CN210732491U

CN210732491U - Vertical plate mounting and carrying manipulator equipment

Info

Publication number: CN210732491U
Application number: CN201921105393.7U
Authority: CN
Inventors: 俞国辉
Original assignee: Intelligent Building Equipment Co Ltd
Current assignee: Intelligent Building Equipment Co Ltd
Priority date: 2019-07-12
Filing date: 2019-07-12
Publication date: 2020-06-12
Anticipated expiration: 2029-07-12
Also published as: WO2021007884A1

Abstract

The utility model provides a vertical plate mounting and carrying manipulator device, which comprises a base, a supporting frame with a fixed position at the rear part of the upper end of the base, two vertical rods rotatably mounted at the front part of the upper end of the base, a reinforcing rod with a fixed position at the middle part between the two vertical rods, an electric push rod I fixed inside the supporting frame, a cylinder body of the electric push rod I hinged with the supporting frame, a piston rod of the electric push rod I hinged with the middle position at the rear end of the reinforcing rod, a horizontal rod with a fixed position at the upper part between the two vertical rods, a precise ball screw rotatably mounted at the lower end of the horizontal rod, a bearing block mounted at the annular side end of the precise ball screw, a vacuum sucker frame rotatably mounted at the front end of the bearing block through a bearing, an output shaft fixed at the lower end of the precise ball, the working efficiency is improved, the cost is saved, and the accuracy of the hoisting position is improved.

Description

Vertical plate mounting and carrying manipulator equipment

Technical Field

The utility model relates to a panel transportation field especially relates to a vertical panel mounting transport manipulator equipment.

Background

When various boards such as a partition and indoor and outdoor marble are installed, the partition boards are generally transported and installed by using a lifting rope sling or a manual suction cup. The manual sucker consumes much time for carrying and installing the plate, and a large amount of physical power and manpower are required to be consumed in the installation process, so that the cost is high, and accidents are easy to happen; and the plates are installed by adopting the lifting rope sling, and the operations of manual adjustment, secondary transportation and the like are often needed due to inaccurate hoisting position, tedious sling loading and unloading, limited places and the like.

Therefore, it is necessary to provide a vertical plate installation and transportation robot apparatus to solve the above technical problems.

SUMMERY OF THE UTILITY MODEL

The utility model provides a vertical panel installation transport manipulator equipment has solved manual sucking disc transport installation panel consuming time many, consumeing a large amount of physical power and manpower, with high costs and easy accident, hoist and mount position inaccuracy, need the problem of operations such as manual regulation and secondary transport.

In order to solve the technical problems, the utility model provides a vertical plate mounting and carrying manipulator device, which comprises a base, a supporting frame is fixed at the rear part of the upper end of the base, two vertical rods are rotatably mounted at the front part of the upper end of the base, a reinforcing rod is fixed at the middle part between the two vertical rods, a first electric push rod is fixed in the supporting frame, a cylinder body of the first electric push rod is hinged with the supporting frame, a piston rod of the first electric push rod is hinged with the middle position of the rear end of the reinforcing rod, a cross rod is fixed at the upper part between the two vertical rods, a precise ball screw is rotatably mounted at the lower end of the cross rod, a bearing block is mounted at the annular side end of the precise ball screw, a vacuum chuck frame is rotatably mounted at the front end of the bearing block through a bearing, the vacuum chuck frame is arranged at the, and a worm gear speed reducing motor is fixed at the lower end of the output shaft.

Preferably, the base includes bottom plate, electric putter two and backup pad, the equal fixed universal wheel in bottom plate lower extreme four corners border position, the horizontal installation guide rail slide in bottom plate upper end, the inside slidable mounting slider of guide rail slide is one, slider one is fixed at the backup pad lower extreme, electric putter two is equipped with two, two the electric putter two symmetrical installs about the bottom plate both ends and the two cylinder body of electric putter is articulated with the bottom plate, two the piston rod that electric putter two symmetrical was installed at both ends and electric putter two about the backup pad is articulated with the backup pad, montant and braced frame are all installed in the backup pad upper end.

Preferably, the rotating seat is installed at the upper end of the base and is connected with the vertical rod through a rotating shaft.

Preferably, the front ends of the two vertical rods are both fixed with guide rails, the four corner positions at the rear end of the vacuum chuck frame are both provided with a second sliding block, and the two sliding blocks are arranged on one guide rail in a matching mode.

Preferably, the worm gear speed reduction motor comprises a brake motor and a worm gear speed reducer, the worm gear speed reducer is fixed at the lower end of the output shaft, the side end of the worm gear speed reducer is fixedly connected with the brake motor, and the brake motor is fixed at the side end of one of the support frames.

Preferably, the cross bar is connected with a precision ball screw through a bearing.

Preferably, the precision ball screw is connected with the output shaft through a coupler.

Preferably, the vacuum chuck frame includes the support frame and evenly installs six rubber suction cups at the support frame front end, the inside fixed mounting of braced frame has battery, vacuum pump, vacuum energy storage jar and control panel, the vacuum pump is connected with the vacuum energy storage jar through connecting pipe one, the vacuum energy storage jar is connected with six rubber suction cups respectively through connecting pipe two, even manage one and even manage two and all install the solenoid valve, control panel's inside is provided with control button, and control button's quantity is multiunit, multiunit control button respectively with brake motor, electric putter one, electric putter two and with solenoid valve electric connection, battery and control panel electric connection.

Preferably, a remote control receiver electrically connected with a remote controller is arranged on one side of the control panel.

Preferably, one side of the supporting frame, which is far away from the vertical rod, is provided with a climbing step and a handrail.

Compared with the prior art, the utility model provides a vertical panel installation transport manipulator equipment has following beneficial effect:

the utility model provides a vertical panel installation transport manipulator equipment realizes adjusting the every single move angle of vacuum chuck frame through the removal of an electric putter piston rod, drives accurate ball screw through the brake motor and rotates, and then realizes highly adjusting vacuum chuck frame to be convenient for install and carry vertical panel, and the operation required time is short, has improved work efficiency, has saved the cost, and has improved the accuracy of hoist and mount position.

Drawings

Fig. 1 is a schematic structural view of a preferred embodiment of a vertical plate mounting and transporting robot apparatus provided in the present invention;

FIG. 2 is a side view of the vertical panel installation handling robot apparatus shown in FIG. 1;

FIG. 3 is a schematic view of the first operating state of the vertical panel installation and handling robot apparatus of FIG. 1;

fig. 4 is a schematic view of a second operating state of the vertical plate material mounting/conveying robot apparatus shown in fig. 1.

Reference numbers in the figures: 1. the device comprises a supporting frame, 2 parts of a vertical rod, 3 parts of a brake motor, 4 parts of a worm gear reducer, 5 parts of a base, 6 parts of an output shaft, 7 parts of a precision ball screw, 8 parts of a vacuum chuck frame, 9 parts of a bearing block, 10 parts of a cross rod, 11 parts of an electric push rod I and 12 parts of a storage battery, 13 parts of a vacuum pump, 14 parts of a vacuum energy storage tank, 15 parts of a control panel, a 51-bottom plate, a 52-electric push rod II and a 53-supporting plate.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and embodiments.

Referring to fig. 1, fig. 2, fig. 3 and fig. 4, fig. 1 is a schematic view of a vertical plate installation and transportation robot apparatus, fig. 2 is a side view, fig. 3 is a schematic view of a first working state, and fig. 4 is a schematic view of a second working state. A vertical plate mounting and carrying manipulator device comprises a base 5, a supporting frame 1 is fixed at the rear part of the upper end of the base 5, two vertical rods 2 are rotatably mounted at the front part of the upper end of the base 5, a reinforcing rod 21 is fixed at the middle part between the two vertical rods 2, an electric push rod I11 is fixed in the supporting frame 1, a cylinder body of the electric push rod I11 is hinged with the supporting frame 1, a piston rod of the electric push rod I11 is hinged with the middle part of the rear end of the reinforcing rod 21, a cross rod 10 is fixed at the upper part between the two vertical rods 2, a precise ball screw 7 is rotatably mounted at the lower end of the cross rod 10, a bearing block 9 is mounted at the annular side end of the precise ball screw 7 through a ball screw pair, a vacuum sucker frame 8 is rotatably mounted at the front end of the bearing block 9 through a bearing, so that the sucker frame can rotate by 360 degrees, the worm gear speed reducing motor is fixed to 6 lower extremes of output shaft, realizes adjusting vacuum chuck frame 8's every single move angle through the removal of an electric putter 11 piston rod, drives accurate ball screw 7 through brake motor 3 and rotates, and then realizes adjusting vacuum chuck frame 8's height to be convenient for install and carry vertical panel, and the operation required time is short, has improved work efficiency, has saved the cost, has improved the accuracy of hoist and mount position.

The base 5 comprises a bottom plate 51, two electric push rods 52 and a supporting plate 53, universal wheels are fixed at the edge positions of four corners at the lower end of the bottom plate 51, guide rail slideways are transversely installed at the upper end of the bottom plate 51, first slide blocks are installed in the guide rail slideways in a sliding mode and fixed at the lower end of the supporting plate 53, two electric push rods 52 are arranged on the left end and the right end of the bottom plate 51 symmetrically, cylinder bodies of the electric push rods 52 are hinged with the bottom plate 51, two electric push rods are installed on the left end and the right end of the supporting plate 53 symmetrically, piston rods of the electric push rods 52 are hinged with the supporting plate 53, a vertical rod 2 and a supporting frame 1 are installed at the upper end of the supporting plate 53, the first slide blocks are matched with the guide rail slideways to enable the supporting plate 53 and the bottom plate 51 to move, the universal wheel is convenient for the utility model discloses a remove.

The seat is rotated in the installation of 5 upper ends of base, rotates the seat and is connected with montant 2 through the pivot, rotates the rotation that seat and pivot are convenient for montant 2 and base 5 and is connected.

The guide rails are fixed at the front ends of the two vertical rods 2, the second sliding blocks are installed at the four corner positions of the rear end of the vacuum sucker frame 8, the two sliding blocks are installed on one guide rail in a matched mode, and when the vacuum sucker frame 8 moves up and down, the second sliding blocks can move along the guide rails, so that the guiding function is achieved.

The worm and gear speed reducing motor comprises a brake motor 3 and a worm and gear speed reducer 4, the worm and gear speed reducer 4 is fixed at the lower end of an output shaft 6, the side end of the worm and gear speed reducer 4 is fixedly connected with the brake motor 3, the brake motor 3 is fixed on the side end of one of the supporting frames 1, namely, an electromagnetic brake is additionally arranged at the tail of the motor, when the motor is electrified, the electromagnetic brake is also electrified and attracted, at the moment, the electromagnetic brake does not brake the motor, when the motor is powered off, the electromagnetic brake is also powered off, the electromagnetic brake brakes the motor under the action of a spring to prevent the plate from bearing and sliding down, the use safety is improved, and the worm and gear speed reducer 4 is convenient for transmitting the rotation.

The cross rod 10 is connected with the precision ball screw 7 through a bearing, and the bearing is convenient for the precision ball screw 7 to rotate.

The precision ball screw 7 is connected with the output shaft 6 through a coupler, and the coupler is convenient for connecting the output shaft 6 with the precision ball screw 7.

The vacuum sucker frame 8 comprises a support frame and six rubber suckers uniformly arranged at the front end of the support frame, a storage battery 12, a vacuum pump 13, a vacuum energy storage tank 14 and a control panel 15 are fixedly arranged in the support frame 1, the vacuum pump 13 is connected with the vacuum energy storage tank 14 through a first connecting pipe, the vacuum energy storage tank 14 is respectively connected with the six rubber suckers through a second connecting pipe, wherein a vacuum negative pressure tank 14 and an air compressor have opposite effects, but the principle is the same, namely, the atmospheric pressure in the tank is pumped through the vacuum pump 13 to enable the tank to reach negative pressure and store the negative pressure value, and then the vacuum sucker is connected with the rubber suckers, the negative pressure gas of the rubber suckers can adsorb plates, if the suckers adsorb the plates, the negative pressure gas in the vacuum negative pressure tank is slowly released, the vacuum pump 13 cannot work frequently, the vacuum pump 13 is automatically started when the negative pressure value, 13 when the work is stopped in case of failure, the vacuum negative pressure tank 14 plays the maximum role, the negative pressure gas in the vacuum negative pressure tank 14 can keep the adsorption plate material from falling off suddenly, so as to avoid accidents, generally speaking, the vacuum negative pressure tank is a square or cylindrical sealed empty tank without other structures, electromagnetic valves are arranged on the connecting pipe I and the connecting pipe II, a control button is arranged in the control panel 15, the number of the control buttons is multiple groups, the multiple groups of control buttons are respectively and electrically connected with the brake motor 3, the electric push rod I11, the electric push rod II 52 and the electromagnetic valve, the storage battery 12 is electrically connected with the control panel 15, the storage battery 12 is formed by connecting two 12V storage batteries in series, the device mainly supplies electric energy to the device so that the device can normally run, and the main energy supply objects are the brake motor 3, the electric push rod I11, the electric push rod II 52 and the electromagnetic valve.

Control panel 15 one side is equipped with the remote control receiver that is used for with remote controller electric connection, transmitter wireless connection on remote control receiver and the remote controller, brake motor 3, electric putter one 11, electric putter two 52 and each parts such as solenoid valve the switch operation button control also can carry out wireless control through the remote controller on control panel 15, can alone free operation, the cost that significantly reduces pays out.

One side that montant 2 was kept away from to braced frame 1 is equipped with step and handrail of ascending a height, and step and handrail of ascending a height are used for operating personnel to rise when the panel work piece exceeds the accurate installation of human high unable ground face panel work piece of standing, and personnel can go from three step of machinery self, increase the operating height and facilitate the installation operation again, and the handrail is according to human engineering angle design, makes things convenient for personnel to hold during the operation, better controls the orbit that the sucking disc adsorbs the work piece.

The utility model provides a vertical panel mounting transport manipulator equipment's theory of operation as follows: an operator starts the brake motor 3, the brake motor 3 drives the output shaft 6 to rotate through the worm gear reducer 4, and further drives the precision ball screw 7 to rotate, because the vacuum chuck frame 8 is connected with the bearing block 9 through the ball screw pair, the vacuum chuck frame 8 can be driven to move upwards or downwards by the rotation of the precise ball screw 7, the vacuum chuck frame 8 is adjusted to a proper height, then the plate is absorbed and fixed by the vacuum suction disc frame 8, then the brake motor 3 is operated again to drive the vacuum suction disc frame 8 and the plate to move to a proper height, then an electric push rod I11 is operated, the electric push rod I11 works to drive the vertical rod 2 to rotate around a rotating seat connected with the base 5, and then drive vacuum chuck frame 8 and panel and rotate to the realization is adjusted the every single move angle of panel, the installation and the transport of the follow-up panel of being convenient for.

can carry out accurate control to the height and the angle of panel to improve the precision of carrying and installing to panel, not needing operating personnel to carry out the secondary, improved work efficiency, saved the cost, and improved the accuracy of hoist and mount position.

The above is only the embodiment of the present invention, not limiting the scope of the present invention, all the equivalent structures or equivalent processes of the present invention can be used in other related technical fields, directly or indirectly, or in the same way as the present invention.

Claims

1. The utility model provides a vertical panel installation transport manipulator equipment which characterized in that: the vacuum suction device comprises a base (5), a supporting frame (1) is fixed at the rear part of the upper end of the base (5), two vertical rods (2) are rotatably installed at the front part of the upper end of the base (5), a reinforcing rod (21) is fixed at the middle part between the two vertical rods (2), an electric push rod (11) is fixed inside the supporting frame (1), a cylinder body of the electric push rod (11) is hinged with the supporting frame (1), a piston rod of the electric push rod (11) is hinged with the middle position of the rear end of the reinforcing rod (21), a cross rod (10) is fixed at the upper part between the two vertical rods (2), a precision ball screw (7) is rotatably installed at the lower end of the cross rod (10), a bearing block (9) is installed at the annular side end of the precision ball screw (7), a vacuum suction disc frame (8) is rotatably installed at the front end of the bearing block (9), and the vacuum suction disc frame (8) is, an output shaft (6) is fixed at the lower end of the precision ball screw (7), and a worm gear speed reducing motor is fixed at the lower end of the output shaft (6).

2. The vertical panel installation handling robot apparatus of claim 1, wherein: base (5) are including bottom plate (51), electric putter two (52) and backup pad (53), bottom plate (51) lower extreme four corners border position all fixes the universal wheel, bottom plate (51) upper end transverse installation guide rail slide, the inside slidable mounting slider of guide rail slide is one, slider one is fixed at backup pad (53) lower extreme, electric putter two (52) are equipped with two, two the cylinder body that both ends and electric putter two (52) were installed about bottom plate (51) to electric putter two (52) symmetry is articulated with bottom plate (51), two the piston rod that both ends and electric putter two (52) were installed to electric putter two (52) symmetry is articulated with backup pad (53) about backup pad (53), montant (2) and braced frame (1) are all installed in backup pad (53) upper end.

3. The vertical panel installation handling robot apparatus of claim 1, wherein: the upper end of the base (5) is provided with a rotating seat, and the rotating seat is connected with the vertical rod (2) through a rotating shaft.

4. The vertical panel installation handling robot apparatus of claim 1, wherein: two equal fixed guide rail in montant (2) front end, all install slider two in four corner positions of vacuum chuck frame (8) rear end, two the cooperation of slider two is installed on a guide rail.

5. The vertical panel installation handling robot apparatus of claim 1, wherein: the worm and gear speed reducing motor comprises a brake motor (3) and a worm and gear speed reducer (4), the worm and gear speed reducer (4) is fixed at the lower end of an output shaft (6), the side end of the worm and gear speed reducer (4) is fixedly connected with the brake motor (3), and the brake motor (3) is fixed on the side end of one of the supporting frames (1).

6. The vertical panel installation handling robot apparatus of claim 1, wherein: the cross rod (10) is connected with the precision ball screw (7) through a bearing.

7. The vertical panel installation handling robot apparatus of claim 1, wherein: and the precision ball screw (7) is connected with the output shaft (6) through a coupler.

8. The vertical panel installation handling robot apparatus of claim 1, wherein: vacuum chuck frame (8) include the support frame and evenly install six rubber suction cups at the support frame front end, braced frame (1) inside fixed mounting has battery (12), vacuum pump (13), vacuum energy storage jar (14) and control panel (15), vacuum pump (13) are connected with vacuum energy storage jar (14) through even managing one, vacuum energy storage jar (14) are connected with six rubber suction cups respectively through even managing two, even manage one and even manage two and all install the solenoid valve, the inside of control panel (15) is provided with control button, and control button's quantity is multiunit, multiunit control button respectively with brake motor (3), electric putter one (11), electric putter two (52) and with solenoid valve electric connection, battery (12) and control panel (15) electric connection.

9. The vertical panel installation handling robot apparatus of claim 8, wherein: and a remote control receiver electrically connected with a remote controller is arranged on one side of the control panel (15).

10. The vertical panel installation handling robot apparatus of claim 1, wherein: one side of the supporting frame (1) far away from the vertical rod (2) is provided with a climbing step and a handrail.