CN114108994A - Glass curtain wall installation helping hand system - Google Patents
Glass curtain wall installation helping hand system Download PDFInfo
- Publication number
- CN114108994A CN114108994A CN202210083558.5A CN202210083558A CN114108994A CN 114108994 A CN114108994 A CN 114108994A CN 202210083558 A CN202210083558 A CN 202210083558A CN 114108994 A CN114108994 A CN 114108994A
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- China
- Prior art keywords
- curtain wall
- glass curtain
- driving unit
- module
- monitoring
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/18—Implements for finishing work on buildings for setting wall or ceiling slabs or plates
- E04F21/1894—Lever-type lifters gripping the bottom edge of wall panels
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Load-Bearing And Curtain Walls (AREA)
Abstract
The invention relates to the technical field of power-assisted systems, in particular to a power-assisted system for mounting a glass curtain wall. The glass curtain wall suction device at least comprises a driving unit, wherein the driving unit is used for sucking, placing and installing the glass curtain wall; the power assisting unit is used for adjusting the motion direction of the driving unit; the monitoring unit is used for monitoring the driving unit when the glass curtain wall is absorbed and forming control information; and the feedback processing unit is used for receiving the control signal delivered by the monitoring unit, processing the feedback control signal, processing the current control signal, making a correction with the driving unit, and controlling the driving unit to normally absorb the glass curtain wall. Through the calibration module with other untreated and produce the glass curtain wall and the sucking disc in gap and the calibration of the sucking disc after restoreing and glass curtain wall to guarantee that other sucking discs all can keep good adsorptivity with glass curtain wall, avoid glass curtain wall to drop at the in-process of installation.
Description
Technical Field
The invention relates to the technical field of power-assisted systems, in particular to a power-assisted system for mounting a glass curtain wall.
Background
The booster system is a system for assisting mechanical operation in mechanical equipment, wherein the mechanical equipment generally comprises a frame body and a sucker, and for the installation of a glass curtain wall, the sucker is used for sucking the glass curtain wall and can be used for the booster system, but the booster system of the glass curtain wall cannot perform adaptive change on the mechanical equipment in the operation process, such as: when mechanical equipment adsorbs the back to glass curtain wall, because of the sucking disc is the multiunit, when one or more sucking discs wherein produced the gap with glass curtain wall, personnel can't learn fast, and the helping hand system also can't carry out the adaptation and improve the regulation, leads to glass curtain wall to have the risk of falling the damage, and still can cause the potential safety hazard to near personnel after glass curtain wall falls.
Disclosure of Invention
The invention aims to provide a glass curtain wall installation assisting system to solve the problems in the background technology.
In order to achieve the above object, the present invention provides a glass curtain wall installation assisting system, at least comprising:
the driving unit is used for sucking, placing and installing the glass curtain wall;
the power assisting unit is used for adjusting the motion direction of the driving unit;
the monitoring unit is used for monitoring the driving unit when the glass curtain wall is absorbed and forming control information;
and the feedback processing unit is used for receiving the control signal delivered by the monitoring unit, processing the current control signal, making a correction with the driving unit, processing the feedback control signal and controlling the driving unit to normally absorb the glass curtain wall.
As a further improvement of the technical scheme, the driving unit comprises a vehicle body, a connecting arm is installed on one side of the vehicle body, a cylinder is installed on the surface of the connecting arm, an adsorption frame is connected to the bottom of the cylinder, a plurality of groups of suckers are arranged on the bottom surface of the adsorption frame, and the suckers are used for sucking the glass curtain wall.
As a further improvement of the technical scheme, one side of the vehicle body is hinged with the connecting arm through the connecting plate, and a motor is installed on one side of the connecting plate.
As a further improvement of the technical scheme, the connecting arm and the adsorption frame are connected through a limiting shaft, the limiting shaft consists of an outer shaft and an inner shaft, the inner shaft is inserted into the outer shaft, the inner shaft is fixedly connected with the connecting arm, and the outer shaft is fixedly connected with the adsorption frame.
As a further improvement of the technical scheme, the power assisting unit comprises a movement speed calculating module and an angle adjusting module; the movement speed calculation module is used for detecting the movement speed of the driving unit for sucking the glass curtain wall, and the angle adjusting module is used for adjusting the directions of the driving unit for sucking the glass curtain wall and installing the glass curtain wall.
As a further improvement of the technical scheme, the angle adjusting module comprises a lateral angle adjusting module and an up-down angle adjusting module; the lateral angle adjusting module is used for controlling the driving unit to absorb lateral movement deviation of the glass curtain wall, and the up-down angle adjusting module is used for controlling the driving unit to absorb up-down movement deviation of the glass curtain wall.
As a further improvement of the technical scheme, the monitoring unit comprises a basic monitoring module, a distance monitoring module and an information recording module; the basic monitoring module is used for monitoring the glass curtain wall sucked by the driving unit in real time, the distance monitoring module is used for monitoring the distance change between the driving unit and the glass curtain wall, and the information recording module is used for recording the monitoring information acquired by the basic monitoring module and the distance monitoring module, forming control information and feeding the control information back to the feedback processing unit for processing and repairing.
As a further improvement of the technical solution, the feedback processing unit includes a processing module, a comparison module and a calibration module; the processing module is used for receiving control information transmitted by the monitoring unit, the comparison module is used for comparing information obtained when the glass curtain wall is sucked by the current repaired driving unit with information obtained when the glass curtain wall is sucked by the initial driving unit, and the calibration module is used for calibrating the information obtained when the glass curtain wall is sucked by the initial driving unit and the information obtained when the glass curtain wall is sucked by the repaired driving unit.
Compared with the prior art, the invention has the beneficial effects that:
1. in this glass curtain wall installation helping hand system, absorb glass curtain wall and carry out real-time control when installing drive unit through the control unit, when monitoring glass curtain wall and break away from drive unit, the feedback unit is through receiving the control information that is carried by the control unit then modify and handle the absorption that gets the drive unit adjustment to glass curtain wall, avoids glass curtain wall support to drop and breaks away from drive unit, causes near personal safety, and after the adjustment, glass curtain wall accessible drive unit installs once more.
2. In this glass curtain wall installation helping hand system, through calibration module with other unprocessed and produce the glass curtain wall in gap and sucking disc and glass curtain wall after the sucking disc and the restoration calibrate, make other and not calibrated glass curtain wall and sucking disc unanimous with the glass curtain wall and the sucking disc formation after the current calibration, guarantee that other sucking discs all can keep good adsorptivity with glass curtain wall, avoid glass curtain wall to drop at the in-process of installation, and do not directly adjust other sucking discs for the glass curtain wall for adjusting, avoid not needing the sucking disc of adjustment can and the glass curtain wall between the adsorption strength too big, damage glass curtain wall.
Drawings
FIG. 1 is an overall block diagram of the present invention;
FIG. 2 is a block diagram of a power assist unit of the present invention;
FIG. 3 is a block diagram of a monitoring unit module of the present invention;
FIG. 4 is a block diagram of a feedback processing unit according to the present invention;
FIG. 5 is a schematic view of the overall structure of the present invention;
fig. 6 is a schematic view of the structure of the adsorption shelf of the present invention.
The various reference numbers in the figures mean:
1. a vehicle body; 2. a connecting arm; 21. a connecting plate; 22. a motor; 3. a cylinder; 4. an adsorption rack; 5. and a limiting shaft.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the equipment or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Referring to fig. 1 to 6, the present embodiment provides a power assisting system for installing a glass curtain wall, which at least includes:
the driving unit is used for sucking, placing and installing the glass curtain wall;
the power assisting unit is used for adjusting the motion direction of the driving unit;
the monitoring unit is used for monitoring the glass curtain wall sucked by the driving unit and forming control information;
and the feedback processing unit is used for receiving the control signal delivered by the monitoring unit, processing the feedback control signal and controlling the driving unit to normally absorb the glass curtain wall.
In the embodiment, the glass curtain wall in the area is sucked by the driving unit, the glass curtain wall is placed in a set area for installation, the direction of the glass curtain wall moved and installed by the driving unit is adjusted by the power-assisted control unit along with the operation of the driving unit, so that the glass curtain wall can be installed in a matched manner aiming at the set area when being installed by the driving unit, the accuracy of the installation position of the glass curtain wall is ensured, the glass curtain wall is sucked by the driving unit and monitored in real time when being installed by the monitoring unit, when the glass curtain wall is monitored to be separated from the driving unit, the current data is recorded and the control information is generated and sent to the feedback unit, the feedback unit receives the control information sent by the monitoring unit and then carries out artificial modification treatment, so that the driving unit adjusts the suction of the glass curtain wall, avoid glass curtain wall support to drop and break away from drive unit, cause near personal safety, and after the adjustment, make the proofreading analysis with former drive unit, avoid adsorbing the unexpected problem of appearance to glass curtain wall, glass curtain wall accessible drive unit is installed once more.
The driving unit comprises a vehicle body 1, a connecting arm 2 is installed on one side of the vehicle body 1, a cylinder 3 is installed on the surface of the connecting arm 2, an adsorption frame 4 is connected to the bottom of the cylinder 3, a plurality of groups of suckers are arranged on the bottom surface of the adsorption frame 4 and used for sucking the glass curtain wall, the adsorption frame 4 is driven to face downwards through the cylinder 3, the suckers of the adsorption frame 4 can be in contact with the glass curtain wall and suck the glass curtain wall, and therefore the glass curtain wall can be adsorbed on the adsorption frame 4 through the suckers to achieve the purpose of carrying the glass curtain wall; the working principle of the cylinder 3 is as follows: the principle of the cylinder is that air pressure is increased through the piston, then the air pressure transmission converts the pressure of compressed air into mechanical energy, and the driving mechanism moves in a linear reciprocating mode.
Connecting plate 21 and linking arm 2 are articulated through one side of automobile body 1, motor 22 is installed to one side of connecting plate 21, connecting plate 21 through setting up, connecting plate 21 is articulated with linking arm 2 through embedded axostylus axostyle, make and to articulate to turn over between 1 linking arm 2 of automobile body, let in the power and open through motor 22, make motor 22 drive the axostylus axostyle of connecting plate 21, thereby linking arm 2 is driven, do benefit to linking arm 2 and adsorb frame 4 and turn over upwards, when avoiding placing at linking arm 2 and adsorption frame 4, the decurrent adsorption frame 4 that adsorbs of position forms the mistake with other work pieces or equipment contact and touches.
Through spacing axle 5 between linking arm 2 and the adsorption frame 4, spacing axle 5 comprises outer axle and interior axle, and interior epaxial grafting is in outer epaxial, interior axle and 2 fixed connection of linking arm, outer axle and 4 fixed connection of adsorption frame, and through interior axle and outer spacing of axle for when cylinder 3 drives adsorption frame 4 underdrive and adsorbs glass curtain wall, receive the spacing power of vertical direction, thereby guarantee that glass curtain wall is comparatively stable on adsorption frame 4.
In the process of absorbing the motion of the glass curtain wall by the driving unit, when the motion speed of the driving unit is too high and the driving unit stops instantly when reaching a set position, the inertia of the driving unit is large when the driving unit stops due to the too high motion speed, and in order to avoid the situation that the glass curtain wall is thrown out by the driving unit due to the large inertia, the power assisting unit comprises a motion speed calculating module and an angle adjusting module; the movement speed calculation module is used for detecting the movement speed of the glass curtain wall sucked by the driving unit, the angle adjustment module is used for adjusting the directions of the glass curtain wall sucked by the driving unit and the glass curtain wall installed by the driving unit, after the glass curtain wall is sucked by the driving unit, the movement of the glass curtain wall sucked by the driving unit is detected by the movement measurement module through the movement sensor, so that the speed attached to the movement of the driving unit can be detected, and can be directly obtained by personnel to reduce the occurrence of potential safety hazards, and when the movement speed of the driving unit is too small, the efficiency of the whole installed glass curtain wall is influenced, so that after the data is obtained through the movement speed calculation module, the current speed can be reasonably controlled, the glass curtain wall is favorably installed, the potential safety hazards cannot be generated, and secondly, in the working process of the driving unit, the direction of the movement deviation of the driving unit can be changed through the angle adjustment module, the angle adjusting module obtains and adjusts through angle control sensor, does benefit to the drive unit and releases and install glass curtain wall.
Further, the angle adjusting module comprises a lateral angle adjusting module and an up-down angle adjusting module; the lateral angle adjusting module is used for controlling the driving unit to absorb the lateral movement deviation of the glass curtain wall, the upper and lower angle adjusting modules are used for controlling the driving unit to absorb the vertical movement deviation of the glass curtain wall, the glass curtain wall absorbed by the lateral angle adjusting module can be controlled to carry out the transmission deviation of the lateral position, the glass curtain wall can be installed in a deviation mode according to the required position, the glass curtain wall absorbed by the driving unit can be changed through the upper and lower angle adjusting modules to carry out the transmission deviation of the upper and lower positions, the glass curtain wall can be installed in a deviation mode according to the required position, and the glass is convenient to install at present.
Still further, the monitoring unit comprises a basic monitoring module, a distance monitoring module and an information recording module; the basic monitoring module is used for monitoring the glass curtain wall sucked by the driving unit in real time, the distance monitoring module is used for monitoring the distance change between the driving unit and the glass curtain wall, the information recording module is used for recording the monitoring information acquired by the basic monitoring module and the distance monitoring module and forming control information, and the control information is fed back to the feedback processing unit for processing and repairing, the basic monitoring module can be used for carrying out preliminary monitoring and monitoring between the driving unit and the glass curtain wall, the basic monitoring module is used for carrying out monitoring operation through camera equipment to ensure the normal connection between the glass curtain wall and the driving unit for personnel, as the sucking discs in the driving unit are in multiple groups, the distance monitoring module can be used for detecting the gap between the glass curtain wall and the driving unit if the gap exists, and the distance monitoring module is used for monitoring a distance sensor, and pass through information recording module statistics with data, carry out the secondary through feedback processing unit with drive unit and glass curtain wall and absorb the laminating for glass curtain wall can not break away from drive unit at the in-process of installation or when installing, avoids the appearance of potential safety hazard.
It is worth to say that the feedback processing unit comprises a processing module, a comparison module and a calibration module; the processing module is used for receiving control information transmitted by the monitoring unit, the comparison module is used for comparing the information of the glass curtain wall sucked by the current repaired driving unit with the information of the glass curtain wall sucked by the initial driving unit, the calibration module is used for comparing the information of the glass curtain wall sucked by the initial driving unit with the information of the glass curtain wall sucked by the repaired driving unit for calibration, the control information fed back by the monitoring unit can be firstly processed by the processing module, so that the suckers which form gaps with the glass curtain wall appear in the suckers for processing and repairing, and after the processing and repairing, the repaired suckers and the glass curtain wall are compared with the glass curtain wall and the suckers which are not processed and adjusted, and other glass curtain walls and the suckers which do not process and generate gaps are calibrated with the repaired suckers and the glass curtain wall by the calibration module, so that other glass curtain walls and the suckers which are not calibrated form the same with the glass curtain wall and the suckers which are calibrated at present Thereby guarantee that other sucking discs all can keep good adsorptivity with glass curtain wall, avoid glass curtain wall to drop at the in-process of installation, and do not directly adjust other sucking discs with glass curtain wall, avoid not needing the sucking disc of adjustment can and glass curtain wall between the adsorption strength too big, damage glass curtain wall.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. Glass curtain wall installation helping hand system, its characterized in that: at least comprises the following steps:
the driving unit is used for sucking, placing and installing the glass curtain wall;
the power assisting unit is used for adjusting the motion direction of the driving unit;
the monitoring unit is used for monitoring the driving unit when the glass curtain wall is absorbed and forming control information;
and the feedback processing unit is used for receiving the control signal delivered by the monitoring unit, processing the feedback control signal, processing the current control signal, making a correction with the driving unit, and controlling the driving unit to normally absorb the glass curtain wall.
2. The glass curtain wall installation assistance system of claim 1, wherein: the drive unit includes automobile body (1), linking arm (2) are installed to one side of automobile body (1), the surface mounting of linking arm (2) has cylinder (3), the bottom of cylinder (3) is connected with adsorbs frame (4), the bottom surface that adsorbs frame (4) is equipped with the multiunit sucking disc, the sucking disc is used for the absorption to glass curtain wall.
3. The glass curtain wall installation assistance system of claim 2, wherein: one side of the vehicle body (1) is hinged to the connecting arm (2) through a connecting plate (21), and a motor (22) is installed on one side of the connecting plate (21).
4. The glass curtain wall installation assistance system of claim 2, wherein: the adsorption device is characterized in that the connecting arm (2) and the adsorption frame (4) are connected through a limiting shaft (5), the limiting shaft (5) is composed of an outer shaft and an inner shaft, the inner shaft is inserted on the outer shaft, the inner shaft is fixedly connected with the connecting arm (2), and the outer shaft is fixedly connected with the adsorption frame (4).
5. The glass curtain wall installation assistance system of claim 1, wherein: the power assisting unit comprises a movement speed calculating module and an angle adjusting module; the movement speed calculation module is used for detecting the movement speed of the driving unit for sucking the glass curtain wall, and the angle adjusting module is used for adjusting the directions of the driving unit for sucking the glass curtain wall and installing the glass curtain wall.
6. The glass curtain wall installation assistance system of claim 5, wherein: the angle adjusting module comprises a lateral angle adjusting module and an upper and lower angle adjusting module; the lateral angle adjusting module is used for controlling the driving unit to absorb lateral movement deviation of the glass curtain wall, and the up-down angle adjusting module is used for controlling the driving unit to absorb up-down movement deviation of the glass curtain wall.
7. The glass curtain wall installation assistance system of claim 5, wherein: the monitoring unit comprises a basic monitoring module, a distance monitoring module and an information recording module; the basic monitoring module is used for monitoring the glass curtain wall sucked by the driving unit in real time, the distance monitoring module is used for monitoring the distance change between the driving unit and the glass curtain wall, and the information recording module is used for recording the monitoring information acquired by the basic monitoring module and the distance monitoring module, forming control information and feeding the control information back to the feedback processing unit for processing and repairing.
8. The glass curtain wall installation assistance system of claim 1, wherein: the feedback processing unit comprises a processing module, a comparison module and a calibration module; the processing module is used for receiving control information transmitted by the monitoring unit, the comparison module is used for comparing information obtained when the glass curtain wall is sucked by the current repaired driving unit with information obtained when the glass curtain wall is sucked by the initial driving unit, and the calibration module is used for calibrating the information obtained when the glass curtain wall is sucked by the initial driving unit and the information obtained when the glass curtain wall is sucked by the repaired driving unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210083558.5A CN114108994A (en) | 2022-01-25 | 2022-01-25 | Glass curtain wall installation helping hand system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210083558.5A CN114108994A (en) | 2022-01-25 | 2022-01-25 | Glass curtain wall installation helping hand system |
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| Publication Number | Publication Date |
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| CN114108994A true CN114108994A (en) | 2022-03-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210083558.5A Pending CN114108994A (en) | 2022-01-25 | 2022-01-25 | Glass curtain wall installation helping hand system |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0269372A2 (en) * | 1986-11-20 | 1988-06-01 | Unimation Inc. | Robot with micro processor-based digital robot control |
| WO2008148291A1 (en) * | 2007-06-05 | 2008-12-11 | Vtron Technologies Ltd. | Device and method for calibrating multi-screen wall |
| CN101691808A (en) * | 2009-10-09 | 2010-04-07 | 河北工业大学 | Plate dry-hanging and mounting robot |
| CN103009374A (en) * | 2012-12-14 | 2013-04-03 | 天津筑高机器人技术有限公司 | Large board carrying and mounting manipulator |
| CN104763160A (en) * | 2015-03-27 | 2015-07-08 | 河北工业大学 | Robot for installing aerial curtain wall |
| CN204525495U (en) * | 2015-03-27 | 2015-08-05 | 河北工业大学 | Sheet material carrying and installation manipulator control system |
| WO2015182771A1 (en) * | 2014-05-30 | 2015-12-03 | 日本電産エレシス株式会社 | Image capturing device, image processing device, image processing method, and computer program |
| CN113404313A (en) * | 2021-08-03 | 2021-09-17 | 中建六局华南建设有限公司 | Intelligent visual guide installation system for glass curtain wall |
-
2022
- 2022-01-25 CN CN202210083558.5A patent/CN114108994A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0269372A2 (en) * | 1986-11-20 | 1988-06-01 | Unimation Inc. | Robot with micro processor-based digital robot control |
| WO2008148291A1 (en) * | 2007-06-05 | 2008-12-11 | Vtron Technologies Ltd. | Device and method for calibrating multi-screen wall |
| CN101691808A (en) * | 2009-10-09 | 2010-04-07 | 河北工业大学 | Plate dry-hanging and mounting robot |
| CN103009374A (en) * | 2012-12-14 | 2013-04-03 | 天津筑高机器人技术有限公司 | Large board carrying and mounting manipulator |
| WO2015182771A1 (en) * | 2014-05-30 | 2015-12-03 | 日本電産エレシス株式会社 | Image capturing device, image processing device, image processing method, and computer program |
| CN104763160A (en) * | 2015-03-27 | 2015-07-08 | 河北工业大学 | Robot for installing aerial curtain wall |
| CN204525495U (en) * | 2015-03-27 | 2015-08-05 | 河北工业大学 | Sheet material carrying and installation manipulator control system |
| CN113404313A (en) * | 2021-08-03 | 2021-09-17 | 中建六局华南建设有限公司 | Intelligent visual guide installation system for glass curtain wall |
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Application publication date: 20220301 |
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