Curtain wall installation construction robot moving mechanism with three degrees of freedom

Abstract

The invention relates to a curtain wall installation construction robot moving mechanism with three degrees of freedom. The mechanism comprises a supporting platform, and an X-axis moving mechanism unit, a Y-axis moving mechanism unit and a Z-axis moving mechanism unit are arranged on the supporting platform; the Y-axis moving mechanism unit comprises two guide sliding rails arranged at the bottom of the supporting platform and a Y-axis horizontal moving slider, capable of sliding transversely, which is arranged on the guide sliding rails; the guide sliding rails are arranged on the inner and outer sides of the supporting platform, and two ends of the Y-axis horizontal moving slider are erected on the guide sliding rails transversely; the X-axis moving mechanism unit comprises two longitudinal links and one transverse link which is movably connected to tops of the longitudinal links, and the bottoms of the longitudinal links are movably connected to the Y-axis horizontal moving slider to form a parallelogram mechanism; the Z-axis moving mechanism unit comprises a Z-axis horizontal moving slider which is slidably connected to the front ends of the transverse link of the X-axis moving mechanism unit. The mechanism is simple in structure, stable and reliable and convenient to operate and is capable of positioning and mounting a curtain wall conveniently.

Description

technical field [0001] The invention relates to the field of building curtain wall installation, in particular to a three-degree-of-freedom moving mechanism of a building robot for curtain wall installation. Background technique [0002] Building construction includes main structure and secondary structure. The main structure is mainly steel structure and concrete construction, and the secondary structure is mainly decoration and decoration. Among them, the dry-hanging installation workload of various curtain walls accounts for the largest proportion, such as a large number of Installation work of marble and glass curtain walls. [0003] At present, the size of the building curtain wall is generally 600mm×600mm~900mm×1200mm, and the weight is generally not less than 35kg. For some specially customized panels, the size can reach several meters and the weight can reach hundreds of kilograms. Curtain wall panels are large in size and weight, and some panel materials (such as ...

AI Technical Summary

Problems solved by technology

[0005]At present, some curtain wall decoration companies use construction robots to install curtain walls. They mainly use six-degree-of-freedom serial structure manipulators to realize the installation and positioning of curtain walls. This robot manipulator system It is more complicated with the control system, and the series structure has a great influence on the stiffness and load capacity of the system, so it is not suitable for the curtain wall installation robot system

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