CN117703102A - Low-altitude large and medium-sized curtain wall robot personalized installation system and method - Google Patents
Low-altitude large and medium-sized curtain wall robot personalized installation system and method Download PDFInfo
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- CN117703102A CN117703102A CN202311751121.5A CN202311751121A CN117703102A CN 117703102 A CN117703102 A CN 117703102A CN 202311751121 A CN202311751121 A CN 202311751121A CN 117703102 A CN117703102 A CN 117703102A
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- 238000000034 method Methods 0.000 title claims abstract description 17
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- 238000010276 construction Methods 0.000 claims abstract description 11
- 230000003028 elevating effect Effects 0.000 claims description 5
- 239000011521 glass Substances 0.000 description 13
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Abstract
The invention relates to a low-altitude large and medium-sized curtain wall robotically-installed system and a method, wherein the method comprises the following steps: a. driving a curtain wall carrying robot to a curtain wall storage point to grasp a curtain wall, and transporting the curtain wall to a curtain wall installation robot at a construction site; b. the curtain wall carrying robot places the curtain wall on a curtain wall storage platform of the curtain wall mounting robot; c. the curtain wall installation robot is close to the curtain wall installation frame; d. controlling a lifting mechanism and an installation grabbing mechanism to grab the curtain wall on the curtain wall storage platform; e. coarsely positioning the position of the curtain wall; f. precisely positioning the position of the curtain wall; g. and pushing the curtain wall into a curtain wall installation frame, and fixing a pressing plate to complete curtain wall installation. h. Repeating the steps a-f until the installation of all curtain walls is completed. According to the invention, the curtain wall carrying robot and the curtain wall installing robot are manually operated to carry and install the curtain wall, so that the construction efficiency is greatly improved, and the safety of large and medium curtain wall installation can be improved.
Description
Technical Field
The invention relates to a curtain wall installation method, in particular to a low-altitude large and medium-sized curtain wall robotically-installed system and method.
Background
The glass curtain wall is a beautiful and novel building wall decoration method, and is an obvious feature of modern high-rise building times.
The installation of the existing curtain wall glass is to adsorb and fix glass through the electric sucking disc, then the glass curtain wall is lifted to an installation position between glass curtain wall installation frames by using manpower, and a worker stands on the site lift truck to further adjust the position of the glass until the glass is placed in a clamping groove in a supporting frame, and then the glass is fixed through a pressing plate.
The existing glass curtain wall mounting process is too dependent on manpower, and is low in efficiency and poor in safety.
Disclosure of Invention
The invention aims to provide a low-altitude large and medium-sized curtain wall robotically-installed system and a method thereof, so as to solve the problems that the existing glass curtain wall installation process is too dependent on manpower, and is low in efficiency and poor in safety.
The invention is realized in the following way: a low-altitude large and medium-sized curtain wall robotics installation system comprises a curtain wall carrying robot and a curtain wall installation robot; the curtain wall transfer robot comprises a movable chassis capable of being driven, a transfer mechanical arm is arranged on the movable chassis capable of being driven, and a transfer grabbing mechanism is arranged on the transfer mechanical arm; the curtain wall installation robot comprises a remote control movable chassis, wherein a lifting mechanism and a curtain wall storage platform are arranged on the remote control movable chassis, an installation mechanical arm is arranged on the lifting mechanism, an installation grabbing mechanism is arranged on the installation mechanical arm, and the installation grabbing mechanism is located above the curtain wall storage platform.
The carrying mechanical arm comprises a supporting arm, a first telescopic arm is hinged to the supporting arm, the first telescopic arm is driven by a first jacking element to swing up and down around a hinge point, a first pitching mechanism is arranged at the front end of the first telescopic arm, and the carrying grabbing mechanism is connected with the first pitching mechanism.
The installation arm is including articulated the setting second flexible arm on the elevating system, the second flexible arm is driven by the second jacking component and swings about the pin joint from top to bottom the front end of second flexible arm is provided with second every single move mechanism be provided with rotation axis mutually perpendicular's first rotary mechanism and second rotary mechanism on the second every single move mechanism, second rotary mechanism is connected with the installation and snatchs the mechanism.
The lifting mechanism comprises two guide frames which are vertically arranged, a lifting frame is arranged between the two guide frames, and the lifting frame is connected with the guide frames through guide rails.
The carrying grabbing mechanism and the installing grabbing mechanism are all sucker suction mechanisms, and comprise a sucker frame and a plurality of suckers.
The low-altitude large and medium-sized curtain wall robotically-installed method is realized based on the low-altitude large and medium-sized curtain wall robotically-installed system and comprises the following steps.
a. And driving the curtain wall transfer robot to a curtain wall storage point to grasp the curtain wall, and then driving the curtain wall transfer robot to transport the curtain wall to a curtain wall installation robot of a construction site.
b. The curtain wall carrying robot places the curtain wall on a curtain wall storage platform of the curtain wall installation robot.
c. The remote control curtain wall installation robot is close to the curtain wall installation frame.
d. The lifting mechanism and the installation grabbing mechanism are controlled to grab the curtain wall on the curtain wall storage platform.
e. And controlling the lifting mechanism and the installation grabbing mechanism to coarsely position the curtain wall.
f. The lifting mechanism and the installation grabbing mechanism are controlled to finely adjust the position of the curtain wall, so that the lower end of the curtain wall is pressed on a carriage of the curtain wall installation frame, and fine positioning is completed.
g. And pushing the curtain wall into a curtain wall installation frame, and fixing a pressing plate to complete curtain wall installation.
h. Repeating the steps a-f until the installation of all curtain walls is completed.
And sequentially installing the lower curtain wall along one direction, and sequentially installing the upper curtain wall along one direction after the lower curtain wall is installed.
When the curtain wall is grabbed, the sucking disc of the sucking disc sucking mechanism is adjusted to be in contact with the surface of the curtain wall, the air pump is started to form negative pressure, and when the pressure value accords with a safe value, the sucking disc sucking mechanism is controlled to move.
In step b, the lifting mechanism is lifted before the curtain wall is placed on the curtain wall storage platform.
According to the invention, the curtain wall carrying robot and the curtain wall installing robot are manually operated to carry and install the curtain wall, so that the construction efficiency is greatly improved, the problem of insufficient hands of workers on a construction site is solved, and the safety of large and medium-sized curtain wall installation can be greatly improved by controlling the robots to install the curtain wall.
Drawings
FIG. 1 is a flow chart of the robotic installation method of the low-altitude large and medium-sized curtain wall of the invention.
Fig. 2 is a structural view of the curtain wall transfer robot of the present invention.
FIG. 3 is a schematic view of a curtain wall handling robot of the present invention placing a curtain wall on a curtain wall storage platform of a curtain wall mounting robot.
FIG. 4 is a schematic view of the curtain wall installation robot of the present invention for installing an underlying curtain wall.
Fig. 5 is a schematic view of the curtain wall installation robot of the present invention for installing an upper curtain wall.
FIG. 6 is a schematic view of the installation sequence of the curtain wall of the present invention.
In the figure: 1. curtain wall transfer robots; 2. curtain wall installation robots; 3. curtain walls; 4. a curtain wall mounting frame; 1-1, a drivable mobile chassis; 1-2, a supporting arm; 1-3, a first telescopic arm; 1-4, a first jacking element; 1-5, a first pitching mechanism; 1-6, carrying and grabbing mechanisms; 1-7, a first telescopic driving element; 1-5-1, a first bracket; 1-5-2, a first pitching frame; 1-5-3, a first pitch drive element; 2-1, remotely controlling the mobile chassis; 2-2, a guide frame; 2-3, lifting frames; 2-4, a second telescopic arm; 2-5, a second jacking element; 2-6, a second pitching mechanism; 2-7, a first rotating mechanism; 2-8, a second rotating mechanism; 2-9, installing a grabbing mechanism; 2-10, curtain wall storage platform.
Detailed Description
As shown in fig. 2, 3, 4 and 5, the robotic installation system of the low-altitude large and medium-sized curtain wall 3 of the present invention includes a curtain wall handling robot 1 and a curtain wall installation robot 2.
The curtain wall transfer robot 1 comprises a movable chassis 1-1 capable of being driven, a transfer mechanical arm is arranged on the movable chassis 1-1 capable of being driven, and a transfer grabbing mechanism 1-6 is arranged on the transfer mechanical arm.
The steerable mobile chassis 1-1 has steering positions that can be manually steered to control its movement to rapidly shuttle the panels between the storage point of the curtain wall 3 and the construction site.
The carrying mechanical arm comprises a supporting arm 1-2, a first telescopic arm 1-3 is hinged on the supporting arm 1-2, and the first telescopic arm 1-3 is driven by a first jacking element 1-4 to swing up and down around a hinge point. The front end of the first telescopic arm 1-3 is provided with a first pitching mechanism 1-5, and the carrying grabbing mechanism 1-6 is connected with the first pitching mechanism 1-5. The first telescopic arm 1-3 is provided with a first telescopic driving element 1-7, and the first telescopic arm 1-3 is driven to extend and retract by the first telescopic driving element 1-7.
The first pitching mechanism 1-5 comprises a first bracket 1-5-1 fixed at the front end of the first telescopic arm 1-3 and a first pitching frame 1-5-2 hinged on the first bracket 1-5-1, wherein a first pitching driving element 1-5-3 is hinged on the first bracket 1-5-1, and the first pitching driving element 1-5-3 drives the first pitching frame 1-5-2 to pitch and swing up and down.
The carrying grabbing device is connected with the first pitching frame 1-5-2 through a rotating mechanism, and the rotating mechanism can drive the carrying grabbing device to integrally rotate.
The carrying grabbing device is specifically a sucker suction mechanism and comprises a sucker frame and a plurality of suckers distributed on the sucker frame. The suction grabbing of the curtain wall 3 can be realized through the negative pressure effect of the suction disc.
The curtain wall installation robot 2 comprises a remote control movable chassis 2-1, wherein a lifting mechanism and a curtain wall storage platform 2-10 are arranged on the remote control movable chassis 2-1, an installation mechanical arm is arranged on the lifting mechanism, an installation grabbing mechanism 2-9 is arranged on the installation mechanical arm, and the installation grabbing mechanism 2-9 is located above the curtain wall storage platform 2-10.
The remote control mobile chassis 2-1 is a chassis device which is moved through remote control, and can enable operators to be located in a safe area to remotely operate the installation of the curtain wall 3 through remote control, so that threat of high-altitude falling objects to the safety of the operators in the construction process is avoided.
The lifting mechanism comprises two guide frames 2-2 which are vertically arranged, the guide frames 2-2 are fixed on a remote control movable chassis 2-1, a lifting frame 2-3 is arranged between the two guide frames 2-2, and the lifting frame 2-3 is connected with the guide frames 2-2 through guide rails. Lifting of the lifting frame 2-3 is realized by a lifting driving mechanism, and the lifting driving mechanism can be a lifting cylinder, a hydraulic cylinder or a ball screw and other mechanisms.
The installation mechanical arm comprises a second telescopic arm 2-4 which is hinged on the lifting frame 2-3, and the second telescopic arm 2-4 is driven by a second jacking element 2-5 to swing up and down around a hinge point. The extension and retraction of the second telescopic arm 2-4 is driven by a second extension and retraction driving element.
The front end of the second telescopic boom 2-4 is provided with a second pitching mechanism 2-6, the second pitching mechanism 2-6 is provided with a first rotating mechanism 2-7 and a second rotating mechanism 2-8, the rotating shafts of the first rotating mechanism 2-7 and the second rotating mechanism 2-8 are mutually perpendicular, and the second rotating mechanism 2-8 is connected with a mounting grabbing mechanism 2-9. The first rotating mechanism 2-7 and the second rotating mechanism 2-8 comprise a bracket and a rotating motor, the bracket of the first rotating mechanism 2-7 is arranged on the second pitching mechanism 2-6, and the bracket of the second rotating mechanism 2-8 is arranged on the motor rotating shaft of the first rotating mechanism 2-7.
A translation mechanism is further arranged between the second rotating mechanism 2-8 and the installation grabbing mechanism 2-9, the translation mechanism comprises a translation frame, a ball screw mechanism is arranged on the translation frame, a sliding block is arranged on the ball screw mechanism, the sliding block is connected with a motor rotating shaft of the second rotating mechanism 2-8, the translation mechanism rotates around the motor rotating shaft, the installation grabbing mechanism 2-9 is fixedly connected with the translation frame, and the installation grabbing mechanism 2-9 can be driven to translate along the translation frame through the ball screw mechanism.
The installation grabbing mechanism 2-9 is a sucker suction mechanism and comprises a sucker frame and a plurality of suckers.
The carrying mechanical arm has multiple degrees of freedom, and can enable the carrying grabbing mechanisms 1-6 to realize corresponding actions through operations such as extending, rotating, deflecting, pitching and the like so as to grab and put the curtain wall 3.
The mounting mechanical arm also has multiple degrees of freedom, and can realize the operations of grabbing, positioning, mounting and the like of the curtain wall 3 through the operations of extension, rotation, deflection, pitching and the like.
As shown in FIG. 1, the robotic installation method of the low-altitude large and medium-sized curtain wall 3 comprises the following steps.
a. And driving the curtain wall transfer robot 1 to a storage point of the curtain wall 3 to control the transfer mechanical arm to enable the transfer grabbing mechanism 1-6 to move to the center position of the curtain wall 3.
The air pump is opened to finely adjust the grabbing structure, so that the grabbing mechanism is tightly attached to the glass curtain wall 3, and the follow-up operation can be performed when the pressure expression reaches a safe value by observing the pressure gauge on the curtain wall transfer robot 1, so that grabbing of the curtain wall 3 is completed.
Then driving the curtain wall transfer robot 1 to transport the curtain wall 3 to the curtain wall installation robot 2 of the construction site, so that the curtain wall transfer robot 1 is close to the curtain wall installation robot 2.
b. The remote control curtain wall installation robot 2 moves to enable the curtain wall storage platforms 2-10 to be close to the curtain wall carrying robot 1, so that the lifting mechanism is lifted, and follow-up operation is facilitated.
The carrying mechanical arm of the curtain wall carrying robot 1 is controlled to place the curtain wall 3 on the curtain wall storage platform 2-10 of the curtain wall installation robot 2, and the air pump is closed to enable the curtain wall 3 to fall on the curtain wall storage platform 2-10.
c. The remote control curtain wall mounting robot 2 is close to the curtain wall mounting frame 4.
d. The lifting mechanism is controlled, and the grabbing mechanism 2-9 is arranged to grab the curtain wall 3 on the curtain wall storage platform 2-10.
e. And controlling the lifting mechanism and installing the grabbing mechanisms 2-9 to coarsely position the position of the curtain wall 3.
The installation grabbing mechanism 2-9 is made to be close to the glass curtain wall 3 by controlling the installation mechanical arm, the air pump is opened, the pressure gauge reaches a safe value, the installation grabbing mechanism 2-9 is controlled to lift the curtain wall 3, the glass curtain wall 3 is rotated, and coarse positioning is performed.
f. After the rough positioning is finished, the lifting mechanism and the installation grabbing mechanisms 2-9 are controlled to finely adjust the position of the curtain wall 3, so that the lower end of the curtain wall 3 is pressed on the carriage of the curtain wall installation frame 4, and the fine positioning is finished.
g. After finishing the fine positioning, the curtain wall 3 is pushed into the curtain wall mounting frame 4, and the pressing plate is fixed, so that the curtain wall 3 is mounted.
h. Repeating the steps a-f until the installation of all curtain walls 3 is completed.
As shown in fig. 6, the lower curtain walls 3 are sequentially installed in one direction, and after the installation of the lower curtain walls 3 is completed, the upper curtain walls 3 are sequentially installed in one direction.
When grabbing curtain 3, adjustment sucking disc sucking means's sucking disc and curtain 3 surface contact, start the air pump and form the negative pressure, when the pressure value accords with safe numerical value, control sucking disc sucking means removes.
According to the invention, the curtain wall carrying robot 1 and the curtain wall installing robot 2 are manually operated to carry and install the curtain wall 3, so that the construction efficiency is greatly improved, the problem of insufficient hands of workers on a construction site is solved, and the safety of installing the large and medium-sized curtain wall 3 can be greatly improved by controlling the robots to install the curtain wall 3.
Claims (9)
1. The low-altitude large and medium-sized curtain wall robotically-installed system is characterized by comprising a curtain wall carrying robot and a curtain wall installing robot; the curtain wall transfer robot comprises a movable chassis capable of being driven, a transfer mechanical arm is arranged on the movable chassis capable of being driven, and a transfer grabbing mechanism is arranged on the transfer mechanical arm; the curtain wall installation robot comprises a remote control movable chassis, wherein a lifting mechanism and a curtain wall storage platform are arranged on the remote control movable chassis, an installation mechanical arm is arranged on the lifting mechanism, an installation grabbing mechanism is arranged on the installation mechanical arm, and the installation grabbing mechanism is located above the curtain wall storage platform.
2. The low-altitude large and medium-sized curtain wall robotically-mounted system according to claim 1, wherein the handling robot arm comprises a support arm, a first telescopic arm is hinged to the support arm, the first telescopic arm is driven by a first jacking element to swing up and down around a hinge point, a first pitching mechanism is arranged at the front end of the first telescopic arm, and the handling grabbing mechanism is connected with the first pitching mechanism.
3. The low-altitude large and medium-sized curtain wall robot-based mounting system according to claim 1, wherein the mounting mechanical arm comprises a second telescopic arm hinged on the lifting mechanism, the second telescopic arm is driven by a second jacking element to swing up and down around a hinged point, a second pitching mechanism is arranged at the front end of the second telescopic arm, a first rotating mechanism and a second rotating mechanism with mutually perpendicular rotating shafts are arranged on the second pitching mechanism, and the second rotating mechanism is connected with a mounting grabbing mechanism.
4. The low-altitude large and medium-sized curtain wall robotically installed system according to claim 1, wherein the elevating mechanism comprises two vertically disposed guide frames, an elevating frame is disposed between the two guide frames, and the elevating frame and the guide frames are connected by guide rails.
5. The robotic installation system of claim 1, wherein the handling and grabbing mechanism and the installing and grabbing mechanism are suction cup suction mechanisms, and comprise a suction cup frame and a plurality of suction cups.
6. A low-altitude large and medium-sized curtain wall robotically-installed method, implemented based on the low-altitude large and medium-sized curtain wall robotically-installed system according to any one of claims 1 to 5, comprising the steps of:
a. driving a curtain wall carrying robot to a curtain wall storage point to grasp a curtain wall, and then transporting the curtain wall to a curtain wall installation robot of a construction site by the curtain wall carrying robot;
b. the curtain wall carrying robot places the curtain wall on a curtain wall storage platform of the curtain wall mounting robot;
c. the curtain wall installation robot is controlled by a remote control to approach the curtain wall installation frame;
d. controlling a lifting mechanism and an installation grabbing mechanism to grab the curtain wall on the curtain wall storage platform;
e. the lifting mechanism and the installation grabbing mechanism are controlled to roughly position the curtain wall;
f. the lifting mechanism and the installation grabbing mechanism are controlled to finely adjust the position of the curtain wall, so that the lower end of the curtain wall is pressed on a carriage of a curtain wall installation frame, and fine positioning is completed;
g. pushing the curtain wall into a curtain wall installation frame, and fixing a pressing plate to complete curtain wall installation;
h. repeating the steps a-f until the installation of all curtain walls is completed.
7. The method for robotically installing a low-altitude large and medium-sized curtain wall according to claim 6, wherein the lower curtain wall is sequentially installed in one direction, and the upper curtain wall is sequentially installed in one direction after the installation of the lower curtain wall is completed.
8. The method for installing the large and medium low-altitude curtain wall robot according to claim 6, wherein when the curtain wall is grabbed, the suction disc of the suction disc sucking mechanism is adjusted to be in contact with the surface of the curtain wall, the air pump is started to form negative pressure, and when the pressure value accords with a safety value, the suction disc sucking mechanism is controlled to move.
9. The method for robotically installing a low-altitude large and medium-sized curtain wall according to claim 6, wherein the elevating mechanism is elevated before the curtain wall is placed on the curtain wall storage platform in the step b.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311751121.5A CN117703102A (en) | 2023-12-19 | 2023-12-19 | Low-altitude large and medium-sized curtain wall robot personalized installation system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311751121.5A CN117703102A (en) | 2023-12-19 | 2023-12-19 | Low-altitude large and medium-sized curtain wall robot personalized installation system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117703102A true CN117703102A (en) | 2024-03-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311751121.5A Pending CN117703102A (en) | 2023-12-19 | 2023-12-19 | Low-altitude large and medium-sized curtain wall robot personalized installation system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117703102A (en) |
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2023
- 2023-12-19 CN CN202311751121.5A patent/CN117703102A/en active Pending
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