CN208575835U - A kind of glass multidimensional mounting robot - Google Patents
A kind of glass multidimensional mounting robot Download PDFInfo
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- CN208575835U CN208575835U CN201820674316.2U CN201820674316U CN208575835U CN 208575835 U CN208575835 U CN 208575835U CN 201820674316 U CN201820674316 U CN 201820674316U CN 208575835 U CN208575835 U CN 208575835U
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Abstract
The utility model discloses a kind of glass multidimensional mounting robot, including various dimensions installation head, telescopic mechanical arm and rotation walking chassis；The various dimensions installation head is mounted in the telescopic mechanical arm；The telescopic mechanical arm is mounted in the rotation walking chassis；The various dimensions installation head includes sliding up and down unit, left-right rotation unit, overturning unit, rotating machine sets peace telephone-moving group；The utility model design is upper scientific and reasonable compact-sized, and the movement in 8 directions at least may be implemented, and solves the problems, such as various dimensions, multi-angle installation and carries, makes full use of coarse adjustment, finely tunes, and reaches that installation, handling process be efficient, flexible effect.It realizes the mechanization and assisted automated operation of the crawl of large glass plate, carrying, installation, improves large-sized sheet material installation quality, production efficiency and benefit, substantially save labour, reduce labor intensity, save construction cost.
Description
Technical field
The utility model relates to auxiliary robots and building decorative plates to automate mounting technique field, especially a kind of glass
Glass multidimensional mounting robot.
Background technique
Plate originates from the solid wood board of carpenter, as making furniture or other living facilities, development in science and technology now
The definition of plate very extensively, has the plate of unlike material in Furniture manufacture, construction industry, processing industry etc..
Glass board material relies on outstanding translucency, and filters 70% or more ultraviolet light, heat resistance, winter resistance, corrosion-resistant, exhausted
The characteristics such as edge, dimensionally stable easy processing have one seat in construction timber.In whole building work progress, upfitter
Phase accounts for about the 40%-50% of whole durations, and in repairs profession, the installation of wall fitting plate is important component part, wall
The installation of body decoration, glass curtain wall, ceiling etc. belongs to plate installation.In the construction process, not only need scaffold etc. auxiliary
Facility is helped, and is even more there are enough installers to operate, causes installation process difficulty and labor intensity very big, makes
At claim for eot, or even the problems such as will appear accident.
Contemporary science and technology development is maked rapid progress, and robot replaces manually being increasingly becoming a kind of trend.Mechanical arm is a kind of energy
Certain holding functions of imitation manpower and arm are industrial machines to grab, carry the automatic pilot of object or operational instrument
One important branch of Xie Shou robot.In developed country, by manipulator be applied to construction and decoration industry obtained it is certain at
Achievement reviews China in this respect, still in the more weak stage.Currently, the manipulator applied in construction and decoration field,
Although have adapt to multi-angle installation, carry manipulator, be not met by solve angle it is more, it is multi-faceted installation, remove
The problem of fortune.
Utility model content
In order to overcome the disadvantages mentioned above of the prior art, the purpose of the utility model is to provide a kind of glass multidimensional to install machine
People.
The technical scheme adopted by the utility model to solve the technical problem is as follows: a kind of glass multidimensional mounting robot,
In: including various dimensions installation head, telescopic mechanical arm and rotation walking chassis；The various dimensions installation head is mounted on described stretch
On contracting mechanical arm；The telescopic mechanical arm is mounted in the rotation walking chassis；The various dimensions installation head includes up and down
Slide unit, left-right rotation unit, overturning unit, rotating machine sets peace telephone-moving group.
As further improvement of the utility model: it is described slide up and down unit include lifting frame plate, upper lower skateboard, up and down
Connecting plate before sliding oil cylinder slides up and down frame gusset, slides up and down axle bed, slide up and down axis, slide up and down Upper shaft sleeve, upper downslide
Moving axis set limit plate, linear bearing seat slide up and down oil cylinder, slide up and down connecting pin under oil cylinder, sliding up and down and connect on oil cylinder
Pin；The axle bed that slides up and down is mounted on crane board bottom portion；The Upper shaft sleeve that slides up and down is mounted on the crane
At the top of plate；It is described slide up and down axle sleeve limit plate and be mounted on described slide up and down on Upper shaft sleeve and connect with the lifting frame plate；
The oil cylinder bottom end that slides up and down is connect by sliding up and down under oil cylinder connecting pin with crane board bottom portion；The upper downslide
Dynamic oil cylinder top by slide up and down on oil cylinder connecting pin with it is described slide up and down oil cylinder before connecting plate connect；It is described to slide up and down
Connecting plate and linear bearing seat are mounted on the upper lower skateboard before oil cylinder；The axis that slides up and down is mounted on described slide up and down
It Upper shaft sleeve, linear bearing seat and slides up and down between axle bed.
As further improvement of the utility model: the translation unit includes translation seat board, translation axis fixing plate, translation
Frame fixed plate, translation shaft, translated linear bearing holder (housing, cover), translation oil cylinder, translation oil cylinder piston rod, translation oil cylinder axle bed, translation oil cylinder
Head connecting plate.Telescopic arm connecting plate, telescopic arm connecting plate stiffener plate；The translation shaft is mounted on the translated linear bearing holder (housing, cover)
On, translation shaft both ends are connect with the translation axis fixing plate respectively；The translated linear bearing holder (housing, cover) is separately mounted to the translation
Frame fixed plate upper and lower ends；The translation oil cylinder is mounted in the middle part of the pan carriage fixed plate by translation oil cylinder axle bed；It is described
Translation oil cylinder piston rod is mounted on the translation oil cylinder head connecting plate by translation oil cylinder head bolt；The translation oil cylinder head connects
Fishplate bar is mounted on the translation axis fixing plate；The translation axis fixing plate is mounted on the telescopic arm connecting plate；It is described to stretch
Contracting arm connecting plate stiffener plate is separately connected translation axis fixing plate and telescopic arm connecting plate.
As further improvement of the utility model: the overturning unit include overturning frame plate, overturning frame plate stiffener plate,
Returning face plate, overturning connecting plate, upset connecting rod connecting tube, upset connecting rod oil cylinder connecting plate, upset connecting rod stiffener plate, overturning oil cylinder
Front axle, overturning oil cylinder axis, overturning oil cylinder mounting plate, overturning oil cylinder installation square tube, overturning oil cylinder mounting plate stiffener plate, overturning oil
Cylinder, overturning oil cylinder axle bed；The overturning frame plate is connect by overturning pivot pin with the translation axis fixing plate；On the overturning pivot pin
Equipped with overturning axle sleeve；The overturning board ends by overturning push rod fixed pin respectively with overturning frame plate, overturning one end of the connection board and
The connection of upset connecting rod connecting tube；The overturning connecting plate other end is fixed by the overturning push rod fixed pin with the translation shaft
Plate connection；The overturning push rod fixed pin is equipped with overturning putter sleeve；The upset connecting rod oil cylinder connecting plate is mounted on described
In the middle part of upset connecting rod connecting tube；The upset connecting rod stiffener plate is separately connected the upset connecting rod connecting tube and upset connecting rod oil
Cylinder connecting plate；Pass through axis connection overturning oil cylinder before overturning oil cylinder on the upset connecting rod oil cylinder connecting plate；The overturning oil cylinder is logical
Overturning oil cylinder axis is crossed to be mounted on overturning oil cylinder mounting plate；The overturning oil cylinder mounting plate is mounted on overturning oil cylinder installation square tube
On；Overturning oil cylinder installation square tube both ends are connect with the translation axis fixing plate respectively；The overturning oil cylinder mounting plate is reinforced
Gusset is separately connected overturning oil cylinder installation square tube and overturning oil cylinder mounting plate.
As further improvement of the utility model: the rotating machine sets include suction cup carrier rotating disk, suction cup carrier rotating pad
Circle, rotary shaft, suction cup carrier connecting plate and suction cup carrier；The suction cup carrier rotating disk passes through suction cup carrier rotatable washer and the upper downslide
Plate connection；The suction cup carrier rotating disk is connect by suction cup carrier rotatable washer, suction cup carrier connecting plate and rotary shaft with suction cup carrier；Institute
It states and air inlet block and air inlet block pressur plate is installed in rotary shaft；The air inlet block is fixed on the suction cup carrier by the air inlet block pressur plate
On connecting plate；The suction cup carrier includes girder square tube, secondary girder bar, auxiliary girder bar and multiple suckers；The girder square tube, secondary girder
Sucker sliding sleeve square tube is respectively arranged on bar and auxiliary girder bar；Be provided in the sucker sliding sleeve square tube sucker rod set, sucking disk bar and
Cylindroid helical-coil compression spring；The sucker is mounted on sucking disk bar by sucking disk bar and puts on；The cylindroid helical-coil compression spring setting
Between the sucker rod set and sucking disk bar.
As further improvement of the utility model: the left-right rotation unit include slide up and down frame rotating disk, up and down
Sliding rack shaft, deflection Upper shaft sleeve；The frame rotating disk that slides up and down is mounted on rollover stand board bottom portion；It is described to slide up and down
Frame shaft is mounted at the top of overturning frame plate；The frame shaft that slides up and down passes through the deflection Upper shaft sleeve connection lifting frame plate.
As further improvement of the utility model: the telescopic mechanical arm includes that the telescopic mechanical arm includes fixed beam
Plate, vertical beam plate, fixed beam flap, lifting cylinder, lifting cylinder connecting rod and lifting cylinder mounting plate；The fixed beam slab is hinged
On the fixed beam flap；The fixed beam flap holds with the vertical beam board shaft and connect；Described lifting cylinder one end is logical
It crosses lifting cylinder connecting rod and is held with the vertical beam board shaft and is connect, the lifting cylinder other end passes through lifting cylinder mounting plate and the fixation
Beam slab connection；The fixed beam intralamellar part is separately installed with the first telescopic movable arm, the second telescopic movable arm and from inside to outside
Three telescopic movable arms；The fixed beam slab top is separately installed with the flexible oil of the first telescopic oil cylinder, the second telescopic oil cylinder and third
Cylinder；First telescopic oil cylinder is connect with the first telescopic movable arm；Second telescopic oil cylinder and the described second flexible work
Swing arm connection；The third telescopic oil cylinder is connect with the third telescopic movable arm.
As further improvement of the utility model: being also equipped with hoist engine, long angular transducer on the fixed beam slab
And pressure sensor.
As further improvement of the utility model: the rotation walking chassis includes revolution driving chassis, revolution driving
Turntable, crawler body, valve member case, engine case, device case, rotation seat board and support leg；The revolution driving chassis with it is described
Crawler body is connected by chassis connecting plate；The revolution driving turntable is mounted on the revolution driving chassis；The device
Case is mounted on the revolution driving turntable by the rotation seat board；The engine case is separately mounted to the valve member case
On the crawler body rear and front end.
As further improvement of the utility model: the device case side wall is equipped with Torque Control display, the device
PLC integrated circuit control mainboard and wireless receiver are installed inside part case；The rotation seat board is additionally provided with clump weight；It is described
Valve member control panel is provided on valve member case；Petrol engine is installed in the engine case.
As further improvement of the utility model: the robot of the installation glass board material further includes vacuum system and liquid
Pressure system；The vacuum system and hydraulic system are connect with the petrol engine respectively；The vacuum system passes through vacuum tube
Road and solenoid valve constitute vacuum loop and provide suction to the sucker；The hydraulic system passes through PVC oil pipe and solenoid valve structure
It gives at hydraulic circuit and respectively and slides up and down oil cylinder, translation oil cylinder, overturning oil cylinder, lifting cylinder, support leg, the first flexible oil
Cylinder, the second telescopic oil cylinder and third telescopic oil cylinder provide driving power.
It, can be with compared with prior art, the utility model has the beneficial effects that scientific and reasonable compact-sized on overall design
It realizes the installation of more perspective and orientation, carry function, specific implementation is: the upper of head entirety is realized by telescopic mechanical arm
It rises, decline, stretching, extension and retraction movement, telescopic mechanical arm set there are three telescopic oil cylinder, can specifically be selected according to real work situation
Collapsing length is selected, achievees the purpose that multi-stage expansion；The facing upward of head, movement of bowing are realized by overturning unit；By sliding up and down machine
Group, left-right rotation unit, rotating machine sets peace telephone-moving group realize the vertical up and down direction of suction cup carrier, left and right sides turn, 360 ° of revolutions and
The movement in 8 directions at least may be implemented in the movement of left and right translation, the utility model, solves various dimensions, multi-angle installation and removes
The problem of fortune makes full use of coarse adjustment, fine tuning, reaches that installation, handling process be efficient, flexible effect.Realize large glass plate
Crawl, carrying, installation mechanization and assisted automated operation, improve large-sized sheet material installation quality, production efficiency and benefit,
Labour is substantially saved, labor intensity is reduced, saves construction cost.It does not need to set up scaffold and dismounting ancillary equipment, construction
Simple process, construction environment optimization, working security are high.
Detailed description of the invention
Fig. 1 is the utility model right view；
Fig. 2 is the utility model schematic perspective view；
Fig. 3 is the utility model left view；
Fig. 4 is the utility model main view；
Fig. 5 is that the utility model various dimensions install head and suction cup carrier structural schematic diagram；
Fig. 6 is that the utility model various dimensions install handpiece structure schematic diagram；
Fig. 7 is that the utility model various dimensions install handpiece structure schematic diagram；
Fig. 8 is the utility model wireless receiver structural schematic diagram.
Specific embodiment
Now in conjunction with Detailed description of the invention, the present invention will be further described with embodiment: it is to be appreciated that if the utility model is real
It applies and relates to directionality instruction (such as up, down, left, right, before and after, top, end ...) in example, then directionality indicates only
For explaining in relative positional relationship, the motion conditions etc. under a certain particular pose (as shown in the picture) between each component, if
When the particular pose changes, then directionality instruction also correspondingly changes correspondingly.In addition, if in the utility model embodiment
The description of " first ", " second " etc. is related to, then the description for being somebody's turn to do " first ", " second " etc. is used for description purposes only, and cannot be managed
Solution is its relative importance of indication or suggestion or the quantity for implicitly indicating indicated technical characteristic.Define as a result, " the
One ", the feature of " second " can explicitly or implicitly include at least one of the features.
Such as Fig. 1 to Fig. 8, a kind of glass multidimensional mounting robot, in which: including various dimensions installation head 100, flexible machinery
Arm 200 and rotation walking chassis 300；The various dimensions installation head 100 is mounted in the telescopic mechanical arm 200；It is described to stretch
Contracting mechanical arm 200 is mounted in the rotation walking chassis 300；The various dimensions installation head includes sliding up and down unit, a left side
Right-hand rotation motivation group, overturning unit, rotating machine sets peace telephone-moving group.
It is described slide up and down unit include lifting frame plate 101, upper lower skateboard 102, slide up and down connecting plate 143 before oil cylinder,
Frame gusset is slided up and down, axle bed 105 is slided up and down, slides up and down axis 107, slide up and down Upper shaft sleeve 109, slide up and down axle sleeve limit
Position plate 108, linear bearing seat 142 slide up and down oil cylinder 117, slide up and down connecting pin under oil cylinder, sliding up and down and connect on oil cylinder
Pin；The axle bed 105 that slides up and down is mounted on the crane board bottom 101；The Upper shaft sleeve 109 that slides up and down is mounted on institute
State 101 top of lifting frame plate；It is described slide up and down axle sleeve limit plate 108 be mounted on it is described slide up and down on Upper shaft sleeve 109 and with
The lifting frame plate 101 connects；117 bottom end of oil cylinder that slides up and down is by sliding up and down connecting pin and the lifting under oil cylinder
The connection of 101 bottom of frame plate；117 top of oil cylinder that slides up and down is slided up and down by sliding up and down on oil cylinder connecting pin with described
Connecting plate 143 connects before oil cylinder；It is described slide up and down connecting plate 143 and linear bearing seat 142 before oil cylinder be mounted on it is described up and down
On slide plate；It is described slide up and down axis 107 and be mounted on described slide up and down Upper shaft sleeve 109, linear bearing seat 142 and slide up and down axis
Between seat 105.Power is provided by the oil cylinder that slides up and down, the axis that slides up and down is sliding up and down axle bed, sliding up and down
Linear motion, realization various dimensions fitting machine head drive the function of suction cup carrier up and down motion up and down between Upper shaft sleeve and linear bearing seat
Energy.
The translation unit includes translation seat board 120, translation axis fixing plate 121, pan carriage fixed plate 144, translation shaft
118, translated linear bearing holder (housing, cover) 145, translation oil cylinder 115, translation oil cylinder piston rod, translation oil cylinder axle bed 131, translation oil cylinder head connect
Fishplate bar 146.Telescopic arm connecting plate 119, telescopic arm connecting plate stiffener plate；The translation shaft 118 is mounted on the translated linear
On bearing holder (housing, cover) 131,118 both ends of translation shaft are connect with the translation axis fixing plate 121 respectively；The translated linear bearing holder (housing, cover) 145
It is separately mounted to 144 upper and lower ends of pan carriage fixed plate；The translation oil cylinder 115 is installed by translation oil cylinder axle bed 131
At 144 middle part of pan carriage fixed plate；The translation oil cylinder piston rod is mounted on the translation by translation oil cylinder head bolt
On oil cylinder head connecting plate 146；The translation oil cylinder head connecting plate 146 is mounted on the translation axis fixing plate 121；The translation
Axis fixing plate 121 is mounted on the telescopic arm connecting plate 119；The telescopic arm connecting plate stiffener plate is separately connected translation shaft
Fixed plate 121 and telescopic arm connecting plate 119.Power is provided by the translation oil cylinder, the translation shaft is in translated linear bearing
Translational motion is done between set and translation oil cylinder axle bed, realizes that various dimensions fitting machine head drives the function of suction cup carrier or so translational motion
Energy.
The overturning unit include overturning frame plate 123, overturning frame plate stiffener plate, returning face plate 125, overturning connecting plate 127,
Upset connecting rod connecting tube 110, upset connecting rod oil cylinder connecting plate 126, upset connecting rod stiffener plate, overturning oil cylinder front axle 147, overturning
Oil cylinder 129, overturning oil cylinder mounting plate 130, overturning oil cylinder install square tube 122, overturning oil cylinder mounting plate stiffener plate, overturning oil cylinder
Axle bed 128；The overturning frame plate 123 is connect by overturning pivot pin 114 with the translation axis fixing plate 121；The overturning pivot pin
114 are equipped with overturning axle sleeve；125 both ends of returning face plate by overturning push rod fixed pin 111 respectively with overturning frame plate 123, turn over
Turn 127 one end of connecting plate and upset connecting rod connecting tube 110 connects；127 other end of overturning connecting plate is pushed away by the overturning
Bar fixed pin 111 is connect with the translation axis fixing plate 121；The overturning push rod fixed pin 111 is equipped with overturning putter sleeve；
The upset connecting rod oil cylinder connecting plate 126 is mounted on 110 middle part of upset connecting rod connecting tube；The upset connecting rod stiffener plate
It is separately connected the upset connecting rod connecting tube and upset connecting rod oil cylinder connecting plate；Lead on the upset connecting rod oil cylinder connecting plate 126
It crosses overturning oil cylinder front axle 147 and connects overturning oil cylinder 129；The overturning oil cylinder 129 is mounted on overturning oil cylinder by overturning oil cylinder axis
On mounting plate 130；The overturning oil cylinder mounting plate 130 is mounted in overturning oil cylinder installation square tube 122；The overturning oil cylinder installation
122 both ends of square tube are connect with the translation axis fixing plate 121 respectively；The overturning oil cylinder mounting plate stiffener plate, which is separately connected, to be turned over
Turn oil cylinder installation square tube and overturning oil cylinder mounting plate 130.Power is provided by the overturning oil cylinder, returning face plate, overturning is driven to connect
Fishplate bar rotation, realize realize various dimensions fitting machine head drive suction cup carrier face upward, the function for movement of bowing.
The rotating machine sets include suction cup carrier rotating disk 124, suction cup carrier rotatable washer, rotary shaft, suction cup carrier connecting plate 132
And suction cup carrier；The suction cup carrier rotating disk 124 is connect by suction cup carrier rotatable washer with the upper lower skateboard 102；The sucker
Frame rotating disk 124 is connect by suction cup carrier rotatable washer, suction cup carrier connecting plate 132 and rotary shaft with suction cup carrier；The rotary shaft
On air inlet block 140 and air inlet block pressur plate 141 are installed；The air inlet block 140 is fixed on the suction by the air inlet block pressur plate 141
On plate rail connecting plate 132；The suction cup carrier includes girder square tube 134, secondary girder bar 135, auxiliary girder bar 133 and multiple suckers 139；
Sucker sliding sleeve square tube 138 is respectively arranged on the girder square tube 134, secondary girder bar 135 and auxiliary girder bar 133；The sucker is sliding
138 are provided with sucker rod set 148, sucking disk bar 136 and cylindroid helical-coil compression spring 137 in set square tube；The sucker 139 passes through suction
Disk bar 136 is mounted in sucker rod set 148；The cylindroid helical-coil compression spring 137 is set to the sucker rod set 148 and sucker
Between bar 137.The rotating machine sets realize that various dimensions fitting machine head drives the function of 360 ° of suction cup carrier rotations.
The left-right rotation unit includes sliding up and down frame rotating disk 116, sliding up and down frame shaft 149, deflection Upper shaft sleeve；
The frame rotating disk peace 116 that slides up and down is mounted in 123 bottom of overturning frame plate；The frame shaft 149 that slides up and down is mounted on
Overturn 123 top of frame plate；The frame shaft 149 that slides up and down passes through the deflection Upper shaft sleeve connection lifting frame plate 101.By upper
The driving of lower carriage rotating disk and frame shaft is slided up and down, realizes the function that various dimensions fitting machine head drives suction cup carrier left and right sides to turn
Energy.
The telescopic mechanical arm includes that the telescopic mechanical arm includes fixed beam slab 201, vertical beam plate 203, fixed beam hinge
Plate 202, lifting cylinder 205, lifting cylinder connecting rod 204 and lifting cylinder mounting plate 216；The fixed beam slab 201 is hinged on institute
It states on fixed beam flap 202；The fixed beam flap 202 holds with the vertical beam board shaft and connect；The lifting cylinder 20 1
End, which is held by lifting cylinder connecting rod 204 with the vertical beam board shaft, to be connect, and 204 other end of lifting cylinder passes through lifting cylinder mounting plate
216 connect with the fixed beam slab 201；The first telescopic movable arm is separately installed with inside the fixed beam slab 201 from inside to outside
212, the second telescopic movable arm 213 and third telescopic movable arm 214；201 top of fixed beam slab is separately installed with first and stretches
Contracting oil cylinder 208, the second telescopic oil cylinder 207 and third telescopic oil cylinder 206；First telescopic oil cylinder 208 stretches with described first
Lever arm 212 connects；Second telescopic oil cylinder 207 is connect with the second telescopic movable arm 213；The third telescopic oil cylinder
206 connect with the third telescopic movable arm 206.Up and down, stretching, extension and the contracting of head entirety are realized by telescopic mechanical arm
Backhaul dynamic, telescopic mechanical arm is set there are three telescopic oil cylinder, can be specifically chosen collapsing length according to real work situation, be reached more
The flexible purpose of grade.
Hoist engine 209, long angular transducer 215 and pressure sensor are also equipped on the fixed beam slab.This is practical new
The various dimensions installation head of type can be dismantled, and loop wheel machine head or other tools are replaced in the telescopic mechanical arm, pass through the volume
It raises machine and realizes loop wheel machine or the function of other tools by robot；The long angular transducer is for detecting stretching for telescopic mechanical arm
The angle of contracting length and up and down；The pressure sensor is used to detect the weight of telescopic mechanical arm load.
The rotation walking chassis includes revolution driving chassis 304, revolution driving turntable 311, crawler body 309, valve member
Case 307, engine case 302, device case 308, rotation seat board 306 and support leg 305；The revolution driving chassis 304 with it is described
Crawler body 309 is connected by chassis connecting plate；The revolution driving turntable 311 is mounted on the revolution driving chassis 304；
The device case 308 is mounted on the revolution driving turntable 311 by the rotation seat board 306；The engine case 302 with
The valve member case 307 is separately mounted on 309 rear and front end of crawler body.Using crawler type power device, past can appoint
Meaning direction rotates and has certain cross-country ability, is suitable for various varying environments.
308 side wall of device case is equipped with Torque Control display 310, and the Torque Control display 310 is for showing
The load data for showing machine man-hour, when robot overload, Torque Control display can show wrong load information,
And connect alarm equipment alarm simultaneously robot stop working.PLC integrated circuit control mainboard is installed inside the device case
With wireless receiver 211；The rotation seat board 306 is additionally provided with clump weight 210；Valve member control plane is provided on the valve member case
Plate 301；The valve member control panel 301 is provided with operating stick and control button.Gasoline hair is installed in the engine case 302
Motivation 303.Wireless receiver 211 is used to receive the signal of Digiplex transmitting, and control information is transferred to the integrated electricity of PLC
Road control mainboard makes corresponding actions or movement according to the control information control robot of transmitting signal.
The vacuum system and hydraulic system are connect with the petrol engine respectively；The vacuum system passes through vacuum tube
Road and solenoid valve constitute vacuum loop and provide suction to the sucker；The hydraulic system passes through PVC oil pipe and solenoid valve structure
It gives at hydraulic circuit and respectively and slides up and down oil cylinder, translation oil cylinder, overturning oil cylinder, lifting cylinder, support leg, the first flexible oil
Cylinder, the second telescopic oil cylinder and third telescopic oil cylinder provide driving power.
Utility model works principle: startup power supply emits wireless signal, wireless receiving by external Digiplex
Device is used to receive the signal of Digiplex transmitting, and control information is transferred to PLC integrated circuit control mainboard, according to transmitting
The control information control robot of signal makes corresponding actions or movement, or whole by the operating stick control on valve member control panel
The movement or movement of a robot, petrol engine, which works, provides driving power to entire robot, and rotation walking chassis uses
Crawler type power device, robotically-driven traveling to working position, turning in the overturning unit of head setting is installed by various dimensions
Turn oil cylinder and power is provided, drive returning face plate and overturning connecting plate rotation, various dimensions fitting machine head drives suction cup carrier to realize to facing upward
Or the movement to nutation, the pitch angle of the head and suction cup carrier is adjusted convenient for the sucker in suction cup carrier and draws glass board material, is led to
Cross vacuum system give sucker provide suction, sucker draw glass board material after, by telescopic mechanical arm realize head entirety rising,
Decline, stretching, extension and retraction movement, telescopic mechanical arm are set there are three telescopic oil cylinder, can adjust telescopic machine according to real work situation
The collapsing length of tool arm adjusts glass board material to be installed to position to be installed, installs the upper of head by control various dimensions
Lower slider unit, left-right rotation unit, rotating machine sets peace telephone-moving group realize that the vertical up and down direction adjustment of suction cup carrier, left and right sides turn
The adjustment at least eight directions such as adjustment, rotation adjustment, left and right translation adjustment, glass board material to be installed is adjusted to optimal
Installation site is installed convenient for glass board material.It solves the problems, such as various dimensions, multi-angle installation and carries, make full use of coarse adjustment, micro-
It adjusts, reaches that installation, handling process be efficient, flexible effect.Realize the mechanization of the crawl of large glass plate, carrying, installation
With assisted automated operation, large-sized sheet material installation quality, production efficiency and benefit are improved, substantially saves labour, reduces labour
Intensity saves construction cost.It does not need to set up scaffold and dismounting ancillary equipment, construction technology is simple, and construction environment optimization is applied
Work is highly-safe.
In conclusion after those skilled in the art read the utility model file, skill according to the present utility model
Art scheme and technical concept are not necessarily to creative mental labour and make other various corresponding conversion schemes, and it is practical new to belong to this
The range that type is protected.
Claims (11)
1. a kind of glass multidimensional mounting robot, it is characterised in that: including various dimensions installation head, telescopic mechanical arm and rotation row
Walk chassis；The various dimensions installation head is mounted in the telescopic mechanical arm；The telescopic mechanical arm is mounted on the rotation
In walking chassis；The various dimensions installation head includes sliding up and down unit, left-right rotation unit, overturning unit, rotating machine sets
Peaceful telephone-moving group.
2. a kind of glass multidimensional mounting robot according to claim 1, it is characterised in that: described to slide up and down unit packet
Lifting frame plate, upper lower skateboard are included, connecting plate before oil cylinder is slided up and down, slides up and down frame gusset, slide up and down axle bed, slide up and down
Axis, slide up and down Upper shaft sleeve, slide up and down axle sleeve limit plate, linear bearing seat, slide up and down oil cylinder, slide up and down oil cylinder under connect
Outbound slides up and down connecting pin on oil cylinder；The axle bed that slides up and down is mounted on crane board bottom portion；It is described to slide up and down
Upper shaft sleeve is mounted at the top of the lifting frame plate；The axle sleeve limit plate that slides up and down is mounted on described slide up and down on Upper shaft sleeve
And it is connect with the lifting frame plate；The oil cylinder bottom end that slides up and down is by sliding up and down connecting pin and the crane under oil cylinder
The connection of board bottom portion；It is described slide up and down oil cylinder top by slide up and down on oil cylinder connecting pin with it is described slide up and down oil cylinder before connect
Fishplate bar connection；It is described to slide up and down connecting plate and linear bearing seat before oil cylinder and be mounted on the upper lower skateboard；The upper downslide
Moving axis slides up and down Upper shaft sleeve, linear bearing seat and slides up and down between axle bed described in being mounted on.
3. a kind of glass multidimensional mounting robot according to claim 2, it is characterised in that: the translation unit includes flat
Move seat board, translation axis fixing plate, pan carriage fixed plate, translation shaft, translated linear bearing holder (housing, cover), translation oil cylinder, translation oil cylinder piston
Bar, translation oil cylinder axle bed, translation oil cylinder head connecting plate, telescopic arm connecting plate, telescopic arm connecting plate stiffener plate；The translation shaft
It is mounted on the translated linear bearing holder (housing, cover), translation shaft both ends are connect with the translation axis fixing plate respectively；The translated linear
Bearing holder (housing, cover) is separately mounted to the pan carriage fixed plate upper and lower ends；The translation oil cylinder is mounted on institute by translation oil cylinder axle bed
It states in the middle part of pan carriage fixed plate；The translation oil cylinder piston rod is mounted on the translation oil cylinder head by translation oil cylinder head bolt and connects
On fishplate bar；The translation oil cylinder head connecting plate is mounted on the translation axis fixing plate；The translation axis fixing plate is mounted on institute
It states on telescopic arm connecting plate；The telescopic arm connecting plate stiffener plate is separately connected translation axis fixing plate and telescopic arm connecting plate.
4. a kind of glass multidimensional mounting robot according to claim 3, it is characterised in that: the overturning unit includes turning over
Turret plate, overturning frame plate stiffener plate, returning face plate, overturning connecting plate, upset connecting rod connecting tube, upset connecting rod oil cylinder connecting plate,
Upset connecting rod stiffener plate, overturning oil cylinder front axle, overturning oil cylinder axis, overturning oil cylinder mounting plate, overturning oil cylinder installation square tube, overturning
Oil cylinder mounting plate stiffener plate, overturning oil cylinder, overturning oil cylinder axle bed；The overturning frame plate passes through overturning pivot pin and the translation shaft
Fixed plate connection；The overturning pivot pin is equipped with overturning axle sleeve；The overturning board ends by overturning push rod fixed pin respectively with
Overturning frame plate, overturning one end of the connection board are connected with upset connecting rod connecting tube；The overturning connecting plate other end passes through the overturning
Push rod fixed pin is connect with the translation axis fixing plate；The overturning push rod fixed pin is equipped with overturning putter sleeve；It is described to turn over
Turn connecting rod oil cylinder connecting plate to be mounted in the middle part of the upset connecting rod connecting tube；The upset connecting rod stiffener plate is separately connected described
Upset connecting rod connecting tube and upset connecting rod oil cylinder connecting plate；Connected on the upset connecting rod oil cylinder connecting plate by overturning oil cylinder front axle
Connect overturning oil cylinder；The overturning oil cylinder is mounted on overturning oil cylinder mounting plate by overturning oil cylinder axis；The overturning oil cylinder installation
Plate is mounted in overturning oil cylinder installation square tube；Overturning oil cylinder installation square tube both ends connect with the translation axis fixing plate respectively
It connects；The overturning oil cylinder mounting plate stiffener plate is separately connected overturning oil cylinder installation square tube and overturning oil cylinder mounting plate.
5. a kind of glass multidimensional mounting robot according to claim 4, it is characterised in that: the rotating machine sets include inhaling
Plate rail rotating disk, suction cup carrier rotatable washer, rotary shaft, suction cup carrier connecting plate and suction cup carrier；The suction cup carrier rotating disk passes through suction
Plate rail rotatable washer is connect with the upper lower skateboard；The suction cup carrier rotating disk is connected by suction cup carrier rotatable washer, suction cup carrier
Plate and rotary shaft are connect with suction cup carrier；Air inlet block and air inlet block pressur plate are installed in the rotary shaft；The air inlet block pressur plate will
The air inlet block is fixed on the suction cup carrier connecting plate；The suction cup carrier includes girder square tube, secondary girder bar, auxiliary girder bar and more
A sucker；Sucker sliding sleeve square tube is respectively arranged on the girder square tube, secondary girder bar and auxiliary girder bar；The sucker sliding sleeve square tube
On be provided with sucker rod set, sucking disk bar and cylindroid helical-coil compression spring；The sucker is mounted on sucking disk bar by sucking disk bar and puts on；
The cylindroid helical-coil compression spring is set between the sucker rod set and sucking disk bar.
6. a kind of glass multidimensional mounting robot according to claim 4, it is characterised in that: the left-right rotation unit packet
It includes and slides up and down frame rotating disk, slides up and down frame shaft, deflection Upper shaft sleeve；The frame rotating disk that slides up and down is mounted on described turn over
Turret plate bottom；The frame shaft that slides up and down is mounted at the top of overturning frame plate；The frame shaft that slides up and down passes through in deflection
Axle sleeve connects the lifting frame plate.
7. a kind of glass multidimensional mounting robot according to claim 1, it is characterised in that: the telescopic mechanical arm includes
The telescopic mechanical arm includes fixed beam slab, vertical beam plate, fixed beam flap, lifting cylinder, lifting cylinder connecting rod and lifting oil
Cylinder mounting plate；The fixed beam slab is hinged on the fixed beam flap；The fixed beam flap and the vertical beam board shaft
Hold connection；Described lifting cylinder one end is held with the vertical beam board shaft by lifting cylinder connecting rod and is connect, and the lifting cylinder other end is logical
Lifting cylinder mounting plate is crossed to connect with the fixed beam slab；It is flexible that the fixed beam intralamellar part is separately installed with first from inside to outside
Lever arm, the second telescopic movable arm and third telescopic movable arm；The fixed beam slab top be separately installed with the first telescopic oil cylinder,
Second telescopic oil cylinder and third telescopic oil cylinder；First telescopic oil cylinder is connect with the first telescopic movable arm；Described second
Telescopic oil cylinder is connect with the second telescopic movable arm；The third telescopic oil cylinder is connect with the third telescopic movable arm.
8. a kind of glass multidimensional mounting robot according to claim 7, it is characterised in that: also pacify on the fixed beam slab
Equipped with hoist engine, long angular transducer and pressure sensor.
9. a kind of glass multidimensional mounting robot according to claim 5, it is characterised in that: the rotation walking chassis packet
Include revolution driving chassis, revolution driving turntable, crawler body, valve member case, engine case, device case, rotation seat board and support leg；
The revolution driving chassis is connect with the crawler body by chassis connecting plate；The revolution driving turntable is mounted on described return
Turn on driving chassis；The device case is mounted on the revolution driving turntable by the rotation seat board；The engine case
It is separately mounted on the crawler body rear and front end with the valve member case.
10. a kind of glass multidimensional mounting robot according to claim 9, it is characterised in that: the device case side wall peace
Equipped with Torque Control display, PLC integrated circuit control mainboard and wireless receiver are installed inside the device case；The rotation
Swivel base plate is additionally provided with clump weight；Valve member control panel is provided on the valve member case；Gasoline is installed in the engine case
Engine.
11. a kind of glass multidimensional mounting robot according to claim 10, it is characterised in that: further include vacuum system and
Hydraulic system；The vacuum system and hydraulic system are connect with the petrol engine respectively；The vacuum system passes through vacuum
Pipeline and solenoid valve constitute vacuum loop and provide suction to the sucker；The hydraulic system passes through PVC oil pipe and solenoid valve
Constitute hydraulic circuit and respectively to sliding up and down oil cylinder, translation oil cylinder, overturning oil cylinder, lifting cylinder, support leg, the first flexible oil
Cylinder, the second telescopic oil cylinder and third telescopic oil cylinder provide driving power.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820674316.2U CN208575835U (en) | 2018-05-08 | 2018-05-08 | A kind of glass multidimensional mounting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820674316.2U CN208575835U (en) | 2018-05-08 | 2018-05-08 | A kind of glass multidimensional mounting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208575835U true CN208575835U (en) | 2019-03-05 |
Family
ID=65507388
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820674316.2U Active CN208575835U (en) | 2018-05-08 | 2018-05-08 | A kind of glass multidimensional mounting robot |
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| Country | Link |
|---|---|
| CN (1) | CN208575835U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108453697A (en) * | 2018-05-08 | 2018-08-28 | 广州市柯西机械设备有限公司 | A kind of glass multidimensional mounting robot |
| EP4206111A1 (en) | 2021-12-31 | 2023-07-05 | Zhejiang Dingli Machinery Co., LTD. | Building material installation equipment with high flexibility |
-
2018
- 2018-05-08 CN CN201820674316.2U patent/CN208575835U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108453697A (en) * | 2018-05-08 | 2018-08-28 | 广州市柯西机械设备有限公司 | A kind of glass multidimensional mounting robot |
| EP4206111A1 (en) | 2021-12-31 | 2023-07-05 | Zhejiang Dingli Machinery Co., LTD. | Building material installation equipment with high flexibility |
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