CN204019539U - Construction robot parallel connection platform travel mechanism installed by curtain wall - Google Patents
Construction robot parallel connection platform travel mechanism installed by curtain wall Download PDFInfo
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- CN204019539U CN204019539U CN201420523123.9U CN201420523123U CN204019539U CN 204019539 U CN204019539 U CN 204019539U CN 201420523123 U CN201420523123 U CN 201420523123U CN 204019539 U CN204019539 U CN 204019539U
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- curtain wall
- pedestal
- parallel connection
- travel mechanism
- moving platform
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Abstract
The utility model relates to a kind of curtain wall and installs construction robot parallel connection platform travel mechanism, comprise pedestal and be arranged on the moving platform directly over pedestal, be provided with cue ball strand in the middle of bottom described moving platform, cue ball strand is flexibly connected with the fixed support bar be arranged on pedestal; Described pedestal is provided with three Hooke's hinges, each Hooke's hinge is installed on equilateral triangle three summits place centered by fixed support bar respectively, three secondary ball strands are installed bottom described moving platform, each secondary ball strand is installed on three summits place of the equilateral triangle centered by constrained branched chain respectively, and institute's Hooke's hinge and secondary ball twist mutually corresponding, between connected by telescopic electric pushrod.Construction robot parallel connection platform travel mechanism installed by this curtain wall, there is fine steel protect with bearing capacity and mounting robot weight raising energy anharmonic ratio own can be reduced, be conducive to the work high above the ground of robot, enough activity spaces can be provided for manual operation, strong adaptability.
Description
technical field:
The utility model relates to building curtain wall installing area, particularly relates to a kind of curtain wall and installs construction robot parallel connection platform travel mechanism.
background technology:
Construction comprises agent structure and secondary structure, agent structure is based on steel construction and concrete construction, secondary structure is then to decorate, to fit up, and wherein the cladding installation workload of all kinds of curtain wall accounts for the largest percentage, such as a large amount of marbles and the installation exercise of glass curtain wall.
Current building curtain wall size is generally at 600mm × 600mm ~ 900mm × 1200mm, and weight is generally not less than 35kg.For the panel of some specific customization, its size can reach several meters, and weight reaches hundreds of kilograms.Curtain wall panel size is large, weight large, and the panel material (as glass) in addition had has vulnerability, brings a more difficult problem to installation.In addition, in order to complete the installation of curtain wall for high rise building, need to build construction scaffolding in work progress, by auxiliary equipment, by the manual installation of the workman of One's name is legion.
In recent years, along with the fast development of scientific and technological level, Robotics obtains application in increasing field.Based on the specific demand of architectural engineering, in building decorating industry, widely use high-tech plant equipment, not only can improve the total quality level of decoration construction, also quite helpful for lifting China scientific and technological level.The development & application of construction robot will promote to play a significant role in complicated construction automation process.Therefore, the intelligent construction robot equipment of development building curtain wall, meets the eager demand of China's architectural decoration, is of great immediate significance.
Also some curtain wall decoration company adopts construction robot to carry out the installation of curtain wall at present, it mainly adopts six degree of freedom cascaded structure manipulator to realize the installation location of curtain wall, this robot manipulator system and control system more complicated, and cascaded structure has larger impact to system stiffness and load-carrying ability, it is also not suitable for curtain wall install machinery robot system.
summary of the invention:
Technical problem to be solved in the utility model is, provide one to have fine steel and protect with bearing capacity and can reduce mounting robot weight raising energy anharmonic ratio own, construction robot parallel connection platform travel mechanism installed by the curtain wall being conducive to the work high above the ground of robot.
In order to solve the problems of the technologies described above, the utility model is achieved through the following technical solutions: construction robot parallel connection platform travel mechanism installed by a kind of curtain wall, comprise pedestal and be arranged on the moving platform directly over pedestal, cue ball strand is provided with in the middle of bottom described moving platform, cue ball strand is flexibly connected with the fixed support bar be arranged on pedestal, forms constrained branched chain; Described pedestal is provided with three Hooke's hinges, each Hooke's hinge is installed on equilateral triangle three summits place centered by fixed support bar respectively, three secondary ball strands are installed bottom described moving platform, each secondary ball strand is installed on three summits place of the equilateral triangle centered by constrained branched chain respectively, and the installation site between three Hooke's hinges on described pedestal twist with the secondary ball of three on moving platform is mutually corresponding, be connected by telescopic electric pushrod between corresponding Hooke's hinge twists with secondary ball, form drive chain.
As preferably, the side near metope on described moving platform is provided with laser range sensor.
As preferably, the bottom of described moving platform is provided with obliquity sensor.
As preferably, between described fixed support bar and pedestal, be provided with reinforced pull rod.
As preferably, described reinforced pull rod has three, equidistantly distributes centered by fixed support bar.
Compared with prior art, usefulness of the present utility model is: this curtain wall installation construction robot parallel connection platform travel mechanism kinematic chain is closed, an interchain is simple without interference, decoupling zero computing, can be used as the pose mechanism of series-parallel robot or series-parallel machine tool, there is fine steel protect with bearing capacity and mounting robot weight raising energy anharmonic ratio own can be reduced, be conducive to the work high above the ground of robot, and the moving platform of this freedom degree parallel connection platform can be designed to the platform of larger area, enough activity spaces can be provided, strong adaptability for manual operation.
accompanying drawing illustrates:
Below in conjunction with accompanying drawing, the utility model is further illustrated.
Fig. 1 is that construction robot parallel connection platform travel mechanism perspective view installed by the utility model curtain wall;
Fig. 2 is that construction robot parallel connection platform travel mechanism Facad structure schematic diagram installed by the utility model curtain wall.
In figure: 1, moving platform; 2, pedestal; 3, fixed support bar; 4, electric pushrod; 5, reinforced pull rod; 6, Hooke's hinge; 7, laser range sensor; 8, cue ball strand; 9, secondary ball strand; 10, obliquity sensor.
detailed description of the invention:
Below in conjunction with the drawings and the specific embodiments, the utility model is described in detail:
Construction robot parallel connection platform travel mechanism installed by a kind of curtain wall shown in Fig. 1 and Fig. 2, the moving platform 1 comprising pedestal 2 and be arranged on directly over pedestal 2, cue ball strand 8 is provided with in the middle of bottom described moving platform 1, cue ball strand 8 is flexibly connected with the fixed support bar 3 arranged on the base 2, form constrained branched chain, and be provided with reinforced pull rod 5 between described fixed support bar 3 and pedestal 2, described reinforced pull rod 5 has three, equidistantly distribute centered by fixed support bar 3, fixation is played to fixed support bar 3, and the perpendicularity of constrained branched chain and pedestal 2 is adjusted by pretightning force, conveniently measure the distance between moving platform 1 and metope, the side near metope on described moving platform 1 is provided with laser range sensor 7, and simultaneously in order to measure the depth of parallelism of moving platform, the bottom of described moving platform 1 is provided with obliquity sensor 10, described pedestal 1 is provided with three Hooke's hinges 6, the circumradius of each Hooke's hinge 6 is 430mm, it is installed on equilateral triangle three summits place centered by fixed support bar 3 respectively, three secondary ball strands 9 are installed bottom described moving platform 1, each secondary ball strand 9 is installed on three summits place of the equilateral triangle centered by constrained branched chain respectively, and the installation site that three Hooke's hinges 6 on described pedestal 2 twist between 9 with the secondary ball of three on moving platform 1 is mutually corresponding, corresponding Hooke's hinge 6 is connected by telescopic electric pushrod 4 between twisting 9 with secondary ball, form drive chain, in order to ensure the adjustment angle of this platform, described Hooke's hinge 6 is not less than 45 ° with the adjustment angle of secondary ball pivot 9, and the circumradius of described secondary ball strand 9 is 420mm.
Particularly, when described curtain wall installation construction robot parallel connection platform travel mechanism is in initial position, it is relative that the equilateral triangle determined of three on moving platform 1 secondary ball pivots 9 and three Hookes on pedestal 2 twist the 6 equilateral triangle corners determined, and electric pushrod 4 is in the middle of stroke.
This curtain wall installation construction robot parallel connection platform travel mechanism kinematic chain is closed, an interchain is simple without interference, decoupling zero computing, can be used as the pose mechanism of series-parallel robot or series-parallel machine tool, there is fine steel protect with bearing capacity and mounting robot weight raising energy anharmonic ratio own can be reduced, be conducive to the work high above the ground of robot, and the moving platform of this freedom degree parallel connection platform can be designed to the platform of larger area, enough activity spaces can be provided, strong adaptability for manual operation.
It is emphasized that: be only preferred embodiment of the present utility model above, not any pro forma restriction is done to the utility model, every above embodiment is done according to technical spirit of the present utility model any simple modification, equivalent variations and modification, all still belong in the scope of technical solutions of the utility model.
Claims (5)
1. construction robot parallel connection platform travel mechanism installed by a curtain wall, comprise pedestal (2) and be arranged on the moving platform (1) directly over pedestal (2), it is characterized in that: described moving platform (1) is provided with cue ball strand (8) in the middle of bottom, cue ball strand (8) is flexibly connected with the fixed support bar (3) be arranged on pedestal (2), forms constrained branched chain, described pedestal (1) is provided with three Hooke's hinges (6), each Hooke's hinge (6) is installed on equilateral triangle three summits place centered by fixed support bar (3) respectively, described moving platform (1) bottom is provided with three secondary balls strand (9), each secondary ball strand (9) is installed on three summits place of the equilateral triangle centered by constrained branched chain respectively, and the installation site that three Hooke's hinges (6) on described pedestal (2) and three secondary balls on moving platform (1) twist between (9) is mutually corresponding, corresponding Hooke's hinge (6) is twisted with secondary ball between (9) and is connected by telescopic electric pushrod (4), form drive chain.
2. construction robot parallel connection platform travel mechanism installed by curtain wall according to claim 1, it is characterized in that: the upper side near metope of described moving platform (1) is provided with laser range sensor (7).
3. construction robot parallel connection platform travel mechanism installed by curtain wall according to claim 1 and 2, it is characterized in that: the bottom of described moving platform (1) is provided with obliquity sensor (10).
4. construction robot parallel connection platform travel mechanism installed by curtain wall according to claim 1 and 2, it is characterized in that: be provided with reinforced pull rod (5) between described fixed support bar (3) and pedestal (2).
5. construction robot parallel connection platform travel mechanism installed by curtain wall according to claim 4, it is characterized in that: described reinforced pull rod (5) has three, equidistantly distributes centered by fixed support bar (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420523123.9U CN204019539U (en) | 2014-09-12 | 2014-09-12 | Construction robot parallel connection platform travel mechanism installed by curtain wall |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420523123.9U CN204019539U (en) | 2014-09-12 | 2014-09-12 | Construction robot parallel connection platform travel mechanism installed by curtain wall |
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| Publication Number | Publication Date |
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| CN204019539U true CN204019539U (en) | 2014-12-17 |
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| CN201420523123.9U Active CN204019539U (en) | 2014-09-12 | 2014-09-12 | Construction robot parallel connection platform travel mechanism installed by curtain wall |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104175318A (en) * | 2014-09-12 | 2014-12-03 | 江苏南方雄狮建设工程有限公司 | Parallel-connection platform moving mechanism of construction robot for curtain wall installation |
| CN105090339A (en) * | 2015-09-18 | 2015-11-25 | 河北工业大学 | Two-freedom-degree vibration restraining system applied to high-altitude building robot operating platform |
| CN109938933A (en) * | 2019-03-27 | 2019-06-28 | 上海工程技术大学 | A kind of mobile transferring platform of self-balancing |
| CN113699867A (en) * | 2021-08-26 | 2021-11-26 | 大连海事大学 | Three-degree-of-freedom offshore gallery bridge device with motion compensation capability |
-
2014
- 2014-09-12 CN CN201420523123.9U patent/CN204019539U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104175318A (en) * | 2014-09-12 | 2014-12-03 | 江苏南方雄狮建设工程有限公司 | Parallel-connection platform moving mechanism of construction robot for curtain wall installation |
| CN105090339A (en) * | 2015-09-18 | 2015-11-25 | 河北工业大学 | Two-freedom-degree vibration restraining system applied to high-altitude building robot operating platform |
| CN105090339B (en) * | 2015-09-18 | 2017-03-22 | 河北工业大学 | Two-freedom-degree vibration restraining system applied to high-altitude building robot operating platform |
| CN109938933A (en) * | 2019-03-27 | 2019-06-28 | 上海工程技术大学 | A kind of mobile transferring platform of self-balancing |
| CN113699867A (en) * | 2021-08-26 | 2021-11-26 | 大连海事大学 | Three-degree-of-freedom offshore gallery bridge device with motion compensation capability |
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