WO2022166178A1 - Robot de montage et de démontage d'échafaudage - Google Patents

Robot de montage et de démontage d'échafaudage Download PDF

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Publication number
WO2022166178A1
WO2022166178A1 PCT/CN2021/115178 CN2021115178W WO2022166178A1 WO 2022166178 A1 WO2022166178 A1 WO 2022166178A1 CN 2021115178 W CN2021115178 W CN 2021115178W WO 2022166178 A1 WO2022166178 A1 WO 2022166178A1
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WO
WIPO (PCT)
Prior art keywords
drives
motor
rotation axis
block
along
Prior art date
Application number
PCT/CN2021/115178
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English (en)
Chinese (zh)
Inventor
王芝香
Original Assignee
王芝香
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 王芝香 filed Critical 王芝香
Priority to PCT/CN2021/115178 priority Critical patent/WO2022166178A1/fr
Priority to CN202180007041.1A priority patent/CN115697641A/zh
Publication of WO2022166178A1 publication Critical patent/WO2022166178A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • 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

Definitions

  • the invention relates to construction engineering, in particular to a scaffold installation and disassembly robot.
  • the purpose of the present invention is to overcome the high danger and low efficiency of manual operation of the existing scaffold installation and disassembly.
  • the present invention proposes a scaffold installation and disassembly robot with a new concept, which can walk freely on the scaffold, and can be controlled by remote control and fully automatic synchronous intelligent control. Axis robot, installation and removal of scaffolding. Compared with the existing artificial high-altitude installation and removal of scaffolding, it is safer and more efficient.
  • a scaffold installation and disassembly robot which includes a first mechanical arm, a second mechanical arm, a third mechanical arm, a fourth mechanical arm, a fifth mechanical arm, The sixth manipulator, the seventh manipulator, and the eighth manipulator;
  • the first manipulator is equipped with a second screw rod, a first bevel gear transmission group, a first push block, a first push rod, an eleventh rotating shaft, a second The push rod, the twelfth rotating shaft, the first grasping ring, the second grasping ring;
  • the second mechanical arm is equipped with the first motor, the third belt, the tenth motor, the fourth belt, the first rotating shaft, and the tenth motor is installed on the outer wall.
  • the fastener installation box is equipped with a fourth screw, a third push block, a connecting rod, a thirteenth rotation axis, a rotation block, a fourteenth rotation axis, and a fastener base , the thirteenth motor, the fifth screw, the wrench base, the electric wrench, the fifteenth rotation axis, the fourteenth motor, the sixth screw, the pendulum rod, the sixteenth rotation axis, the fourth push block, the first grab block , the seventeenth rotating shaft, the fastener nut, the eighteenth rotating shaft, the second grabbing block, the fifteenth motor; the third mechanical arm is equipped with a second motor, a second rotating shaft, and a camera is installed on the outer wall; the fourth The manipulator is equipped with a fourth rotating shaft, a fourth motor, an eighth motor, an eighth rotating shaft, a third motor, and a third rotating shaft, a fastener storage disk is installed in the middle, and a circuit
  • the camera on the third manipulator, the sixth manipulator and the fastener installation box is used to scan and collect the working environment data
  • the circuit control boards are installed in the two side walls of the fourth manipulator to transmit the data
  • the automatic synchronous control system is used to transmit the data.
  • the first motor drives the first manipulator and the second manipulator to rotate relatively along the first rotation axis through the third belt
  • the second motor drives the second manipulator and the third manipulator to rotate along the second
  • the shafts rotate relative to each other
  • the third motor drives the third arm and the fourth arm to rotate relative to the third axis of rotation
  • the fourth motor drives the fourth arm and the fifth arm to rotate relative to the fourth axis
  • the fifth motor drives The fifth robotic arm and the sixth robotic arm rotate relative to each other along the fifth rotation axis
  • the sixth motor drives the sixth robotic arm and the seventh robotic arm to rotate relative to the sixth rotation axis
  • the seventh motor drives the seventh robotic arm through the first belt It rotates relative to the eighth mechanical arm along the seventh rotation axis to realize the relative rotation of the eight mechanical arms along the seven rotation axes;
  • the tenth motor drives the first bevel gear drive group through the fourth belt
  • the first bevel gear drive group drives the second screw to push the first push block
  • the first push block drives the first grip ring to rotate along the eleventh through the first push rod
  • the shaft rotates
  • the first push block drives the second grasping ring to rotate along the twelfth rotation axis through the second push rod, thus realizing the grasping and loosening of the steel pipe on the side of the first mechanical arm
  • the ninth motor drives the second bevel gear through the second belt Transmission group
  • the second bevel gear transmission group drives the first screw to push the second push block
  • the second push block drives the third grip ring to rotate along the eighth rotation axis through the third push rod
  • the second push block is driven by the fourth push rod
  • the fourth gripping ring rotates along the tenth rotation axis, thereby realizing the gripping and loosening of the steel pipe on the eighth arm side;
  • the first manipulator side grabs the scaffolding steel pipe, then the eight manipulator arms rotate relative to each other along the seven rotation axes to adjust the position, then the eighth manipulator side grabs the scaffolding steel pipe, and then the first manipulator side releases the scaffolding steel pipe, and then the eight manipulator arms Adjust the position by relative rotation along the seven rotation axes, then the first manipulator side grabs the scaffolding steel pipe, and then the eighth manipulator side releases the scaffolding steel pipe, thus realizing the cycle and walking freely on the scaffolding steel pipe.
  • the eleventh motor drives the fastener installation box down through the third screw; the fifteenth motor drives the fourth push block forward, the fourth push block pushes the first grab block to rotate along the seventeenth rotation axis, and the fourth push block pushes the fourth push block
  • the second grab block rotates along the eighteenth rotation axis, thereby clamping the fastener bolt;
  • the twelfth motor drives the third push block forward through the fourth screw rod, and the third push block drives the rotation block along the thirteenth rotation axis through the connecting rod Rotating, the rotating block pushes the fastener base to rotate along the fourteenth rotation axis, thus placing the fastener base on the steel pipe;
  • the fourteenth motor drives the pendulum rod to rotate along the fifteenth rotation axis through the sixth screw, and the pendulum rod pushes the fastener
  • the pressing block rotates along the sixteenth rotation axis, thereby interlocking the fastener pressing block with the fastener bolt;
  • the thirteenth motor drives the wrench base
  • the eighth motor drives the fastener storage disk to rotate along the eighth rotation axis
  • the spring pressure drives the right self-locking block to self-lock along the nineteenth rotation axis
  • the left self-locking block and the right self-locking block clamp the fastener bolts
  • the first grab The block and the second grab block clamp the fastener bolts
  • the sixteenth motor drives the fastener pressing block to rotate, loosens the fastener
  • the third motor drives the third mechanical arm and the fourth mechanical arm to rotate relatively along the third rotation axis, Thus grab the fastener.
  • the beneficial effects of the present invention are as follows: through the implementation of the technical solution, the existing scaffold installation and disassembly manual operation is highly dangerous and low in efficiency, and the present invention proposes a scaffold installation and disassembly robot with a brand-new concept, which can freely walk on the scaffold and be remotely controlled. A seven-axis robot controlled, fully automatic, and intelligently controlled, with scaffolding installed and dismantled. Compared with the existing artificial high-altitude installation and disassembly scaffolding, the present invention is safer and more efficient.
  • FIG. 1 is a schematic diagram of the structure of the robot of the present invention.
  • FIG. 2-6 are partial views of FIG. 1 .
  • FIG. 6 7-8 are partial views of FIG. 6 .
  • FIG. 9 is a schematic structural diagram of a robot fetching fastener of the present invention.
  • FIG. 10-11 are partial views of FIG. 9 .
  • 12-15 are schematic diagrams of the structure of the motion state of the robot of the present invention.
  • a scaffold installation and disassembly robot which includes a first mechanical arm 1, a second mechanical arm 2, a third mechanical arm 3, a fourth mechanical arm 4, a fifth mechanical arm 5, and a sixth mechanical arm Arm 6, seventh robotic arm 7, eighth robotic arm 8;
  • the first robotic arm 1 is equipped with a second screw 41, a first bevel gear transmission group 43, a first push block 44, a first push rod 45, an eleventh
  • the second mechanical arm 2 is equipped with a first motor 37, a third belt 38, a tenth motor 39,
  • the fourth belt 40, the first rotating shaft 42, the eleventh motor 51, the third screw 52, the fastener installation box 53, the camera 54 are installed on the outer wall, and the fourth screw 56 and the third push block are installed on the fastener installation box 53 57, connecting rod 58, thirteenth rotating shaft 59, rotating block 60
  • the fifth mechanical arm 5 is equipped with a power battery 12 in the middle, and the lower end is equipped with a fifth rotating shaft 1) and a fifth motor 16;
  • the sixth mechanical arm 6 is equipped with a sixth motor 13, a sixth rotating shaft 14, and the outer wall A camera is installed on it;
  • the seventh mechanical arm 7 is equipped with a seventh motor 17, a first belt 18, a seventh rotating shaft 19, a ninth motor 24, a second belt 25, a first screw 26, and a second bevel gear transmission group 27;
  • the eighth mechanical arm 8 is equipped with a third push rod 20 , a fourth push rod 21 , a third grasping ring 22 , a fourth grasping ring 23 , a ninth rotating shaft 28 , a second pushing block 29 , and a tenth rotating shaft 30 .
  • the camera on the third robotic arm 3, the sixth robotic arm and the fastener installation box 53 is used to scan and collect the working environment data, and the circuit control boards are installed in the two side walls of the fourth robotic arm 4 to transmit the data, and the automatic Synchronous control system and remote control system, intelligent control;
  • the first motor 37 drives the first robotic arm 1 and the second robotic arm 2 to rotate relatively along the first rotation axis 42 through the third belt 38
  • the second motor 33 drives the second robotic arm 2 and the third robot arm 3 rotate relatively along the second rotation axis 34
  • the third motor 35 drives the third robot arm 3 and the fourth robot arm 4 to rotate relatively along the third rotation axis 36
  • the fourth motor 11 drives the fourth robot arm 4 and the fifth robot arm 5 rotate relatively along the fourth rotation axis 10
  • the fifth motor 16 drives the fifth robot arm 5 and the sixth robot arm 6 to rotate relative to the fifth rotation axis
  • the sixth motor 13 drives the sixth robot arm 6 and the seventh robotic arm 7 rotate relatively along the sixth rotation axis 14, and the seventh motor 17 drives the seventh motor
  • the tenth motor 35 drives the first bevel gear transmission group 43 through the fourth belt 40
  • the first bevel gear transmission group 43 drives the second screw 41 to push the first push block 44
  • the first push block 44 drives the first push block 44 through the first push rod 45 .
  • a grasping ring 49 rotates along the eleventh rotation axis 46
  • the first push block 44 drives the second grasping ring 50 to rotate along the twelfth rotation axis 48 through the second push rod 47, thereby realizing the grasping and loosening of the first mechanical arm 1 side.
  • the ninth motor 24 drives the second bevel gear transmission group 27 through the second belt 25
  • the second bevel gear transmission group 27 drives the first screw 26 to push the second push block 29, and the second push block 29 passes the third push rod 20 drives the third grasping ring 22 to rotate along the eighth rotation axis 28, and the second push block 29 drives the fourth grasping ring 23 to rotate along the tenth rotation axis 30 through the fourth push rod 21, thus realizing the grasping and loosen the steel pipe;
  • the first robotic arm 1 side grasps the scaffolding steel pipe, then the eight robotic arms 8 rotate relative to each other along the seven rotation axes to adjust the position, then the eighth robotic arm 8 side grasps the scaffolding steel pipe, and then the first robotic arm 1 side releases the scaffolding steel pipe, then The eight manipulators rotate relative to each other along the seven rotation axes to adjust their positions, then the first manipulator 1 side grabs the scaffolding steel pipe, and then the eighth manipulator 8 side releases the scaffolding steel pipe, thus realizing the cycle and walking freely on the scaffolding steel pipe.
  • the eleventh motor 51 drives the fastener installation box 53 to descend through the third screw 52 ;
  • the fifteenth motor 80 drives the fourth push block 73 to move forward, and the fourth push block 73 pushes the first grab block 74 along the seventeenth rotation axis 75 Rotating, the fourth push block 73 pushes the second grab block 78 to rotate along the eighteenth rotation axis 77, thereby clamping the fastener bolt 79;
  • the twelfth motor 55 drives the third push block 57 forward through the fourth screw 56, the first
  • the three push blocks 57 drive the rotation block 60 to rotate along the thirteenth rotation axis 59 through the connecting rod 58, and the rotation block 60 pushes the fastener base 62 to rotate along the fourteenth rotation axis 61, thus placing the fastener base 62 on the steel pipe 81;
  • the fourteenth motor 68 drives the pendulum rod 70 to rotate along the fifteenth rotation axis 67 through the sixth screw 69 , and the pendulum rod 70
  • the eighth motor 32 drives the fastener storage disk 9 to rotate along the eighth rotation axis 31, the pressure of the spring 84 drives the right self-locking block 86 to self-lock along the nineteenth rotation axis 83, and the left self-locking block 85 and the right self-locking block 86 are clamped
  • the fastener bolt 79, the first grab block 74 and the second grab block 78 clamp the fastener bolt 79
  • the sixteenth motor 87 drives the fastener clamp 88 to rotate, loosens the fastener
  • the third motor 35 drives the third The robotic arm 3 and the fourth robotic arm 4 rotate relative to each other along the third rotation axis 36 so as to grab the fastener.

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

Abstract

L'invention concerne un robot de montage et de démontage d'échafaudage, caractérisé en ce qu'un premier bras mécanique (1) saisit un premier tuyau en acier d'échafaudage (81) sur le côté, alors huit bras mécaniques tournent relativement le long de sept arbres rotatifs pour ajuster la position, puis un huitième bras mécanique (8) saisit le tuyau en acier d'échafaudage (81), et le côté premier bras mécanique (1) desserre le tuyau en acier d'échafaudage (81). Ensuite, les huit bras mécaniques tournent relativement le long des sept arbres rotatifs, puis le premier bras mécanique (1) saisit le tuyau en acier d'échafaudage (81), et le côté huitième bras mécanique (8) desserre le tuyau en acier d'échafaudage (81), ce qui permet d'obtenir un cycle et le robot peut marcher librement sur le tuyau en acier d'échafaudage (81). Au moyen d'un système de fixation, des éléments de fixation sont saisis, puis les éléments de fixation sont montés et fixés sur le tuyau en acier (81). L'utilisation du robot à sept axes à commande intelligente synchrone, entièrement automatique et commandable à distance pour monter et démonter un échafaudage est plus sûre et plus efficace par rapport à un montage et un démontage d'échafaudage existant, qui est accompli manuellement à une altitude élevée.
PCT/CN2021/115178 2021-08-28 2021-08-28 Robot de montage et de démontage d'échafaudage WO2022166178A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2021/115178 WO2022166178A1 (fr) 2021-08-28 2021-08-28 Robot de montage et de démontage d'échafaudage
CN202180007041.1A CN115697641A (zh) 2021-08-28 2021-08-28 一种脚手架安装拆卸机器人

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2021/115178 WO2022166178A1 (fr) 2021-08-28 2021-08-28 Robot de montage et de démontage d'échafaudage

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WO2022166178A1 true WO2022166178A1 (fr) 2022-08-11

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WO (1) WO2022166178A1 (fr)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101664927A (zh) * 2009-09-15 2010-03-10 华南理工大学 一种模块化的仿生攀爬机器人
CN201760879U (zh) * 2009-09-11 2011-03-16 华南理工大学 一种模块化的舵机驱动的小型仿生攀爬机器人
CN106041972A (zh) * 2016-06-25 2016-10-26 北京工业大学 一种用于抓取钢管的机械手臂
JP2019063941A (ja) * 2017-09-29 2019-04-25 セイコーエプソン株式会社 ロボット
CN209954667U (zh) * 2019-05-31 2020-01-17 重庆建筑工程职业学院 一种多关节工业机器人
CN212608025U (zh) * 2020-06-09 2021-02-26 鄂尔多斯市智博机械制造有限责任公司 管道抓取移动装置
CN212825459U (zh) * 2020-09-21 2021-03-30 南京华研动密封科技有限公司 一种水下多功能电动机械臂

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201760879U (zh) * 2009-09-11 2011-03-16 华南理工大学 一种模块化的舵机驱动的小型仿生攀爬机器人
CN101664927A (zh) * 2009-09-15 2010-03-10 华南理工大学 一种模块化的仿生攀爬机器人
CN106041972A (zh) * 2016-06-25 2016-10-26 北京工业大学 一种用于抓取钢管的机械手臂
JP2019063941A (ja) * 2017-09-29 2019-04-25 セイコーエプソン株式会社 ロボット
CN209954667U (zh) * 2019-05-31 2020-01-17 重庆建筑工程职业学院 一种多关节工业机器人
CN212608025U (zh) * 2020-06-09 2021-02-26 鄂尔多斯市智博机械制造有限责任公司 管道抓取移动装置
CN212825459U (zh) * 2020-09-21 2021-03-30 南京华研动密封科技有限公司 一种水下多功能电动机械臂

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