CN212836778U - Manipulator is used in supplementary installation of high altitude curtain - Google Patents
Manipulator is used in supplementary installation of high altitude curtain Download PDFInfo
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- CN212836778U CN212836778U CN202021198340.7U CN202021198340U CN212836778U CN 212836778 U CN212836778 U CN 212836778U CN 202021198340 U CN202021198340 U CN 202021198340U CN 212836778 U CN212836778 U CN 212836778U
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Abstract
The utility model discloses a manipulator for auxiliary installation of a high-altitude curtain wall, which comprises a manipulator part, a supporting walking part and an automatic leveling part, wherein the lower end of the manipulator part is connected with the supporting walking part, and the supporting walking part is connected with the automatic leveling part; the manipulator part comprises a manipulator telescopic sleeve assembly, a tail end sucker assembly, a lifting assembly and a hydraulic control valve group, wherein the tail end sucker assembly is installed at one end of the manipulator telescopic sleeve assembly, and the lifting assembly is installed at the lower end of the manipulator telescopic sleeve assembly. The hydraulic auxiliary manipulator is adopted to realize the grabbing and carrying of the glass curtain wall, so that the labor intensity in the curtain wall construction process is effectively reduced; the installation is fixed convenient simple, has improved the operation efficiency of construction of curtain and can adjust the displacement of equipment counter weight in the curtain installation in real time, has improved the stability, the accuracy and the security of curtain installation.
Description
Technical Field
The utility model relates to a manipulator technical field especially relates to a manipulator is used in supplementary installation of high altitude curtain.
Background
In the building decoration industry, the construction and installation of curtain walls are very important and difficult works. With the development of economy, more and more high-rise buildings are built, the curtain wall of the high-rise building is generally larger in size and heavier in weight, and therefore greater difficulty and danger are increased for the construction and installation of the curtain wall.
At present, due to the lack of special automatic installation equipment or auxiliary installation equipment, the installation of the curtain wall mainly depends on simple hoisting equipment and the construction of a scaffold, and a large amount of staff are often needed for installation. In order to solve the problems of high labor intensity, low operation efficiency and the like of industrial personnel in the curtain wall construction process, some technical equipment for high-altitude curtain wall installation is being developed, for example, some manufacturers at home and abroad develop robots for assisting in installing curtain walls on the ground or on the floor, but the application can not cover the whole curtain wall construction surface, still only can a high-altitude operation hanging basket be used for lifting workers and the glass curtain walls to installation positions, then the workers manually complete the adjustment and installation of the curtain walls, and the operation efficiency can not be effectively improved, so that the equipment is really rarely put into and popularized to construction and production sites.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a manipulator for the auxiliary installation of a high-altitude curtain wall, which adopts a hydraulic auxiliary manipulator to realize the grabbing and carrying of the glass curtain wall and effectively reduce the labor intensity in the curtain wall construction process; the installation is fixed convenient simple, has improved the operation efficiency of construction of curtain and can adjust the displacement of equipment counter weight in the curtain installation in real time, has improved the stability, accuracy and the security of curtain installation, has solved the problem among the prior art.
In order to achieve the above object, the utility model provides a following technical scheme: a manipulator for auxiliary installation of a high-altitude curtain wall comprises a manipulator part, a supporting walking part and an automatic leveling part, wherein the lower end of the manipulator part is connected with the supporting walking part, and the supporting walking part is connected with the automatic leveling part; the manipulator component comprises a manipulator telescopic sleeve assembly, a tail end sucker assembly, a lifting assembly and a hydraulic control valve group, wherein the tail end sucker assembly is installed at one end of the manipulator telescopic sleeve assembly, and the lifting assembly is installed at the lower end of the manipulator telescopic sleeve assembly;
the supporting and traveling component comprises a large supporting plate, a driving side wheel set, a driven side wheel set, a width adjusting mechanism and a height adjusting mechanism, wherein the driving side wheel set is arranged on the left side of the large supporting plate, the driven side wheel set is arranged on the right side of the large supporting plate, the width adjusting mechanism is arranged in the middle of the large supporting plate, and the height adjusting mechanism is arranged at the left end of the large supporting plate;
the automatic leveling component comprises a hydraulic pump station, a bearing frame, a walking guide rail and a driving motor assembly, wherein the walking guide rail is arranged at the upper end of the bearing frame, the bearing frame is connected with the driving motor assembly in an interconnecting mode, and the walking guide rail is connected with the hydraulic pump station in a sliding mode.
Preferably, the driving side wheel set and the driven side wheel set are both connected with lateral limiting wheel sets.
Preferably, the sleeve assembly comprises a telescopic oil cylinder, a telescopic sleeve and a telescopic guide rail, the telescopic oil cylinder is mounted in the middle of the telescopic sleeve, and the telescopic guide rail is mounted at the lower end of the telescopic sleeve.
Preferably, terminal sucking disc subassembly includes terminal sucking disc frame, sucking disc, vacuum pump, vacuum valve group and every single move pneumatic cylinder, the sucking disc is installed in the four corners of terminal sucking disc frame, and the mid-mounting has the every single move pneumatic cylinder, sucking disc and vacuum valve group are linked together, and vacuum valve group is linked together with the vacuum pump.
Preferably, the lifting assembly comprises a lifting oil cylinder and a lifting guide rail, the lifting oil cylinder is fixed on the supporting walking part, the tail end of a piston rod of the lifting oil cylinder is connected with the manipulator telescopic sleeve assembly, and the lifting guide rail is connected with the manipulator telescopic sleeve assembly in a sliding mode.
Preferably, the driving side wheel set comprises a traveling wheel, a driving hydraulic motor, a transmission chain wheel and a chain, the traveling wheel and the driving hydraulic motor are respectively provided with the transmission chain wheel, and adjacent transmission chain wheels are connected through the chain.
Compared with the prior art, the beneficial effects of the utility model are as follows:
the utility model discloses a manipulator for the auxiliary installation of high-altitude curtain wall adopts hydraulic auxiliary manipulator to realize the grabbing and carrying of glass curtain wall, effectively reduces the labor intensity in the curtain wall construction process; the tail end assembly of the manipulator can be adjusted in multiple dimensions, so that the installation of the curtain wall can be smooth and accurate; the manipulator can be mounted on a traditional standard operation hanging basket platform by itself, unnecessary locking action is not needed, mounting and fixing are convenient and simple, and after operation on one hanging basket is completed, the manipulator can be conveniently hoisted to another hanging basket, so that the operation construction efficiency of the curtain wall is effectively improved; through increasing the automatic leveling mechanism, adjust the displacement of equipment counter weight in the curtain installation in real time to guarantee that the barycenter keeps near hanging flower basket width direction's center basically, this stability, accuracy and the security that has improved the curtain installation greatly.
Drawings
FIG. 1 is an overall structure diagram of the present invention;
fig. 2 is a front view of the present invention;
fig. 3 is a top view of the present invention;
FIG. 4 is a structural diagram of a robot part according to the present invention;
FIG. 5 is a structural view of the supporting and traveling member of the present invention;
fig. 6 is a structural view of the auto leveling member of the present invention.
In the figure: 1. a robot part; 11. a manipulator telescopic sleeve assembly; 111. a telescopic oil cylinder; 112. a telescopic sleeve; 113. a telescopic guide rail; 12. a terminal suction cup assembly; 121. a terminal suction cup frame; 122. a suction cup; 123. a vacuum pump; 124. a vacuum valve bank; 125. a pitching hydraulic cylinder; 13. a lifting assembly; 131. a lift cylinder; 132. a lifting guide rail; 14. a hydraulic control valve group; 2. a supporting and traveling member; 21. supporting the large plate; 22. a driving side wheel set; 221. a traveling wheel; 222. driving a hydraulic motor; 223. a drive sprocket; 224. a chain; 23. a driven side wheel set; 26. a width adjustment mechanism; 27. a height adjustment mechanism; 3. an automatic leveling component; 31. a hydraulic pump station; 32. a supporting frame; 33. a traveling guide rail; 34. the motor assembly is driven.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-4, a manipulator for auxiliary installation of a high-altitude curtain wall comprises a manipulator part 1, a supporting walking part 2 and an automatic leveling part 3, wherein the lower end of the manipulator part 1 is connected with the supporting walking part 2, and the supporting walking part 2 is connected with the automatic leveling part 3; the manipulator component 1 comprises a manipulator telescopic sleeve pipe component 11, a tail end sucker component 12, a lifting component 13 and a hydraulic control valve group 14, wherein the tail end sucker component 12 is installed at one end of the manipulator telescopic sleeve pipe component 11, the lifting component 13 is installed at the lower end of the manipulator telescopic sleeve pipe component, the manipulator component 1 mainly realizes the lifting, stretching and pitching functions of the manipulator to adjust the posture of a tail end curtain wall so as to be convenient to install, the manipulator tail end component is designed to surround three coordinate axes which are respectively a rotating shaft perpendicular to the curtain wall, a vertical rotating shaft parallel to the curtain wall and a horizontal rotating shaft parallel to the curtain wall, and rotates slightly so as to adjust the posture of the curtain wall before; wherein the rotation of the terminal assembly about a horizontal rotation axis parallel to the curtain wall is driven by a terminal pitch cylinder, since this is necessary to overcome the weight of the curtain wall gripped by the terminal; the rotation around the vertical rotating shaft parallel to the curtain wall and the rotation around the rotating shaft perpendicular to the curtain wall are completed by hands, because the revolute pair applies a bush with certain friction damping, the hands do not need to apply too large force to rotate, and the phenomenon that the revolute pair is too sensitive to cause overlarge rotation amplitude is avoided, meanwhile, each revolute pair is designed with mechanical limit of the maximum rotation amplitude, the manipulator telescopic sleeve assembly 11 comprises a telescopic cylinder 111, a telescopic sleeve 112 and a telescopic guide rail 113, the telescopic cylinder 111 is installed in the middle of the telescopic sleeve 112, the telescopic guide rail 113 is installed at the lower end of the telescopic sleeve 112, the tail end sucker assembly 12 comprises a tail end sucker frame 121, a sucker 122, a vacuum pump 123, a vacuum valve group 124 and a pitching hydraulic cylinder 125, suckers 122 are installed at four corners of the tail end sucker frame 121, the pitching hydraulic cylinder 125 is installed in the middle of the telescopic sleeve 112, the lifting assembly 13 comprises a lifting cylinder 131 and a lifting guide rail 132, the lifting cylinder 131 is fixed on the supporting walking part 2, the end of a piston rod of the lifting cylinder is connected with the manipulator telescopic sleeve assembly 11, and the lifting guide rail 132 is connected with the manipulator telescopic sleeve assembly 11 in a sliding manner.
Referring to fig. 5, the supporting and traveling member 2 includes a supporting large plate 21, a driving side wheel set 22, a driven side wheel set 23, a width adjusting mechanism 26 and a height adjusting mechanism 27, the driving side wheel set 22 is disposed on the left side of the supporting large plate 21, the driven side wheel set 23 is disposed on the right side, lateral limiting wheel sets are connected to the driving side wheel set 22 and the driven side wheel set 23, the width adjusting mechanism 26 is disposed in the middle of the supporting large plate 21, the height adjusting mechanism 27 is mounted at the left end of the supporting large plate, the supporting and traveling member 2 mainly realizes the supporting and fixing of the hydraulic auxiliary manipulator, the combination and fixing of the whole equipment and the conventional standard hanging basket, and the whole equipment travels along the length direction of the hanging basket, wherein in order to adapt to the conventional operation hanging basket with different heights and widths, the adjustment can be made by the width adjusting mechanism 26 and the height adjusting mechanism 27, so that the driving side wheel set 22 and, spacing wheelset in side direction also can carry out clearance adjustment to the wheelset hugs closely the hanging flower basket both sides surface, plays the spacing effect of direction, guarantees the stability of complete equipment in sideslip and curtain installation, and drive side wheelset 22 includes walking wheel 221, drive hydraulic motor 222, driving sprocket 223 and chain 224, all installs driving sprocket 223 on walking wheel 221 and the drive hydraulic motor 222, connects through chain 224 between the adjacent driving sprocket 223.
Referring to fig. 6, the automatic leveling component 3 includes a hydraulic pump station 31, a supporting frame 32, a traveling guide rail 33 and a driving motor assembly 34, the traveling guide rail 33 is disposed at the upper end of the supporting frame 32, the supporting frame 32 is connected with the driving motor assembly 24, the traveling guide rail 33 is connected with the hydraulic pump station 31 in a sliding manner, and the automatic leveling component 3 mainly realizes leveling of the hanging basket in the front and back directions in the curtain wall carrying and mounting process: when the manipulator works, the mass center of the manipulator can be changed, the hydraulic pump station 31 serving as a balance weight is driven to move back and forth in real time, the mass center of the whole equipment is limited near the center of the width direction of the hanging basket, so that the accuracy and reliability of the curtain wall installation operation are ensured, a self-balancing mode of operating the hanging basket in the stretching and retracting of the manipulator is that one part of the equipment, such as the hydraulic pump station 31, serves as a balance weight, an inclination angle sensor is used for detecting the proper inclination angle of a hanging basket platform in the working process, the position change of the mass center is compensated in real time by driving the balance weight to move back and forth, so that the mass center of the whole equipment is kept to be basically fixed near the center of the width direction of the hanging basket, the manipulator part 1, the supporting and walking part 2 and the automatic leveling part 3 are all connected with an electric control system, the, thereby controlling the operation of the manipulator.
Manipulator work progress is used in supplementary installation of high altitude curtain:
the operation hanging basket platform moves to a material taking position and is fixed; can freely install the supplementary installation manipulator of neotype curtain in traditional standard operation hanging flower basket platform, through design relative redundancy and nimble joint device, ensure that constructor can carry out intelligent effectual control to the device through the experience of self, realize the transport and the location installation of curtain.
A constructor operates the manipulator to grab the glass curtain wall; starting a driving hydraulic motor 222, operating the manipulator part 1 to move left and right, and reaching a proper grabbing position; the telescopic oil cylinder 111, the pitching hydraulic cylinder 125 and the lifting oil cylinder 131 are respectively adjusted through an operation panel, and the posture of the mechanical arm tail end sucker component 12 is manually adjusted so as to suck glass; the vacuum pump 123 is started to suck the glass, and then the telescopic cylinder 111 is operated to retract.
And the operation hanging basket moves to the position of the curtain wall to be installed and is fixed.
The constructor operates the manipulator to install and place the glass curtain wall; starting a driving hydraulic motor 222, operating the manipulator component 1 to move left and right transversely and reach an installation position, and using the hydraulic motor and a hydraulic oil cylinder as power to realize the transverse movement, pitching movement, stretching movement and the like of the manipulator; the telescopic oil cylinder 111, the pitching hydraulic cylinder 125 and the lifting oil cylinder 131 are respectively adjusted through an operation panel, and the posture of the sucker component 12 at the tail end of the manipulator is manually adjusted so as to load glass into the main and auxiliary stile frames; and stopping the vacuum pump 123, removing the vacuum, opening the glass, fixing the glass manually, then operating the telescopic oil cylinder 111 to retract, operating by the constructor, grabbing and carrying the glass curtain wall, and allowing the constructor to adjust the posture of the glass curtain wall before installation so as to improve the precision and the operation efficiency of the installation of the curtain wall, reduce the operation risk coefficient and lighten the labor intensity.
And entering the installation of the next glass curtain wall.
In summary, the following steps: the utility model discloses a manipulator for the auxiliary installation of high-altitude curtain wall adopts hydraulic auxiliary manipulator to realize the grabbing and carrying of glass curtain wall, effectively reduces the labor intensity in the curtain wall construction process; the tail end assembly of the manipulator can be adjusted in multiple dimensions, so that the installation of the curtain wall can be smooth and accurate; the manipulator can be mounted on a traditional standard operation hanging basket platform by itself, unnecessary locking action is not needed, mounting and fixing are convenient and simple, and after operation on one hanging basket is completed, the manipulator can be conveniently hoisted to another hanging basket, so that the operation construction efficiency of the curtain wall is effectively improved; through increasing the automatic leveling mechanism, adjust the displacement of equipment counter weight in the curtain installation in real time to guarantee that the barycenter keeps near hanging flower basket width direction's center basically, this stability, accuracy and the security that has improved the curtain installation greatly.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The utility model provides a supplementary manipulator for installation of high altitude curtain, includes manipulator part (1), supports walking part (2) and self leveling part (3), its characterized in that: the lower end of the manipulator component (1) is connected with a supporting walking component (2), and the supporting walking component (2) is connected with an automatic leveling component (3); the manipulator component (1) comprises a manipulator telescopic sleeve assembly (11), a tail end sucker assembly (12), a lifting assembly (13) and a hydraulic control valve group (14), wherein the tail end sucker assembly (12) is installed at one end of the manipulator telescopic sleeve assembly (11), and the lifting assembly (13) is installed at the lower end of the manipulator telescopic sleeve assembly;
the supporting and traveling component (2) comprises a supporting large plate (21), a driving side wheel set (22), a driven side wheel set (23), a width adjusting mechanism (26) and a height adjusting mechanism (27), wherein the driving side wheel set (22) is arranged on the left side of the supporting large plate (21), the driven side wheel set (23) is arranged on the right side of the supporting large plate, the width adjusting mechanism (26) is arranged in the middle of the supporting large plate (21), and the height adjusting mechanism (27) is arranged at the left end of the supporting large plate;
automatic leveling part (3) include hydraulic power unit (31), bearing frame (32), walking guide rail (33) and driving motor subassembly (34), the upper end of bearing frame (32) is equipped with walking guide rail (33), bearing frame (32) and driving motor subassembly (34) interconnect, and sliding connection has hydraulic power unit (31) on walking guide rail (33).
2. The manipulator for the auxiliary installation of the high-altitude curtain wall as claimed in claim 1, wherein the manipulator comprises: the driving side wheel set (22) and the moving side wheel set (23) are both connected with lateral limiting wheel sets.
3. The manipulator for the auxiliary installation of the high-altitude curtain wall as claimed in claim 1, wherein the manipulator comprises: the manipulator telescopic sleeve assembly (11) comprises a telescopic oil cylinder (111), a telescopic sleeve (112) and a telescopic guide rail (113), wherein the telescopic oil cylinder (111) is installed in the middle of the telescopic sleeve (112), and the telescopic guide rail (113) is installed at the lower end of the telescopic sleeve (112).
4. The manipulator for the auxiliary installation of the high-altitude curtain wall as claimed in claim 1, wherein the manipulator comprises: terminal sucking disc subassembly (12) include terminal sucking disc frame (121), sucking disc (122), vacuum pump (123), vacuum valve bank (124) and every single move pneumatic cylinder (125), sucking disc (122) are installed in the four corners of terminal sucking disc frame (121), and mid-mounting has every single move pneumatic cylinder (125), sucking disc (122) and vacuum valve bank (124) are linked together, and vacuum valve bank (124) are linked together with vacuum pump (123).
5. The manipulator for the auxiliary installation of the high-altitude curtain wall as claimed in claim 1, wherein the manipulator comprises: the lifting assembly (13) comprises a lifting oil cylinder (131) and a lifting guide rail (132), the lifting oil cylinder (131) is fixed on the supporting walking part (2), the tail end of a piston rod of the lifting oil cylinder is connected with the manipulator telescopic sleeve assembly (11), and the lifting guide rail (132) is connected with the manipulator telescopic sleeve assembly (11) in a sliding mode.
6. The manipulator for the auxiliary installation of the high-altitude curtain wall as claimed in claim 1, wherein the manipulator comprises: the driving side wheel set (22) comprises a traveling wheel (221), a driving hydraulic motor (222), a transmission chain wheel (223) and a chain (224), the traveling wheel (221) and the driving hydraulic motor (222) are respectively provided with the transmission chain wheel (223), and adjacent transmission chain wheels (223) are connected through the chain (224).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021198340.7U CN212836778U (en) | 2020-06-24 | 2020-06-24 | Manipulator is used in supplementary installation of high altitude curtain |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021198340.7U CN212836778U (en) | 2020-06-24 | 2020-06-24 | Manipulator is used in supplementary installation of high altitude curtain |
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| CN212836778U true CN212836778U (en) | 2021-03-30 |
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| CN202021198340.7U Active CN212836778U (en) | 2020-06-24 | 2020-06-24 | Manipulator is used in supplementary installation of high altitude curtain |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113605714A (en) * | 2021-08-27 | 2021-11-05 | 湖北富烨装饰工程有限公司 | Positioning and mounting device for building decorative plate design |
| CN113863627A (en) * | 2021-10-12 | 2021-12-31 | 上海建工四建集团有限公司 | Device and method for installing high-altitude inclined curtain wall glass plate |
-
2020
- 2020-06-24 CN CN202021198340.7U patent/CN212836778U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113605714A (en) * | 2021-08-27 | 2021-11-05 | 湖北富烨装饰工程有限公司 | Positioning and mounting device for building decorative plate design |
| CN113863627A (en) * | 2021-10-12 | 2021-12-31 | 上海建工四建集团有限公司 | Device and method for installing high-altitude inclined curtain wall glass plate |
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