CN114603714A - Punching and nailing device and use method thereof - Google Patents
Punching and nailing device and use method thereof Download PDFInfo
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- CN114603714A CN114603714A CN202210217535.9A CN202210217535A CN114603714A CN 114603714 A CN114603714 A CN 114603714A CN 202210217535 A CN202210217535 A CN 202210217535A CN 114603714 A CN114603714 A CN 114603714A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D1/00—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor
- B28D1/14—Working stone or stone-like materials, e.g. brick, concrete or glass, not provided for elsewhere; Machines, devices, tools therefor by boring or drilling
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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
- B23P19/04—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 for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups
- B28D7/005—Devices for the automatic drive or the program control of the machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28D—WORKING STONE OR STONE-LIKE MATERIALS
- B28D7/00—Accessories specially adapted for use with machines or devices of the preceding groups
- B28D7/02—Accessories specially adapted for use with machines or devices of the preceding groups for removing or laying dust, e.g. by spraying liquids; for cooling work
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Abstract
The invention provides punching and binding equipment and a using method thereof, wherein the punching and binding equipment comprises an equipment main body and a hoisting mechanism; the hoisting mechanism is used for suspending the lifting equipment main body; the equipment main body comprises a supporting mechanism, a detection mechanism, a robot mechanism and a tool mechanism; the supporting mechanism is used for supporting and fixing the equipment main body hoisted by the hoisting mechanism; the detection mechanism is used for detecting the height of the equipment main body fixed by the support mechanism and the posture of the robot mechanism; the robot mechanism is used for determining a punching position according to the height of the equipment main body detected by the detection mechanism and the posture of the robot mechanism; and the robot mechanism is also used for punching and binding the determined punching position by the reloading tool mechanism. The invention can replace manual work to realize the construction of punching and screw installation in the shaft, ensure the precision of punching and screw installation and avoid the work of personnel in a severe and unsafe environment.
Description
Technical Field
The invention relates to the technical field of elevator shaft punching and screw installation, in particular to punching and nailing equipment and a using method thereof.
Background
In elevator installation, hoistway boring is an important process step with respect to the quality of subsequent installations, and is a repetitive task. The existing punching construction process is operated by manpower, and the quality of punched holes and the quality of mounting screws cannot be guaranteed. And the well is punched, which is a high-altitude operation, and the problems of severe environment and high safety risk exist in the manual construction process. In order to ensure the quality of punching and screw installation and avoid the working of personnel in a severe and unsafe environment, the manual construction of constructors in a shaft needs to be avoided, so that the full automation of punching and screw installation is realized, and therefore, a punching and nailing device and a use method thereof need to be provided.
Disclosure of Invention
The invention provides punching and nailing equipment and a using method thereof, because the existing shaft punching construction process is manual operation in the installation of an elevator at present, the quality of a punched hole and the quality of an installation screw cannot be ensured, the shaft punching is high-altitude operation, the problems of severe environment and high safety risk exist in the manual construction process, and in order to ensure the quality of the punching and the installation screw and avoid the working of personnel in severe unsafe environment, the punching and nailing equipment and the using method thereof are provided.
In a first aspect, a punching and nailing device is provided, which is applied to shaft punching construction in elevator installation, and comprises: the device comprises a device main body and a hoisting mechanism;
the hoisting mechanism is used for hoisting and lifting the equipment main body;
the equipment main body comprises a supporting mechanism, a detection mechanism, a robot mechanism and a tool mechanism;
the supporting mechanism is used for supporting and fixing the equipment main body hoisted by the hoisting mechanism;
the detection mechanism is used for detecting the height of the equipment main body fixed by the support mechanism and the posture of the robot mechanism;
the robot mechanism is used for determining a punching position according to the height of the equipment main body detected by the detection mechanism and the posture of the robot mechanism; and the robot mechanism is also used for reloading the tool mechanism to punch and staple the determined punching position.
When the hoisting mechanism is specifically arranged, the hoisting mechanism comprises a winding drum, a steel cable, a motor and a speed reducer;
the steel cable is wound on the winding drum, one end of the steel cable is fixedly connected with the winding drum, the other end of the steel cable is connected with the equipment main body, and the motor is in transmission connection with the winding drum through the speed reducer.
When the equipment main body is specifically arranged, the equipment main body comprises a main body frame, and the main body frame comprises an upper n-shaped frame and a lower U-shaped frame;
the bottom ends of the two sides of the upper n-shaped frame are correspondingly and fixedly connected with the top ends of the two sides of the lower U-shaped frame, and height adjusting frames with adjustable heights are respectively arranged on the two sides of the upper n-shaped frame; the other end of the steel cable is detachably and fixedly connected with the top end of the middle part of the upper n-shaped frame.
In a specific possible embodiment, one side of the middle part of the upper n-shaped frame is fixedly connected with a supporting frame, and the other opposite side is slidably connected with a supporting frame; an air cylinder for driving the supporting frame to slide is fixed at the top end of the middle part of the upper n-shaped frame, and the air cylinder drives the supporting frame to slide close to or far away from the supporting frame; the supporting mechanism comprises the supporting frame and the supporting frame.
When the supporting frame is arranged specifically, pulleys are arranged at four corners of the supporting frame and on the same side of the lower U-shaped frame respectively; the support frame is a rectangular frame structure with an adjustable upper-lower distance.
When the support frame is arranged specifically, the support frame is connected with the top end of the middle part of the upper n-shaped frame in a sliding manner through two horizontally arranged adjusting rods, and the two adjusting rods move along with the support frame; the support frame is a rod-shaped frame body structure with adjustable length, and the length direction of the support frame is perpendicular to the sliding direction of the support frame.
In a specific possible embodiment, a mounting plate is fixed at the bottom end of the middle part of the upper n-shaped frame, and the robot mechanism comprises a base which is fixedly mounted at the bottom end of the mounting plate;
the detection mechanism comprises a displacement sensor and an inclination angle sensor; the displacement sensor is fixedly arranged on one side of the upper n-shaped frame and used for detecting the height of the equipment main body fixed by the supporting mechanism; the inclination angle sensor is fixedly installed at the bottom end of the installation plate and used for detecting the inclination angle of the base to complete the detection of the posture of the robot mechanism.
When further specifically setting up above-mentioned robot mechanism, robot mechanism still includes six robots, six robots with base fixed connection, just be provided with the 3D camera that is used for shooing the datum line on the six robots, be used for carrying out the distance sensor of range finding to the wall that needs punch and be used for confirming the laser indicator of the position of punching.
When the tool mechanism is specifically arranged, the tool mechanism comprises a punching tool, a screw mounting tool and a steel bar scanner; the punching tool, the screw mounting tool and the steel bar scanner are arranged on the other side of the upper n-shaped frame;
and the six-axis robot sequentially reloads the steel bar scanner to scan the punching position and the punching tool to punch the punching position and reload the screw installation tool to install screws in holes at the punching position.
In a specific possible embodiment, a drill bit changing mechanism is further included; a horizontally arranged screw placing plate is fixed at the top end of the middle part of the lower U-shaped frame, and the drill bit replacing mechanism is fixedly arranged on the screw placing plate;
the six-axis robot is used for replacing the drill bit of the punching tool through the drill bit replacing mechanism.
And screws are placed on the screw placing plates.
In a specific possible implementation scheme, an air compressor is fixedly mounted at the top end of the screw placing plate, an air outlet end of the air compressor is connected with an air outlet hose, and an air outlet end of the air outlet hose is mounted on an air outlet hose cylinder at the end part of the punching tool.
In a specific implementation scheme, the six-axis robot motion control system further comprises a handheld terminal and a signal receiving controller, wherein the signal receiving controller is in signal connection with the six-axis robot and is fixedly installed at the bottom end of the middle part of the upper n-shaped frame, the handheld terminal is in signal connection with the signal receiving controller, and the handheld terminal controls the six-axis robot to move through the signal receiving controller;
the signal receiving controller is further in signal connection with the air compressor, and the handheld terminal controls the start and stop of the air compressor through the signal receiving controller;
the signal receiving controller is further in signal connection with the air cylinder and the air outlet hose air cylinder, and the handheld terminal controls the air cylinder and the piston rod of the air outlet hose air cylinder to stretch and retract through the signal receiving controller.
In a second aspect, there is provided a method for using the punching and stapling device, which uses the punching and stapling device as described above, and comprises the following steps:
the equipment main body is suspended and lifted through the hoisting mechanism;
the equipment main body hoisted by the hoisting mechanism is supported and fixed through the supporting mechanism;
detecting the height of the equipment main body fixed by the supporting mechanism and the posture of the robot mechanism by the detection mechanism;
the robot mechanism determines a punching position according to the height of the equipment main body detected by the detection mechanism and the posture of the robot mechanism;
and the tool mechanism is reloaded through the robot mechanism to punch and bind the determined punching position.
In a specific possible embodiment, the detecting, by the detection mechanism, the height of the apparatus main body fixed by the support mechanism and the attitude of the robot mechanism includes:
the detection mechanism detects the height of the equipment main body fixed by the supporting mechanism through the displacement sensor, and the detection mechanism detects the inclination angle of the base of the robot mechanism through the inclination angle sensor to complete the detection of the posture of the robot mechanism.
In a specific possible embodiment, the determining, by the robot mechanism, the punching position based on the height of the apparatus body detected by the detection mechanism and the posture of the robot mechanism includes:
according to detection mechanism detects the height of equipment main part and robot mechanism's gesture, through handheld terminal to signal reception controller sends control signal, signal reception controller is according to sending control signal control six axis robot action, the action of accomplishing according to precedence order includes: controlling the six-axis robot to act and shooting a reference line through the 3D camera; controlling the six-axis robot to act and measuring the distance of the wall needing to be punched through the distance sensor; and the signal receiving controller controls the six-axis robot to act and emit upper and lower lights to the wall to be punched through the laser indicator according to the shot image information of the reference line and the detected distance information of the wall to be punched, and determines the range between the upper and lower lights as the punching position.
In a specific possible embodiment, the reloading of the tool mechanism by the robotic mechanism for punching and stapling the determined punching position comprises:
sending a control signal to the signal receiving controller through the handheld terminal, controlling the six-axis robot action by the signal receiving controller according to the sent control signal, and finishing the actions according to the sequence further comprises: controlling the six-axis robot to replace the steel bar scanner to scan the punching position so as to eliminate the possibility of steel bars existing in the punching position; controlling the six-axis robot to replace the punching tool to punch the punching position; and controlling the six-axis robot to replace the screw mounting tool to mount screws into the holes at the punching positions.
In a specific possible embodiment, the controlling the six-axis robot to reload the punching tool to punch the punching position includes:
and before the punching position is punched, the six-axis robot is also controlled to replace the drill bit of the punching tool through the drill bit replacing mechanism.
In a specific possible embodiment, the controlling the six-axis robot to reload the punching tool to punch the punching position further includes:
after the punching position is punched, before screws are installed in holes of the punching position, the air compressor is controlled to be started to blow air in the holes of the punching position for cleaning.
The invention can replace manual work to realize the construction of punching and screw installation in the shaft, ensure the precision of punching and screw installation and avoid the work of personnel in a severe and unsafe environment.
Drawings
Fig. 1 is a schematic structural diagram of a punching and stapling device provided by an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a main frame according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an apparatus main body according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a tool mechanism according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings.
In order to facilitate understanding of the punching and nailing device provided by the embodiment of the invention, firstly, an application scene of the punching and nailing device is explained, the punching and nailing device is used in a punching construction process of an elevator installation shaft, because the existing shaft punching construction process is manual operation, the quality of punched holes and the quality of installation screws cannot be ensured, the shaft punching is high-altitude operation, the problems of severe environment and high safety risk exist in the manual construction process, and in order to ensure the quality of punching and installation screws and avoid the working of personnel in a severe and unsafe environment, the punching and nailing device is provided.
Referring to fig. 1, fig. 1 shows a schematic structural diagram of a punching and nailing device, which is applied to a shaft punching construction process in elevator installation and comprises a device body and a hoisting mechanism 3. Hoisting machine constructs 3 and is used for hanging in midair the jacking equipment main part. When specifically setting up hoisting machine and constructing 3, hoisting machine constructs 3 and includes reel, steel cable, motor and reduction gear. The steel cable winding is on the reel, and steel cable one end and reel fixed connection, and the steel cable other end is connected with the equipment main part, and the motor passes through the reduction gear and is connected with the reel transmission. The hoisting mechanism 3 is fixedly installed on the upper edge of the elevator shaft, and a motor of the hoisting mechanism 3 is manually operated on the upper edge of the elevator shaft, so that the main body of the suspension equipment is lifted in the shaft. In addition, hoisting mechanism 3 still includes the brake and prevents weighing down the ratchet, and the brake can let the equipment main part stop, prevents weighing down the ratchet and prevents that the equipment main part from falling fast. Hoisting mechanism 3 specifically adopts prior art, and no longer repeated here.
The apparatus main body includes a support mechanism 7, a detection mechanism 6, a robot mechanism 2, and a tool mechanism 5. The supporting mechanism 7 is used for supporting and fixing the equipment main body hoisted by the hoisting mechanism 3; the detection mechanism 6 is used for detecting the height of the equipment main body fixed by the support mechanism 3 and the posture of the robot mechanism 2; the robot mechanism 2 is used for determining a punching position according to the height of the equipment main body detected by the detection mechanism 6 and the posture of the robot mechanism 2; and the robot mechanism 2 is also used for punching and binding the determined punching position by the reloading tool mechanism 5. Work that originally needs manpower construction to accomplish is now accomplished by robot mechanism 2 replacement operation, avoids artifical at the abominable, high environmental construction of safe risk in the environment, punches, mounting screw to the definite position of punching through robot mechanism 2 reloading tool mechanism 5, and robot mechanism 2 construction precision is higher, guarantees to punch and mounting screw's quality.
Referring to fig. 2, fig. 2 shows a schematic structural view of a main body frame, and the apparatus main body includes a main body frame, an upper n-shaped frame 101 and a lower U-shaped frame; the bottom ends of the two sides of the upper n-shaped frame 101 are correspondingly and fixedly connected with the top ends of the two sides of the lower U-shaped frame, and height adjusting frames with adjustable heights are respectively arranged on the two sides of the upper n-shaped frame 101; the other end of the steel cable is detachably and fixedly connected with the top end of the middle part of the upper n-shaped frame 101. Concretely, go up n shape frame 101's middle part top symmetry fixed mounting rings, the steel cable is connected through the hoist and mount frame of falling V-arrangement with the middle part of last n shape frame 101, and the hoist and mount frame both ends of falling V-arrangement have the anticreep couple respectively, set up the hanging hole in the middle of the hoist and mount frame of falling V-arrangement, and two anticreep couples articulate with two installation rings one-to-one, and the steel cable is passed behind the hanging hole in the middle of the hoist and mount frame of falling V-arrangement and is locked through detachable U type hasp from the one end that the reel stretches out.
With continued reference to fig. 2, both sides of the upper n-shaped frame 101 are height-adjustable height-adjusting frames, each of which includes a fixed frame at a lower portion and a movable frame at an upper portion; the movable frame is slidably sleeved on the fixed frame, the movable frame is provided with an adjusting lock hole, and the movable frame is locked with the fixed frame after being inserted into the adjusting lock hole through an adjusting bolt, so that the movable frame is fixedly connected with the fixed frame; the height adjusting frames on both sides of the upper n-shaped frame 101 belong to the conventional structure arrangement and are not described in detail herein. The height space between the upper n-shaped frame 101 and the lower U-shaped frame can be adjusted through the height adjusting frames on the two sides of the upper n-shaped frame 101, and sufficient installation space is provided for installation of the supporting mechanism 7, the detecting mechanism 6, the robot mechanism 2 and the tool mechanism 5. In a specific embodiment, a supporting frame 105 is fixedly connected to one side of the middle of the upper n-shaped frame 101, and a supporting frame 102 is slidably connected to the opposite side; an air cylinder 107 for driving the support frame 102 to slide is fixed at the top end of the middle part of the upper n-shaped frame 101, and the air cylinder 107 drives the support frame 102 to slide close to or far away from the support frame 105; the supporting mechanism includes a supporting frame 102 and a supporting frame 105. The cylinder 107 is fixed on the upper n-shaped frame, and a piston rod of the cylinder 107 is fixedly connected with the support frame 102.
The supporting frame 102 is connected with the top end of the middle part of the upper n-shaped frame 101 in a sliding mode through two horizontally arranged adjusting rods 103, one ends of the two adjusting rods 103 are fixedly connected with the supporting frame 102, the two adjusting rods 103 are connected with the top end of the middle part of the upper n-shaped frame 101 in a sliding mode through sliding sleeves, and the two adjusting rods 103 move along with the supporting frame 102; support frame 102 is length-adjustable's shaft-like support body structure, and is concrete, and support frame 102 can include a plurality of connecting rods, and a plurality of connecting rods are detachable fixed connection end to end in proper order, and when the overall length of support frame 102 was adjusted to needs, according to the door opening width of elevator well, it can to dismantle or supply the connecting rod. The length direction of the support frame 102 is perpendicular to the sliding direction of the support frame 102. The support frame 102 is horizontally disposed. Of course, the connecting rods forming the support frame 102 can also be sequentially connected in a rotating manner from head to tail, and the connecting rods at the two ends of the turn can be locked by bolts, so that the requirement of adapting to the width of the hoistway door opening is met.
When the lifting device is used, the length of the support frame 102 is adjusted to adapt to the width of a door opening of an elevator shaft, the lifting device 3 is used for lifting the device main body to move up and down in the elevator shaft, and the support frame 105 and the pulleys 108 on the lower U-shaped frame are in rolling contact with the wall of the elevator shaft, so that the friction resistance generated by the contact between the device main body and the wall of the elevator shaft when the device main body moves up and down in the elevator shaft can be reduced. Specifically, the pulley 108 is connected with the supporting frame 105 or the lower U-shaped frame through the spring damper mechanism, when the main body of the device reaches a proper height, the supporting frame 102 is driven to move horizontally through the control cylinder 107, the adjusting rod 103 plays a role in balance and guide, the supporting frame 102 is made to move towards the direction far away from the supporting frame 105, the supporting frame 102 and the supporting frame 105 are abutted against the walls on two opposite sides in the elevator shaft, the main body of the device is supported and fixed, the spring damper mechanism plays a buffering role, hard contact between the pulley 108 and the wall of the elevator shaft can be avoided, a rubber pad is also arranged on the supporting frame 102, and a buffering protection effect is played on the supporting frame 102.
In addition, a mounting plate 109 is fixed to the bottom end of the middle portion of the upper n-shaped frame 101, and the robot mechanism includes a base fixedly mounted to the bottom end of the mounting plate 19. The detection mechanism 6 comprises a displacement sensor and an inclination angle sensor; the displacement sensor is fixedly arranged on one side of the upper n-shaped frame 101 and is used for detecting the height of the equipment main body fixed by the supporting mechanism 7; the displacement sensor is fixed on the movable frame of the height adjusting frame at the side of the upper n-shaped frame 101; the tilt sensor is fixedly mounted at the bottom end of the mounting plate 109 and is used for detecting the tilt angle of the base to complete the detection of the posture of the robot mechanism 2, and when the tilt sensor detects that the base is horizontal, the posture of the robot mechanism 2 is determined to be a normal posture.
Referring to fig. 3, fig. 3 shows a schematic structural diagram of the apparatus main body, the robot mechanism 2 further includes a six-axis robot 201, the six-axis robot 201 is fixedly connected with the base, and the six-axis robot 201 is provided with a 3D camera 202 for photographing a reference line, a distance sensor for measuring a distance to a wall to be punched, and a laser pointer for determining a punching position. In the present invention, the auxiliary rope 203 is used as an imaging reference line, and the acquired data is used for subsequent punching. The auxiliary roping 203 is disposed vertically within the hoistway. The six-axis robot 201 measures the distance of the wall needing to be punched through the distance sensor, mainly measures the space distance between the six-axis robot 201 and the wall needing to be punched, meanwhile, the distance of the six-axis robot 201 from the auxiliary thick rope 203 is measured through the distance sensor, after the distance data of the six-axis robot 201 and the wall needing to be punched and the distance data of the six-axis robot 201 and the auxiliary thick rope 203 are collected, the data are integrated into the posture and the position information of the six-axis robot 201.
Referring to fig. 4, fig. 4 shows a schematic structural diagram of the tool mechanism, and the tool mechanism 5 includes a punching tool 301, a screw mounting tool 302, and a bar scanner 303. The punching tool 301, the screw mounting tool 302, and the bar scanner 303 are mounted on the other side of the upper n-shaped frame 101, that is, the height adjustment frame on the side opposite to the displacement sensor, and the punching tool 301, the screw mounting tool 302, and the bar scanner 303 are specifically provided on the fixing frame of the height adjustment frame on the side of the upper n-shaped frame 101. The six-axis robot 201 sequentially reloads the steel bar scanner 303 to scan the punching position, reloads the punching tool 301 to punch the punching position, and reloads the screw mounting tool 302 to mount screws in holes at the punching position. Whole operation is accomplished by six robots 201, removes artificial participation from to whole process of punching the mounting screw is controlled by six robots 201, and six robots 201 are controlled more rigorously relatively, and the quality of punching and mounting screw can be guaranteed, owing to replaced artifically through six robots 201 simultaneously, has avoided a great deal of unnecessary safety risk that probably appears among the manual operation. In a specific possible embodiment, the device main body further comprises a drill bit reloading mechanism 4, a horizontally arranged screw placing plate 104 is fixed at the top end of the middle part of the lower U-shaped frame, n-shaped protection frames are arranged at two sides of the lower U-shaped frame, a rectangular frame fixedly connected with the protection frames at two sides is arranged at the middle part of the lower U-shaped frame, the screw placing plate 104 is fixed at the top end of the rectangular frame, and the drill bit reloading mechanism 4 is fixedly arranged on the screw placing plate 104; the six-axis robot 201 also replaces the drill bit for the punching tool 301 by the drill bit replacement mechanism 4. The drill bit exchanging mechanism 4 is specifically a drill bit exchanging mechanism having functions of detecting the wear dimension of the drill bit and exchanging the drill bit. The screws are further placed on the screw placing plate 104, the six-axis robot 201 is provided with the screw mounting tool 302 in a replacement mode, and a magnet or a spring sleeve is mounted in an inner shell of the end portion of the screw mounting tool 302 and can be used for adsorbing or firmly sleeving the screws so as to fill the screws into holes in the punching position. In a specific embodiment, an air compressor 106 is fixedly mounted on the top end of the screw placing plate 104, an air outlet end of the air compressor 106 is connected with an air outlet hose, and an air outlet end of the air outlet hose is mounted on an air outlet hose cylinder at the end of the punching tool 301. After the determined punching position is punched, the air compressor 106 is controlled to be started, the air compressor 106 generates compressed air, the compressed air is blown out through the air outlet hose, the air outlet end of the air outlet hose is installed on the air outlet hose cylinder at the end part of the punching tool 301, the piston rod of the air outlet hose cylinder stretches and retracts to drive the air outlet hose to move, air blown out from the air outlet end of the air outlet hose can clean the hole in the punching position, and preparation work is made for installing a screw.
In a specific possible implementation scheme, the system further comprises a handheld terminal and a signal receiving controller, the signal receiving controller is in signal connection with the six-axis robot 201 and is fixedly installed at the bottom end of the middle portion of the upper n-shaped frame 101, the handheld terminal is in signal connection with the signal receiving controller, and the handheld terminal controls the six-axis robot 201 to act through the signal receiving controller. The signal receiving controller is further in signal connection with the air compressor 106, and the handheld terminal controls the start and stop of the air compressor 106 through the signal receiving controller; the signal receiving controller is further in signal connection with the air cylinder 107 and the air outlet hose air cylinder, and the handheld terminal controls the piston rods of the air cylinder 107 and the air outlet hose air cylinder to stretch and retract through the signal receiving controller.
An operator holds the hand-held terminal by hand, the running state of the equipment main body can be monitored on the hand-held terminal in a wireless mode on a nearby floor outside an elevator shaft, and the six-axis robot 201, the air cylinder 107 and the air outlet hose air cylinder can be controlled to act in a manual mode on the hand-held terminal. For example, if the device body is monitored to be lifted to a proper height according to the height information detected by the detection mechanism 6, a control signal for fixing the device body is sent to the signal receiving controller through the handheld terminal, the signal receiving controller controls the cylinder 107 to act according to the control signal, the cylinder 107 drives the support frame 102 to move horizontally, and the support frame 102 and the support frame 105 abut against two opposite side walls in the elevator shaft, so that the device body is supported and fixed. The handheld terminal may be a tablet computer, which is installed with control software. An operator can control the six-axis robot 201 to move through a handheld terminal, and of course, the six-axis robot 201 can be controlled to move through programmed control software according to a construction process. The control connection relationship is all the prior implementable technologies, and is not described herein again.
In addition, the invention also provides a use method of the punching and nailing device, the punching and nailing device punches and installs screws in the elevator installation shaft, and the use method of the punching and nailing device comprises the following steps:
the lifting equipment main body is suspended through a hoisting mechanism 3;
the equipment main body hoisted by the hoisting mechanism 3 is supported and fixed through the supporting mechanism 7;
the height of the equipment main body fixed by the supporting mechanism 7 and the posture of the robot mechanism 2 are detected by the detecting mechanism 6;
the robot mechanism 2 determines the punching position according to the height of the device body detected by the detection mechanism 7 and the posture of the robot mechanism 2;
the determined punching position is punched and nailed through the reloading tool mechanism 5 of the robot mechanism 2.
In a specific embodiment, the detecting the height of the apparatus body fixed by the support mechanism 7 and the attitude of the robot mechanism 2 by the detection mechanism 6 includes: the detection mechanism 6 detects the height of the device body fixed by the support mechanism 7 through a displacement sensor, and the detection mechanism 6 detects the inclination angle of the base of the robot mechanism 2 through an inclination angle sensor to complete the detection of the posture of the robot mechanism 2. In a specific embodiment, the determining, by the robot mechanism 2, the punching position based on the height of the apparatus body detected by the detection mechanism 6 and the posture of the robot mechanism 2 includes: according to the height of the equipment main body and the gesture of the robot mechanism 2 detected by the detection mechanism 6, control signals are sent to the signal receiving controller through the handheld terminal, the signal receiving controller controls the six-axis robot 201 to act according to the sent control signals, and the actions finished according to the sequence comprise: controlling the six-axis robot 201 to act and shooting a reference line through the 3D camera 202; controlling the six-axis robot 201 to act and measuring the distance of the wall needing to be punched through a distance sensor; the signal receiving controller controls the six-axis robot 201 to move according to the image information of the photographed reference line and the detected distance information of the wall needing to be punched, emits two light beams to the wall needing to be punched through the laser indicator, and determines the range between the emitted two light beams as the punching position. In a specific possible embodiment, the punching and stapling of the determined punching position by the reloading tool mechanism 5 of the robot mechanism 2 comprises: control signals are sent to the signal receiving controller through the handheld terminal, the signal receiving controller controls the six-axis robot 201 to act according to the sent control signals, and the actions finished according to the sequence further comprise: controlling the six-axis robot 201 to change the steel bar scanner 303 to scan the punching position so as to eliminate the possibility of steel bars existing in the punching position; controlling the six-axis robot 201 to replace the punching tool 301 to punch holes at the punching position; and controlling the six-axis robot 201 to replace the screw mounting tool 302 and mount the screw into the hole at the punching position. Before the drilling position is drilled, a control signal is sent to the signal receiving controller through the handheld terminal, and the signal receiving controller further controls the six-axis robot 201 to replace the drill bit for the drilling tool 301 through the drill bit replacing mechanism 4 according to the sent control signal. After the hole punching position is punched, before screws are installed in holes of the hole punching position, a control signal is sent to the signal receiving controller through the handheld terminal, and the signal receiving controller further controls the air compressor 106 to start to blow air in the holes punched in the hole punching position for cleaning according to the sent control signal.
Through the above description, it is easy to find that the construction of punching and screw installation in the shaft can be realized by replacing manpower, and the precision of punching and screw installation is ensured by remotely controlling the six-axis robot 201 to act, so that the personnel is prevented from working in a severe and unsafe environment.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and shall cover the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (19)
1. A punching and stapling device, comprising: the device comprises a device main body and a hoisting mechanism;
the hoisting mechanism is used for hoisting and lifting the equipment main body;
the equipment main body comprises a supporting mechanism, a detection mechanism, a robot mechanism and a tool mechanism;
the supporting mechanism is used for supporting and fixing the equipment main body hoisted by the hoisting mechanism;
the detection mechanism is used for detecting the height of the equipment main body fixed by the support mechanism and the posture of the robot mechanism;
the robot mechanism is used for determining a punching position according to the height of the equipment main body detected by the detection mechanism and the posture of the robot mechanism; and the robot mechanism is also used for reloading the tool mechanism to punch and staple the determined punching position.
2. The punching and stapling device according to claim 1, wherein the hoisting mechanism comprises a winding drum, a steel cable, a motor and a speed reducer;
the steel cable winding just steel cable one end with on the reel fixed connection, the steel cable other end with the equipment main part is connected, the motor passes through the reduction gear with the reel transmission is connected.
3. The punch stapling apparatus of claim 2, wherein the apparatus body comprises a body frame comprising an upper n-frame and a lower U-frame;
the bottom ends of the two sides of the upper n-shaped frame are correspondingly and fixedly connected with the top ends of the two sides of the lower U-shaped frame, and height adjusting frames with adjustable heights are respectively arranged on the two sides of the upper n-shaped frame; the other end of the steel cable is detachably and fixedly connected with the top end of the middle part of the upper n-shaped frame.
4. The punching and stapling device according to claim 3, wherein a supporting frame is fixedly connected to one side of the middle part of the upper n-shaped frame, and a supporting frame is slidably connected to the other opposite side; an air cylinder for driving the supporting frame to slide is fixed at the top end of the middle part of the upper n-shaped frame, and the air cylinder drives the supporting frame to slide close to or far away from the supporting frame; the supporting mechanism comprises the supporting frame and the supporting frame.
5. The punching and stapling device according to claim 4, wherein pulleys are respectively arranged at four corners of the supporting frame and at the same side of the lower U-shaped frame; the support frame is a rectangular frame structure with an adjustable upper-lower distance.
6. The punching and stapling device according to claim 4, wherein the supporting frame is slidably connected with the top end of the middle part of the upper n-shaped frame through two horizontally arranged adjusting rods, and the two adjusting rods move along with the supporting frame; the support frame is a rod-shaped frame body structure with adjustable length, and the length direction of the support frame is perpendicular to the sliding direction of the support frame.
7. The punching and stapling device according to claim 3, wherein a mounting plate is fixed to the bottom end of the middle part of the upper n-shaped frame, and the robot mechanism comprises a base fixedly mounted to the bottom end of the mounting plate;
the detection mechanism comprises a displacement sensor and an inclination angle sensor; the displacement sensor is fixedly arranged on one side of the upper n-shaped frame and used for detecting the height of the equipment main body fixed by the supporting mechanism; the inclination angle sensor is fixedly installed at the bottom end of the installation plate and used for detecting the inclination angle of the base to complete the detection of the posture of the robot mechanism.
8. The punching and stapling device of claim 7, wherein the robot mechanism further comprises a six-axis robot, the six-axis robot is fixedly connected with the base, and a 3D camera for shooting a reference line, a distance sensor for measuring a distance of a wall to be punched and a laser pointer for determining a punching position are arranged on the six-axis robot.
9. The punching and nailing apparatus according to claim 8, wherein said tool mechanism comprises a punching tool, a screw mounting tool, and a bar scanner; the punching tool, the screw mounting tool and the steel bar scanner are arranged on the other side of the upper n-shaped frame;
and the six-axis robot sequentially reloads the steel bar scanner to scan the punching position and the punching tool to punch the punching position and reload the screw installation tool to install screws in holes at the punching position.
10. The punch stapling apparatus of claim 9, further comprising a drill bit reloading mechanism; a horizontally arranged screw placing plate is fixed at the top end of the middle part of the lower U-shaped frame, and the drill bit replacing mechanism is fixedly arranged on the screw placing plate;
the six-axis robot is used for replacing the drill bit of the punching tool through the drill bit replacing mechanism.
11. The punch stapling apparatus of claim 10, wherein a screw is placed on the screw placement plate.
12. The punching and nailing device according to any one of claims 7-11, wherein an air compressor is fixedly mounted at the top end of the screw placing plate, an air outlet end of the air compressor is connected with an air outlet hose, and an air outlet end of the air outlet hose is mounted on an air outlet hose cylinder at the end part of the punching tool.
13. The punching and stapling device according to claim 12, further comprising a handheld terminal and a signal receiving controller, wherein the signal receiving controller is in signal connection with the six-axis robot and is fixedly installed at the bottom end of the middle part of the upper n-shaped frame, the handheld terminal is in signal connection with the signal receiving controller, and the handheld terminal controls the six-axis robot to act through the signal receiving controller;
the signal receiving controller is further in signal connection with the air compressor, and the handheld terminal controls the start and stop of the air compressor through the signal receiving controller;
the signal receiving controller is further in signal connection with the air cylinder and the air outlet hose air cylinder, and the handheld terminal controls the air cylinder and the piston rod of the air outlet hose air cylinder to stretch and retract through the signal receiving controller.
14. Use of a punch-and-staple device according to any one of claims 1-13, characterised in that it comprises the following steps:
the equipment main body is suspended and lifted through the hoisting mechanism;
the equipment main body hoisted by the hoisting mechanism is supported and fixed through the supporting mechanism;
detecting the height of the equipment main body fixed by the supporting mechanism and the posture of the robot mechanism by the detection mechanism;
the robot mechanism determines a punching position according to the height of the equipment main body detected by the detection mechanism and the posture of the robot mechanism;
and the tool mechanism is reloaded through the robot mechanism to punch and bind the determined punching position.
15. The use method of the punching and stapling apparatus according to claim 14, wherein the detecting by the detection mechanism a height of the apparatus body fixed by the support mechanism and a posture of the robot mechanism includes:
the detection mechanism detects the height of the equipment main body fixed by the supporting mechanism through the displacement sensor, and the detection mechanism detects the inclination angle of the base of the robot mechanism through the inclination angle sensor to complete the detection of the posture of the robot mechanism.
16. The method of using the punch stapling apparatus according to claim 15, wherein the determining of the punch position by the robot mechanism based on the height of the apparatus body detected by the detection mechanism and the posture of the robot mechanism includes:
according to the height of the equipment main body and the posture of the robot mechanism detected by the detection mechanism, control signals are sent to the signal receiving controller through the handheld terminal, the signal receiving controller controls the six-axis robot to act according to the sent control signals, and the actions finished in sequence comprise: controlling the six-axis robot to act and shooting a reference line through the 3D camera; controlling the six-axis robot to act and measuring the distance of the wall needing to be punched through the distance sensor; and the signal receiving controller controls the six-axis robot to act and emit upper and lower lights to the wall to be punched through the laser indicator according to the shot image information of the reference line and the detected distance information of the wall to be punched, and determines the range between the upper and lower lights as the punching position.
17. The method of using the punch stapling apparatus according to claim 16, wherein the reloading of the tool mechanism by the robot mechanism for punching and stapling the determined punch position comprises:
sending a control signal to the signal receiving controller through the handheld terminal, controlling the six-axis robot action by the signal receiving controller according to the sent control signal, and finishing the actions according to the sequence further comprises: controlling the six-axis robot to replace the steel bar scanner to scan the punching position so as to eliminate the possibility of steel bars existing in the punching position; controlling the six-axis robot to replace the punching tool to punch the punching position; and controlling the six-axis robot to replace the screw mounting tool to mount screws into the holes at the punching positions.
18. The method of using the punch stapling apparatus according to claim 17, wherein said controlling the six-axis robot to reload the punch tool to punch the punch location comprises:
and before the punching position is punched, the six-axis robot is also controlled to replace the drill bit of the punching tool through the drill bit replacing mechanism.
19. The method of using a punch-and-staple apparatus according to claim 18, wherein said controlling said six-axis robot to reload said punch tool to punch said punch location further comprises:
after the punching position is punched, before screws are installed in holes of the punching position, the air compressor is controlled to be started to blow air in the holes of the punching position for cleaning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210217535.9A CN114603714A (en) | 2022-03-07 | 2022-03-07 | Punching and nailing device and use method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210217535.9A CN114603714A (en) | 2022-03-07 | 2022-03-07 | Punching and nailing device and use method thereof |
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| CN114603714A true CN114603714A (en) | 2022-06-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210217535.9A Pending CN114603714A (en) | 2022-03-07 | 2022-03-07 | Punching and nailing device and use method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116749356A (en) * | 2023-06-21 | 2023-09-15 | 联想新视界(江苏)设备服务有限公司 | Suspension type punching and screw mounting system |
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2022
- 2022-03-07 CN CN202210217535.9A patent/CN114603714A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116749356A (en) * | 2023-06-21 | 2023-09-15 | 联想新视界(江苏)设备服务有限公司 | Suspension type punching and screw mounting system |
| CN116749356B (en) * | 2023-06-21 | 2024-02-06 | 联想新视界(江苏)设备服务有限公司 | Suspension type punching and screw mounting system |
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