CN115649861A - Automatic mould device of grabbing of building element intelligent robot - Google Patents
Automatic mould device of grabbing of building element intelligent robot Download PDFInfo
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- CN115649861A CN115649861A CN202211379810.3A CN202211379810A CN115649861A CN 115649861 A CN115649861 A CN 115649861A CN 202211379810 A CN202211379810 A CN 202211379810A CN 115649861 A CN115649861 A CN 115649861A
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Abstract
The invention discloses an intelligent robot automatic mold grabbing device for building components, which comprises an adjusting assembly, wherein a supporting positioning plate assembly is used for rotatably and fixedly connecting a supporting plate to a base, and the adjusting assembly comprises a pulling rope, a pulling rope retracting assembly and an elastic assembly; the elastic assembly is positioned on the support plates, is positioned between two adjacent support plates in a spatial position and is used for limiting the two support plates to be close to each other, the number of the elastic assemblies is one less than that of the support plates, one end of the pulling rope is positioned on the support plates, the other end of the pulling rope is wound and positioned on the pulling rope retracting assembly, the pulling rope retracting assembly is positioned on the support plates and is used for retracting the pulling rope, and the angle between the two support plates can be controlled through the retracting of the pulling rope; during the in-service use, press from both sides tight location to building element through two pairs of clamping jaw assemblies, it is different according to building element, change the angle between the backup pad in good time and then can the building element border position of centre gripping different shapes through adjusting part, adjust different radians with clamping jaw assembly through adjusting part, and then change clamping jaw pars contractilis spatial position, realize that same module of snatching can snatch different building elements.
Description
Technical Field
The invention relates to the technical field of automatic mold grabbing of building materials, in particular to an intelligent robot automatic mold grabbing device for a building component.
Background
The building member refers to each element constituting the building, if the building is regarded as a product, the building member refers to the part in the product, for example, the general building is composed of the main members such as foundation, wall, column, beam, floor and ground, stairs, door and window, roof and the like, and auxiliary accessory facilities. The outer wall painting decoration is a main component in a building component, and the outer wall painting decoration has the double functions of protecting a wall body and beautifying the wall body.
The finished outer wall surface painting decoration in a factory needs to be loaded and transported to a construction site.
In the prior art CN201910078849.3, in order to improve the transportation efficiency and reduce the labor intensity of workers, the transportation of building components is generally performed by an industrial conveying robot, so as to realize intelligent automatic control of the grabbing action on a building component production line; however, the gripping device is too simple, and since the building component is mostly placed on the ground, the conveying robot in the prior art CN201910078849.3 generally applies pressure to the upper and lower sides of the building component by using the self-gripping structure and then lifts up (by using friction) the building component for transportation.
However, in the above scheme of grabbing and transporting a building element, the conveying robot is used to ensure that the building element does not drop off stably during the transportation process, and usually needs to continuously apply a large pressure to the building element during the transportation process, and the large pressure may cause serious deformation (reducing the service life of the building element) and even damage to the surface of the building element, and may also cause certain damage to the building element.
To sum up, need one kind to the less industry transfer robot of building element damage when building element, reduce in transportation process transfer robot to building element's damage and then prolong building element's life, reduce the harm to building element, simultaneously, above-mentioned adoption snatchs and only can be exclusively used in some kind or some several kinds of transportation building elements in the scheme of subassembly, if will snatch different building elements then need use different snatchs the subassembly and change, has seriously influenced automatic mould device's of grabbing practicality.
Disclosure of Invention
The embodiment of the invention provides an automatic grabbing mold of an intelligent robot for building components, and solves the technical problems that an industrial conveying robot which has less damage to the building components when the building components are needed, the damage of the conveying robot to the building components in the conveying process is reduced, the service life of the building components is further prolonged, and the damage to the building components is reduced, grabbing in the scheme adopting grabbing components can only be specially used for transporting one or more building components, if different building components are grabbed, different grabbing components are needed, and the practicability of an automatic grabbing mold device is seriously influenced,
the object is to reduce the damage to the gripping of the building element, and to be able to grip different building elements without having to replace different gripping assemblies.
The embodiment of the invention provides an automatic grabbing device of an intelligent robot for building components, which comprises a power assembly and a control unit, wherein the automatic grabbing device comprises a grabbing module, a clamping module and a control unit, wherein the grabbing module is used for grabbing the building components in a clamping mode;
the grabbing module comprises a connecting frame, a base, a supporting plate, a supporting and positioning plate assembly, a tension rope, a clamping jaw assembly and a grabbing sliding driving assembly;
the base is fixed on the connecting frame;
the supporting plate is positioned on the base through the supporting positioning plate assembly;
the main body of the clamping jaw assembly is L-shaped, the number of the clamping jaw assembly is more than two, and the clamping jaw assembly is driven by the grabbing sliding driving assembly to be positioned on the supporting plate in a sliding mode;
one end of the tension rope is fixed on the supporting plate, and the other end of the tension rope is fixed on the clamping jaw assembly; the number of the supporting plates is the same as that of the clamping jaw assemblies;
the clamping jaw assembly comprises a clamping jaw telescopic part and a clamping part;
the clamping jaw telescopic part comprises a clamping jaw telescopic arm, a pulling rope retracting assembly and a built-in elastic unit;
the built-in elastic unit is positioned inside the clamping jaw telescopic arm and is a pressure spring;
the pull rope reeling and unreeling assembly is positioned on the clamping jaw telescopic arm;
the pulling rope is used for controlling the stretching of the clamping jaw telescopic arm, one end of the pulling rope is wound and positioned on the pulling rope winding and unwinding assembly, and the other end of the pulling rope is fixed on the clamping jaw telescopic arm;
the clamping part is fixed on the clamping jaw telescopic arm 271-1 or integrated with the clamping jaw telescopic arm, and is used for clamping building components.
Further, the device also comprises an adjusting component;
the supporting positioning plate component is used for rotatably and fixedly connecting the supporting plate to the base;
the adjusting assembly comprises a pulling rope, a pulling rope winding and unwinding assembly and an elastic assembly;
the elastic component is positioned on the supporting plates, is positioned between two adjacent supporting plates in a spatial position and is used for limiting the two supporting plates to approach each other;
the number of the elastic components is one less than that of the support plates;
one end of the pulling rope is positioned on the supporting plate, and the other end of the pulling rope is wound and positioned on the pulling rope retracting assembly;
the pulling rope retracting assembly is positioned on the support plates and used for retracting the pulling rope, and the angle between the two support plates can be controlled by retracting the pulling rope;
during the in-service use, through two pairs of clamping jaw assembly presss from both sides tight location to building element, and is different according to building element, changes the angle between the backup pad in good time and then can the centre gripping different shape building element edge position through adjusting part.
Preferably, the device further comprises an adsorption component;
the adsorption component comprises an object lifting rope, an object lifting rope winding and unwinding component and a rope head positioning component;
the object lifting rope retracting assembly is positioned on the connecting frame and used for retracting the object lifting rope;
the object lifting rope penetrates through the base, one end of the object lifting rope penetrates through the base and is wound and positioned on the object lifting rope winding and unwinding assembly, and the other end of the object lifting rope penetrates through the base and is positioned with a rope head positioning assembly;
the rope end positioning assembly is used for adsorbing building components (particularly metal materials) with smooth surfaces to avoid vertical vibration, and the adsorption is stopped when the building components to be clamped and positioned are powered off.
Further, the grabbing sliding driving assembly comprises a trigger rod, a cam and a cam rotating assembly;
the trigger rod is a rod with one arc-shaped end, the non-arc-shaped end of the trigger rod is fixed on the clamping jaw assembly, and the length direction of the trigger rod is the same as the length direction of the telescopic arm of the clamping jaw;
the cam is rotatably fixed on the base through the cam rotating assembly, the trigger rod is tightly attached to the cam under the elastic force action of the tensile rope, and in the rotating process of the cam, the clamping jaw telescopic arms in the clamping jaw assembly are driven to stretch back and forth, so that the clamping parts are opened and closed relatively.
Preferably, the device also comprises a lifting module, a traveling module, a positioning claw rotating assembly and/or a tray device;
the lifting module plays a role in lifting the grabbing module, and the main body is of a telescopic rod structure;
the advancing module is used for moving the grabbing module after grabbing;
the positioning claw rotating assembly is positioned between the lifting module and the connecting frame and used for driving the grabbing module to rotate around the axis of the grabbing module so as to provide the dimension of the building component direction;
preferably, the above
The clamping part comprises a clamping rod body and a hemispherical clamping component;
the main body of the clamping rod body is rod-shaped;
the hemispherical clamping assembly is positioned on the clamping rod body and used for increasing friction between the clamping rod body and the surface of the building component through the pre-tightening wheel with the building component, so that the building component is stably and reliably clamped.
Furthermore, the rope end positioning assembly comprises a supporting block body, a magnetic block body and/or a sucker assembly;
the support block plays a role in supporting and positioning the magnetic block and/or the sucker assembly.
Furthermore, the rope end positioning assembly also comprises a sucker squeezing assembly;
the sucking disc extrusion assembly is used for exhausting air in the sucking disc, so that the sucking disc extrusion assembly is more attached to a member to be built and further prevented from falling;
the sucker extrusion assembly comprises an extrusion assembly telescopic part and an extrusion claw;
the telescopic part of the extrusion assembly is positioned on the support block body and is of a telescopic rod structure;
the extrusion claw is in a claw shape, is fixed on the telescopic part of the extrusion assembly and is in direct contact with the sucker assembly.
Furthermore, a plurality of the supporting plates are uniformly distributed at the periphery of the base.
One or more technical schemes provided in the embodiments of the present invention have at least the following technical effects or advantages:
1. through the inside of grabbing the mould automatically at a building element intelligent robot and passing through clamping jaw pars contractilis, the size of test adjusting spring's damped, and then the regulation is grabbed the module and is grabbed the size of power, because the damping of spring is invariable therefore can avoid, in the centre gripping in-process, the condition that opens too big or undersize appears, simultaneously, because the too big damage that causes building element of clamping-force.
2. Different radians are adjusted through the adjusting part with the clamping jaw assembly, and then change clamping jaw pars contractilis spatial position, realize that same module of snatching can snatch different building elements.
3. Building elements are extracted to proper positions through the adsorption assembly, and then grabbing of the clamping jaw assembly is facilitated.
Drawings
FIG. 1 is a schematic structural diagram of an intelligent robot automatic mold grabbing device for building components;
FIG. 2 is a partially enlarged view of an intelligent robot automatic mold grasping device for building components according to the present invention;
FIG. 3 is a structural diagram of a grabbing module of the automatic grabbing device of the intelligent robot for building components;
FIG. 4 is a view of the internal structure of the expansion part of the clamping jaw of the automatic mold grabbing device of the intelligent robot for building components;
FIG. 5 is a structural diagram of a grabbing sliding driving assembly of the intelligent robot for building components of the present invention;
FIG. 6 is a structural diagram of an adjusting assembly of an intelligent robot mold gripping device for building components;
FIG. 7 is a structural diagram of an adsorption component of an intelligent robot automatic mold grabbing device for building components;
in the figure:
200. a grabbing module; 210. a connecting frame; 220. a base; 230. a support plate; 240. supporting the positioning plate assembly; 250. an adjustment assembly; 251. pulling the rope; 252. a pulling rope retracting assembly; 253. an elastic member; 260. a tension rope; 270. a jaw assembly; 271. a jaw extension; 271-1, a clamping jaw telescopic arm; 271-2, pulling a rope; 271-3, pulling the rope to receive and release the assembly; 271-4, an elastic unit is arranged in the shell; 272. a clamping part; 272-1, clamping the rod body; 272-2, a hemispherical clamping assembly; 280. grabbing a sliding drive assembly; 281. a trigger lever; 282. a cam; 283. a cam rotating assembly; 300. a lifting module; 400. a traveling module; 500. a positioning pawl rotating assembly; 600. an adsorption component; 610. a lifting rope; 620. a lifting rope winding and unwinding assembly; 630. a support block; a rope end positioning component; 640. a magnetic block; 650. a sucker component; 660. a suction cup pressing assembly; 661. a compression assembly extension; 662. extrusion claw, building element.
Detailed Description
In order that the invention may be more fully understood, reference will now be made to the accompanying drawings; the preferred embodiments of the present invention are illustrated in the accompanying drawings, but the invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete.
It is noted that the terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs; the terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention; as used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, which is a schematic structural diagram of an automatic mold grabbing of an intelligent robot for building components according to the present invention, the present invention starts constant force clamping of a building component through a clamping jaw assembly 270, and adjusts the radian of the clamping jaw assembly 270 according to building components of different shapes (especially, plate-type building components and spherical building components) by using an adjusting assembly 250, so as to change the spatial position of the clamping jaw assembly 270, thereby eliminating the need to change different clamps, and improving the practicability and versatility of the present invention.
Example one
As shown in fig. 1 and 2, the automatic building component grabbing device of the intelligent robot, the power assembly and the control unit further comprise a grabbing module 200, wherein the grabbing module 200 grabs the building component in a clamping manner;
the grasping module 200 includes a connecting frame 210, a base 220, a support plate 230, a support positioning plate assembly 240, a pull string 260, a jaw assembly 270, and a grasping slide drive assembly 280;
the base 220 is fixed on the connection frame 210;
the support plate 230 is positioned on the base 220 by the support positioning plate assembly 240;
the main body of the clamping jaw assembly 270 is L-shaped, the number of the clamping jaw assemblies is more than two, and the clamping jaw assemblies are driven by the grabbing sliding driving assembly 280 to be positioned on the supporting plate 230 in a sliding manner;
one end of the pull rope 260 is fixed on the supporting plate 230, and the other end is fixed on the clamping jaw assembly 270; the number of support plates 230 is the same as the number of jaw assemblies 270;
as shown in fig. 3, the jaw assembly 270 includes a jaw extension 271 and a clamping portion 272;
as shown in fig. 4, the clamping jaw stretching portion 271 comprises a clamping jaw stretching arm 271-1, a pulling rope 271-2, a pulling rope retracting component 271-3 and a built-in elastic unit 271-4;
the built-in elastic unit 271-4 is positioned inside the clamping jaw telescopic arm 271-1 and is a pressure spring;
the pull rope take-up and pay-off assembly 271-3 is positioned on the clamping jaw telescopic arm 271-1;
the pulling rope 271-2 is used for controlling the expansion and contraction of the clamping jaw telescopic arm 271-1, one end of the pulling rope 271-2 is wound and positioned on the pulling rope retracting component 271-3, and the other end of the pulling rope 271-2 is fixed on the clamping jaw telescopic arm 271-1;
the clamping portion 272 is fixed on the clamping jaw telescopic arm 271-1 or integrated with the clamping jaw telescopic arm 271-1, and is used for clamping a building element.
The automatic mold grabbing device of the intelligent robot for the building components further comprises an adjusting assembly 250;
the support positioning plate assembly 240 rotatably and fixedly connects the support plate 230 to the base 220;
the adjusting assembly 250 comprises a pulling rope 251, a pulling rope retracting assembly 252 and an elastic assembly 253;
the elastic component 253 is positioned on the supporting plate 230 and is spatially positioned between two adjacent supporting plates 230, so as to limit the two supporting plates 230 to approach each other;
the number of the elastic members 253 is one less than that of the support plates 230;
one end of the pulling rope 251 is positioned on the support plate 230, and the other end is wound and positioned on the pulling rope retracting assembly 252;
the pulling rope retracting assembly 252 is positioned on the support plates 230 and used for retracting the pulling rope 251, and the angle between the two support plates 230 can be controlled by retracting the pulling rope 251;
in actual use, the building components are clamped and positioned by the two pairs of the clamping jaw assemblies 270, and the angles between the supporting plates 230 are changed timely by the adjusting assemblies 250 according to different building components, so that the edge positions of the building components in different shapes can be clamped.
The automatic mold grabbing device of the intelligent robot for the building components further comprises an adsorption component 600;
the adsorption component 600 comprises an object lifting rope 610, an object lifting rope winding and unwinding component 620 and a rope head positioning component;
the lifting rope retracting assembly 620 is positioned on the connecting frame 210 and used for retracting the lifting rope 610;
the article lifting rope 610 penetrates through the base 220, one end of the article lifting rope 610 is wound and positioned on the article lifting rope retracting component 620, and the other end of the article lifting rope 610 is positioned with a rope head positioning component;
the rope end positioning assembly is used for adsorbing building components (particularly metal materials) with smooth surfaces to avoid vertical vibration, and the adsorption is stopped when the building components to be clamped and positioned are powered off.
As shown in fig. 5, the catching slide driving assembly 280 includes a trigger lever 281, a cam 282, and a cam rotating assembly 283;
the trigger lever 281 is a lever with one arc-shaped end, the non-arc-shaped end of the trigger lever 281 is fixed on the clamping jaw assembly 270, and the length direction of the trigger lever 281 is the same as that of the clamping jaw telescopic arm 271-1;
the cam 282 is rotatably fixed on the base 220 through the cam rotating assembly 283, the trigger lever 281 is tightly attached to the cam 282 under the elastic force of the tensile cord 260, and during the rotation of the cam 282, the jaw extension arm 271-1 in the jaw assembly 270 is driven to extend back and forth, so that the clamping portion 272 is relatively opened and closed. Further comprising a lifting module 300, a travel module 400, a positioning pawl rotation assembly 500 and/or a tray device;
the lifting module 300 plays a role of lifting the grabbing module 200, and the main body is a telescopic rod structure;
the traveling module 400 is used for moving the grabbing module 200 after grabbing;
the positioning pawl rotation assembly 500 is positioned between the lifting module 300 and the connecting frame 210 for driving the gripping module 200 to rotate about its axis to provide directional dimension to the building element.
The clamping portion 272 comprises a clamping rod body 272-1 and a hemispherical clamping component 272-2;
the main body of the clamping rod body 272-1 is rod-shaped;
the hemispherical clamping component 272-2 is positioned on the clamping rod body 272-1, is hemispherical, is made of rubber, and is used for increasing friction between the clamping rod body 272-1 and the surface of a building element through a pre-tightening wheel with the building element, so that the building element is stably and reliably clamped.
The technical scheme in the embodiment of the invention at least has the following technical effects or advantages:
the large pressure is usually required to be continuously applied to the building element in the conveying process, the large pressure can cause the building element to be seriously deformed, therefore, the damping of the fixing spring is fixed in size and adjusted to a proper size, the applied force is constant, the clamping force of the building element is controlled, and the situations that the building element is damaged or falls due to too large clamping force or too small clamping force cannot occur.
Example two
In trial production, the invention discovers that the spherical or other curved building components in the scheme can not be effectively clamped when being clamped; in order to improve the practicability and the universality of the invention, a positioning block rotating assembly 250 is additionally arranged on the basis of the embodiment;
as shown in fig. 6, specifically: the support positioning block positioning assembly 240 rotatably and fixedly connects the support positioning block 230 to the base 220; the positioning block rotating assembly 250 comprises a pulling rope 251, a pulling rope retracting assembly 252 and an elastic assembly 253; the elastic component 253 is positioned on the support positioning blocks 230, and is located between two adjacent support positioning blocks 230 in a spatial position, and the structure is preferably a spring plate, so as to limit the two support positioning blocks 230 to approach each other; the number of the elastic elements 253 is one less than that of the support positioning blocks 230; one end of the pulling rope 251 is positioned on the support positioning block 230, and the other end is wound and positioned on the pulling rope retracting assembly 252; the pulling rope retracting and extending assembly 252 is positioned on the support positioning blocks 230 and used for retracting and extending the pulling rope 251, and the angle between the two support positioning blocks 230 can be controlled by retracting and extending the pulling rope 251;
according to the embodiment of the invention, the building components with curved surfaces can be clamped by adjusting different angles of the rotating assembly 250, so that the practicability and the universality of application are improved.
EXAMPLE III
In consideration of the fact that building components are generally stacked up and down in actual use, in the building construction process of clamping the building by the grabbing module 200, an operator or a mechanical lifting machine is required to lift to a certain height to conveniently clamp the building, and the building components are clamped until clamping is completed, so that the labor intensity is high, and certain safety risks (the building components fall or fall to injure people by smashing) are provided, therefore, the assembly 660 of the sucker is additionally arranged at one end of the grabbing module 200 on the basis of the embodiment, the assembly of the sucker is used for enabling extraction to be more convenient, labor is saved, the labor intensity is reduced, and dangers are avoided.
As shown in fig. 7, the rope positioning assembly comprises a support block 630, a magnetic block 640 and/or a suction cup assembly 650;
the support block 630 serves to support and position the magnetic block 640 and/or the chuck assembly 650.
The rope end positioning assembly further comprises a sucker squeezing assembly 660;
the sucking disc extrusion assembly 660 is used for exhausting air in a sucking disc, so that the sucking disc extrusion assembly is more attached to a member to be built and further prevented from falling;
the sucking disc extruding assembly 660 comprises an extruding assembly telescopic part 661 and an extruding claw 662;
the extrusion assembly telescopic part 661 is positioned on the support block 630 and is of a telescopic rod structure;
the extruding claw 662 is claw-shaped, is fixed on the extruding assembly telescopic part 661, and is in direct contact with the suction cup assembly 650.
A plurality of the supporting plates 230 are uniformly distributed at the circumferential position of the base 220.
The power assembly and the control unit are respectively used for providing power and controlling each component to run in coordination, and are all in the prior art, and are not described herein again.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made without departing from the spirit and principle of the present invention shall fall within the protection scope of the present invention.
Claims (9)
1. The utility model provides an automatic mould device of grabbing of building element intelligent robot, power component and the control unit which characterized in that: comprises a grabbing module (200), wherein the grabbing module (200) clamps the building element in a clamping manner;
the grabbing module (200) comprises a connecting frame (210), a base (220), a supporting plate (230), a supporting positioning plate assembly (240), a tension rope (260), a clamping jaw assembly (270) and a grabbing sliding driving assembly (280);
the base (220) is fixed on the connecting frame (210);
the support plate (230) is positioned on the base (220) by the support positioning plate assembly (240);
the clamping jaw assemblies (270) are L-shaped, are more than two in number, and are positioned on the supporting plate (230) in a sliding mode under the driving of the grabbing sliding driving assembly (280);
one end of the tension rope (260) is fixed on the support plate (230), and the other end of the tension rope is fixed on the clamping jaw assembly (270); the number of the support plates (230) is the same as the number of the jaw assemblies (270);
the clamping jaw assembly (270) comprises a clamping jaw telescopic part (271) and a clamping part (272);
the clamping jaw telescopic part (271) comprises a clamping jaw telescopic arm (271-1), a pulling rope (271-2), a pulling rope winding and unwinding assembly (271-3) and a built-in elastic unit (271-4);
the built-in elastic unit (271-4) is positioned inside the clamping jaw telescopic arm (271-1) and is a pressure spring;
the pull rope retracting assembly (271-3) is positioned on the clamping jaw telescopic arm (271-1);
the pulling rope (271-2) is used for controlling the expansion and contraction of the clamping jaw telescopic arm (271-1), one end of the pulling rope (271-2) is wound and positioned on the pulling rope winding and unwinding assembly (271-3), and the other end of the pulling rope (271-2) is fixed on the clamping jaw telescopic arm (271-1);
the clamping part (272) is fixed on the clamping jaw telescopic arm (271-1) or is integrated with the clamping jaw telescopic arm (271-1) into a whole and is used for clamping building components.
2. The intelligent robot automatic mold grabbing device for building components according to claim 1, further comprising an adjusting assembly (250);
the supporting positioning plate assembly (240) is used for rotatably and fixedly connecting the supporting plate (230) to the base (220); the adjusting assembly (250) comprises a pulling rope (251), a pulling rope retracting assembly (252) and an elastic assembly (253); the elastic component (253) is positioned on the supporting plates (230) and is positioned between two adjacent supporting plates (230) in a spatial position for limiting the two supporting plates (230) to approach each other;
the number of the elastic members (253) is one less than that of the support plates (230);
one end of the pulling rope (251) is positioned on the support plate (230), and the other end of the pulling rope (251) is wound and positioned on the pulling rope retracting assembly (252);
the pulling rope retracting assembly (252) is positioned on the support plates (230) and used for retracting the pulling rope (251), and the angle between the two support plates (230) can be controlled through retracting the pulling rope (251); when the clamping jaw assembly is actually used, building components are clamped and positioned through the two pairs of clamping jaw assemblies (270), and the angles between the supporting plates (230) are timely changed through the adjusting assembly (250) according to different building components, so that the edge positions of the building components in different shapes can be clamped.
3. The automatic mold grabbing device of the building component intelligent robot according to claim 1, is characterized in that: further comprising an adsorption assembly (600);
the adsorption component (600) comprises an object lifting rope (610), an object lifting rope winding and unwinding component (620) and a rope head positioning component;
the lifting rope retracting assembly (620) is positioned on the connecting frame (210) and used for retracting the lifting rope (610); the object lifting rope (610) penetrates through the base (220), one end of the object lifting rope (610) is wound and positioned on the object lifting rope retracting component (620), and the other end of the object lifting rope (610) is provided with a rope head positioning component;
the rope end positioning assembly is used for adsorbing building components (particularly metal materials) with smooth surfaces to avoid vertical vibration, and the adsorption is stopped when the building components to be clamped and positioned are powered off.
4. The automatic mold grabbing device of the building component intelligent robot according to claim 1, is characterized in that: the grabbing sliding driving assembly (280) comprises a trigger lever (281), a cam (282) and a cam rotating assembly (283);
the trigger rod (281) is a rod with one arc-shaped end, the non-arc-shaped end of the trigger rod is fixed on the clamping jaw assembly (270), and the length direction of the trigger rod (281) is the same as that of the clamping jaw telescopic arm (271-1);
the cam (282) is rotatably fixed on the base (220) through the cam rotating assembly (283), the trigger lever (281) is tightly attached to the cam (282) under the action of the elastic force of the pull rope (260), and in the rotating process of the cam (282), the clamping jaw telescopic arm (271-1) in the clamping jaw assembly (270) is driven to be telescopic back and forth, so that the clamping part (272) is relatively opened and closed.
5. The automatic mold grabbing device of the building component intelligent robot according to claim 1, is characterized in that: the device also comprises a lifting module (300), a traveling module (400), a positioning claw rotating assembly (500) and/or a tray device;
the lifting module (300) plays a role in lifting the grabbing module (200), and the main body of the lifting module is of a telescopic rod structure;
the advancing module (400) is used for moving the grabbing module (200) after grabbing is completed;
the positioning pawl rotating assembly (500) is positioned between the lifting module (300) and the connecting frame (210) and is used for driving the grabbing module (200) to rotate around the axis of the grabbing module so as to provide a building element direction dimension.
6. The automatic mold grabbing device of the building component intelligent robot according to claim 1, is characterized in that: the clamping part (272) comprises a clamping rod body (272-1) and a hemispherical clamping component (272-2);
the main body of the clamping rod body (272-1) is rod-shaped;
the hemispherical clamping assembly (272-2) is positioned on the clamping rod body (272-1) and is used for increasing the friction between the clamping rod body (272-1) and the surface of the building element through a pre-tightening wheel with the building element, so that the building element is stably and reliably clamped.
7. The automatic mold grabbing device of the building component intelligent robot according to claim 1, is characterized in that: the rope end positioning component comprises a supporting block (630), a magnetic block (640) and/or a sucker component (650);
the support block (630) plays a role in supporting and positioning the magnetic block (640) and/or the sucker assembly (650).
8. The automatic formwork grabbing device of the intelligent robot for the building components, according to claim 7, is characterized in that: the rope end positioning assembly further comprises a sucker squeezing assembly (660);
the sucker extrusion assembly (660) is used for exhausting air in the sucker, so that the sucker extrusion assembly is more attached to a member to be built and further prevented from falling;
the sucker extrusion assembly (660) comprises an extrusion assembly telescopic part (661) and extrusion claws (662);
the extrusion component telescopic part (661) is positioned on the support block (630) and is of a telescopic rod structure;
the extrusion claw (662) is in a claw shape, is fixed on the telescopic part (661) of the extrusion assembly and is in direct contact with the sucker assembly (650).
9. The automatic formwork grabbing device of the intelligent robot for the building components, according to claim 1, is characterized in that: the supporting plates (230) are uniformly distributed at the circumferential position of the base (220).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211379810.3A CN115649861A (en) | 2022-11-04 | 2022-11-04 | Automatic mould device of grabbing of building element intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211379810.3A CN115649861A (en) | 2022-11-04 | 2022-11-04 | Automatic mould device of grabbing of building element intelligent robot |
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| Publication Number | Publication Date |
|---|---|
| CN115649861A true CN115649861A (en) | 2023-01-31 |
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|---|---|---|---|
| CN202211379810.3A Withdrawn CN115649861A (en) | 2022-11-04 | 2022-11-04 | Automatic mould device of grabbing of building element intelligent robot |
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| CN (1) | CN115649861A (en) |
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2022
- 2022-11-04 CN CN202211379810.3A patent/CN115649861A/en not_active Withdrawn
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20230131 |
|
| WW01 | Invention patent application withdrawn after publication |