WO2021007884A1 - 一种立式板材安装搬运机械手设备 - Google Patents

一种立式板材安装搬运机械手设备 Download PDF

Info

Publication number
WO2021007884A1
WO2021007884A1 PCT/CN2019/098075 CN2019098075W WO2021007884A1 WO 2021007884 A1 WO2021007884 A1 WO 2021007884A1 CN 2019098075 W CN2019098075 W CN 2019098075W WO 2021007884 A1 WO2021007884 A1 WO 2021007884A1
Authority
WO
WIPO (PCT)
Prior art keywords
fixed
electric push
rod
vertical
support frame
Prior art date
Application number
PCT/CN2019/098075
Other languages
English (en)
French (fr)
Inventor
俞国辉
Original Assignee
智能建筑设备有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 智能建筑设备有限公司 filed Critical 智能建筑设备有限公司
Publication of WO2021007884A1 publication Critical patent/WO2021007884A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/04—Arms extensible rotatable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers

Definitions

  • the utility model relates to the field of plate transportation, in particular to a vertical plate installation and handling manipulator device.
  • a sling or manual suction cup is usually used to transport and install the compartment panels.
  • manual suction cups are time-consuming to transport and install the panels, and require a lot of physical and manpower during the installation process, which is costly and prone to accidents; and the use of slings to install panels is often due to inaccurate lifting positions and cumbersome loading and unloading of slings.
  • the location is limited, etc., requiring manual adjustment and secondary handling operations.
  • the utility model provides a vertical plate installation and handling manipulator, which solves the problem that manual suction cups are time-consuming, consumes a lot of physical and manpower, and are prone to accidents, inaccurate hoisting positions, manual adjustments and secondary operations. Problems with handling and other operations.
  • the present utility model provides a vertical plate installation and handling manipulator, which includes a base, a support frame is fixed at the rear of the upper end of the base, and two vertical rods are rotatably installed at the front of the upper end of the base.
  • the reinforcing rod is fixed at the middle position between the vertical rods, the electric push rod one is fixed inside the supporting frame, the cylinder of the electric push rod one is hinged with the supporting frame, and the piston rod of the electric push rod one is connected to the reinforcing rod
  • the middle position of the rear end of the rod is hinged, the upper part of the two vertical rods is fixed with a cross rod, the lower end of the cross rod is rotated to install a precision ball screw, the ring side end of the precision ball screw is installed with a bearing block, and the bearing
  • the front end of the block is rotatably installed with a vacuum chuck holder through a bearing, the vacuum chuck is installed at the front end of the vertical rod, the lower end of the precision ball screw is fixed with an output shaft, and the lower end of the output shaft is fixed with a worm gear motor.
  • the base includes a bottom plate, two electric push rods, and a supporting plate.
  • the four corner edges of the bottom plate are all fixed with universal wheels, the upper end of the bottom plate is horizontally installed with a guide rail slide, and the slide rail is slidably installed inside the guide rail. 1.
  • the sliding block one is fixed at the lower end of the support plate, the two electric push rods are provided with two, the two electric push rods are symmetrically installed at the left and right ends of the bottom plate, and the cylinder of the second electric push rod is hinged with the bottom plate.
  • the two second electric push rods are symmetrically installed at the left and right ends of the support plate and the piston rods of the second electric push rod are hinged with the support plate, and the vertical rods and the support frame are both installed on the upper end of the support plate.
  • a rotating seat is installed at the upper end of the base, and the rotating seat is connected to the vertical rod through a rotating shaft.
  • the front ends of the two vertical rods are fixed with guide rails
  • the four corner positions of the rear end of the vacuum suction cup holder are all installed with slider two
  • the two sliders are installed on a guide rail in cooperation.
  • the worm gear motor includes a brake motor and a worm gear reducer
  • the worm gear reducer is fixed at the lower end of the output shaft
  • the side end of the worm gear reducer is fixedly connected to the brake motor
  • the brake motor is fixed at One of the supporting frame side ends.
  • the cross bar is connected with a precision ball screw through a bearing.
  • the precision ball screw is connected to the output shaft through a coupling.
  • the vacuum suction cup frame includes a support frame and six rubber suction cups uniformly installed at the front end of the support frame, and a battery, a vacuum pump, a vacuum energy storage tank and a control panel are fixedly installed inside the support frame, and the vacuum pump passes through a connecting pipe.
  • One is connected to a vacuum energy storage tank, the vacuum energy storage tank is respectively connected with six rubber suction cups through two connecting pipes, and solenoid valves are installed on both the first connecting pipe and the second connecting pipe, and the control panel is provided with
  • the number of control buttons is multiple groups.
  • the multiple groups of control buttons are respectively electrically connected to the brake motor, the electric push rod one, the electric push rod two, and the solenoid valve, and the battery is electrically connected to the control panel.
  • a remote control receiver for electrical connection with the remote control is provided on one side of the control panel.
  • a side of the support frame away from the vertical rod is provided with a climbing step and a handrail.
  • the vertical plate installation and handling manipulator provided by the present invention has the following beneficial effects:
  • the utility model provides a vertical plate installation and handling manipulator device.
  • the pitch angle of a vacuum suction cup holder is adjusted by the movement of an electric push rod and a piston rod, and a precision ball screw is driven by a brake motor to rotate, thereby realizing the adjustment of the vacuum suction cup holder.
  • the height of the vertical plate is adjusted to facilitate the installation and transportation of the vertical plate, and the operation requires a short time, which improves work efficiency, saves costs, and improves the accuracy of the hoisting position.
  • Figure 1 is a schematic structural view of a preferred embodiment of a vertical plate installation and handling manipulator provided by the utility model;
  • Figure 2 is a side view of the vertical plate installation and handling manipulator shown in Figure 1;
  • FIG. 3 is a schematic diagram of the first working state of the vertical plate installation and handling manipulator shown in FIG. 1;
  • FIG. 4 is a schematic diagram of the second working state of the vertical plate installation and handling manipulator shown in FIG. 1.
  • Figure 1 is a vertical plate installation and handling manipulator equipment
  • Figure 2 is a side view
  • Figure 3 is a schematic diagram of the first working state
  • Figure 4 is a working state two Schematic.
  • a vertical plate installation and handling manipulator device including a base 5, a support frame 1 is fixed at the upper end of the base 5, and two vertical rods 2 are installed at the front position of the upper end of the base 5, and the middle position between the two vertical rods 2 is fixed and reinforced Rod 21,
  • the support frame 1 fixes the electric push rod 11 inside
  • the cylinder of the electric push rod 11 is hinged with the support frame 1
  • the piston rod of the electric push rod 11 is hinged with the middle position of the rear end of the reinforcing rod 21, two
  • the cross bar 10 is fixed at the upper position between the vertical rods 2, and the lower end of the cross bar 10 is rotated to install the precision ball screw 7, the ring side end of the precision ball screw 7 is installed with the bearing block 9 through the ball screw pair, and the front end of the bearing block 9 is installed
  • the movement of the piston rod realizes the adjustment of the pitch angle of the vacuum chuck frame 8.
  • the brake motor 3 drives the precision ball screw 7 to rotate, thereby realizing the adjustment of the height of the vacuum chuck frame 8 so as to facilitate the installation of vertical plates and Handling, and the operation requires a short time, which improves work efficiency, saves costs, and improves the accuracy of hoisting positions.
  • the base 5 includes a bottom plate 51, two electric push rods 52 and a support plate 53, the four corners of the bottom plate 51 are fixed with universal wheels, the upper end of the bottom plate 51 is horizontally installed with a guide rail slide, and the slide slide is installed inside the guide rail slide. Fixed at the lower end of the support plate 53, two electric push rods 52 are provided. The two electric push rods 52 are symmetrically installed at the left and right ends of the bottom plate 51. The cylinder of the second electric push rod 52 is hinged with the bottom plate 51.
  • the two rods are symmetrically installed at the left and right ends of the support plate 53 and the piston rods of the electric push rods 53 are hinged with the support plate 53, the vertical rod 2 and the support frame 1 are both installed on the upper end of the support plate 53, and the sliding block one cooperates with the guide rail.
  • the supporting plate 53 and the bottom plate 51 can move left and right.
  • the electric push rod 52 can drive the supporting plate 53 and the bottom plate 51 to move relative to each other to realize the required functions.
  • the universal wheel facilitates the movement of the utility model.
  • a rotating seat is installed at the upper end of the base 5, and the rotating seat is connected with the vertical rod 2 through a rotating shaft.
  • the rotating seat and the rotating shaft facilitate the rotating connection of the vertical rod 2 and the base 5.
  • the front ends of the two vertical rods 2 are fixed with guide rails.
  • the four corners of the rear end of the vacuum chuck rack 8 are equipped with slider two.
  • the two sliders are installed on a rail. When the vacuum chuck rack 8 moves up and down, the slider two can Move along the guide rail to realize the guiding function.
  • the worm gear motor includes a brake motor 3 and a worm gear reducer 4.
  • the worm gear reducer 4 is fixed at the lower end of the output shaft 6, the side end of the worm gear reducer 4 is fixedly connected with the brake motor 3, and the brake motor 3 is fixed on one of the support frames
  • the brake motor is equipped with an electromagnetic brake at the end of the motor. When the motor is energized, it is also energized and attracted. At this time, it does not brake the motor. When the motor is powered off, it is also powered off.
  • the brake brakes the motor under the action of the spring to prevent the plate from sliding down under the load, which improves the safety of use.
  • the worm gear reducer 4 facilitates the transmission of the rotational movement of the brake motor 3 to the output shaft 6.
  • the cross bar 10 is connected with the precision ball screw 7 through a bearing, and the bearing facilitates the rotation of the precision ball screw 7.
  • the precision ball screw 7 is connected to the output shaft 6 through a coupling, and the coupling facilitates the connection between the output shaft 6 and the precision ball screw 7.
  • the vacuum suction cup frame 8 includes a support frame and six rubber suction cups uniformly installed at the front end of the support frame.
  • the support frame 1 is fixedly installed with a battery 12, a vacuum pump 13, a vacuum energy storage tank 14, and a control panel 15.
  • the vacuum pump 13 is connected with The vacuum energy storage tank 14 is connected, and the vacuum energy storage tank 14 is connected to six rubber suction cups through two connecting pipes.
  • the vacuum negative pressure tank 14 and the air compressor work in the opposite direction, but the principle is the same, that is, the atmospheric pressure in the tank is passed through
  • the vacuum pump 13 sucks to make the tank reach negative pressure and stores the negative pressure value, and then connects to the rubber suction cup.
  • the negative pressure gas of the rubber suction cup can adsorb the plate.
  • the vacuum negative pressure tank is a square or cylindrical sealed empty tank without other structures. Solenoid valves are installed on the first pipe and the second pipe.
  • the control panel 15 is equipped with control buttons, and the number of control buttons is multiple groups.
  • the multiple groups of control buttons are connected with the brake motor 3, the electric push rod 11, and the electric pusher respectively.
  • the second lever 52 is electrically connected to the solenoid valve, and the battery 12 is electrically connected to the control panel 15.
  • the battery 12 is composed of two 12V batteries connected in series. It is mainly used to provide power to the device so that the device can operate normally. It is the brake motor 3, the electric push rod 11, the electric push rod 52, and the solenoid valve.
  • One side of the control panel 15 is provided with a remote control receiver for electrical connection with the remote control.
  • the remote control receiver is wirelessly connected to the transmitter on the remote control.
  • the switch operation buttons of various parts are controlled by the control buttons on the control panel 15 or wirelessly controlled by the remote control, which can be operated by one person freely, which greatly reduces the cost.
  • the side of the support frame 1 away from the vertical rod 2 is provided with an ascending step and a handrail.
  • the ascending step and handrail are used for the operator to accurately install the plate workpiece from the machine when the plate workpiece rises above the height of the human body and cannot stand on the ground. Up to a step, the height of the operation is increased and the installation and operation are convenient.
  • the armrest is designed according to the ergonomic angle, which is convenient for the personnel to grasp during operation, and it is better to control the operation trajectory of the suction cup suction workpiece.
  • the working principle of the vertical plate installation and handling manipulator is as follows: the operator starts the brake motor 3, the brake motor 3 works through the worm gear reducer 4 to drive the output shaft 6 to rotate, and then drives the precision ball screw 7 to rotate.
  • the ball screw pair is connected to the bearing block 9, so the precision ball screw 7 can drive the vacuum sucker rack 8 to move up or down, so as to adjust the vacuum sucker rack 8 to a suitable height, and then use the vacuum sucker rack 8 to remove the plate Adsorb and fix, and then run the brake motor 3 again to drive the vacuum suction cup frame 8 and the plate to a suitable height, and then run the electric push rod 11, the electric push rod 11 drives the vertical rod 2 around the rotating seat connected to the base 5
  • the rotation in turn drives the vacuum suction cup holder 8 and the plate to rotate, thereby realizing the adjustment of the pitch angle of the plate, which is convenient for subsequent installation and transportation of the plate.
  • the vertical plate installation and handling manipulator provided by the present invention has the following beneficial effects:

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)

Abstract

一种立式板材安装搬运机械手设备，包括底座（5），底座（5）上端后部位置固定支撑框架（1），底座（5）上端前部位置转动安装两个竖杆（2），两个竖杆（2）之间中部位置固定加强杆（21），支撑框架（1）内部固定电动推杆一（11），电动推杆一（11）的缸体与支撑框架（1）进行铰接，电动推杆一（11）的活塞杆与加强杆（21）的后端中间位置铰接，两个竖杆（2）之间上部位置固定横杆（10），横杆（10）下端转动安装精密滚珠丝杆（7），精密滚珠丝杆（7）环形侧端安装轴承块（9），轴承块（9）前端通过轴承转动安装真空吸盘架（9），精密滚珠丝杆（7）下端固定输出轴（6），输出轴（6）下端固定蜗轮蜗杆减速电机，立式板材安装搬运机械手设备具有操作所需时间短，提高了工作效率，节省了成本，且提高了吊装位置的准确性的优点。

Description

一种立式板材安装搬运机械手设备 技术领域
本实用新型涉及板材运输领域，尤其涉及一种立式板材安装搬运机械手设备。
背景技术
在安装隔间、室内外大理石等各种板材安装时，通常采用吊绳吊具或者手动吸盘搬运安装隔间板材。其中手动吸盘搬运安装板材耗时多，且在安装过程中需要耗费大量体力和人力，成本高而且容易发生意外事故；而采用吊绳吊具安装板材常常由于吊装位置不精确、装卸吊具繁琐，场所局限等，需要人工调节及二次搬运等操作。
因此，有必要提供一种立式板材安装搬运机械手设备解决上述技术问题。
实用新型内容
本实用新型提供一种立式板材安装搬运机械手设备，解决了手动吸盘搬运安装板材耗时多、耗费大量体力和人力，成本高而且容易发生意外事故、吊装位置不精确、需要人工调节及二次搬运等操作的问题。
为解决上述技术问题，本实用新型提供的一种立式板材安装搬运机械手设备，包括底座，所述底座上端后部位置固定支撑框架，所述底座上端前部位置转动安装两个竖杆，两个所述竖杆之间中部位置固定加强杆，所述支撑框架内部固定电动推杆一，所述电动推杆一的缸体与支撑框架进行铰接，所述电动推杆一的活塞杆与加强杆的后端中间位置铰接，两个所述竖杆之间上部位置固定横杆，所述横杆下端转动安装精密滚珠丝杆，所述精密滚珠丝杆环形侧端安装轴承块，所述轴承块前端通过轴承转动安装真空吸盘架，所述真空吸盘架设在竖杆前端，所述精密滚珠丝杆下端固定输出轴，所述输出轴下端固定蜗轮蜗杆减速电机。
优选的，所述底座包括底板、电动推杆二以及支撑板，所述底板下端 四角边缘位置均固定万向轮，所述底板上端横向安装导轨滑道，所述导轨滑道内部滑动安装滑块一，所述滑块一固定在支撑板下端，所述电动推杆二设有两个，两个所述电动推杆二对称安装在底板左右两端且电动推杆二的缸体与底板铰接，两个所述电动推杆二对称安装在支撑板左右两端且电动推杆二的活塞杆与支撑板铰接，所述竖杆以及支撑框架均安装在支撑板上端。
优选的，所述底座上端安装转动座，所述转动座通过转轴与竖杆连接。
优选的，两个所述竖杆前端均固定导轨，所述真空吸盘架后端四个角落位置均安装滑块二，两个所述滑块二配合安装在一个导轨上。
优选的，所述蜗轮蜗杆减速电机包括刹车电机以及蜗轮蜗杆减速器，所述蜗轮蜗杆减速器固定在输出轴下端，所述蜗轮蜗杆减速器侧端与刹车电机固定连接，所述刹车电机固定在其中一个支撑框架的侧端上。
优选的，所述横杆通过轴承与精密滚珠丝杆连接。
优选的，所述精密滚珠丝杆通过联轴器与输出轴连接。
优选的，所述真空吸盘架包括支撑架以及均匀安装在支撑架前端的六个橡胶吸盘，所述支撑框架内部固定安装有蓄电池、真空泵、真空储能罐以及控制面板，所述真空泵通过连管一与真空储能罐连接，所述真空储能罐通过连管二分别与六个橡胶吸盘连接，所述连管一以及连管二上均安装有电磁阀，所述控制面板的内部设置有控制按钮，且控制按钮的数量为多组，多组所述控制按钮分别与刹车电机、电动推杆一、电动推杆二以及和电磁阀电性连接，所述蓄电池与控制面板电性连接。
优选地，所述控制面板一侧设有用于和遥控器电性连接的遥控接收器。
优选的，所述支撑框架远离竖杆的一侧设有登高台阶以及扶手。
与相关技术相比较，本实用新型提供的立式板材安装搬运机械手设备具有如下有益效果：
本实用新型提供一种立式板材安装搬运机械手设备，通过电动推杆一活 塞杆的移动实现对真空吸盘架的俯仰角度进行调节，通过刹车电机带动精密滚珠丝杆转动，进而实现对真空吸盘架的高度进行调节，从而便于对立式板材进行安装以及搬运，且操作所需时间短，提高了工作效率，节省了成本，且提高了吊装位置的准确性。
附图说明
图1为本实用新型提供的立式板材安装搬运机械手设备的一种较佳实施例的结构示意图；
图2为图1所示立式板材安装搬运机械手设备的侧视图；
图3为图1所示立式板材安装搬运机械手设备的工作状态一的示意图；
图4为图1所示立式板材安装搬运机械手设备的工作状态二的示意图。
图中标号：1、支撑框架，2、竖杆，3、刹车电机，4、蜗轮蜗杆减速器，5、底座，6、输出轴，7、精密滚珠丝杆，8、真空吸盘架，9、轴承块，10、横杆，11、电动推杆一、12、蓄电池，13、真空泵，14、真空储能罐，15、控制面板，51-底板、52-电动推杆二、53-支撑板。
具体实施方式
下面结合附图和实施方式对本实用新型作进一步说明。
请结合参阅图1、图2、图3和图4，其中，图1为立式板材安装搬运机械手设备，图2为侧视图，图3为工作状态一的示意图，图4为工作状态二的示意图。一种立式板材安装搬运机械手设备，包括底座5，底座5上端后部位置固定支撑框架1，底座5上端前部位置转动安装两个竖杆2，两个竖杆2之间中部位置固定加强杆21，支撑框架1内部固定电动推杆一11，电动推杆一11的缸体与支撑框架1进行铰接，电动推杆一11的活塞杆与加强杆21的后端中间位置铰接，两个竖杆2之间上部位置固定横杆10，横杆10下端转动安装精密滚珠丝杆7，精密滚珠丝杆7环形侧端通过滚珠丝杆副安装轴承块9，轴承块9前端通过轴承转动安装真空吸盘架8，因此吸盘框架可以360度旋转，真空吸盘架8设在竖杆2前端，精密滚珠丝杆7下端固定 输出轴6，输出轴6下端固定蜗轮蜗杆减速电机，通过电动推杆一11活塞杆的移动实现对真空吸盘架8的俯仰角度进行调节，通过刹车电机3带动精密滚珠丝杆7转动，进而实现对真空吸盘架8的高度进行调节，从而便于对立式板材进行安装以及搬运，且操作所需时间短，提高了工作效率，节省了成本，提高了吊装位置的准确性。
底座5包括底板51、电动推杆二52以及支撑板53，底板51下端四角边缘位置均固定万向轮，底板51上端横向安装导轨滑道，导轨滑道内部滑动安装滑块一，滑块一固定在支撑板53下端，电动推杆二52设有两个，两个电动推杆二52对称安装在底板51左右两端且电动推杆二52的缸体与底板51铰接，两个电动推杆二对称安装在支撑板53左右两端且电动推杆二53的活塞杆与支撑板53铰接，竖杆2以及支撑框架1均安装在支撑板53上端，滑块一与导轨滑道配合使支撑板53与底板51之间能够进行左右相对移动，电动推杆二52工作时可以带动支撑板53与底板51进行相对左右移动来实现所需的功能，万向轮便于本实用新型的移动。
底座5上端安装转动座，转动座通过转轴与竖杆2连接，转动座以及转轴便于竖杆2与底座5的转动连接。
两个竖杆2前端均固定导轨，真空吸盘架8后端四个角落位置均安装滑块二，两个滑块二配合安装在一个导轨上，真空吸盘架8上下移动时，滑块二能够沿着导轨移动，实现了导向功能。
蜗轮蜗杆减速电机包括刹车电机3以及蜗轮蜗杆减速器4，蜗轮蜗杆减速器4固定在输出轴6下端，蜗轮蜗杆减速器4侧端与刹车电机3固定连接，刹车电机3固定在其中一个支撑框架1的侧端上，刹车电机即在电机的尾部加设有一个电磁抱刹，电机通电时它也通电吸合，这时它对电机不制动，当电机断电时它也断电，抱刹在弹簧的作用下刹住电机，防止板材承重而下滑，提高了使用安全性，蜗轮蜗杆减速器4便于将刹车电机3的转动运动传递到输出轴6上。
横杆10通过轴承与精密滚珠丝杆7连接，轴承便于精密滚珠丝杆7进行转动。
精密滚珠丝杆7通过联轴器与输出轴6连接，联轴器便于输出轴6与精密滚珠丝杆7的连接。
真空吸盘架8包括支撑架以及均匀安装在支撑架前端的六个橡胶吸盘，支撑框架1内部固定安装有蓄电池12、真空泵13、真空储能罐14以及控制面板15，真空泵13通过连管一与真空储能罐14连接，真空储能罐14通过连管二分别与六个橡胶吸盘连接，其中的真空负压罐14与空压机相反作用，但是原理是一样的，就是把罐内大气压通过真空泵13抽吸使罐内达到负压并贮存负压值，再连接到橡胶吸盘，橡胶吸盘的负压气体就可以吸附板材了，如果吸盘吸附板材时有点漏气这是真空负压罐内负压气体慢慢释放，而真空泵13不会频繁工作，负压值达所设定下限时真空泵13才自动起动，机械工作时万一真空,13发生故障停止工作时，这时真空负压罐14发挥最大作用，真空负压罐14内负压气体会保持吸附板材不会突然脱落，避免造成意外事故，一般来说，真空负压罐就是方形或园柱形密封空罐，没有其他构造，连管一以及连管二上均安装有电磁阀，控制面板15的内部设置有控制按钮，且控制按钮的数量为多组，多组控制按钮分别与刹车电机3、电动推杆一11、电动推杆二52以及和电磁阀电性连接，蓄电池12与控制面板15电性连接，蓄电池12由两台12V蓄电池串联而成，其主要是为装置提供电能，使得装置可以正常运行，主要供能对象就是刹车电机3、电动推杆一11、电动推杆二52以及和电磁阀。
控制面板15一侧设有用于和遥控器电性连接的遥控接收器，遥控接收器与遥控器上的发射器无线连接，刹车电机3、电动推杆一11、电动推杆二52以及和电磁阀等各个部件的开关操作按键是在控制面板15上的控制按钮进行操控也可以通过遥控器来进行无线操控，可以一人自由操作，大大减少成本 付出。
支撑框架1远离竖杆2的一侧设有登高台阶以及扶手，登高台阶及扶手用于操作人员在板材工件升到超过人体高度无法站立地面对板材工件精准安装时，人员可从机械自身三个台阶上去，增高操作高度又方便安装操作，扶手按人体工程学角度设计，方便人员运行时把握，更好对吸盘吸附工件的运行轨迹操控。
本实用新型提供的立式板材安装搬运机械手设备的工作原理如下：操作人员启动刹车电机3，刹车电机3工作通过蜗轮蜗杆减速器4带动输出轴6转动，进而带动精密滚珠丝杆7转动，由于通过滚珠丝杆副与轴承块9连接，故精密滚珠丝杆7转动能够带动真空吸盘架8向上移动或向下移动，实现将真空吸盘架8调节至合适高度，然后利用真空吸盘架8将板材吸附固定，然后再次运行刹车电机3，实现带动真空吸盘架8以及板材移动至合适高度，然后运行电动推杆一11，电动推杆一11工作带动竖杆2围绕与底座5连接的转动座进行转动，进而带动真空吸盘架8以及板材进行转动，从而实现对板材的俯仰角度进行调节，便于后续板材的安装以及搬运。
与相关技术相比较，本实用新型提供的立式板材安装搬运机械手设备具有如下有益效果：
能够对板材的高度以及角度进行精准控制，从而提高了对板材进行的搬运以及安装的精度，不需要操作人员进行二次搬运，提高了工作效率，节省了成本，且提高了吊装位置的准确性。
以上仅为本实用新型的实施例，并非因此限制本实用新型的专利范围，凡是利用本实用新型说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其它相关的技术领域，均同理包括在本实用新型的专利保护范围内。

Claims (10)

  1. 一种立式板材安装搬运机械手设备，其特征在于：包括底座(5)，所述底座(5)上端后部位置固定支撑框架(1)，所述底座(5)上端前部位置转动安装两个竖杆(2)，两个所述竖杆(2)之间中部位置固定加强杆(21)，所述支撑框架(1)内部固定电动推杆一(11)，所述电动推杆一(11)的缸体与支撑框架(1)进行铰接，所述电动推杆一(11)的活塞杆与加强杆(21)的后端中间位置铰接，两个所述竖杆(2)之间上部位置固定横杆(10)，所述横杆(10)下端转动安装精密滚珠丝杆(7)，所述精密滚珠丝杆(7)环形侧端安装轴承块(9)，所述轴承块(9)前端通过轴承转动安装真空吸盘架(8)，所述真空吸盘架(8)设在竖杆(2)前端，所述精密滚珠丝杆(7)下端固定输出轴(6)，所述输出轴(6)下端固定蜗轮蜗杆减速电机。
  2. 根据权利要求1所述的立式板材安装搬运机械手设备，其特征在于：所述底座(5)包括底板(51)、电动推杆二(52)以及支撑板(53)，所述底板(51)下端四角边缘位置均固定万向轮，所述底板(51)上端横向安装导轨滑道，所述导轨滑道内部滑动安装滑块一，所述滑块一固定在支撑板(53)下端，所述电动推杆二(52)设有两个，两个所述电动推杆二(52)对称安装在底板(51)左右两端且电动推杆二(52)的缸体与底板(51)铰接，两个所述电动推杆二对称安装在支撑板(53)左右两端且电动推杆二(53)的活塞杆与支撑板(53)铰接，所述竖杆(2)以及支撑框架(1)均安装在支撑板(53)上端。
  3. 根据权利要求1所述的立式板材安装搬运机械手设备，其特征在于：所述底座(5)上端安装转动座，所述转动座通过转轴与竖杆(2)连接。
  4. 根据权利要求1所述的立式板材安装搬运机械手设备，其特征在于：两个所述竖杆(2)前端均固定导轨，所述真空吸盘架(8)后端四个角落位置均安装滑块二，两个所述滑块二配合安装在一个导轨上。
  5. 根据权利要求1所述的立式板材安装搬运机械手设备，其特征在于：所述蜗轮蜗杆减速电机包括刹车电机(3)以及蜗轮蜗杆减速器(4)，所述 蜗轮蜗杆减速器(4)固定在输出轴(6)下端，所述蜗轮蜗杆减速器(4)侧端与刹车电机(3)固定连接，所述刹车电机(3)固定在其中一个支撑框架(1)的侧端上。
  6. 根据权利要求1所述的立式板材安装搬运机械手设备，其特征在于：所述横杆(10)通过轴承与精密滚珠丝杆(7)连接。
  7. 根据权利要求1所述的立式板材安装搬运机械手设备，其特征在于：所述精密滚珠丝杆(7)通过联轴器与输出轴(6)连接。
  8. 根据权利要求1所述的立式板材安装搬运机械手设备，其特征在于：所述真空吸盘架(8)包括支撑架以及均匀安装在支撑架前端的六个橡胶吸盘，所述支撑框架(1)内部固定安装有蓄电池(12)、真空泵(13)、真空储能罐(14)以及控制面板(15)，所述真空泵(13)通过连管一与真空储能罐(14)连接，所述真空储能罐(14)通过连管二分别与六个橡胶吸盘连接，所述连管一以及连管二上均安装有电磁阀，所述控制面板(15)的内部设置有控制按钮，且控制按钮的数量为多组，多组所述控制按钮分别与刹车电机(3)、电动推杆一(11)、电动推杆二(52)以及和电磁阀电性连接，所述蓄电池(12)与控制面板(15)电性连接。
  9. 根据权利要求8所述的立式板材安装搬运机械手设备，其特征在于：所述控制面板(15)一侧设有用于和遥控器电性连接的遥控接收器。
  10. 根据权利要求1所述的立式板材安装搬运机械手设备，其特征在于：所述支撑框架(1)远离竖杆(2)的一侧设有登高台阶以及扶手。
PCT/CN2019/098075 2019-07-12 2019-07-28 一种立式板材安装搬运机械手设备 WO2021007884A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201921105393.7U CN210732491U (zh) 2019-07-12 2019-07-12 一种立式板材安装搬运机械手设备
CN201921105393.7 2019-07-12

Publications (1)

Publication Number Publication Date
WO2021007884A1 true WO2021007884A1 (zh) 2021-01-21

Family

ID=70990732

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/098075 WO2021007884A1 (zh) 2019-07-12 2019-07-28 一种立式板材安装搬运机械手设备

Country Status (2)

Country Link
CN (1) CN210732491U (zh)
WO (1) WO2021007884A1 (zh)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113210951A (zh) * 2021-06-03 2021-08-06 银川怡祥矿山机械制造有限公司 一种智能自动化全方位冷焊平台及其使用方法
CN113889366A (zh) * 2021-09-17 2022-01-04 符成波 水利工程用空心锥体瓷套湿法生产线组
CN114014139A (zh) * 2021-11-24 2022-02-08 江苏科技大学 船用三维曲面板搬运装置
CN117585448A (zh) * 2024-01-18 2024-02-23 常州市马劲机电设备有限公司 管材搬运运输装置

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114683309A (zh) * 2020-12-25 2022-07-01 广东博智林机器人有限公司 墙板抓取装置及墙板的抓取控制方法
CN114110316A (zh) * 2021-10-14 2022-03-01 西安中科西光航天科技有限公司 一种卫星遥感影像解译设备
CN114047165B (zh) * 2022-01-13 2022-03-25 江苏奥琳斯邦装备科技股份有限公司 一种环氧树脂固化剂透光率检测装置

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05319770A (ja) * 1992-05-22 1993-12-03 Taisei Corp 板材搬送機械
CN103009374A (zh) * 2012-12-14 2013-04-03 天津筑高机器人技术有限公司 大型板材搬运安装机械手
KR20150034440A (ko) * 2013-09-26 2015-04-03 대우조선해양 주식회사 수직다관절 로봇을 이용한 lng 화물창의 단열박스 이송장치
CN104763160A (zh) * 2015-03-27 2015-07-08 河北工业大学 一种高空幕墙安装机器人
CN206029896U (zh) * 2016-12-15 2017-03-22 赵书畅 一种机器人
CN108621139A (zh) * 2017-03-15 2018-10-09 王爱民 一种生产钢材用机械手装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05319770A (ja) * 1992-05-22 1993-12-03 Taisei Corp 板材搬送機械
CN103009374A (zh) * 2012-12-14 2013-04-03 天津筑高机器人技术有限公司 大型板材搬运安装机械手
KR20150034440A (ko) * 2013-09-26 2015-04-03 대우조선해양 주식회사 수직다관절 로봇을 이용한 lng 화물창의 단열박스 이송장치
CN104763160A (zh) * 2015-03-27 2015-07-08 河北工业大学 一种高空幕墙安装机器人
CN206029896U (zh) * 2016-12-15 2017-03-22 赵书畅 一种机器人
CN108621139A (zh) * 2017-03-15 2018-10-09 王爱民 一种生产钢材用机械手装置

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113210951A (zh) * 2021-06-03 2021-08-06 银川怡祥矿山机械制造有限公司 一种智能自动化全方位冷焊平台及其使用方法
CN113889366A (zh) * 2021-09-17 2022-01-04 符成波 水利工程用空心锥体瓷套湿法生产线组
CN114014139A (zh) * 2021-11-24 2022-02-08 江苏科技大学 船用三维曲面板搬运装置
CN114014139B (zh) * 2021-11-24 2024-04-19 江苏科技大学 船用三维曲面板搬运装置
CN117585448A (zh) * 2024-01-18 2024-02-23 常州市马劲机电设备有限公司 管材搬运运输装置
CN117585448B (zh) * 2024-01-18 2024-04-05 常州市马劲机电设备有限公司 管材搬运运输装置

Also Published As

Publication number Publication date
CN210732491U (zh) 2020-06-12

Similar Documents

Publication Publication Date Title
WO2021007884A1 (zh) 一种立式板材安装搬运机械手设备
WO2020155535A1 (zh) 一种装配式墙体的机械辅助设备
US4884938A (en) Apparatus for handling large-sized articles
CN109866812B (zh) 电器开关柜用装卸滑车
CN205527564U (zh) 一种装饰瓷砖码垛搬运小车
WO2016085327A2 (en) Apparatus and process for moving packages of finishing materials and transferring the packages to supports
CN113006348B (zh) 一种高空幕墙自动安装型智能机器人
CN211998564U (zh) 一种建筑设备用吊装装置
CN209427675U (zh) 一种稳定升降平移运输机构
CN106927393B (zh) 一种大型车窗拆卸安装设备
CN107673263A (zh) 太阳能水箱安装用提升装置
CN215549877U (zh) 一种玻璃挖孔平台
CN105668450A (zh) 断路器机构检修小车
CN205802458U (zh) 一种冲床用上下料装置
CN109131502B (zh) 一种智能控制通电定位的汽车玻璃无源仓储运输移动平台
CN219078999U (zh) 一种板材吊运装置
CN212022757U (zh) 新型板材运输机
CN220505997U (zh) 一种管道施工固定工装
CN219691163U (zh) 剪力墙裂缝修补养护装置
CN109626194A (zh) 一种飞机大蒙皮柔性主动式吊装装置及其吊装方法
CN218144455U (zh) 玻璃吸附翻转机构
CN221186554U (zh) 一种机械手吸附装置
CN221188692U (zh) 一种板材转运装置
CN221051378U (zh) 转运组件和钢化玻璃转运设备
CN215438675U (zh) 一种可调节产品方向角度的吸附工装

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19938017

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19938017

Country of ref document: EP

Kind code of ref document: A1

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 01/07/2022)

122 Ep: pct application non-entry in european phase

Ref document number: 19938017

Country of ref document: EP

Kind code of ref document: A1