CN219840397U - Novel curtain wall glass installation robot - Google Patents
Novel curtain wall glass installation robot Download PDFInfo
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- CN219840397U CN219840397U CN202320806985.1U CN202320806985U CN219840397U CN 219840397 U CN219840397 U CN 219840397U CN 202320806985 U CN202320806985 U CN 202320806985U CN 219840397 U CN219840397 U CN 219840397U
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- frame
- curtain wall
- rotatably connected
- sleeve piece
- supporting
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- 239000011521 glass Substances 0.000 title claims abstract description 53
- 238000009434 installation Methods 0.000 title claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 238000010586 diagram Methods 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
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- Load-Bearing And Curtain Walls (AREA)
Abstract
The utility model relates to the technical field of curtain wall glass installation equipment, in particular to a novel curtain wall glass installation robot, which comprises movable tracks, wherein supporting mechanisms are arranged at four corners of each movable track, a supporting frame is arranged at the rear side of the upper end of each movable track, an automatic telescopic frame is rotatably connected onto the supporting frame, a second oil cylinder assembly is jointly arranged between the automatic telescopic frame and the supporting frame, an adjusting mechanism is arranged at the tail end of a piston rod of the automatic telescopic frame, and a motor assembly is connected onto the adjusting mechanism. The movable crawler belt is convenient for automatic movement of equipment, corresponding parts can be effectively adjusted according to requirements, supporting force can be effectively provided, the robot is ensured to be stable and avoid overturning during operation, meanwhile, the robot can automatically adsorb glass after detecting the glass, a working assembly can tilt and rotate in a certain angle, and the installation position can be flexibly adjusted.
Description
Technical Field
The utility model relates to the technical field of curtain wall glass installation equipment, in particular to a novel curtain wall glass installation robot.
Background
The glass curtain wall is a building outer enclosure structure or a decorative structure which is characterized in that a supporting structure system can have certain displacement capacity relative to a main structure and does not share the action of the main structure.
At present, when installing glass curtain wall, need the manual work to laminate glass board on glass curtain wall's mounting bracket earlier, then fix glass board on the mounting bracket through the screw. With respect to the related art in the above, the inventors consider that there are the following drawbacks: the glass plate is difficult to be fixed on the mounting frame in a manual mode, and the glass plate is difficult to be stably attached to the glass curtain wall.
According to the mounting structure of the glass curtain wall, disclosed in Chinese patent publication No. CN216276362U, after the guide rod extends into the corresponding mounting hole on the mounting frame, the glass plate sleeved on the guide rod can be conveniently attached to the mounting frame, and therefore the glass plate can be conveniently attached to the mounting frame; the glass plate is sucked by the vacuum chuck, so that the stability of the glass plate on the guide rod is improved; and the anti-skid pad is additionally arranged on the piston rod of the air cylinder, so that the friction force between the piston rod and the bottom rail is increased, and the stability of fixing the first linear module on the bottom rail is improved.
However, most of the existing curtain wall glass mounting operations are manual mounting, so that the labor intensity of manual mounting is high, the mounting efficiency is low, and the mounting cost is high; meanwhile, the glass state of the curtain wall glass mounting structure in the prior art cannot be effectively adjusted, accurate correspondence is not facilitated, and the mounting effect is affected, so that a novel curtain wall glass mounting robot is provided for solving the problems.
Disclosure of Invention
The utility model aims to solve the defects in the prior art, and provides a novel curtain wall glass mounting robot.
In order to achieve the above purpose, the present utility model adopts the following technical scheme:
the utility model provides a novel curtain glass installs robot, includes movable track, supporting mechanism is all installed in movable track's four corners, the support frame is installed to movable track's upper end rear side, it is connected with automatic expansion bracket to rotate on the support frame, install second hydro-cylinder subassembly jointly between automatic expansion bracket and the support frame, automatic expansion bracket's piston rod end is equipped with adjustment mechanism, be connected with motor assembly on the adjustment mechanism, motor assembly's output shaft end is fixed with the connecting plate, two suction disc pieces are installed to one side that motor assembly was kept away from to the connecting plate.
Compared with the prior art, the movable crawler belt is convenient for the automatic movement of equipment, corresponding parts can be effectively adjusted according to requirements, supporting force can be effectively provided, the robot is ensured to be stable and avoid overturning during operation, meanwhile, the robot can automatically adsorb after glass is detected, a working assembly can tilt and rotate in a certain angle, and the installation position can be flexibly adjusted.
Preferably, the supporting mechanism comprises four fixed shafts arranged at four corners of the movable crawler belt, the four fixed shafts are respectively and rotatably connected with a first connecting frame, the lower end of the first connecting frame is rotatably connected with a second connecting frame, one end of the second connecting frame is rotatably connected with a rotating frame, the lower end of the rotating frame is rotatably connected with supporting legs, and the upper end of the rotating frame and the upper end of the first connecting frame are jointly rotatably connected with a first oil cylinder assembly.
Through adopting above-mentioned technical scheme, can effectively realize guaranteeing movable track's stability when installing curtain wall glass, avoid movable track to rock the condition to appear, guarantee curtain wall glass's safety installation.
Preferably, the lower ends of the supporting legs are rotatably connected with a collision plate.
By adopting the technical scheme, the stability of the stand support can be further improved.
Preferably, the adjusting mechanism comprises a mounting frame which is rotationally connected to the tail end of a piston rod of the automatic expansion bracket, the mounting frame is fixedly connected with the motor assembly, the tail end of the piston rod of the automatic expansion bracket is rotationally connected with a third oil cylinder assembly, and the tail end of the piston rod of the third oil cylinder assembly is rotationally connected to the upper end of one side, which is connected with the mounting frame, of the motor assembly.
By adopting the technical scheme, the curtain wall glass can be effectively controlled to turn backwards or forwards, and the installation is completed.
Preferably, the rotating frame is arranged in a triangle shape, one end of the second connecting frame far away from the movable crawler belt is rotationally connected with the middle part of the rotating frame, and the supporting legs are rotationally connected with the lower end of the rotating frame.
Through adopting above-mentioned technical scheme, can effectively adjust, be convenient for overturn the operation.
Preferably, the automatic expansion bracket is internally provided with an adjusting sleeve piece, a middle sleeve piece and a far-end sleeve piece, the far-end sleeve piece is slidably mounted in the middle sleeve piece, the middle sleeve piece is slidably mounted in the adjusting sleeve piece, one end of the adjusting sleeve piece, which is far away from the middle sleeve piece, is rotatably connected with the upper end of the supporting frame, and the middle upper end of the automatic expansion bracket is rotatably connected with the tail end of a piston rod of the second oil cylinder assembly.
By adopting the technical scheme, automatic adjustment can be realized, and the installation range of the curtain wall can be effectively enlarged.
Compared with the prior art, the utility model has the beneficial effects that:
1. the crawler chassis is driven by a servo motor, is provided with a high-capacity lithium battery, has good field adaptability by using a steel wire rubber crawler, and can flexibly walk on a construction site;
2. the auxiliary support arm is driven by the oil cylinder, can provide support during operation, ensures that the robot is stable during operation and avoids overturning, and can be conveniently rotated and folded;
3. the oil cylinder is used for driving the telescopic working arm to lift up and down;
4. the sucker working assembly is provided with two suckers and is used for adsorbing and fixing glass, the rubber sucker is adopted as the sucker, a vacuum pump is adopted for providing suction, the sucker assembly is controlled by using a PLC, the sucker assembly automatically adsorbs after detecting the glass, and the working assembly can tilt and rotate in a certain angle and can flexibly adjust the installation position.
Drawings
FIG. 1 is a front view of a novel curtain wall glass mounting robot according to the present utility model;
FIG. 2 is a block diagram of an adjusting mechanism of the novel curtain wall glass mounting robot;
FIG. 3 is a diagram showing the structure of a connecting frame of the novel curtain wall glass mounting robot;
FIG. 4 is a diagram showing the connection structure of a motor assembly and a connecting plate of the novel curtain wall glass mounting robot;
in the figure: the crawler belt comprises a movable crawler belt 1, a first connecting frame 2, supporting legs 3, a supporting plate 4, a second connecting frame 5, a rotating frame 6, a first oil cylinder assembly 7, a supporting frame 8, an automatic telescopic frame 9, a second oil cylinder assembly 10, a motor assembly 11, a mounting frame 12, a suction disc 13, a fixed shaft 14, a connecting plate 15 and a third oil cylinder assembly 16.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments.
Referring to fig. 1-4, a novel curtain wall glass installation robot, including movable track 1, supporting mechanism is all installed in movable track 1's four corners, supporting mechanism is including installing four fixed axles 14 in movable track 1 four corners, all rotate on four fixed axles 14 and be connected with first link 2, the lower extreme rotation of first link 2 is connected with second link 5, the one end rotation of second link 5 is connected with rotating frame 6, the lower extreme rotation of rotating frame 6 is connected with supporting leg 3, the lower extreme rotation of supporting leg 3 is connected with conflict plate 4, the upper end of rotating frame 6 and the upper end of first link 2 are rotated jointly and are connected with first hydro-cylinder subassembly 7, first hydro-cylinder subassembly 7 can promote rotating frame 6 and rotate for rotating frame 6 drives supporting leg 3 and rotate, enable supporting leg 3 effectively drive conflict plate 4 and basic unit conflict, promote the supporting force, better assurance curtain wall glass installation's stability.
Referring to fig. 1, the rotating frame 6 is in a triangle shape, one end of the second connecting frame 5 far away from the movable track 1 is rotationally connected with the middle part of the rotating frame 6, the supporting legs 3 are rotationally connected with the lower end of the rotating frame 6, and the triangle shape can effectively enable the supporting legs to follow the rotating frame 6 for operation.
Referring to fig. 1-4, a support frame 8 is installed at the rear side of the upper end of the movable track 1, an automatic expansion bracket 9 is rotatably connected to the support frame 8, a second oil cylinder assembly 10 is jointly installed between the automatic expansion bracket 9 and the support frame 8, the tail end of a piston rod of the automatic expansion bracket 9 is provided with an adjusting mechanism, a motor assembly 11 is connected to the adjusting mechanism, the adjusting mechanism comprises a mounting frame 12 rotatably connected to the tail end of the piston rod of the automatic expansion bracket 9, the mounting frame 12 is fixedly connected with the motor assembly 11, the tail end of the piston rod of the automatic expansion bracket 9 is rotatably connected with a third oil cylinder assembly 16, the tail end of the piston rod of the third oil cylinder assembly 16 is rotatably connected to the upper end of one side of the motor assembly 11 connected with the mounting frame 12, and the mounting frame 12 can rotate by taking the front end of the automatic expansion bracket 9 as an axle center through the action of the third oil cylinder assembly 16, so that a glass for curtain wall installation can be more accurately and correspondingly installed.
Referring to fig. 1, an adjusting sleeve member, a middle sleeve member and a distal sleeve member are arranged in an automatic telescopic frame 9, the distal sleeve member is slidably mounted in the middle sleeve member, the middle sleeve member is slidably mounted in the adjusting sleeve member, one end of the adjusting sleeve member, which is far away from the middle sleeve member, is rotatably connected with the upper end of a supporting frame 8, the middle upper end of the automatic telescopic frame 9 is rotatably connected with the tail end of a piston rod of a second oil cylinder assembly 10, corresponding automatic components are mounted in the automatic telescopic frame, and the telescopic control of the middle sleeve member and the distal sleeve member can be effectively realized so as to adjust the coping range of the middle sleeve member and the distal sleeve member, and the glass curtain wall can be better mounted.
Referring to fig. 1, 2 and 4, the end of the output shaft of the motor assembly 11 is fixed with a connecting plate 15, one side of the connecting plate 15 far away from the motor assembly 11 is provided with two sucking disc pieces 13, the connecting plate 15 can be driven to rotate in a small amplitude through the motor assembly 11, meanwhile, the connecting plate 15 can drive the sucking disc pieces 13 to operate, the angle of glass for curtain walls can be conveniently adjusted, and accurate installation is facilitated.
In the present utility model, the measurement pay-off: according to the position of the designed wall body, a position control line is discharged on the ground, the position required by paying off is accurate, the line is bounced clearly, and the allowable error is controlled within +/-2 mm; moving the machine to a control line position, setting working parameters, starting operation, placing curtain wall glass on the sucker members 13, automatically adsorbing by the machine, and conveying to a preset position according to the machine parameters; the worker manipulates the machine to finely adjust the glass position, and the installation is completed after the adjustment is in place; the movable crawler belt 1 of the equipment is provided with power by a lithium battery, can walk in a manual remote control manner, and can also walk autonomously by planning a walking path in a robot controller; the machine controller has two working modes of automatic and semiautomatic, the robot automatically sends curtain wall glass to a preset position according to preset parameters in the automatic mode, and the robot can manually assist in positioning in the semiautomatic mode; the suction disc piece 13 adsorbs curtain wall glass through the sucking disc to be fixed, and the automatic expansion bracket 9 can extend and shorten, transports curtain wall glass to the preset position, and the workman manipulates the machine to finely tune the glass position, accomplishes the installation after the adjustment is in place.
The foregoing is only a preferred embodiment of the present utility model, but the scope of the present utility model is not limited thereto, and any person skilled in the art, who is within the scope of the present utility model, should make equivalent substitutions or modifications according to the technical scheme of the present utility model and the inventive concept thereof, and should be covered by the scope of the present utility model.
Claims (6)
1. Novel curtain wall glass installation robot, including movable track (1), its characterized in that: supporting mechanism is all installed in four corners of movable track (1), support frame (8) are installed to the upper end rear side of movable track (1), rotate on support frame (8) and be connected with automatic expansion bracket (9), install second hydro-cylinder subassembly (10) jointly between automatic expansion bracket (9) and support frame (8), the piston rod end of automatic expansion bracket (9) is equipped with adjustment mechanism, be connected with motor assembly (11) on the adjustment mechanism, the output shaft end of motor assembly (11) is fixed with connecting plate (15), two sucking disc pieces (13) are installed to one side that motor assembly (11) were kept away from to connecting plate (15).
2. The novel curtain wall glass installation robot according to claim 1, wherein: the supporting mechanism comprises four fixed shafts (14) arranged at four corners of the movable crawler belt (1), the four fixed shafts (14) are respectively and rotatably connected with a first connecting frame (2), the lower end of the first connecting frame (2) is rotatably connected with a second connecting frame (5), one end of the second connecting frame (5) is rotatably connected with a rotating frame (6), the lower end of the rotating frame (6) is rotatably connected with supporting legs (3), and the upper ends of the rotating frame (6) and the upper end of the first connecting frame (2) are jointly rotatably connected with a first oil cylinder assembly (7).
3. The novel curtain wall glass installation robot according to claim 2, wherein: the lower ends of the supporting legs (3) are rotatably connected with a supporting plate (4).
4. The novel curtain wall glass installation robot according to claim 1, wherein: the adjusting mechanism comprises a mounting frame (12) which is rotationally connected to the tail end of a piston rod of the automatic expansion bracket (9), the mounting frame (12) is fixedly connected with a motor assembly (11), the tail end of the piston rod of the automatic expansion bracket (9) is rotationally connected with a third oil cylinder assembly (16), and the tail end of the piston rod of the third oil cylinder assembly (16) is rotationally connected to the upper end of one side, which is connected with the mounting frame (12), of the motor assembly (11).
5. A novel curtain wall glazing robot according to claim 3, wherein: the rotating frame (6) is triangular, one end of the second connecting frame (5) far away from the movable crawler belt (1) is rotationally connected with the middle part of the rotating frame (6), and the supporting legs (3) are rotationally connected with the lower end of the rotating frame (6).
6. The novel curtain wall glass installation robot according to claim 1, wherein: the automatic telescopic frame is characterized in that an adjusting sleeve piece, a middle sleeve piece and a far-end sleeve piece are arranged in the automatic telescopic frame (9), the far-end sleeve piece is slidably mounted in the middle sleeve piece, the middle sleeve piece is slidably mounted in the adjusting sleeve piece, one end of the adjusting sleeve piece, which is far away from the middle sleeve piece, is rotatably connected with the upper end of the supporting frame (8), and the middle upper end of the automatic telescopic frame (9) is rotatably connected with the tail end of a piston rod of the second oil cylinder assembly (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320806985.1U CN219840397U (en) | 2023-04-13 | 2023-04-13 | Novel curtain wall glass installation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320806985.1U CN219840397U (en) | 2023-04-13 | 2023-04-13 | Novel curtain wall glass installation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219840397U true CN219840397U (en) | 2023-10-17 |
Family
ID=88303380
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320806985.1U Active CN219840397U (en) | 2023-04-13 | 2023-04-13 | Novel curtain wall glass installation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219840397U (en) |
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2023
- 2023-04-13 CN CN202320806985.1U patent/CN219840397U/en active Active
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant |