art, the manipulator device that can assistance-localization real-time does not exist, therefore, this becomes the problem of treating urgently.
Disclosure of Invention
The invention aims to provide an auxiliary positioning manipulator device and method, which can play a role in accurate auxiliary positioning and installation when a plate-shaped member is installed, greatly improve the installation efficiency and save time and labor.
The invention is realized by the following technical scheme:
an auxiliary positioning manipulator device comprises a base, a push plate and a pushing mechanism, wherein two hooks capable of stretching back and forth are arranged on the front end face of the base;
the base is provided with a positioning hole, the pushing mechanism is arranged on the base, the push plate is vertically arranged on the pushing mechanism, and the pushing mechanism can drive the push plate to move forwards;
when the pushing mechanism moves the push plate forward for the maximum distance, the front side surface of the push plate is superposed with the front end surface of the base.
Further, pushing mechanism includes stand, cylinder, last connecting rod group and lower connecting rod group, the stand is vertical to fixing the top surface of base, the one end of going up connecting rod group and lower connecting rod group all articulates the leading flank of stand, the other end articulate the trailing flank of push pedal, stand, push pedal, last connecting rod group and lower connecting rod group form parallelogram mechanism, the casing bottom of cylinder articulates the leading flank of stand, the expansion end of cylinder articulates on the lower connecting rod group.
Furthermore, the upper connecting rod group and the lower connecting rod group are both composed of two connecting rods which are symmetrically distributed in the left-right direction, a push rod is arranged between the two connecting rods in the lower connecting rod group, and the movable end of the air cylinder is hinged to the push rod.
Furthermore, each hook is controlled by a telescopic driving mechanism, the telescopic driving mechanism comprises a sliding plate, a transmission screw rod and a transmission nut, the sliding plate is fixed at the rear end of the hook, sliding grooves are formed in the base along the front-back direction, the sliding plate is matched in the sliding grooves and can move back and forth relatively, the transmission screw rod rotates around the base along the front-back direction, the transmission nut is matched with the transmission screw rod, and the transmission nut is connected with the sliding plate.
Furthermore, the telescopic driving mechanism further comprises a first driving motor, the first driving motor is installed on the base, and an output shaft of the first driving motor is connected with the transmission screw through a bevel gear transmission assembly.
Furthermore, a guide plate which inclines backwards is arranged at the top end of the push plate.
Further, still include controller, inductive switch, distance sensor and image recognition module all electricity are connected on the controller, distance sensor sets up the position that the base is close to the front end, image recognition module sets up on the stand, the top of stand is equipped with the support, inductive switch sets up on the support, inductive switch's position height is not less than the top of push pedal.
The invention discloses an auxiliary positioning method, which is carried out by adopting an auxiliary positioning manipulator device and comprises the following steps:
(1) marking a rectangular positioning base line on the mounting surface, preparing at least two auxiliary positioning manipulator devices, and defining one right-angle side as an X line and the other right-angle side as a Y line by taking the vertex of any right angle of the positioning base line as an origin;
(2) placing an auxiliary positioning manipulator device outside an X-ray, hanging two hooks on two positioning pins respectively, adjusting the front-back telescopic length of the two hooks to align the front end of a base with the X-ray, and fixing the base on the ground by using a fixing bolt to match with the positioning holes;
placing an auxiliary positioning manipulator device outside a Y line, hanging two hooks on two positioning pins respectively, adjusting the front-back telescopic length of the two hooks to align the front end of the base with the Y line, and fixing the base on the ground by using a fixing bolt to match with the positioning holes;
(3) entering a plate-shaped member hoisting stage, using a hoisting mechanism to suspend the plate-shaped member above the positioning base line, and enabling the plate-shaped member to descend to approach the positioning base line;
(4) when the plate-shaped member enters a working range, each auxiliary positioning manipulator device starts to work, a pushing mechanism of each auxiliary positioning manipulator device drives a pushing plate to move forwards, and each pushing plate contacts the side wall of the plate-shaped member to limit and push along with the descending of the plate-shaped member;
when the pushing mechanism moves the push plate forward for the farthest distance, the front side surface of the push plate is overlapped with the front end surface of the base, the plate-shaped member falls along the push plate, and finally the bottom surface of the plate-shaped member is vertically aligned with the positioning base line, so that the positioning sleeves at the bottom of the plate-shaped member are aligned with the positioning pins on the mounting surface one by one, and the positioning pins are correspondingly inserted into the positioning sleeves;
(5) when the plate-shaped component descends to a position close to the hook, the hook of the auxiliary positioning manipulator device is released from fixing, the hook is separated from the positioning pin, and the plate-shaped component continues to descend and is finally hoisted to the position.
Furthermore, four auxiliary positioning manipulator devices are adopted, and the four auxiliary positioning manipulator devices are symmetrically distributed on the outer sides of the four edges of the positioning base line in pairs.
Further, the image recognition module is used for recognizing and recording the installation process of the plate-shaped member entering the working range, and a distance sensor is installed on the base and used for detecting whether the plate-shaped member is accurately installed in place.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the auxiliary positioning manipulator device, the hook is hung on the positioning pin, then the base is fixed, the stability of the base is guaranteed by matching with the hook, the descending process of the limiting plate-shaped component is guided by the push plate capable of moving forwards, the accurate installation of the plate-shaped component is realized, the positioning sleeves and the positioning pins are ensured to be correspondingly spliced one by one, and the accurate auxiliary positioning installation effect can be achieved;
by using the device disclosed by the invention, the mounting efficiency of the plate-shaped member is greatly improved, and the time and the labor are saved;
2. the pushing mechanism is composed of an upright post, a cylinder, an upper connecting rod group and a lower connecting rod group, ensures that the push plate can stably move forwards, always ensures the vertical direction, and guides and limits the plate-shaped component;
3. the telescopic driving mechanism controls the hook to be telescopic, so that the length of the hook can be accurately adjusted, and the application range is enlarged;
4. the automatic control of the whole device can be realized by matching the controller, the inductive switch, the distance sensor and the image recognition module, and the recording of construction image data is perfected;
5. the invention has wide application, relates to positioning and installation of heavy plate-shaped components, and is worth popularizing in the field of mechanical engineering.
Drawings
Fig. 1 is a schematic perspective view of an auxiliary positioning manipulator device according to the present invention;
fig. 2 is a schematic perspective view of the auxiliary positioning manipulator device with a wall-connected bracket according to the present invention;
fig. 3 is a schematic bottom structure view of the auxiliary positioning manipulator device according to the present invention;
FIG. 4 is a second step construction state diagram of the auxiliary positioning method of the present invention;
FIG. 5 is a third step of the auxiliary positioning method according to the present invention;
FIG. 6 is a diagram illustrating a fifth construction state of the auxiliary positioning method according to the present invention;
in the figure: 1. the device comprises a push plate, 2, a hook, 3, a bolt hole, 4, a wall connecting support, 5, a sliding plate, 6, a distance sensor, 7, a positioning hole, 8, a base, 9, a first driving motor, 10, a transmission screw, 11, a transmission nut, 12, an upright post, 13, a cylinder, 14, an upper connecting rod group, 15, a lower connecting rod group, 16, a push rod, 17, an image recognition module, 18 and an inductive switch.
Detailed Description
The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present invention, it is to be understood that the terms "front", "rear", "upper", "lower", "left", "right", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
As shown in fig. 1-3, the invention discloses an auxiliary positioning manipulator device, which comprises a base 8, a push plate 1, a pushing mechanism, a telescopic driving mechanism, a controller, an inductive switch 18, a distance sensor 6, an image recognition module 17 and two hooks 2, wherein the base 8 is in a rectangular block structure, and positioning holes 7 are processed on the surface of the base 8 for being conveniently fixed with the ground.
Two couple 2 bilateral symmetry distribute on the preceding terminal surface of base 8, and every couple 2 is controlled by flexible actuating mechanism, flexible actuating mechanism includes slide 5, drive screw 10, drive nut 11, first driving motor 9 and bevel gear drive assembly, and it has the spout to process along the fore-and-aft direction in base 8, and slide 5 is the long lath column structure, and slide 5 cooperation is in can relative back-and-forth movement in the spout, and the front end of slide 5 passes through bolt assembly with the rear end of detachable mode fixed connection couple 2, so the design, conveniently demolishs the couple from slide 5. The transmission screw rod 10 is rotatably arranged at the top of the base 8 through the bearing seat assembly along the front-back direction, the transmission nut 11 is arranged on the transmission screw rod 10 in a matched mode, and the transmission nut 11 is fixedly connected with the sliding plate 5. The first driving motor 9 is installed on the base 8, an output shaft of the first driving motor 9 is connected with the transmission screw rod 10 through a bevel gear transmission assembly, the first driving motor 9 is a servo motor with a speed reducer, and the first driving motor 9 drives the transmission screw rod 10 to rotate forward and backward so as to drive the sliding plate 5 to move in the sliding groove along the front-back direction to achieve stretching of the hook 2.
The pushing mechanism comprises a vertical column 12, a cylinder 13, an upper connecting rod group 14 and a lower connecting rod group 15, the vertical column 12 is vertically fixed at the top of the base 8, and the vertical column 12 is of a rectangular plate-shaped structure. One end of the upper connecting rod group 14 is hinged to the front side surface of the upright 12 through a pin shaft assembly, the other end of the upper connecting rod group 14 is hinged to the rear side surface of the push plate 1 through a pin shaft assembly, the upper connecting rod group 14 and the lower connecting rod group 15 are equal in length and are respectively composed of two connecting rods which are symmetrically distributed in the left-right direction, a push rod 16 is installed between the two connecting rods in the lower connecting rod group 15, and the upright 12, the push plate 1, the upper connecting rod group 14 and the lower connecting rod group 15 form a parallelogram mechanism on a vertical plane, so that the push plate 1 is always in a vertical state. The bottom end of the shell of the cylinder 13 is hinged to the front side surface of the upright post 12 through a pin shaft assembly, and the movable end of the cylinder 13 is hinged to a push rod on the lower connecting rod group 15. So design, when cylinder 13 is elongated, pushing mechanism drives push pedal 1 and translates forward, and when cylinder 13 contracts, pushing mechanism drives push pedal 1 and translates backward, and will as pushing mechanism push pedal 1 moves forward when the most distance, the leading flank of push pedal 1 with the coincidence of the preceding terminal surface of base 8. In order to guide the plate-like member into the working range, a guide plate inclined backward by 15 to 30 is formed at the top end of the push plate 1.
The distance sensor 6, also called displacement sensor, is arranged on the top surface of the base 8 near the front end, and is used for sensing the distance between the distance sensor 6 and some object. In the present invention, the distance sensor 6 is used to detect whether the plate-like member is mounted in place. The image recognition module 17 is arranged on the upright post 12, and the image recognition module 17 is used for recognizing and recording the installation process of the plate-shaped component entering the working range, so that project filing is carried out, and later checking is facilitated. The top of the upright post 12 is provided with a support, an inductive switch 18 is arranged on the support, the position height of the inductive switch 18 is consistent with the top end height of the push plate 1, the air cylinder 13, the inductive switch 18, the distance sensor 6 and the image recognition module 17 are all electrically connected on the controller, when the inductive switch 18 detects that the plate-shaped member enters a working range, a signal is fed back to the controller, and the controller transmits a signal to the distance sensor 6 and the image recognition module to enter a working state.
Example 1
Taking an assembly vertical plate (a metal plate with the length of 3m, the width of 2m and the thickness of 40 cm) of a large-scale machine tool positioned and installed on the installation surface of a base station in a factory building as an example, the auxiliary installation and positioning method of the assembly vertical plate comprises the following steps:
(1) drawing a rectangular positioning base line on a pre-installed mounting surface by using ink lines, preparing four auxiliary positioning manipulator devices, and defining one right-angle side as an X line and the other right-angle side as a Y line by taking the vertex of any right angle of the positioning base line as an origin;
(2) as shown in fig. 4, an auxiliary positioning manipulator device is placed outside an X-ray, two hooks 2 are hung on two positioning pins of a mounting surface respectively, then two telescopic driving mechanisms are adjusted respectively to adjust the front and back telescopic lengths of the two hooks 2, so that the front end of a base 8 is aligned with the X-ray, and then the base 8 is fixed on the ground by a fixing bolt matched with the positioning hole 7;
placing an auxiliary positioning manipulator device outside a Y line, hanging two hooks 2 on two positioning pins respectively, adjusting the front-back telescopic lengths of the two hooks 2 to align the front end of a base 8 with the Y line, and fixing the base 8 on the ground by using a fixing bolt to match with a positioning hole 7;
the other two auxiliary positioning manipulator devices are installed in the same step for operation and positioning, and finally the four auxiliary positioning manipulator devices are fixed on the outer sides of the four edges of the positioning base line in a pairwise symmetrical distribution mode;
(3) as shown in fig. 5, in the stage of hoisting the assembled vertical plate, the assembled vertical plate is hoisted to the position above the positioning base line by using a hoisting mechanism, so that the assembled vertical plate descends to approach the positioning base line;
(4) when the assembly vertical plate enters a working range, the inductive switch 18 detects the assembly vertical plate and feeds the assembly vertical plate back to the controller, the controller transmits signals to the air cylinder 13, the distance sensor 6 and the image recognition module 17, so that each component starts to work, wherein the air cylinder 13 starts to extend, so that the push plate 1 moves forwards, the guide plate at the top of the push plate 1 can preliminarily interfere and adjust the falling angle of the assembly vertical plate, when the assembly vertical plate continues to fall to the vertical surface part of the push plate 1, each push plate 1 contacts the side wall of the assembly vertical plate to limit and can slowly push the assembly vertical plate to the range of a positioning base line, when the push plate 1 moves to the farthest distance, the front side surface of the push plate 1 is vertically aligned with the positioning base line, so that the positioning sleeves at the bottom of the plate-shaped component are aligned with the positioning pins of the mounting surface one by one, and the positioning pins are correspondingly inserted into the positioning sleeves;
(5) as shown in fig. 6, when the assembled vertical plate descends to a position 5cm away from the hook 2, the hook 2 of the auxiliary positioning manipulator device is firstly detached from the sliding plate and then separated from the positioning pin, and meanwhile, the fixing of the base 8 is ensured, so that the assembled vertical plate continues to descend and is finally hoisted in place; the distance inductor can judge whether the assembly vertical plate reaches the designated installation position, and if the assembly vertical plate deviates from the positioning base line due to special conditions, a signal warning can be sent out, so that the adjustment by an operator is facilitated.
Example 2
The auxiliary wall mounting and positioning method and the auxiliary positioning manipulator device can be applied to machine tool mounting and vertical assembly type wall positioning and mounting in building construction. When the wall body is installed, two rows of positioning pins are pre-embedded on an installation surface, the positioning pins are generally made of prefabricated steel bars, positioning sleeves are pre-embedded at the bottom of the wall body, and then the positioning pins and the positioning sleeves are correspondingly spliced one by one when the wall body is installed.
Taking the positioning and installation of the wall body on the horizontal ground by adopting the auxiliary positioning manipulator device of the invention as an example, the auxiliary installation and positioning method of the wall body comprises the following steps:
(1) drawing a rectangular positioning base line on a pre-installed mounting surface by using ink lines, preparing four auxiliary positioning manipulator devices, and defining one right-angle side as an X line and the other right-angle side as a Y line by taking the vertex of any right angle of the positioning base line as an origin;
(2) placing an auxiliary positioning manipulator device outside an X-ray, hanging two hooks 2 on two prefabricated steel bars on an installation surface respectively, adjusting the front and back telescopic lengths of the two hooks 2 by adjusting two telescopic driving mechanisms respectively, aligning the front end of a base 8 with the X-ray, and fixing the base 8 on the ground by using a fixing bolt to be matched with a positioning hole 7;
placing an auxiliary positioning manipulator device outside a Y line to enable two hooks 2 to be hung on two prefabricated steel bars respectively, adjusting the front-back telescopic length of the two hooks 2 to enable the front end of a base 8 to be aligned with the Y line, and then fixing the base 8 on the ground by using a fixing bolt to match with a positioning hole 7;
the other two auxiliary positioning manipulator devices are installed in the same step for operation and positioning, and finally the four auxiliary positioning manipulator devices are fixed on the outer sides of the four edges of the positioning base line in a pairwise symmetrical distribution mode;
(3) entering a wall hoisting stage, hoisting the wall to the position above the positioning base line by using a hoisting mechanism, and enabling the wall to descend to approach the positioning base line;
(4) when the wall body enters a working range, the induction switch 18 detects the wall body and feeds back the wall body to the controller, the controller transmits signals to the air cylinder 13, the distance sensor 6 and the image recognition module 17, so that all the components start to work, wherein the air cylinder 13 starts to extend, the push plate 1 is enabled to move forwards, the guide plate at the top of the push plate 1 can preliminarily interfere and adjust the falling angle of the wall body, when the wall body continuously falls to the vertical surface part of the push plate 1, each push plate 1 contacts the side wall of the wall body to limit the position and can slowly push the wall body to the range of the positioning base line, when the push plate 1 moves to the farthest distance, the front side surface of the push plate 1 is aligned with the positioning base line up and down, so that the positioning sleeves at the bottom of the wall body are aligned with the prefabricated steel bars on the mounting surface one by one, and the prefabricated steel bars are correspondingly inserted into the positioning sleeves; (ii) a
(5) When the wall body descends to a position 5cm away from the hook 2, the hook 2 of the auxiliary positioning manipulator device is detached and separated from the sliding plate, then is separated from the prefabricated steel bar, and meanwhile, the base 8 is ensured to be fixed, so that the wall body continues to descend and is finally hoisted in place; the distance sensor can judge whether the wall body reaches the appointed installation position, and if the wall body deviates from the positioning base line due to special conditions, a signal warning can be sent out, so that the adjustment by operators is facilitated.
Example 3
Taking the example of positioning and installing the wall body on the installed wall body by adopting the auxiliary positioning manipulator device, the bottom of the base 8 is required to be provided with the vertically distributed wall connecting support which is of a plate-shaped structure, the front side surface of the wall connecting support is vertically aligned with the front end surface of the base 8, and the plate surface of the wall connecting support is provided with two bolt holes 3.
When the auxiliary positioning manipulator device is used for positioning and installing the wall body on the installed wall body, the auxiliary wall body installing and positioning method comprises the following steps:
(1) drawing a rectangular positioning base line on the mounting surface of the built wall body by using ink lines, preparing four auxiliary positioning manipulator devices, and defining one right-angle side as an X line and the other right-angle side as a Y line by using the vertex of any right angle of the positioning base line as an origin;
(2) placing an auxiliary positioning manipulator device outside an X-ray, hanging two hooks 2 on two prefabricated steel bars of an installation surface respectively, adjusting the front and back telescopic lengths of the two hooks 2 by adjusting two telescopic driving mechanisms respectively, aligning the front end of a base 8 with the X-ray, and fixing a wall connecting support 4 on a wall surface by using a fixing bolt matched with a bolt hole 3;
placing an auxiliary positioning manipulator device outside a Y line to enable two hooks 2 to be hung on two prefabricated steel bars respectively, adjusting the front-back telescopic length of the two hooks 2 to enable the front end of a base 8 to be aligned with the Y line, and fixing a wall connecting support 4 on a wall surface by using a fixing bolt matched with a bolt hole 3;
the other two auxiliary positioning manipulator devices are installed in the same step for operation and positioning, and finally the four auxiliary positioning manipulator devices are fixed on the outer sides of the four edges of the positioning base line in a pairwise symmetrical distribution mode;
the rest of the steps are the same as those in embodiment 2, and are not described herein again.
According to the auxiliary positioning manipulator device and the method, the hook 2 is hung on the positioning pin, then the base 8 is fixed, the stability of the base 8 is ensured by matching with the hook 2, the descending process of the limiting plate-shaped member is guided by the push plate 1 capable of moving forwards, the accurate installation of the plate-shaped member is realized, the positioning sleeves and the positioning pins are ensured to be correspondingly spliced one by one, the accurate auxiliary positioning installation effect can be realized, the installation efficiency of the plate-shaped member is greatly improved, and the time and the labor are saved.
Claims (9)
1. An auxiliary positioning manipulator device is characterized by comprising a base, a push plate and a pushing mechanism, wherein two hooks capable of stretching back and forth are arranged on the front end face of the base;
the base is provided with a positioning hole, the pushing mechanism is arranged on the base, the push plate is vertically arranged on the pushing mechanism, the pushing mechanism comprises an upright post, a cylinder, an upper connecting rod group and a lower connecting rod group, the upright post is vertically fixed on the top surface of the base, one end of each of the upper connecting rod group and the lower connecting rod group is hinged to the front side surface of the upright post, the other end of each of the upper connecting rod group and the lower connecting rod group is hinged to the rear side surface of the push plate, the upright post, the push plate, the upper connecting rod group and the lower connecting rod group form a parallelogram mechanism, the bottom end of a shell of the cylinder is hinged to the front side surface of the upright post, and the movable end of the cylinder is hinged to the lower connecting rod group;
the pushing mechanism drives the push plate to move forwards, the push plate is contacted with the side wall of the plate-shaped member to limit and push along with the descending of the plate-shaped member, when the pushing mechanism moves the push plate forwards for the longest distance, the front side surface of the push plate is superposed with the front end surface of the base, and the plate-shaped member falls along the push plate.
2. The auxiliary positioning manipulator device as claimed in claim 1, wherein the upper linkage and the lower linkage are each composed of two links symmetrically distributed left and right, a push rod is disposed between the two links in the lower linkage, and the movable end of the cylinder is hinged to the push rod.
3. The auxiliary positioning manipulator device as claimed in claim 1, wherein each hook is controlled by a telescopic driving mechanism, the telescopic driving mechanism comprises a sliding plate, a transmission screw and a transmission nut, the sliding plate is fixed at the rear end of the hook, a sliding groove is formed in the base along the front-back direction, the sliding plate is fitted in the sliding groove and can move back and forth relatively, the transmission screw is rotated on the base along the front-back direction, the transmission nut is fitted on the transmission screw, and the transmission nut is connected with the sliding plate.
4. The auxiliary positioning manipulator device of claim 3, wherein the telescopic driving mechanism further comprises a first driving motor, the first driving motor is mounted on the base, and an output shaft of the first driving motor is connected to the transmission screw through a bevel gear transmission assembly.
5. The auxiliary positioning manipulator device as claimed in claim 1, wherein the top end of the push plate is provided with a guide plate inclined backward.
6. The auxiliary positioning manipulator device as claimed in claim 1, further comprising a controller, an inductive switch, a distance sensor and an image recognition module, wherein the inductive switch, the distance sensor and the image recognition module are electrically connected to the controller, the distance sensor is disposed at a position close to the front end of the base, the image recognition module is disposed on the upright, a support is disposed at the top of the upright, the inductive switch is disposed on the support, and the height of the inductive switch is not lower than the top end of the push plate.
7. An auxiliary positioning method, which is performed by using the auxiliary positioning robot apparatus of any one of claims 1 to 6, comprising the steps of:
(1) marking a rectangular positioning base line on the mounting surface, preparing at least two auxiliary positioning manipulator devices, and defining one right-angle side as an X line and the other right-angle side as a Y line by taking the vertex of any right angle of the positioning base line as an origin;
(2) placing an auxiliary positioning manipulator device outside an X-ray, hanging two hooks on two positioning pins respectively, adjusting the front-back telescopic length of the two hooks to align the front end of a base with the X-ray, and fixing the base on the ground by using a fixing bolt to match with the positioning holes;
placing an auxiliary positioning manipulator device outside a Y line, hanging two hooks on two positioning pins respectively, adjusting the front-back telescopic length of the two hooks to align the front end of the base with the Y line, and fixing the base on the ground by using a fixing bolt to match with the positioning holes;
(3) entering a plate-shaped member hoisting stage, using a hoisting mechanism to suspend the plate-shaped member above the positioning base line, and enabling the plate-shaped member to descend to approach the positioning base line;
(4) when the plate-shaped member enters a working range, each auxiliary positioning manipulator device starts to work, a pushing mechanism of each auxiliary positioning manipulator device drives a pushing plate to move forwards, and each pushing plate contacts the side wall of the plate-shaped member to limit and push along with the descending of the plate-shaped member;
when the pushing mechanism moves the push plate forward for the farthest distance, the front side surface of the push plate is overlapped with the front end surface of the base, the plate-shaped member falls along the push plate, and finally the bottom surface of the plate-shaped member is vertically aligned with the positioning base line, so that the positioning sleeves at the bottom of the plate-shaped member are aligned with the positioning pins of the mounting surface one by one, and the positioning pins are correspondingly inserted into the positioning sleeves;
(5) when the plate-shaped component descends to a position close to the hook, the hook of the auxiliary positioning manipulator device is released from fixation, the hook is separated from the positioning pin, and the plate-shaped component continues to descend and is finally hoisted in place.
8. An auxiliary positioning method as claimed in claim 7, wherein four auxiliary positioning manipulator devices are adopted, and the four auxiliary positioning manipulator devices are symmetrically distributed in pairs outside the four sides of the positioning base line.
9. The auxiliary positioning method as claimed in claim 7, wherein a distance sensor is mounted on the base for detecting whether the plate-like member is accurately mounted in place by means of an image recognition module for recognizing and recording the mounting process of the plate-like member into the working range.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210090537.6A CN114102493B (en) | 2022-01-26 | 2022-01-26 | Auxiliary positioning manipulator device and auxiliary positioning method |
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| CN202210090537.6A CN114102493B (en) | 2022-01-26 | 2022-01-26 | Auxiliary positioning manipulator device and auxiliary positioning method |
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| CN114102493A CN114102493A (en) | 2022-03-01 |
| CN114102493B true CN114102493B (en) | 2022-05-24 |
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| SU1148777A1 (en) * | 1983-01-21 | 1985-04-07 | Завод N421 Гражданской Авиации | Manipulator |
| CN102000743A (en) * | 2009-09-03 | 2011-04-06 | 张本存 | Novel workshop mould loading trolley |
| CN105459154A (en) * | 2014-09-12 | 2016-04-06 | 康志刚 | Auxiliary device for mechanical arm working |
| CN205734923U (en) * | 2016-06-14 | 2016-11-30 | 四川京石工程技术有限公司 | A kind of upper and lower transporting structure of catching robot |
| CN107433413B (en) * | 2017-07-13 | 2019-03-15 | 柳州福能机器人开发有限公司 | Robot arm is used in screw type welding |
| CN206990212U (en) * | 2017-07-19 | 2018-02-09 | 重庆市翔聪机械制造有限公司 | A kind of flywheel production line casual inspection device |
| CN207525746U (en) * | 2017-12-01 | 2018-06-22 | 韦昌辉 | Side slope protection construction platform and slope protection system |
| CN110193814B (en) * | 2019-06-06 | 2020-11-13 | 广东博智林机器人有限公司 | Wallboard installation robot |
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Application publication date: 20220301 Assignee: Shandong Pan Asia Engineering Consulting Co.,Ltd. Assignor: SHANDONG JIANZHU University Contract record no.: X2022370000021 Denomination of invention: A kind of auxiliary positioning manipulator device and auxiliary positioning method Granted publication date: 20220524 License type: Common License Record date: 20220920 |
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