CN208152588U - A kind of curtain wall indoor location Autonomous Mobile Robot device - Google Patents
A kind of curtain wall indoor location Autonomous Mobile Robot device Download PDFInfo
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- CN208152588U CN208152588U CN201820258807.9U CN201820258807U CN208152588U CN 208152588 U CN208152588 U CN 208152588U CN 201820258807 U CN201820258807 U CN 201820258807U CN 208152588 U CN208152588 U CN 208152588U
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- large arm
- component
- curtain wall
- hydraulically extensible
- mobile robot
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Abstract
The utility model discloses a kind of curtain wall indoor location Autonomous Mobile Robot device, which includes snatch mechanism and supporting mechanism；Supporting mechanism includes crawler travel component and hydraulically extensible support leg device, and snatch mechanism is disposed with from front to back：Sucker fixed frame, attitude-adjusting system component, hydraulically extensible large arm and large arm plane internal rotation component；Crawler travel component is connect by large arm plane internal rotation component with the rear end of hydraulically extensible large arm, so that hydraulically extensible large arm is along Plane Rotation where large arm plane internal rotation component；Sucker fixed frame is connect by gesture correcting member with the front end of hydraulically extensible large arm, so that gesture correcting member drives sucker fixed frame to do various dimensions adjusting, several vacuum chucks are provided on sucker fixed frame.Technical solution provided by the utility model installs curtain wall by remote control indoors, improves the safety of construction, and can be realized various dimensions adjusting by cooperation between mechanism, guarantees the installation quality of curtain wall.
Description
Technical field
The utility model belongs to construction engineering technical field, is related to a kind of curtain wall indoor location Autonomous Mobile Robot dress
It sets, is primarily adapted for use in the indoor location of curtain wall panel, be particularly suitable for the plate installation of embedded type unitized curtain wall.
Background technique
Curtain wall industry development is rapid in recent years, and the installation of curtain wall panel is mainly completed on the outside of main structure, on the one hand by
Main structure construction progress is affected, and another aspect construction personnel faces that side operation, lifting has certain peace outside panel room
Full hidden danger；Especially partition-type cell curtain wall, unit plate are embedded between upper and lower level floor, the adjustable space above plate
Very narrow, conventional outdoor mounted technology is unable to complete installation.
This just needs a kind of curtain wall mounting technique of innovation to solve panel outdoor mounted problem encountered and realization
The installation of embedded unit plate.
Utility model content
The purpose of this utility model is a kind of curtain wall indoor location autonomous type moving machine provided in view of the above technical problems
Device people's device, the indoor location of curtain wall panel is realized by the mobile robot being placed on indoor floor, to reduce
Outdoor mounted is easy to happen the risk of falling from high altitude, while solving the problems, such as that embedded plate conventional measure cannot achieve installation.
The technical solution of the utility model
In order to solve the above technical problems, a kind of curtain wall indoor location Autonomous Mobile Robot provided by the utility model,
It includes snatch mechanism and supporting mechanism, and the snatch mechanism is arranged on the supporting mechanism top；The supporting mechanism packet
Crawler travel component is included, the snatch mechanism is disposed with from front to back：Sucker fixed frame, hydraulic is stretched gesture correcting member
Contracting large arm and large arm plane internal rotation component；The crawler travel component by the large arm plane internal rotation component with it is described
The rear end of hydraulically extensible large arm connects, so that the hydraulically extensible large arm is along plane rotation where the large arm plane internal rotation component
Turn；The sucker fixed frame is connect by the gesture correcting member with the front end of the hydraulically extensible large arm, so that the appearance
State adjustment component drives the sucker fixed frame to do various dimensions adjusting, is provided with several vacuum chucks on the sucker fixed frame.
Further, the snatch mechanism, which is additionally provided with, spins upside down in component, left and right pivot angle component and suction cup carrier plane
Rotary part；The left and right pivot angle component is connect with the hydraulically extensible large arm by detachable pin, described to spin upside down portion
Part is made of four rod structures, and is driven by large arm telescopic oil cylinder, to spin upside down the flip-flop movement of component described in realization；The left side
The downside for spinning upside down component is arranged in right pivot angle component, to spin upside down the left and right translational motion of component described in realization.
Further, the front end of the left and right pivot angle component is arranged in the suction cup carrier plane internal rotation component, is used for
The suction cup carrier plane internal rotation component drives the sucker fixed frame to rotate freely.
Further, the maximum overturning amplitude for spinning upside down component is 135 °.
Further, the full swing angle of the left and right pivot angle component is ± 15 °.
Further, the top of the hydraulically extensible large arm is provided with hydraulic wireline winch, the lower part of the hydraulically extensible large arm
It is provided with large arm amplitude oil cylinder, to realize the stretching motion of the hydraulically extensible large arm.
Further, the quadrangle of the crawler travel component is provided with hydraulically extensible supporting leg, after crawler travel component
End is provided with clump weight.
Further, the curtain wall indoor location Autonomous Mobile Robot is remotely controlled end setting by wireless remote control
There is monitoring information display system, is used for the state of real-time monitoring vacuum chuck and hydraulically extensible large arm.
Further, the rear end of the large arm plane internal rotation component and the hydraulically extensible large arm passes through detachable pin
Connection.
Simultaneously disclosed herein as well is a kind of curtain wall indoor location Autonomous Mobile Robot construction method, specifically include
Following steps：
The modules of curtain wall indoor location Autonomous Mobile Robot are transported to installation and floor and assembled by S1, according to
The position of mounting plate determines robot stand；
S2, by adjusting hydraulically extensible large arm and gesture correcting member, by sucker fixed frame adjust to plate to be installed
Substantially parallel position；
S3, extend hydraulically extensible large arm to its preceding terminal sucker fixed frame on vacuum chuck close to plate to be installed table
Face starts vacuum chuck, completes the absorption for treating installation plate；
S4, it is by large arm telescopic oil cylinder, large arm amplitude oil cylinder, large arm plane internal rotation component that hydraulically extensible large arm is mobile
It is adjusted as far as possible to plate position to be installed, and by the plate that front end is adsorbed to close to installation site；
S5 is finely adjusted gesture correcting member by spinning upside down component and left and right pivot angle component, it is ensured that plate to be installed
Block is located in the same plane of position to be installed；
Plate to be installed is accurately placed in installation site by S6 by horizontal, HeiFin gesture correcting member,
And it is fixed；
S7 discharges the pressure between vacuum chuck and plate, completes the installation of plate, repeating the above steps, it is next to carry out
The installation of plate.
A kind of curtain wall indoor location Autonomous Mobile Robot device provided by the utility model, it is structurally reasonable, have
Following technical effect：
（1）The application use crawler-type traveling mode, reduce the load to ground, at the same may be implemented 20 ° with
Interior climbing；
（2）The hydraulically extensible supporting leg of the application greatly improves the job stability of robot, while also improving machine
The snatch ability of device people；
（3）The flexible large arm of the application and the rotating mechanism for being fixed on large arm front end have the regulating power of 8 dimensions（Greatly
Revolution of arm, large arm be flexible, large arm luffing, front end or so pivot angle, spins upside down, moves horizontally, vertically moving, front end rotation）, can
Flexibly to complete curtain wall plate installation；
（4）The application uses wireless remote control technology, so as to the close convenience of the operation of robot, while machine has also been enlarged
The scope of application of people；
（5）Curtain wall indoor location Autonomous Mobile Robot modules take pin to connect, and can be convenient and efficiently tear open
It unloads, convenient for transhipment of the robot between different floors.
Detailed description of the invention
It will be apparent and more hold by made detailed description, the above-mentioned advantage of the utility model in conjunction with the following drawings
Readily understood, these attached drawings are only schematical, are not intended to limit the utility model, wherein：
Fig. 1 is a kind of perspective view of curtain wall indoor location Autonomous Mobile Robot described in the utility model；
Fig. 2 is a kind of main view of curtain wall indoor location Autonomous Mobile Robot described in the utility model；
Fig. 3 is the left view of Fig. 2；
Fig. 4 is the top view of Fig. 2.
In attached drawing, component representated by each label is as follows：
1. vacuum chuck；2. sucker fixed frame；3. gesture correcting member；4. large arm telescopic oil cylinder；5. hydraulic wireline winch；6. matching
Pouring weight；7. hydraulically extensible supporting leg；8. crawler travel component；9. suction cup carrier plane internal rotation component；10. spinning upside down component
It sets；11. hydraulically extensible large arm；12. detachable pin；13. or so pivot angle component；14. large arm amplitude oil cylinder；15. large arm plane
Interior rotary part.
Specific embodiment
Combined with specific embodiments below and attached drawing, to a kind of curtain wall indoor location Autonomous Mobile Robot of the utility model
Device is described in detail.
The embodiment recorded herein is the specific specific embodiment of the utility model, for illustrating the utility model
Design, be it is explanatory and illustrative, should not be construed as the limit to the utility model embodiment and the scope of the utility model
System.In addition to the embodiment recorded herein, those skilled in the art can also be public based on the claim of this application book and specification institute
For the content opened using obvious other technical solutions, these technical solutions include using doing to the embodiment recorded herein
The technical solution of any obvious substitutions and modifications out.
The attached drawing of this specification is schematic diagram, aids in illustrating the design of the utility model, it is schematically indicated each section
Shape and its correlation.It note that for the ease of clearly showing the structure of each component of the utility model embodiment, respectively
It is not drawn according to identical ratio between attached drawing.Identical reference marker is for indicating identical part.
Fig. 1 to Fig. 4 is the related signal of herein described curtain wall indoor location Autonomous Mobile Robot and construction method
Figure.
A kind of structural schematic diagram of curtain wall indoor location Autonomous Mobile Robot, as shown in Figure 1, it specifically includes snatch
Mechanism and supporting mechanism, the snatch mechanism are arranged on the supporting mechanism top；The supporting mechanism includes crawler travel
Component 8, the snatch mechanism are disposed with from front to back：Sucker fixed frame 2, gesture correcting member 3, hydraulically extensible large arm 11
And large arm plane internal rotation component 15；The crawler travel component 8 by the large arm plane internal rotation component 15 with it is described
The rear end of hydraulically extensible large arm 11 connects, so that the hydraulically extensible large arm 11 is where the large arm plane internal rotation component 15
Plane Rotation；The sucker fixed frame 2 is connect by the gesture correcting member 3 with the front end of the hydraulically extensible large arm 11,
So that the gesture correcting member 3 drives the sucker fixed frame 2 to do various dimensions adjusting, it is provided on the sucker fixed frame 2
Several vacuum chucks 1.
The application is designed using crawler-type traveling, improves the mobile energy of curtain wall indoor location Autonomous Mobile Robot
Power, the climbing being especially that by within 20 °, while can effectively dispersing apparatus to the pressure on ground.
The snatch mechanism, which is additionally provided with, spins upside down component 10, left and right pivot angle component 13 and suction cup carrier plane internal rotation portion
Part 9, as shown in Figure 2；The left and right pivot angle component 13 is connect with the hydraulically extensible large arm 11 by detachable pin 12, described
It spins upside down component 10 to be made of four rod structures, and is driven by large arm telescopic oil cylinder 4, to spin upside down component 10 described in realization
Flip-flop movement；The downside for spinning upside down component 10 is arranged in the left and right pivot angle component 13, to spin upside down described in realization
The left and right translational motion of component 10, Fig. 3 are the left views of Fig. 2.
The front end of the left and right pivot angle component 13 is arranged in the suction cup carrier plane internal rotation component 9, is used for the suction
Plate rail plane internal rotation component 9 drives the sucker fixed frame 2 to rotate freely.The maximum overturning width for spinning upside down component 10
Degree is 135 °, and the full swing angle of the left and right pivot angle component 13 is ± 15 °；The top of the hydraulically extensible large arm 11 is arranged
There is hydraulic wireline winch 5, the lower part of the hydraulically extensible large arm 11 is provided with large arm amplitude oil cylinder 14, to realize that the hydraulically extensible is big
The stretching motion of arm 11；To realize that the sucker fixed frame 2 of 11 end of hydraulically extensible large arm is moved horizontally and vertically moved.
In the application, curtain wall indoor location Autonomous Mobile Robot has the regulating power of various dimensions, can be with large arm
Revolution, large arm be flexible, large arm luffing, front end or so pivot angle, spins upside down, moves horizontally, vertically moving and front end rotation）, energy
Enough flexible curtain wall plates of completing are installed, and guarantee the precision of curtain wall plate installation.
The quadrangle of the crawler travel component 8 is provided with hydraulically extensible supporting leg 7, the rear end setting of crawler travel component 8
There is clump weight 6.In the application, hydraulically extensible supporting leg 7 is mounted in equipment, it, can by controlling four groups of hydraulically extensible oils
So that supporting leg is stretched out 700mm, the stability of robot greatly improved.In use, hydraulically extensible supporting leg 7 is extended downwardly and is contacted to earth,
Vehicle body is jacked up, the major part of equipment and its weight bearing is made（Or all）Weight is supported by supporting leg, to keep equipment steady, is prevented
Equipment is toppled, and mitigates the load of vehicle frame；Using finishing, hydraulically extensible supporting leg 7 is upwards collected through collection, liftoff to have enough height
Degree, to ensure safety of walking.Four hydraulically extensible supporting legs 7 press height in uneven ground use with locking protection automatically
Degree difference is leveled.
The curtain wall indoor location Autonomous Mobile Robot is remotely controlled end and is provided with monitoring information by wireless remote control
Display system is used for the state of real-time monitoring vacuum chuck 1 and hydraulically extensible large arm 11.Robot uses wireless control system
System, construction personnel can control robot by manipulation Digiplex and complete various movements.And wireless remote control may be implemented
Wireless control controls the speed of robot motion according to the speed of operation handle on manipulation remote controler, while on remote controler also
It is provided with display panel, not only can intuitively show the current action state of robot, but also can show vacuum chuck pressure
The status data of force snesor and large arm torque sensor is realized and is monitored to the dynamic of robotary.
The large arm plane internal rotation component 15 and the rear end of the hydraulically extensible large arm 11 are connected by detachable pin 12
It connects.The application uses detachable design, facilitates robot in the transhipment of different floor gaps.Pin is all made of between modules
Connection, hydraulic oil pipe and circuit controling line facilitate overhauling for robot also using buckle to connection-peg.
The utility model additionally provides a kind of curtain wall indoor location Autonomous Mobile Robot construction method simultaneously, specific
Include the following steps：
The modules of curtain wall indoor location Autonomous Mobile Robot are transported to installation and floor and assembled by S1, according to
The position of mounting plate determines robot stand；
S2, by adjusting hydraulically extensible large arm 11 and gesture correcting member 3, by sucker fixed frame 2 adjust to it is to be installed
The substantially parallel position of plate；
S3 extends the vacuum chuck 1 in hydraulically extensible large arm 11 to its preceding terminal sucker fixed frame 2 close to plate to be installed
Surface starts vacuum chuck 1, completes the absorption for treating installation plate；
S4 is big by hydraulically extensible by large arm telescopic oil cylinder 4, large arm amplitude oil cylinder 14, large arm plane internal rotation component 15
Arm 11 is moved to plate position to be installed, and the plate that front end is adsorbed is adjusted as far as possible to close to installation site；
S5 is finely adjusted gesture correcting member 3 by spinning upside down component 10 and left and right pivot angle component 13, it is ensured that wait pacify
Loading board block is located in the same plane of position to be installed；
Plate to be installed is accurately placed in installation site by S6 by horizontal, HeiFin gesture correcting member 3,
And it is fixed；
S7 discharges the pressure between vacuum chuck 1 and plate, completes the installation of plate, repeating the above steps, it is next to carry out
The installation of a plate.
Compared with the prior art the shortcomings that and deficiency, a kind of curtain wall indoor location autonomous type provided by the utility model are mobile
Robot device completes the snatch to installation plate by the robot being placed on indoor floor, then passes through its various dimensions
Regulating power complete the in place of plate, realize the indoor location of curtain wall panel, to solve conventional curtain wall outdoor construction
It is affected by main structure construction progress, and the problems such as construction personnel faces side operation, Hoisting Security risk is high outside panel room；Especially
It is for partition-type cell curtain wall, since unit plate is embedded between upper and lower level floor, the adjustable space above plate
Very narrow, conventional outdoor mounted technology is unable to complete installation.
The utility model is not limited to above embodiment, anyone can obtain other under the enlightenment of the utility model
Various forms of products, however, make any variation in its shape or structure, it is all with identical or similar to the present application
Technical solution, all fall within the protection scope of the utility model.
Claims (9)
1. a kind of curtain wall indoor location Autonomous Mobile Robot device, it is characterised in that：Including snatch mechanism and support machine
Structure, the snatch mechanism are arranged on the supporting mechanism top；The supporting mechanism includes crawler travel component（8）, described to grab
Mechanism is lifted to be disposed with from front to back：Sucker fixed frame（2）, gesture correcting member（3）, hydraulically extensible large arm（11）And it is big
Arm plane internal rotation component（15）；The crawler travel component（8）Pass through the large arm plane internal rotation component（15）With it is described
Hydraulically extensible large arm（11）Rear end connection so that the hydraulically extensible large arm（11）Along the large arm plane internal rotation component
（15）Place Plane Rotation；The sucker fixed frame（2）Pass through the gesture correcting member（3）With the hydraulically extensible large arm
（11）Front end connection so that the gesture correcting member（3）Drive the sucker fixed frame（2）Various dimensions adjusting is done, it is described
Sucker fixed frame（2）On be provided with several vacuum chucks（1）.
2. curtain wall indoor location Autonomous Mobile Robot device according to claim 1, which is characterized in that the snatch machine
Structure, which is additionally provided with, spins upside down component（10）, left and right pivot angle component（13）And suction cup carrier plane internal rotation component（9）；The left and right
Pivot angle component（13）With the hydraulically extensible large arm（11）Pass through detachable pin（12）Connection, it is described to spin upside down component（10）
It is made of four rod structures, and by large arm telescopic oil cylinder（4）Driving, to spin upside down component described in realization（10）Flip-flop movement；
The left and right pivot angle component（13）It is arranged and spins upside down component described（10）Downside, with realize described in spin upside down component
（10）Left and right translational motion.
3. curtain wall indoor location Autonomous Mobile Robot device according to claim 2, which is characterized in that the suction cup carrier
Plane internal rotation component（9）It is arranged in the left and right pivot angle component（13）Front end, be used for the suction cup carrier plane internal rotation
Component（9）Drive the sucker fixed frame（2）It rotates freely.
4. curtain wall indoor location Autonomous Mobile Robot device according to claim 2, which is characterized in that described to turn over up and down
Rotation member（10）Maximum overturning amplitude be 135 °.
5. curtain wall indoor location Autonomous Mobile Robot device according to claim 2, which is characterized in that the left and right pendulum
Corner assembly（13）Full swing angle be ± 15 °.
6. curtain wall indoor location Autonomous Mobile Robot device according to claim 1, which is characterized in that described hydraulic to stretch
Contracting large arm（11）Top be provided with hydraulic wireline winch（5）, the hydraulically extensible large arm（11）Lower part be provided with large arm luffing oil
Cylinder（14）, to realize the hydraulically extensible large arm（11）Stretching motion.
7. curtain wall indoor location Autonomous Mobile Robot device according to claim 1, which is characterized in that the crawler belt row
Walk component（8）Quadrangle be provided with hydraulically extensible supporting leg（7）, crawler travel component（8）Rear end be provided with clump weight（6）.
8. curtain wall indoor location Autonomous Mobile Robot device according to claim 1, which is characterized in that the curtain wall room
Interior installation Autonomous Mobile Robot is remotely controlled end and is provided with monitoring information display system, be used for reality by wireless remote control
When monitor vacuum chuck（1）And hydraulically extensible large arm（11）State.
9. curtain wall indoor location Autonomous Mobile Robot device according to claim 1, which is characterized in that the large arm is flat
Face interior rotary part（15）With the hydraulically extensible large arm（11）Rear end pass through detachable pin（12）Connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820258807.9U CN208152588U (en) | 2018-02-14 | 2018-02-14 | A kind of curtain wall indoor location Autonomous Mobile Robot device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820258807.9U CN208152588U (en) | 2018-02-14 | 2018-02-14 | A kind of curtain wall indoor location Autonomous Mobile Robot device |
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| CN208152588U true CN208152588U (en) | 2018-11-27 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108149938A (en) * | 2018-02-14 | 2018-06-12 | 中建深圳装饰有限公司 | A kind of curtain wall indoor location Autonomous Mobile Robot device and construction method |
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2018
- 2018-02-14 CN CN201820258807.9U patent/CN208152588U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108149938A (en) * | 2018-02-14 | 2018-06-12 | 中建深圳装饰有限公司 | A kind of curtain wall indoor location Autonomous Mobile Robot device and construction method |
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