CN216807277U - Longmen structural formula wall material vacuum grabbing device - Google Patents
Longmen structural formula wall material vacuum grabbing device Download PDFInfo
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- CN216807277U CN216807277U CN202220485108.4U CN202220485108U CN216807277U CN 216807277 U CN216807277 U CN 216807277U CN 202220485108 U CN202220485108 U CN 202220485108U CN 216807277 U CN216807277 U CN 216807277U
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Abstract
A gantry structure type wall material vacuum grabbing device comprises a gantry module and a vacuum adsorption device for adsorbing and grabbing wall materials, wherein the gantry module adopts a rectangular coordinate structure and comprises a gantry, a longitudinal moving device, a transverse moving device and a vertical lifting device, and the gantry is fixedly arranged on a horizontal plane through an upright post; the longitudinal moving device is arranged on the portal frame through a moving pair, the transverse moving device is arranged on the longitudinal moving device through a moving pair, and the vertical lifting device is arranged on the transverse moving device through a moving pair; the longitudinal moving device comprises a longitudinal moving arm, a first electric transmission system, a third rail and a fourth rail; the transverse moving device comprises a transverse moving frame and a second electric transmission system; the vertical lifting device comprises a lifting frame capable of vertically lifting and a third electric transmission system; the vacuum adsorption device comprises a suction nozzle row seat, a suction nozzle assembly and a vacuum generator; the gantry structure type wall material vacuum grabbing device can realize efficient and reliable grabbing of wall materials.
Description
Technical Field
The utility model relates to the field of wall material production equipment, in particular to a gantry structure type wall material vacuum grabbing device.
Background
As a novel industry in the building field, the assembly type building can be produced and constructed by using a large amount of standardized walling, the construction speed is effectively increased, and the assembly type building walling has the advantages of reliable quality, energy conservation, environmental protection, low construction strength, reusability and the like, so that the assembly type building walling is widely applied to the modern building industry. Current assembly type building walling mainly contains wallboard, PC board, ALC board etc. as important component part among the assembly type building, and the quick of building or space separation can be realized to assembly type building walling, and its low in production cost, transportation are convenient, easily assemble, can satisfy multiple building requirement. For a long time, the assembly type building wall material production line mostly adopts traditional manipulator to snatch equipment to the pile up neatly of walling materials such as wallboard, PC component, ALC component, because most length of walling material exceeds 3 meters, and the width is greater than 50 centimeters, the claw formula manipulator snatchs the in-process to the walling material, can cause certain damage to the walling material surface to manipulator structure is complicated, is difficult for installation and operation, and the security performance is low. How to cooperate lower cost with the manipulator of designing a based on vacuum adsorption principle for realize carrying out operations such as efficient snatching and pile up neatly to the wall material that the surface is relatively coarse, become the problem that the trade is anxious to solve.
Disclosure of Invention
The utility model aims to provide a gantry structure type wall material vacuum gripping device, which solves the problem that wall materials are damaged when a common stacking manipulator performs gripping and stacking operations on an assembly type building production line, and improves the gripping efficiency and safety of the wall materials. The utility model achieves the above purpose through the following technical scheme.
A gantry structure type wall vacuum gripping device comprises a gantry module and a vacuum adsorption device for adsorbing and gripping wall materials, wherein the gantry module adopts a rectangular coordinate structure and comprises a gantry, a longitudinal moving device, a transverse moving device and a vertical lifting device, the gantry is fixedly arranged on a horizontal plane through an upright post, the gantry comprises a first rail and a second rail, and the first rail and the second rail are respectively and fixedly arranged on longitudinal beams on two sides above the gantry; the longitudinal moving device is arranged on the portal frame through a moving pair, so that the longitudinal moving device can longitudinally move relative to the portal frame; the transverse moving device is arranged on the longitudinal moving device through a moving pair, so that the transverse moving device can transversely move relative to the longitudinal moving device; the vertical lifting device is arranged on the transverse moving device through a moving pair, so that the vertical movement of the vertical lifting device relative to the transverse moving device is realized; the vacuum adsorption device comprises a suction nozzle row seat, and the suction nozzle row seat is connected with the vertical lifting device through a revolute pair, so that the suction nozzle row seat can rotate controllably relative to the vertical lifting device; and the suction nozzle row seat is provided with a suction nozzle assembly for adsorbing the wall material.
The longitudinal moving device comprises a longitudinal moving arm, a first electric transmission system, a third rail and a fourth rail, a beam at one end of the longitudinal moving arm is supported on the first rail above the portal frame through a first moving pair, and a beam at the other end of the longitudinal moving arm is supported on the second rail above the portal frame through a second moving pair; the first moving pair and the second moving pair are both driving pairs, and the longitudinal moving arm realizes longitudinal movement relative to the portal frame through the first moving pair and the second moving pair; the first electric transmission system is arranged on the longitudinal moving arm, and the longitudinal moving arm is driven by the first electric transmission system to move longitudinally relative to the portal frame; and a third rail and a fourth rail are fixedly arranged on the longitudinal beams on the two sides of the longitudinal moving arm respectively.
The transverse moving device comprises a transverse moving frame and a second electric transmission system, and the transverse moving frame is supported on a third rail and a fourth rail of longitudinal beams on two sides of the longitudinal moving arm through a third moving pair and a fourth moving pair respectively; the third moving pair and the fourth moving pair are both driving pairs, and the transverse moving frame realizes transverse movement relative to the longitudinal moving arm through the third moving pair and the fourth moving pair; the second transmission system is mounted on a transverse moving frame, and the transverse moving frame is driven by a second electric transmission system to transversely move relative to the longitudinal moving arm.
The vertical lifting device comprises a lifting frame and a third electric transmission system, wherein the lifting frame can be vertically lifted, stand columns on two sides of the lifting frame are respectively provided with an air passage of the vacuum adsorption device, the bottom of the lifting frame is provided with a slewing bearing mounting seat, and a slewing bearing is mounted on the slewing bearing mounting seat; the lifting frame is vertically arranged on the transverse moving frame through a fifth moving pair, and the vertical lifting of the lifting frame relative to the transverse moving frame can be realized through the fifth moving pair; the vertical lift of the relative lateral shifting frame of crane is realized by hydraulic system, hydraulic system's pneumatic cylinder one end is connected with the upper portion crossbeam of crane through first revolute pair, and the other end passes through the second revolute pair and is connected with the lateral shifting frame, drives the controllable flexible of pneumatic cylinder through hydraulic system, can realize the vertical lift of the relative lateral shifting frame of crane.
The third electric transmission system is arranged on the slewing bearing mounting seat.
The vacuum adsorption device comprises a suction nozzle row seat, a suction nozzle assembly and a vacuum generator, wherein the suction nozzle row seat is arranged on the slewing bearing, so that the suction nozzle row seat and the lifting frame form a third revolute pair to be connected, the third revolute pair is a driving pair and is driven by a third electric transmission system, and the suction nozzle row seat can controllably rotate relative to the lifting frame; the suction nozzle row seat is at least provided with a suction nozzle component, the suction nozzle component comprises a suction pipe and an air suction port arranged at one end of the suction pipe and used for sucking air, and the suction nozzle row seat is also provided with a through hole for the suction pipe to pass through.
Still be provided with the elasticity buffer who is used for slowing down the suction nozzle subassembly and treats that the absorption walling collides on the suction nozzle subassembly, elasticity buffer adopts the spring to realize the buffering, the suction nozzle subassembly passes through elasticity buffer and is connected with the suction nozzle row seat.
Still include the rectangle sucking disc cover of the sponge material of preventing the gas leakage on the suction nozzle subassembly.
The vacuum generator is installed on the lifting frame and communicated with the suction nozzle assembly through air passages in the stand columns on the two sides of the lifting frame.
The first electric transmission system comprises a motor, a speed reducer and a transmission rod, and the motor of the first electric transmission system drives the transmission rod to transmit through the speed reducer; the second electric transmission system also comprises a motor, a speed reducer and a transmission rod, and the motor of the second electric transmission system also drives the transmission rod to transmit through the speed reducer; the third electric transmission system comprises a motor, a speed reducer, a gear and a gear ring, and the motor of the third electric transmission system drives the gear and the gear ring to transmit through the speed reducer, so that the suction nozzle row seat can controllably rotate relative to the lifting frame.
Compared with the prior art, the gantry structural type wall material vacuum gripping device has the following beneficial effects:
(1) compared with the existing equipment, the gantry structure type wall vacuum gripping device adopts a vacuum sucker type gripping mode, is simple in structure, easy to install, high in gripping efficiency, long in service life, green, environment-friendly, free of environmental pollution and free of light, heat, electromagnetism and the like.
(2) This kind of longmen structural formula walling vacuum grabbing device compares in traditional manipulator and snatchs equipment, adopts vacuum chuck to snatch to wallboard surface not damaged, has guaranteed the operations such as high-quality classification, transportation, pile up neatly, loading and unloading of wallboard.
(3) The gantry structure type wall vacuum gripping device is good in safety performance, the vacuum of the lifting appliance is from the vacuum generator, even if the vacuum pump is powered off, energy storage is thrown away, the load can be kept for several hours, and compared with a hydraulic system, environmental pollution caused by hydraulic oil leakage is avoided.
Drawings
Fig. 1 is one of three-dimensional schematic diagrams of a gantry structure type wall material vacuum gripping device.
FIG. 2 is a front view of the gantry structure type vacuum gripping device for wall materials.
FIG. 3 is a top view of the gantry structural type vacuum gripping device for wall materials.
Fig. 4 is one of oblique bottom views of the gantry structural type wall material vacuum gripping device of the present invention.
Fig. 5 is a second three-dimensional view of the gantry structural type wall vacuum gripping device of the present invention.
Fig. 6 is a second oblique bottom view of the gantry structural type wall material vacuum gripping device of the present invention.
Detailed Description
The technical solution of the present invention is further illustrated by the accompanying drawings 1-6 and examples.
Referring to fig. 1-6, the gantry structure type wall material vacuum gripping device comprises a gantry module and a vacuum adsorption device, wherein the gantry module adopts a rectangular coordinate structure and comprises a gantry 1, a longitudinal moving device, a transverse moving device and a vertical lifting device, the gantry 1 is fixedly arranged on a horizontal plane through an upright post 101, the gantry 1 comprises a first rail 102 and a second rail 103, and the first rail 102 and the second rail 103 are respectively and fixedly arranged on longitudinal beams 104 on two sides above the gantry 1; the longitudinal moving device comprises a longitudinal moving arm 2, a first electric transmission system 8, a third rail 201 and a fourth rail 202, wherein a beam 203 at one end of the longitudinal moving arm 2 is supported on the first rail 102 above the portal frame through a first moving pair 20, and a beam 204 at the other end is supported on the second rail 103 above the portal frame 1 through a second moving pair 21; the first moving pair 20 and the second moving pair 21 are both driving pairs, and the longitudinal moving arm 2 realizes longitudinal movement relative to the portal frame 1 through the first moving pair 20 and the second moving pair 21; the first electric transmission system 8 is arranged on the longitudinal moving arm 2, and the longitudinal movement of the longitudinal moving arm 2 relative to the portal frame 1 is driven by the first electric transmission system 8; a third rail 201 and a fourth rail 202 are respectively fixedly mounted on the longitudinal beams 205 at the two sides of the longitudinal moving arm 2.
Referring to fig. 1-6, the lateral moving device comprises a lateral moving frame 3 and a second electric transmission system 7, wherein the lateral moving frame 3 is supported on a third rail 201 and a fourth rail 202 of a longitudinal beam 205 on both sides of the longitudinal moving arm 2 through a third moving pair 22 and a fourth moving pair 23 respectively; the third moving pair 22 and the fourth moving pair 23 are both driving pairs, and the transverse moving frame 3 realizes transverse movement relative to the longitudinal moving arm 2 through the third moving pair 22 and the fourth moving pair 23; the second electric drive system 7 is mounted on the transverse carriage 3, the transverse movement of the transverse carriage 3 with respect to the longitudinal movement arm 2 being actuated by the second electric drive system 7.
Referring to fig. 1-6, the vertical lifting device comprises a lifting frame 5 capable of vertically lifting and a third electric transmission system 18, wherein the upright columns 501 on two sides of the lifting frame 5 are respectively provided with an air passage of a vacuum adsorption device, the bottom of the lifting frame 5 is provided with a slewing bearing installation seat 6, and a slewing bearing 601 is installed on the slewing bearing installation seat 6; the lifting frame 5 is vertically arranged on the transverse moving frame 3 through a fifth moving pair 24, and the vertical lifting of the lifting frame 5 relative to the transverse moving frame 3 can be realized through the fifth moving pair 24; the vertical lift of the crane 5 relative to the transverse moving frame 3 is realized by a hydraulic system 9, one end of a hydraulic cylinder 10 of the hydraulic system 9 is connected with an upper cross beam 502 of the crane 5 through a first revolute pair 25, the other end of the hydraulic cylinder is connected with the transverse moving frame 3 through a second revolute pair 26, the hydraulic cylinder 10 is driven by the hydraulic system 9 to controllably stretch, and the vertical lift of the crane 5 relative to the transverse moving frame 3 can be realized.
Referring to fig. 2, the third electric drive 18 is provided on the slewing bearing mount 6.
Referring to fig. 4 and 5, the vacuum suction device includes a nozzle row base 11, a nozzle assembly 12, and a vacuum generator 4, wherein the nozzle row base 11 is mounted on a slewing bearing 601, so that the nozzle row base 11 and the lifting frame 5 form a third revolute pair 29, and the third revolute pair 29 is an active pair and is driven by a third electric drive system 18, so that the nozzle row base 11 can rotate controllably relative to the lifting frame 5; the suction nozzle row seat 11 is provided with at least one suction nozzle assembly 12, the suction nozzle assembly 12 comprises a suction pipe 13 and a suction port 16 arranged at one end of the suction pipe 13 and used for sucking air, and the suction nozzle row seat 11 is also provided with a through hole 19 for the suction pipe 13 to pass through.
Still be provided with the elasticity buffer 17 that is used for slowing down suction nozzle subassembly 12 and treats that it collides with to adsorb the walling on the suction nozzle subassembly 12, elasticity buffer 17 adopts the spring to realize the buffering, suction nozzle subassembly 12 is connected with suction nozzle row seat 11 through elasticity buffer 17.
The nozzle assembly 12 further includes a rectangular suction cup cover 15 made of sponge material for preventing air leakage.
Referring to fig. 5, the vacuum generator 4 is installed on the lifting frame 5, and the vacuum generator 4 is communicated with the suction nozzle assembly 12 through air passages in the uprights 501 at both sides of the lifting frame 5.
Referring to fig. 1-6, the first electric transmission system 8 includes a motor 801, a speed reducer 802, and a transmission rod 803, and the motor 801 of the first electric transmission system 8 drives the transmission rod 803 to perform transmission through the speed reducer 802; the second electric transmission system 7 also comprises a motor, a speed reducer and a transmission rod, and the motor of the second electric transmission system 7 also drives the transmission rod to transmit through the speed reducer; the third electric transmission system 18 comprises a motor, a speed reducer, a gear 27 and a gear ring 28, and the motor of the third electric transmission system 18 drives the gear 27 and the gear ring 28 to transmit through the speed reducer, so that the suction nozzle row seat 11 can controllably rotate relative to the lifting frame 5.
The portal frame module of the portal structure type wall material vacuum gripping device can realize the three-degree-of-freedom rectangular coordinate movement of the slewing bearing mounting seat 6 arranged at the bottom of the lifting frame 5, and the suction nozzle row seat 11 contained in the vacuum suction device can realize the four-degree-of-freedom movement in cooperation with the slewing motion of the slewing bearing 601, in engineering practice, under the coupled driving of the first electric transmission system 8, the second electric transmission system 7, the third electric transmission system 18 and the hydraulic system 9, the portal frame module is matched with the vacuum adsorption device for adsorbing and grabbing the wall material, so that the four-degree-of-freedom flexible grabbing of the wall material can be realized, because the outer surface of the wall material is relatively rough, the suction nozzle component 12 is connected with the suction nozzle row seat 11 through the elastic buffer device 17, and the rectangular sucking disc cover 15 made of sponge material is matched with the vacuum generator 4, so that four-degree-of-freedom grabbing and stacking can be effectively carried out on the wall material.
Claims (7)
1. The utility model provides a longmen structural formula wall material vacuum grabbing device which characterized in that: the wall material adsorption device comprises a portal frame module and a vacuum adsorption device for adsorbing and grabbing wall materials, wherein the portal frame module adopts a rectangular coordinate structure and comprises a portal frame, a longitudinal moving device, a transverse moving device and a vertical lifting device, the portal frame is fixedly arranged on a horizontal plane through an upright post, the portal frame comprises a first rail and a second rail, and the first rail and the second rail are respectively and fixedly arranged on longitudinal beams at two sides above the portal frame; the longitudinal moving device is arranged on the portal frame through a moving pair; the transverse moving device is arranged on the longitudinal moving device through a moving pair; the vertical lifting device is arranged on the transverse moving device through a moving pair; the vacuum adsorption device comprises a suction nozzle row seat, and the suction nozzle row seat is connected with the vertical lifting device through a revolute pair; and the suction nozzle row seat is provided with a suction nozzle assembly for adsorbing the wall material.
2. The gantry structural type wall material vacuum gripping device as claimed in claim 1, wherein:
the longitudinal moving device comprises a longitudinal moving arm, a first electric transmission system, a third track and a fourth track, wherein a beam at one end of the longitudinal moving arm is supported on the first track above the portal frame through a first moving pair, and a beam at the other end of the longitudinal moving arm is supported on the second track above the portal frame through a second moving pair; the first moving pair and the second moving pair are both driving pairs, and the longitudinal moving arm realizes longitudinal movement relative to the portal frame through the first moving pair and the second moving pair; the first electric transmission system is arranged on the longitudinal moving arm, and the longitudinal moving arm is driven by the first electric transmission system to move longitudinally relative to the portal frame; a third rail and a fourth rail are fixedly arranged on the longitudinal beams on the two sides of the longitudinal moving arm respectively;
the transverse moving device comprises a transverse moving frame and a second electric transmission system, and the transverse moving frame is supported on a third rail and a fourth rail of longitudinal beams on two sides of the longitudinal moving arm through a third moving pair and a fourth moving pair respectively; the third moving pair and the fourth moving pair are both driving pairs, and the transverse moving frame realizes transverse movement relative to the longitudinal moving arm through the third moving pair and the fourth moving pair; the second electric transmission system is arranged on the transverse moving frame, and the transverse moving frame is driven by the second electric transmission system to transversely move relative to the longitudinal moving arm;
the vertical lifting device comprises a lifting frame and a third electric transmission system, wherein the lifting frame can be vertically lifted, stand columns on two sides of the lifting frame are respectively provided with an air passage of the vacuum adsorption device, the bottom of the lifting frame is provided with a slewing bearing mounting seat, and a slewing bearing is mounted on the slewing bearing mounting seat; the lifting frame is vertically arranged on the transverse moving frame through a fifth moving pair, and the vertical lifting of the lifting frame relative to the transverse moving frame can be realized through the fifth moving pair; the lifting frame is vertically lifted relative to the transverse moving frame through a hydraulic system, one end of a hydraulic cylinder of the hydraulic system is connected with an upper cross beam of the lifting frame through a first revolute pair, the other end of the hydraulic cylinder of the hydraulic system is connected with the transverse moving frame through a second revolute pair, and the hydraulic cylinder is driven to controllably stretch through the hydraulic system, so that the lifting frame can be vertically lifted relative to the transverse moving frame;
the third electric transmission system is arranged on the slewing bearing mounting seat;
the suction nozzle row seat is arranged on the slewing bearing, so that the suction nozzle row seat and the lifting frame form a third revolute pair to be connected, and the third revolute pair is a driving pair and is driven by a third electric transmission system.
3. The gantry structural type wall material vacuum gripping device as claimed in claim 1, wherein:
the vacuum adsorption device comprises a suction nozzle row seat, a suction nozzle assembly and a vacuum generator, so that the suction nozzle row seat can controllably rotate relative to the lifting frame; the suction nozzle row seat is at least provided with a suction nozzle component, the suction nozzle component comprises a suction pipe and an air suction port arranged at one end of the suction pipe and used for sucking air, and the suction nozzle row seat is also provided with a through hole for the suction pipe to pass through.
4. The gantry structural type wall vacuum grabbing device of claim 3 is characterized in that: still be provided with the elastic buffer device who is used for slowing down the suction nozzle subassembly and treats that the absorption walling collides on the suction nozzle subassembly, elastic buffer device adopts the spring to realize the buffering, the suction nozzle subassembly passes through elastic buffer device and is connected with suction nozzle row seat.
5. The gantry structural type wall vacuum gripping device as claimed in claim 4, wherein: the suction nozzle component is provided with a rectangular suction disc cover made of sponge materials for preventing air leakage.
6. The gantry structural type wall vacuum gripping device as claimed in claim 3, wherein: the vacuum generator is arranged on the lifting frame;
and the vacuum generator is communicated with the suction nozzle assembly through air passages in the upright posts on the two sides of the lifting frame.
7. The gantry structural type wall material vacuum gripping device as claimed in claim 2, wherein:
the first electric transmission system comprises a motor, a speed reducer and a transmission rod, and the motor of the first electric transmission system drives the transmission rod to transmit through the speed reducer; the second electric transmission system also comprises a motor, a speed reducer and a transmission rod, and the motor of the second electric transmission system also drives the transmission rod to transmit through the speed reducer; the third electric transmission system comprises a motor, a speed reducer, a gear and a gear ring, and the motor of the third electric transmission system drives the gear and the gear ring to transmit through the speed reducer, so that the suction nozzle row seat can controllably rotate relative to the lifting frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220485108.4U CN216807277U (en) | 2022-03-08 | 2022-03-08 | Longmen structural formula wall material vacuum grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220485108.4U CN216807277U (en) | 2022-03-08 | 2022-03-08 | Longmen structural formula wall material vacuum grabbing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216807277U true CN216807277U (en) | 2022-06-24 |
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ID=82046146
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220485108.4U Active CN216807277U (en) | 2022-03-08 | 2022-03-08 | Longmen structural formula wall material vacuum grabbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216807277U (en) |
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2022
- 2022-03-08 CN CN202220485108.4U patent/CN216807277U/en active Active
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