CN114457986B - Automatic equipment for installing curtain wall suspended ceiling - Google Patents

Abstract

The invention discloses an automated equipment for curtain wall ceiling installation, and belongs to the technical field of building curtain walls. The invention includes a mobile base. The mobile base is provided with four wheels, four legs, a mechanical arm, and an aluminum plate warehouse. The four wheels drive the mobile base to move, and the four legs support the mobile base. The mechanical arm is provided with a grasping assembly, and the aluminum plate warehouse is provided with four groups of feeding assemblies. An aluminum plate is provided in the aluminum plate warehouse. Each group of the loading assemblies inserts bolts on the aluminum plate. The grasping assembly attaches to the aluminum plate. To grab and install, the present invention uses the loading assembly to place bolts on the aluminum plate in sequence, and uses the grabbing assembly to accurately position and grab the aluminum plate. By setting the screw machine, after the aluminum plate is aligned and positioned on the keel, the screw machine is used The aluminum plate is connected to the keel through bolts, which saves the operator the work of climbing to the top of the room to install the suspended ceiling, and realizes the automated installation of the curtain wall aluminum plate.

Description

An automated equipment for curtain wall ceiling installation

Technical field

The invention relates to the technical field of building curtain walls, specifically an automated equipment for curtain wall ceiling installation.

Background technique

As my country's economy continues to grow rapidly, my country's architectural curtain wall market has ushered in huge room for development. Curtain walls are the transition layer from indoor space to outdoor space. On the one hand, they serve as an ornamental appearance, and on the other hand, they reflect the appearance of architectural design. It is the basis for conveying the architectural design concept, so the curtain wall is very important during the construction and installation process, and it is also possible to adopt different installation methods for different materials. Among them, aluminum curtain wall is widely used in curtain wall ceilings due to its high cost performance and long service life.

Generally during the installation process, due to the limited control over the accuracy of the curtain wall aluminum plate ceiling by manual installation, the huge quantity will inevitably cause the curtain wall aluminum plate ceiling to have an uneven appearance and uneven joints, which will not only lead to uneven glue joints during gluing , the glue line is not straight, which will also affect the overall appearance. Installing the suspended ceiling still requires the operator to climb to the top of the room for installation, which poses certain safety risks. To address these problems, a combination of mechanical technology and intelligent means is needed to create an intelligent The curtain wall aluminum plate ceiling automatic installation device automatically installs the curtain wall aluminum plate, reducing the operator's physical labor.

Contents of the invention

The purpose of the present invention is to provide an automated equipment for curtain wall ceiling installation to solve the problems raised in the above background technology.

In order to solve the above technical problems, the present invention provides the following technical solution: an automated equipment for curtain wall ceiling installation, including a mobile base. The mobile base is provided with four wheels, four feet, a mechanical arm, and an aluminum plate warehouse. The four wheels drive the mobile base to move, the four legs support the mobile base, the mechanical arm is provided with a grabbing assembly, the aluminum plate warehouse is provided with four sets of loading assemblies, and the aluminum plate warehouse is provided with Aluminum plate, each group of said loading components inserts bolts on the aluminum plate, and said grabbing component grabs and installs the aluminum plate.

Further, the grabbing assembly includes a U-shaped head, which is rotatably installed on the execution end of the mechanical arm. A cylinder is installed on the U-shaped head, and a suction cup is installed on the piston rod of the cylinder. The suction cup adsorbs the aluminum plate. There is an air hole on the suction cup. A solenoid valve is installed at the air hole. The solenoid valve blocks the air hole.

Further, one end of the U-shaped head close to the suction cup is provided with a cross frame, and two mutually perpendicular chute are provided at each extending edge of the cross frame, and each chute is slidably installed. There are positioning pins. Each positioning pin is provided with a guide short column. A pin spring is provided between each positioning pin and the chute. The pin spring is set on the guide short column. The U-shaped head There are also four screw machines slidingly installed on the cross frame. There is also a compression spring between each screw machine and the U-shaped head. The screw machine tightens the bolts. An intelligent laser calibrator is also installed on the cross frame. , the intelligent laser calibrator calibrates the installation position of the aluminum plate. When grabbing the aluminum plate, the mechanical arm drives the U-shaped head and the cross frame close to the aluminum plate warehouse, and the four pairs of positioning pins on the cross frame approach the four corners of the aluminum plate. , the chamfered surface on the positioning pin first contacts the aluminum plate, each pin spring is pushed by the positioning pin, and all pin springs shrink to the same extent. When the pin surface of the positioning pin contacts the aluminum plate, all pin springs The theoretical center of grabbing the aluminum plate coincides with the center of the imaginary square surrounded by eight positioning pins. The suction cup contacts the surface of the aluminum plate. Four screw machines press against the bolts on the aluminum plate. The aluminum plate is adsorbed. The mechanical arm drives the U-shaped head and the cross-shaped The rack is away from the aluminum plate warehouse, the mechanical arm turns the U-shaped head over, and the intelligent laser calibrator controls the mechanical arm to drive the aluminum plate close to the installation position;

The cylinder drives the suction cup to move, placing the aluminum plate close to the keel at the top of the room. Under the action of the compression spring, the four screw machines always keep in contact with the bolts. The four screw machines drive the bolts to rotate, the aluminum plate is screwed to the keel, and the solenoid valve is energized. , the air hole on the suction cup is opened, the inside of the suction cup is connected to the outside, the air pressure inside and outside is the same, the suction cup loses suction, and the mechanical arm drives the U-shaped head to leave.

Further, an annular channel is provided inside the U-shaped head near one end of the robot arm. Two conductive steel balls are movably installed in the annular channel. The two conductive steel balls are symmetrically arranged. The two conductive steel balls connect the annular channel. The groove is divided into two chambers, one of which is filled with liquid. A conductive sheet is symmetrically arranged on the inner wall of the annular channel. The conductive sheet is in contact with the conductive steel balls. The mechanical arm drives the U-shaped head to turn over. When the U-shaped head is turned over half a circle, the two conductive steel balls in the annular groove remain horizontal with the liquid level. When the U-shaped head turns over half a circle, the two conductive steel balls are in contact with a conductive piece, and the liquid filled in the chamber is a conductor. , two conductive sheets are connected to the two poles of the detection circuit. The detection circuit detects that there is current passing through, indicating that it returns to the horizontal state after turning over to ensure that the aluminum plate fully fits the keel at the top of the room. There is no angular misalignment after screwing, improving Overall aesthetics.

Further, the interior of the mobile base is hollow, and the interior of the aluminum plate warehouse is connected with the hollow part of the mobile base. A servo motor is provided in the mobile base, and a main gear is provided on the motor shaft of the servo motor. A first screw and a second screw are rotatably installed inside the aluminum plate silo. The threads of the first screw and the second screw have the same direction. A first gear is connected below the first screw, and a second gear is connected below the second screw. Gears, the first gear and the second gear are meshed and driven with the main gear, the first screw and the second screw are threadedly connected to a lifting platform, the lifting platform is set horizontally, and several aluminum plates are provided above the lifting platform. The servo motor drives the main gear to rotate, and the main gear drives the first gear and the second gear to rotate, and the first gear and the second gear rotate in the same direction. The first gear drives the first screw to rotate accordingly, and the second gear drives the second gear. The screw rotates, and the lifting platform moves upwards driven by the first screw and the second screw to lift the aluminum plate out of the aluminum plate warehouse for grabbing by the mechanical arm.

Further, each group of the feeding components includes a support column. The support column is arranged on the aluminum plate warehouse. A feeding head is rotatably installed on the support column. A coil spring is provided between the feeding head and the support column. The support column A cam is fixedly installed on the column, and a slider is slidably installed in the feeding head. A slider spring is also provided between the slider and the feeding head. The cam pushes the slider, and the slider spring pushes the slider. The slider is reset.

Further, the upper end and lower end of the feeding head are provided with discharge holes, and the slider is provided with a through hole with the same diameter as the discharge hole. The through hole is connected with the discharge hole, and the discharge hole at the upper end is provided with a discharge hole. The material hole is connected with a conveying pipe, and one end of the conveying pipe is connected to a bolt feeder. The bolt feeder transmits the bolts to the feeding head through the conveying pipe. The bolts enter the slider through the upper discharge hole. When the material needs to be loaded When the feeding head rotates towards the opening of the aluminum plate, during the rotation, the cam pushes the slider to move. After the lower discharge hole is aligned with the opening on the aluminum plate, the slider moves to the lower discharge hole, and the bolt moves from The slider passes through the lower discharge hole and falls into the hole on the aluminum plate. After loading, the feeding head rotates back to its original position, the slider resets under the action of the slider spring, and the next bolt enters through the upper discharge hole. into the slider.

Furthermore, a sun gear is provided on the motor shaft of the servo motor, and the sun gear is provided below the main gear. A planet carrier is fixedly provided on the mobile base, and three planet wheels are evenly provided on the planet carrier. The three planet wheels are all engaged with the sun wheel for transmission. The three planet wheels are also connected with stud wheels. There are a number of stud wheels evenly distributed on the stud wheels. Two pairs of guides are symmetrically arranged on the planet carrier. plate, two pairs of the guide plates are in contact with the studs, a rope is wound around each feeding head, a guide hole is provided in the aluminum plate warehouse, the rope passes through the guide hole, and the four ropes One end of the two long ropes are connected to each other to form two long ropes. The middle parts of the two connected long ropes are symmetrically hung on both sides of the stud wheels. The guide plates push the ropes, and the servo motor drives the main gear to rotate and also drives the The sun wheel rotates, and after being decelerated by the planetary reducer, the stud wheel rotates through a certain angle, and the rope hooked on the stud wheel is pulled, and the feeding head is driven to rotate through the rope, and the coil spring accumulates elastic potential energy, that is, using the lift While the platform lifts the aluminum plate, it rotates the feeding head and puts bolts into the holes in the aluminum plate. The stud wheel is rotating, and the guide plate pushes the rope outward until the rope breaks away from a stud. The coil spring releases elastic potential energy and the material is fed. The head rotates to reset and retracts the rope. The rope is hooked onto the next stud. After loading, the feeding head is retracted to avoid affecting the mechanical arm's grasp of the aluminum plate.

Furthermore, four organizing strips are provided in the aluminum plate warehouse. The four organizing strips are in contact with the four sides of several aluminum plates respectively. When the aluminum plates are lifted, the organizing strips limit the position of the aluminum plates to avoid installation. The vibration caused the aluminum plates to be stacked and misaligned.

Compared with the prior art, the beneficial effects achieved by the present invention are:

1. Place bolts on the aluminum plate in sequence through the loading assembly, use positioning pins with beveled edges to adjust the accurate position of the aluminum plate, use suction cups to grab the aluminum plate, set a screw machine on the grabbing assembly, and align the aluminum plate on the keel. Finally, a screw machine is used to screw the aluminum plate to the keel, which saves the operator the work of climbing to the top of the room to install the suspended ceiling, reduces safety hazards, and enables automated installation of curtain wall aluminum plates.

2. When the robot arm drives the U-shaped head to turn over, the two conductive steel balls in the annular groove remain horizontal along with the liquid level. When the U-shaped head turns over half a circle, the two conductive steel balls are in contact with a conductive piece. And the liquid filled in the chamber is used to conduct the detection circuit, indicating that it returns to the horizontal state after turning over to ensure that the aluminum plate fully fits the keel at the top of the room, and there is no angular misalignment after screwing, improving the overall aesthetics.

Description of the drawings

The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention. In the attached picture:

Figure 1 is a schematic diagram of the overall appearance structure of the present invention;

Figure 2 is a top view of the overall appearance structure of the present invention;

Figure 3 is a schematic diagram of the internal structure of the U-shaped head part of the present invention;

Figure 4 is a schematic structural diagram of the U-shaped head part of the present invention viewed from above;

Figure 5 is a schematic structural diagram of the interior of the aluminum plate silo of the present invention;

Figure 6 is a schematic diagram of the installation structure of the feeding head part of the present invention;

Figure 7 is a schematic diagram of the connection between the stud wheel and the rope of the present invention;

Figure 8 is a schematic structural diagram of the stud wheel part of the present invention;

Figure 9 is a schematic diagram of the internal structure of the U-shaped head of the present invention;

Figure 10 is a schematic structural diagram of the positioning pin of the present invention;

In the picture: 1. Mobile base; 2. Wheels; 3. Feet; 4. Robotic arm; 501. U-shaped head; 502. Cross frame; 601. Screw machine; 602. Compression spring; 701. Cylinder; 702. Suction cup; 801, positioning pin; 802, pin spring; 901, aluminum plate; 902, bolt; 10, aluminum plate warehouse; 111, conveying pipe; 112, support column; 113, feeding head; 114, cam; 115, slider; 116. Slider spring; 117. Coil spring; 118. Rope; 12. Servo motor; 13. Main gear; 14. Sun gear; 151. Planet carrier; 152. Planet wheel; 153. Column nail wheel; 154. Guide plate ; 161. The first screw; 162. The second screw; 171. The first gear; 172. The second gear; 18. Lifting table; 19. Sorting strip; 20. Conductive steel balls.

Implementation

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

Please refer to Figures 1 to 10. The present invention provides a technical solution: an automated equipment for curtain wall ceiling installation, including a mobile base 1. The mobile base 1 is provided with four wheels 2, four legs 3, a mechanical arm 4, Aluminum plate warehouse 10, four wheels 2 drive the mobile base 1 to move, four legs 3 support the mobile base 1, the mechanical arm 4 is provided with a grabbing component, the aluminum plate warehouse 10 is provided with four sets of loading components, the aluminum plate warehouse An aluminum plate 901 is provided inside the aluminum plate 10. Each group of loading components inserts bolts 902 on the aluminum plate 901, and the grabbing component grabs and installs the aluminum plate 901.

The interior of the mobile base 1 is hollow, and the interior of the aluminum plate warehouse 10 is connected with the hollow part of the mobile base 1. A servo motor 12 is provided in the mobile base 1, and a main gear 13 is provided on the motor shaft of the servo motor 12. The interior of the aluminum plate warehouse 10 rotates A first screw 161 and a second screw 162 are installed. The threads of the first screw 161 and the second screw 162 have the same direction. A first gear 171 is connected below the first screw 161, and a second gear 171 is connected below the second screw 162. The gear 172, the first gear 171 and the second gear 172 are all meshed with the main gear 13 for transmission. The first screw 161 and the second screw 162 are threadedly connected to a lifting platform 18. The lifting platform 18 is set horizontally. There are several An aluminum plate 901, the servo motor 12 drives the main gear 13 to rotate, the main gear 13 drives the first gear 171 and the second gear 172 to rotate, and the first gear 171 and the second gear 172 rotate in the same direction, the first gear 171 drives the second gear 171 to rotate. A screw rod 161 rotates accordingly, and the second gear 172 drives the second screw rod 162 to rotate. The lifting platform 18 moves upward driven by the first screw rod 161 and the second screw rod 162, and lifts the aluminum plate 901 out of the aluminum plate warehouse 10 to facilitate contact with the aluminum plate warehouse 10. To grasp the mechanical arm 4, four sorting bars 19 are provided in the aluminum plate warehouse 10. The four sorting bars 19 are respectively in contact with the four sides of several aluminum plates 901. When the aluminum plates 901 are lifted, the sorting bars 19 limit the aluminum plates. 901 location.

Each group of feeding components includes a support column 112. The support column 112 is arranged on the aluminum plate warehouse 10. A feed head 113 is rotatably installed on the support column 112. A coil spring 117 is provided between the feed head 113 and the support column 112. The support column 112 A cam 114 is fixedly installed, and a slider 115 is slidably installed in the feeding head 113. A slider spring 116 is also provided between the slider 115 and the feeding head 113. The cam 114 pushes the slider 115, and the slider spring 116 pushes against the slider. The block 115 is reset. The upper and lower ends of the feeding head 113 are provided with discharge holes. The slider 115 is provided with a through hole with the same diameter as the discharge hole. The through hole is connected with the discharge hole. The discharge hole at the upper end is connected with Conveying pipe 111. One end of the conveying pipe 111 is connected to the bolt feeder. The bolt feeder transmits the bolts 902 to the feeding head 113 through the conveying pipe 111. The bolts 902 enter the slider 115 through the upper discharge hole. When needed, When feeding, the feeding head 113 rotates toward the opening of the aluminum plate 901. During the rotation, the cam 114 pushes the slider 115 to move. After the lower discharge hole is aligned with the opening of the aluminum plate 901, the slider 115 moves to the lower end. At the discharge hole, the bolt 902 passes through the lower discharge hole of the slider 115 and falls into the hole on the aluminum plate 901. After the feeding is completed, the feed head 113 rotates back to the original position, and the slider 115 is on the slider spring 116. It is reset under the action, and the next bolt 902 enters the slider 115 through the upper discharge hole.

A sun gear 14 is also provided on the motor shaft of the servo motor 12, and the sun gear 14 is provided below the main gear 13. A planet carrier 151 is fixedly provided on the mobile base 1, and three planet wheels 152 are evenly provided on the planet carrier 151. The three planets The wheels 152 are all engaged with the sun gear 14 for transmission. The three planet wheels 152 are also connected to stud wheels 153. There are a number of studs evenly distributed on the stud wheels 153. Two pairs of guide plates 154 are symmetrically arranged on the planet carrier 151. Two pairs of guide plates 154 are in contact with the studs. A rope 118 is wound around each feeding head 113. A guide hole is provided in the aluminum plate warehouse 10. The rope 118 passes through the guide hole. One end of the four ropes 118 is connected to each other. into two long ropes, the middle parts of the two connected long ropes are symmetrically hung on both sides of the stud wheel 153, the guide plate 154 pushes the rope 118, and the servo motor 12 drives the main gear 13 to rotate and also drives the sun gear 14 After rotating and decelerating through the planetary reducer, the stud wheel 153 rotates through a certain angle, and the rope 118 hooked on the stud wheel 153 is pulled. The rope 118 drives the feeding head 113 to rotate, and the coil spring 117 accumulates elastic potential energy. , that is, while using the lifting platform 18 to lift the aluminum plate 901, rotate the feeding head 113 to put the bolts 902 into the holes opened in the aluminum plate 901, the stud wheel 153 is rotating, and the guide plate 154 pushes the rope 118 outward until The rope 118 breaks away from one stud, the coil spring 117 releases the elastic potential energy, the feed head 113 rotates and resets and winds up the rope 118, and the rope 118 is hooked onto the next stud.

The grabbing assembly includes a U-shaped head 501. The U-shaped head 501 is rotatably installed on the execution end of the robotic arm 4. A cylinder 701 is installed on the U-shaped head 501. A suction cup 702 is installed on the piston rod of the cylinder 701. The suction cup 702 performs a clamping operation on the aluminum plate 901. For adsorption, there is an air hole on the suction cup 702, and a solenoid valve (not shown in the figure) is installed at the air hole. The solenoid valve blocks the air hole. A cross-shaped frame 502 is provided at one end of the U-shaped head 501 close to the suction cup 702. The cross-shaped Two mutually perpendicular chutes are provided at each extended edge of the frame 502. A positioning pin 801 is slidably installed in each chute. Each positioning pin 801 is provided with a guide short column. Each positioning pin 801 is connected to Pin springs 802 are provided between the chutes, and the pin springs 802 are sleeved on the guide stubs. Four screw machines 601 are also slidably provided on the U-shaped head 501, between each screw machine 601 and the U-shaped head 501. A compression spring 602 is also provided, and a screw machine 601 tightens the bolt 902. An intelligent laser calibrator is also provided on the cross frame 502. The intelligent laser calibrator calibrates the installation position of the aluminum plate 901. When grabbing the aluminum plate 901, The robotic arm 4 drives the U-shaped head 501 and the cross frame 502 to approach the aluminum plate warehouse 10. The four pairs of positioning pins 801 on the cross frame 502 approach the four corners of the aluminum plate 901. The beveled surfaces on the positioning pins 801 first contact the aluminum plate 901. Contact, each pin spring 802 is pushed by the positioning pin 801, and all pin springs 802 contract to the same extent. When the pin surface of the positioning pin 801 contacts the aluminum plate 901, the theory of the grasped aluminum plate 901 The center coincides with the center of the imaginary square surrounded by eight positioning pins 801. The suction cup 702 contacts the surface of the aluminum plate 901. The four screw machines 601 resist the bolts 902 on the aluminum plate 901. The aluminum plate 901 performs adsorption, and the robotic arm 4 drives the U-shaped head. 501 and the cross frame 502 are away from the aluminum plate warehouse 10, the robotic arm 4 turns the U-shaped head 501 over, and the intelligent laser calibrator controls the robotic arm 4 to drive the aluminum plate 901 close to the installation position;

The cylinder 701 drives the suction cup 702 to move, bringing the aluminum plate 901 close to the keel at the top of the room. Under the action of the compression spring 602, the four screw machines 601 always keep in contact with the bolts 902. The four screw machines 601 drive the bolts 902 to rotate, and the aluminum plate 901 is The screw is connected to the keel, the solenoid valve is energized, the air hole on the suction cup 702 is opened, the inside of the suction cup 702 is connected with the outside, the internal and external air pressures are the same, the suction cup 702 loses suction, and the robot arm 4 drives the U-shaped head 501 to leave.

An annular channel is provided inside the U-shaped head 501 close to one end of the robot arm 4. Two conductive steel balls 20 are movably installed in the annular channel. The two conductive steel balls 20 are symmetrically arranged. The two conductive steel balls 20 divide the annular channel into two parts. One of the chambers is filled with liquid. Conductive sheets (not shown in the figure) are symmetrically arranged on the inner wall of the annular slot. The conductive sheets are in contact with the conductive steel balls 20. The robotic arm 4 drives the U-shaped head 501 to turn over. When the U-shaped head 501 turns over half a circle, the two conductive steel balls 20 are in contact with a conductive piece, and the liquid filled in the chamber remains horizontal. It is a conductor, and the two conductive sheets are connected to the two poles of the detection circuit. The detection circuit detects the passage of current, indicating that it returns to the horizontal state after being turned over to ensure that the aluminum plate 901 is completely attached to the keel at the top of the room.

The working principle of the present invention: when using the equipment, the operator first supports the legs 3 around the mobile base 1 and places a number of aluminum plates 901 on the lifting platform 18. The servo motor 12 is energized to drive the main gear 13 to rotate. The first gear 171 and the second gear 172 are driven to rotate. The first gear 171 drives the first screw 161 to rotate accordingly. The second gear 172 drives the second screw 162 to rotate. The lifting platform 18 is between the first screw 161 and the second screw. 162 moves upward to lift the aluminum plate 901 out of the aluminum plate warehouse 10;

The bolt feeder enters the bolts 902 into the slider 115 through the conveying pipe 111. The servo motor 12 drives the main gear 13 to rotate and also drives the sun gear 14 to rotate. After being decelerated by the planetary reducer, the stud wheel 153 rotates a certain amount. At an angle, the rope 118 hooked on the stud wheel 153 is pulled, and the feeding head 113 is driven to rotate through the rope 118. The coil spring 117 accumulates elastic potential energy, and the cam 114 pushes the slider 115 to move. The lower end discharge hole is in contact with the aluminum plate 901 After the holes are aligned, the slider 115 also moves to the lower discharge hole. The bolt 902 passes through the lower discharge hole from the slider 115 and falls into the hole on the aluminum plate 901. The stud wheel 153 continues to rotate, and the guide plate 154 Push the rope 118 outward until the rope 118 breaks away from a stud, the coil spring 117 releases the elastic potential energy, the feed head 113 rotates to reset and winds up the rope 118, the rope 118 is hooked onto the next stud, and the slider 115 is The slide block is reset under the action of the spring 116, and the next bolt 902 enters the slide block 115 through the upper discharge hole.

When grabbing the aluminum plate 901, the robot arm 4 drives the U-shaped head 501 and the cross frame 502 to approach the aluminum plate warehouse 10. The four pairs of positioning pins 801 on the cross frame 502 approach the four corners of the aluminum plate 901. The beveled surface of the pin first contacts the aluminum plate 901. Each pin spring 802 is pushed by the positioning pin 801. All pin springs 802 shrink to the same extent. When the pin surface of the positioning pin 801 contacts the aluminum plate 901 , the theoretical center of the grabbed aluminum plate 901 coincides with the center of the imaginary square surrounded by eight positioning pins 801, the suction cup 702 contacts the surface of the aluminum plate 901, the four screw machines 601 resist the bolts 902 on the aluminum plate 901, and the aluminum plate 901 is sucked , the robotic arm 4 drives the U-shaped head 501 and the cross frame 502 away from the aluminum plate warehouse 10, the robotic arm 4 turns the U-shaped head 501 over, and the intelligent laser calibrator is used to control the robotic arm 4 to drive the aluminum plate 901 close to the installation position. The robotic arm 4 drives When the U-shaped head 501 is turned over, the two conductive steel balls 20 in the annular groove remain horizontal along with the liquid level. When the U-shaped head 501 is turned over half a circle, the two conductive steel balls 20 are in contact with a conductive piece, and the cavity The liquid filled in the chamber is a conductor, and the two conductive sheets are connected to the two poles of the detection circuit. The detection circuit detects the passage of current, indicating that it returns to the horizontal state after turning over, ensuring that the aluminum plate 901 is completely attached to the keel at the top of the room.

The cylinder 701 drives the suction cup 702 to move, bringing the aluminum plate 901 close to the keel at the top of the room. Under the action of the compression spring 602, the four screw machines 601 always keep in contact with the bolts 902. The four screw machines 601 drive the bolts 902 to rotate, and the aluminum plate 901 is The screw is connected to the keel, the solenoid valve is energized, the air hole on the suction cup 702 is opened, the inside of the suction cup 702 is connected with the outside, the internal and external air pressures are the same, the suction cup 702 loses suction, and the robot arm 4 drives the U-shaped head 501 to leave.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations are mutually exclusive. any such actual relationship or sequence exists between them. Furthermore, the terms "comprises," "comprises," or any other variations thereof are intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus that includes a list of elements includes not only those elements, but also those not expressly listed other elements, or elements inherent to the process, method, article or equipment.

Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, it is still The technical solutions described in the foregoing embodiments may be modified, or some of the technical features may be equivalently replaced. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims (6)

1. An automation device for curtain wall suspended ceiling installation, which is characterized in that: including removing base (1), remove and be provided with four wheels (2), four stabilizer blade (3), arm (4), aluminum plate storehouse (10) on base (1), four wheel (2) drive remove base (1) four stabilizer blade (3) support base (1), be provided with on arm (4) and grab and connect the subassembly, be provided with four groups of material loading subassemblies on aluminum plate storehouse (10), be provided with aluminum plate (901) in aluminum plate storehouse (10), every group material loading subassembly inserts bolt (902) on aluminum plate (901), grab and connect the subassembly to snatch and install aluminum plate (901);

the grabbing component comprises a U-shaped head (501), the U-shaped head (501) is rotatably arranged at the execution end of the mechanical arm (4), an air cylinder (701) is arranged on the U-shaped head (501), a sucker (702) is arranged on a piston rod of the air cylinder (701), the sucker (702) adsorbs an aluminum plate (901), an air hole is formed in the sucker (702), an electromagnetic valve is arranged at the air hole, and the electromagnetic valve seals the air hole;

one end of the U-shaped head (501) close to the suction disc (702) is provided with a cross-shaped frame (502), two mutually perpendicular sliding grooves are formed in the edge of each extending part of the cross-shaped frame (502), positioning pins (801) are slidably arranged in each sliding groove, guide short columns are arranged on each positioning pin (801), a pin spring (802) is arranged between each positioning pin (801) and each sliding groove, the pin springs (802) are sleeved on the guide short columns, four screw machines (601) are further slidably arranged on the U-shaped head (501), compression springs (602) are further arranged between each screw machine (601) and the U-shaped head (501), the screw machines (601) screw the bolts (902), an intelligent laser calibrator is further arranged on the cross-shaped frame (502), and the intelligent laser calibrator calibrates the installation position of the aluminum plate (901);

the U-shaped head (501) is close to the inside of one end of the mechanical arm (4) and is provided with an annular through groove, two conductive steel balls (20) are movably mounted in the annular through groove, the two conductive steel balls (20) are symmetrically arranged, the annular through groove is divided into two chambers by the two conductive steel balls (20), one chamber is filled with liquid, conductive plates are symmetrically arranged on the inner wall of the annular through groove, and the conductive plates are in contact with the conductive steel balls (20).

2. An automated apparatus for curtain wall ceiling installation according to claim 1, wherein: the inside cavity of removal base (1), the inside in aluminum plate storehouse (10) and the cavity intercommunication of removal base (1), be provided with servo motor (12) in removal base (1), be provided with master gear (13) on the motor shaft of servo motor (12), first screw rod (161), second screw rod (162) are installed in the inside rotation in aluminum plate storehouse (10), the screw thread of first screw rod (161) and second screw rod (162) revolves to the same, and the below of first screw rod (161) is connected with first gear (171), and the below of second screw rod (162) is connected with second gear (172), first gear (171) and second gear (172) all with master gear (13) meshing transmission, threaded connection has elevating platform (18) on first screw rod (161) and second screw rod (162), elevating platform (18) level sets up, and elevating platform (18) top is provided with a plurality of aluminum plate (901).

3. An automated apparatus for curtain wall ceiling installation according to claim 2, wherein: every group the material loading subassembly includes support column (112), support column (112) set up on aluminum plate storehouse (10), rotate on support column (112) and install feed head (113), be provided with coil spring (117) between feed head (113) and support column (112), fixed mounting has cam (114) on support column (112), slidable mounting has slider (115) in feed head (113), still be provided with slider spring (116) between slider (115) and feed head (113), cam (114) are pushed away slider (115), slider spring (116) are restoreed slider (115).

4. An automated apparatus for curtain wall ceiling installation according to claim 3, wherein: the upper end and the lower end of the feeding head (113) are provided with discharging holes, the sliding block (115) is provided with through holes with the same diameter as the discharging holes, the through holes are communicated with the discharging holes, the discharging holes at the upper end are connected with conveying pipes (111), and one ends of the conveying pipes (111) are connected with a bolt feeder.

5. An automated apparatus for curtain wall ceiling installation according to claim 3, wherein: the automatic feeding device is characterized in that a sun gear (14) is further arranged on a motor shaft of the servo motor (12), the sun gear (14) is arranged below the main gear (13), a planet carrier (151) is fixedly arranged on the moving base (1), three planet gears (152) are uniformly arranged on the planet carrier (151), the three planet gears (152) are all meshed with the sun gear (14) for transmission, column nail wheels (153) are further connected to the three planet gears (152), a plurality of column nails are uniformly distributed on the column nail wheels (153), two pairs of guide plates (154) are symmetrically arranged on the planet carrier (151), the two pairs of guide plates (154) are in contact with the column nails, ropes (118) are wound on each feeding head (113), guide holes are formed in the aluminum plate bin (10), the ropes (118) penetrate through the guide holes, one ends of the four ropes (118) are mutually connected into two long ropes, the middle parts of the two long ropes are symmetrically hung on two sides of the column nail wheels (153), and the guide plates (154) are pushed against the guide plates (118).

6. An automated apparatus for curtain wall ceiling installation according to claim 1, wherein: four finishing strips (19) are further arranged in the aluminum plate bin (10), and the four finishing strips (19) are respectively contacted with four sides of a plurality of aluminum plates (901).