Automatic grabbing and installing device for large plates

Abstract

The invention discloses an automatic grabbing and installing device for large plates. The device comprises a horizontal moving mechanism, a rotating mechanism and a mounting tail end; the rotating mechanism is connected with the horizontal moving mechanism and the mounting tail end in sequence. The device solves the problem about grabbing and installing of large heavy plates, has the advantages ofbeing easy and flexible to operate, efficient, safe, high in work efficiency, high in structural strength, high in load and dead weight ratio, high in bearing capacity, low in labor intensity and thelike, and greatly reduces the demand for the number of construction personnel. According to the device, a rotating shaft and a steel wire rope lifting structure are adopted at the mounting tail end,after a sucker frame body is fixed to the plates, the rotating shaft limits the freedom degrees of the plates in other directions, the plates can be rapidly and stably erected just by lifting the steel wire rope, and shaking of the plates is reduced as much as possible in the lifting process. Three electric push rods are hinged to form a 3-UPS / S parallel structure to integrate three rotational degrees of freedom into one unit, and the driving force required by the mounting tail end during rotation is reduced.

Description

technical field [0001] The invention belongs to the technical field of building auxiliary equipment and automatic installation of building profiles, in particular to an automatic grabbing and installing device for large warehouse boards. Background technique [0002] At present, hoisting methods are often used for the installation of peripheral storage panels such as workshops and workshops at home and abroad, which requires the cooperation of multiple construction workers on site. For example, for the installation of storage panels of 12m×1.2m, usually one hoisting equipment cooperates with 6 construction personnel , Build two sets of 12m scaffolding for operation, this method is completely dependent on manual labor, low efficiency, cumbersome installation process, high labor intensity, poor construction safety, and difficult to guarantee the quality of installation. [0003] In order to improve the level of building automation, both at home and abroad are committed to rese...

AI Technical Summary

Problems solved by technology

[0002] At present, hoisting methods are often used for the installation of peripheral storage panels such as workshops and workshops at home and abroad, which requires the cooperation of multiple construction workers on site. For example, for the installation of storage panels of 12m×1.2m, usually one hoisting equipment cooperates with 6 construction personnel , build two sets of 12m scaffolding for operation, this method is completely dependent on manual work, low efficiency, cumbersome installation process, high labor intensity, poor construction safety, and difficult to guarantee the quality of installation

[0003] In order to improve the level of building automation, both at home and abroad are committed to research on the automatic installation of building panels, and have achieved a series of achievements, for example, the literature "Lee S, Lee J, Han C, et al. Human robot cooperative control and task planning for A glass ceiling installation robot[J].Iaarc,2008,25(6):603–611"The glass wall panel installation robot disclosed in "can be installed by 4 workers within 26 minutes and a piece of size 3000mm×1500mm , the glass ceiling material weighing 160kg greatly reduces the physical burden of construction workers, but the energy consumed during the installation process is more than ten times that of manual installation

The drive element is the main component of energy consumption. The mechanical arm controls the glass plate to perform three rotational degrees of freedom, which requires three motors of at least 2.4kw, which consumes a lot of energy.

Moreover, the glass wall panel installation robot is designed for the installation of smaller building panels, and the research on the automatic installation of large warehouse panels has not yet been carried out.

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