CN209940296U - Automatic mold grabbing device of intelligent robot for building components - Google Patents
Automatic mold grabbing device of intelligent robot for building components Download PDFInfo
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- CN209940296U CN209940296U CN201920150519.6U CN201920150519U CN209940296U CN 209940296 U CN209940296 U CN 209940296U CN 201920150519 U CN201920150519 U CN 201920150519U CN 209940296 U CN209940296 U CN 209940296U
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Abstract
The utility model relates to the building field, in particular to an intelligent robot automatic grabbing device for building components, which comprises a walking module, a lifting module, a grabbing module and a control module, wherein the bottom end of the lifting module is movably connected with the grabbing module through a flexible connecting piece and is used for driving the grabbing module to move in the vertical direction, so that the grabbing module can automatically adjust the included angle relative to the horizontal direction to adapt to the grabbing part on the surface of the building component; the walking module is connected with the lifting module and can linearly move along the horizontal direction, and the control module is respectively connected with the walking module, the lifting module and the grabbing module through leads. The utility model has the advantages of reasonable design, be different from traditional bridge crane, greatly reduced mounting height and equipment dead weight, can snatch the mould on the production line automatically, realize snatching the intelligent automated control of action on the building element production line, reduced the inertia of snatching the in-process, reduced the mechanical wear between the equipment, improved production efficiency.
Description
Technical Field
The utility model belongs to the technical field of the building and specifically relates to an automatic mould device of grabbing of building element intelligent robot.
Background
The product size and the overall length of the existing concrete precast pile are generally more than 15 meters, the self mass of the existing concrete precast pile is larger than 6 tons, the overall size and the mass of a steel mould matched with a production line are correspondingly larger, the existing equipment for lifting the product or the steel mould is generally selected from a bridge crane, but the existing bridge crane has large volume and mass, the self mass of the bridge crane is generally about 30 tons, the required span of an installation workshop is more than 20 meters, the installation height of the bridge crane needs to be more than 7 meters, the structural bearing requirement of the installation workshop is high, the cost of the relevant equipment matched with the bridge crane is high, the overall equipment investment is large, the running speed of a cart of the bridge crane can be more than 100 meters per minute, the bridge crane needs to be started and braked frequently in the process of lifting the product or the steel mould, but the mechanical abrasion is serious because the self inertia is large, products or steel moulds lifted can also swing to a large extent, and products or steel moulds with large mass can generate large interaction force with equipment when swinging, so that the potential safety hazard is high; and because the bridge crane belongs to the special equipment, the installation, use and maintenance of the bridge crane must be carried out under the safety monitoring of relevant departments, the grabbing of the die by the bridge crane is mainly operated by an operator, the corresponding operator must hold the corresponding on-duty operation certificate of a special work, the technical proficiency, responsibility and personnel stability of the operator seriously restrict the production efficiency, the production safety and the product quality, and the bridge crane has high manufacturing cost and use cost, low operation complexity and efficiency and seriously restricts the production and operation of enterprises.
SUMMERY OF THE UTILITY MODEL
The utility model provides an automatic mould device of grabbing of building element intelligent robot, its structural design is reasonable, be different from traditional bridge crane, compare bridge crane, greatly reduced mounting height and equipment dead weight, can snatch the mould on the production line automatically, the intelligent automation who snatchs the action on realizing the building element production line, inertia in the snatching process has been reduced, mechanical wear between the equipment has been reduced, the potential safety hazard is effectively reduced, and bear the weight of the structure of factory building and frame and require to reduce, can correspondingly reduce installation use cost, the production efficiency is improved, the enterprise cost is practiced thrift, the problem that exists among the prior art is solved.
The utility model discloses a solve the technical scheme that above-mentioned technical problem adopted and be: an automatic mould device of grabbing of building element intelligent robot includes:
the bottom end of the lifting module is movably connected with the grabbing module through a flexible connecting piece and used for driving the grabbing module to move in the vertical direction, so that the grabbing module can automatically adjust an included angle relative to the horizontal direction to adapt to a grabbing part on the surface of the building component; the walking module is connected with the lifting module and can linearly move along the horizontal direction, and the control module is respectively connected with the walking module, the lifting module and the grabbing module through leads.
Preferably, the walking module comprises two rails horizontally arranged in the horizontal direction, walking units are arranged on the two rails and comprise walking beams in sliding fit with the rails, walking racks are arranged on the two rails, a walking gear is meshed with each walking rack and is connected with the walking beams, one or all walking gears are connected with the driving unit, and the driving unit is connected with the control module through a lead.
Preferably, a first limit switch and a second limit switch are arranged on the two tracks, the first limit switch and the second limit switch are respectively connected with the control module through leads, the first limit switch is used for detecting that the walking module moves to a first position, and the second limit switch is used for detecting that the walking module moves to a second position.
Preferably, the lifting module comprises a worm gear lead screw lifter, and the bottom end of a lead screw of the worm gear lead screw lifter is connected with the grabbing module through a flexible connecting piece.
Preferably, the lifting module comprises a hydraulic jack, the hydraulic jack is arranged in an inverted mode, and the movable end of the hydraulic jack is connected with the grabbing module through the flexible connecting piece.
Preferably, the lifting module is provided with a gravity sensor, and the gravity sensor is connected with the control module through a lead.
Preferably, the grabbing module can be an automatic clamp, a detection unit is arranged at the end part of the automatic clamp, the detection unit is connected with the control module through a lead, and the detection unit comprises a pressure sensor; or the detection unit comprises a proximity switch; or the detection unit comprises a limit switch.
Preferably, the robot comprises a human-computer interaction module, the human-computer interaction module comprises a voice recognition chip, and the voice recognition chip is connected with the control module through a wire.
Preferably, the drive unit comprises a motor, or the drive unit comprises a reduction motor.
Preferably, the flexible connecting piece comprises a ball head seat, a rod end of the ball head seat is connected with the lifting module, and a base of the ball head seat is connected with the grabbing module.
The utility model adopts the above structure beneficial effect be, its structural design is reasonable, be different from traditional bridge crane, compare bridge crane, greatly reduced mounting height and equipment dead weight, can snatch the mould on the production line automatically, realize snatching the intelligent automated control of action on the building element production line, the inertia of snatching the in-process has been reduced, mechanical wear between the equipment has been reduced, the potential safety hazard has effectively been reduced, and bear the weight of the requirement to the structure of factory building and frame and reduce, can correspondingly reduce installation use cost, and the production efficiency is improved, the enterprise cost is saved.
Drawings
Fig. 1 is a schematic sectional view of the present invention.
Fig. 2 is a schematic side view of the present invention.
Fig. 3 is a schematic flow chart of the mold gripping method of the present invention.
In the figure, 1, a walking module; 2. a lifting module; 3. a grabbing module; 4. a building component; 5. a detection unit; 6. a flexible connector; 7. a track; 8. a walking beam; 9. a traveling rack; 10. a traveling gear; 11. A drive unit; 12. a first limit switch; 13. a second limit switch; 14. a pedestal; 15. a roller; 16. A rotating shaft; 17. a slideway.
Detailed Description
In order to clearly illustrate the technical features of the present invention, the present invention is explained in detail by the following embodiments in combination with the accompanying drawings.
As shown in fig. 1-3, an automatic mold grabbing device of an intelligent robot for building components comprises:
the device comprises a walking module 1, a lifting module 2, a grabbing module 3 and a control module, wherein the bottom end of the lifting module 2 is movably connected with the grabbing module 3 through a flexible connecting piece 6 and is used for driving the grabbing module 3 to move in the vertical direction, so that the grabbing module 3 can automatically adjust an included angle relative to the horizontal direction to adapt to a grabbing part on the surface of a building component 4; the walking module 1 is connected with the lifting module 2 and can linearly move along the horizontal direction, and the control module is respectively connected with the walking module 1, the lifting module 2 and the grabbing module 3 through leads.
The control module can select the existing PLC controller, and the corresponding voice recognition chip can select the YQ5969 model.
The walking module 1 comprises two rails 7 horizontally arranged in the horizontal direction, walking units are arranged on the two rails 7 and comprise walking beams 8 in sliding fit with the rails 7, walking racks 9 are arranged on the two rails 7, walking gears 10 are meshed with each walking rack 9, the walking gears 10 are connected with the walking beams 8, one or all of the walking gears 10 are connected with a driving unit 11, and the driving unit 11 is connected with a control module through a lead.
In order to reduce the friction force of the walking beam 8 walking along the rail 7 and improve the stability and flexibility of the robot operation, the walking beam 8 is provided with a roller 15, the roller is arranged on a rotating shaft 16 between the driving unit 11 and the walking gear 9, and the rail 7 is provided with a slide 17 matched with the roller 15.
Be equipped with first limit switch 12 and second limit switch 13 on two tracks 7, first limit switch 12 and second limit switch 13 respectively through the wire with control module links to each other, first limit switch 12 is used for detecting walking module 1 removes to the first position, second limit switch 13 is used for detecting walking module 1 removes to the second position.
The lifting module 2 comprises a worm gear lead screw lifter, and the bottom end of a lead screw of the worm gear lead screw lifter is connected with the grabbing module 3 through a flexible connecting piece 6.
The lifting module 2 comprises a hydraulic jack, the hydraulic jack is arranged in an inverted mode, and the movable end of the hydraulic jack is connected with the grabbing module 3 through the flexible connecting piece 6.
And the lifting module is provided with a gravity sensor, and the gravity sensor is connected with the control module through a lead. After the grabbing module 3 displaces the building component 4 to a target position, the building component 4 is put down through the lifting module 2, the target position can be provided with a pedestal 14 according to production requirements, the pedestal 14 is used for bearing the building component 4, after the building component 4 is contacted with the pedestal 14, the gravity sensor can detect a signal and convey the signal to the control module to indicate that the building component 4 is in place, and at the moment, the grabbing module 3 is loosened to continue a subsequent operation process.
The grabbing module 3 can be an automatic clamp, a detection unit is arranged at the end part of the automatic clamp and is connected with the control module through a lead, and the detection unit comprises a pressure sensor; or the detection unit comprises a proximity switch; or the detection unit comprises a limit switch. According to the structural production characteristics of the concrete precast pile, an automatic clamp with a proper model is selected, belongs to the prior art, and can be directly selected from commercially available products.
The robot comprises a human-computer interaction module, the human-computer interaction module comprises a voice recognition chip, and the voice recognition chip is connected with the control module through a wire. The field operator can interact with the robot through voice and transmit corresponding commands, a voice recognition chip in the robot can quickly and accurately receive and process voice signals, and the control module sends instructions to the execution mechanism.
The drive unit 11 includes a motor, or the drive unit 11 includes a reduction motor.
The flexible connecting piece 6 comprises a ball head seat, the rod end of the ball head seat is connected with the lifting module 2, and the base of the ball head seat is connected with the grabbing module 3. When the lifting module 2 drives the grabbing module 3 to descend to the second height, the grabbing module 3 abuts against the surface of the building component 4, and when the surface of the building component 4 is uneven or has horizontal deviation, due to the design of the ball seat, the grabbing part of the grabbing module 3 can rotate correspondingly under the action of force abutting, so that the surface shape of the building component 4 is adapted to, and the building component 4 can be stably and firmly grabbed by the follow-up grabbing module 3.
One embodiment of the device is used according to the following steps:
s1: the control module sends an instruction to the walking module 1, and the walking module 1 stops after moving to a preset first position along the horizontal direction;
s2: the control module sends an instruction to the lifting module 2, the lifting module 2 drives the grabbing module 3 to descend from an initial first height to a second height position where the building component is located, and the lifting module 2 stops after the grabbing module 3 is in place;
s3: the control module sends an instruction to the grabbing module 3, the grabbing module 3 grabs the building component 4, and the lifting module 2 is movably connected with the grabbing module 3, so that the grabbing module 3 automatically adjusts an included angle relative to the horizontal direction to adapt to a grabbing part on the surface of the building component 4;
s4: the control module sends an instruction to the lifting module 2, and the lifting module 2 drives the grabbing module 3 and the building component 4 to ascend to a third height and then stops;
s5: the control module sends an instruction to the walking module 1, and the walking module 1 stops after moving to a preset second position along the horizontal direction;
s6: the control module sends an instruction to the lifting module 2, and the lifting module 2 drives the grabbing module 3 and the building component 4 to descend to a target position and then stops;
s7: the control module sends an instruction to the grabbing module 3, and the grabbing module 3 loosens the building component 4 to complete grabbing work of the building component 4;
s8: the control module sends an instruction to the lifting module 2, and the lifting module 2 drives the grabbing module 3 to ascend to an initial first height for standby;
the building element 4 comprises a precast concrete pile, the horizontal direction being substantially horizontal and being arranged vertically perpendicular to the axial direction of the precast concrete pile.
The height relationship among the first height, the second height and the third height is as follows: the second height is less than the third height and less than or equal to the first height.
The position of the second height is determined by providing the detection unit 5 at the bottom end of the gripping module 3, the detection unit 5 being configured to detect that the gripping module 3 reaches the gripping station of the building element 4 and send a signal to the control module to determine the position of the second height.
The third height is set according to the target position height of the building element 4, the third height being set in the control module to a height greater than the target position.
The above-mentioned specific embodiments can not be regarded as the restriction to the scope of protection of the utility model, to technical personnel in this technical field, it is right the utility model discloses any replacement improvement or transform that embodiment made all fall within the scope of protection of the utility model.
The parts of the present invention not described in detail are the known techniques of those skilled in the art.
Claims (10)
1. The utility model provides an automatic mould device of grabbing of building element intelligent robot which characterized in that includes:
the bottom end of the lifting module is movably connected with the grabbing module through a flexible connecting piece and used for driving the grabbing module to move in the vertical direction, so that the grabbing module can automatically adjust an included angle relative to the horizontal direction to adapt to a grabbing part on the surface of the building component; the walking module is connected with the lifting module and can linearly move along the horizontal direction, and the control module is respectively connected with the walking module, the lifting module and the grabbing module through leads.
2. The automatic mold grabbing device of the building component intelligent robot as claimed in claim 1, wherein the walking module comprises two rails horizontally arranged along a horizontal direction, walking units are arranged on the two rails, each walking unit comprises a walking beam slidably fitted on the corresponding rail, walking racks are arranged on the two rails, a walking gear is engaged on each walking rack, the walking gears are connected with the walking beams, one or all of the walking gears are connected with the driving unit, and the driving unit is connected with the control module through a lead.
3. The automatic mold grabbing device of the building component intelligent robot as claimed in claim 2, wherein a first limit switch and a second limit switch are arranged on the two rails, the first limit switch and the second limit switch are respectively connected with the control module through a lead, the first limit switch is used for detecting that the walking module moves to a first position, and the second limit switch is used for detecting that the walking module moves to a second position.
4. The automatic mold grabbing device of the building component intelligent robot as claimed in claim 3, wherein the lifting module comprises a worm screw elevator, and the bottom end of a screw of the worm screw elevator is connected with the grabbing module through a flexible connecting piece.
5. The automatic mold grabbing device for the intelligent robot for the building components as claimed in claim 3, wherein the lifting module comprises a hydraulic jack, the hydraulic jack is arranged in an inverted manner, and the movable end of the hydraulic jack is connected with the grabbing module through the flexible connecting piece.
6. The automatic mold grabbing device of the building component intelligent robot as claimed in claim 4 or 5, wherein a gravity sensor is arranged on the lifting module, and the gravity sensor is connected with the control module through a lead.
7. The automatic mold grabbing device of the building component intelligent robot as claimed in claim 6, wherein the grabbing module can be an automatic clamp, a detection unit is arranged at the end of the automatic clamp and connected with the control module through a lead, and the detection unit comprises a pressure sensor; or the detection unit comprises a proximity switch; or the detection unit comprises a limit switch.
8. The automatic mold grabbing device of the building component intelligent robot is characterized in that the robot comprises a human-computer interaction module, the human-computer interaction module comprises a voice recognition chip, and the voice recognition chip is connected with the control module through a lead.
9. The automatic mold grabbing device for the intelligent robot for the building components is claimed in claim 7, wherein the driving unit comprises a motor or the driving unit comprises a speed reduction motor.
10. The automatic building component robot mold grabbing device according to any one of claims 7 to 9, wherein the flexible connector comprises a ball socket, a rod end of the ball socket is connected with the lifting module, and a base of the ball socket is connected with the grabbing module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920150519.6U CN209940296U (en) | 2019-01-28 | 2019-01-28 | Automatic mold grabbing device of intelligent robot for building components |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920150519.6U CN209940296U (en) | 2019-01-28 | 2019-01-28 | Automatic mold grabbing device of intelligent robot for building components |
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| CN209940296U true CN209940296U (en) | 2020-01-14 |
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| CN201920150519.6U Active CN209940296U (en) | 2019-01-28 | 2019-01-28 | Automatic mold grabbing device of intelligent robot for building components |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109823967A (en) * | 2019-01-28 | 2019-05-31 | 南京钜力智能制造技术研究院有限公司 | A kind of building element intelligent robot grabs mould method and device automatically |
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2019
- 2019-01-28 CN CN201920150519.6U patent/CN209940296U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109823967A (en) * | 2019-01-28 | 2019-05-31 | 南京钜力智能制造技术研究院有限公司 | A kind of building element intelligent robot grabs mould method and device automatically |
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