Energy-saving door and window machining manipulator device

Abstract

The invention relates to the technical field of energy-saving door and window machining, and particularly discloses an energy-saving door and window machining manipulator device which comprises a manipulator, a first guide rod, a recording mechanism and a clamping jaw. The recording mechanism is arranged at the top end of the right side of the mechanical arm, and the clamping jaw is arranged at the right end of the recording mechanism. The device effectively overcomes the defect that a traditional detection method cannot quantitatively evaluate the wear process of the sliding rail, can accurately record the change rule of the friction characteristic of the sliding rail under different opening and closing times, visually reflects the wear critical point through the fluctuation characteristic of the corrugated line, and can accurately predict the failure threshold value of a hardware system. Test data not only reveals the corresponding relation between sliding rail abrasion and opening and closing times, but also can provide a scientific basis for optimizing hardware material pairing and improving a lubricating scheme, the durability design level of energy-saving door and window products is remarkably improved, the technology span from passive detection to active prediction is achieved, and the method is suitable for popularization and application. And a durability test result has a higher engineering guidance value.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of energy-saving door and window processing, and particularly relates to an energy-saving door and window processing mechanical hand device. BACKGROUND

[0002] With the continuous improvement of building energy-saving standards, energy-saving doors and windows, as an important part of building envelope structures, directly affect the overall energy consumption of buildings. Energy-saving doors and windows usually adopt broken bridge aluminum profiles, hollow glass and high-performance sealing systems, significantly reduce the heat conduction coefficient by optimizing the structural design and material selection, and improve the heat preservation and insulation performance of buildings. In the composition of energy-saving doors and windows, hardware, including hinges, handles, sliding rails, lock points and other components, not only needs to bear the mechanical stress of repeated opening and closing of doors and windows, but also must ensure good air tightness and water tightness after long-term use. Therefore, strict durability testing of hardware is a key link to ensure the quality of energy-saving doors and windows. In the processing of energy-saving doors and windows, the application of the mechanical hand greatly improves the production efficiency and detection accuracy. In particular, in the durability simulation detection of hardware, the mechanical hand can accurately perform tens of thousands of opening and closing operations to simulate the wear of doors and windows in actual use. However, the existing mechanical hand detection technology has obvious limitations. First, the detection process only records the opening and closing times and the physical deformation of the hardware, and cannot monitor the dynamic friction characteristic changes of the door and window sliding rail system in real time. In actual testing, as the opening and closing times increase, the wear between the sliding rail and the roller will cause the friction coefficient to increase nonlinearly. However, the existing mechanical hand lacks quantitative analysis means for the smoothness of the sliding rail, making it difficult for testers to discover the progressive wear problem in time. Secondly, when the opening and closing jamming phenomenon occurs, the existing device can only roughly judge through the sudden change of motor current, and cannot establish the corresponding relationship curve between the wear degree and the opening and closing times, resulting in that the test report lacks predictive data support, for example, it cannot accurately determine whether the sliding rail will appear a critical wear point after a certain number of opening and closing times, or predict what wear degree will cause operational failure. This data deficiency makes the improvement design of hardware lack targeted basis, and it is difficult to optimize the lubrication scheme or material pairing selection. At the same time, the existing mechanical hand provides only single evaluation index after durability testing, usually only giving a binary conclusion of "pass / fail". This evaluation method hides the dynamic performance evolution law of the hardware and sliding rail system during cooperative work, and cannot provide key parameters such as wear rate curve, critical failure threshold and friction vibration spectrum for researchers. SUMMARY

[0003] The energy-saving door and window processing mechanical hand device disclosed by the present application can solve the problems of real-time monitoring of the sliding smoothness of the energy-saving door and window, lack of dynamic data recording of wear and tear, and difficulty in predicting the critical failure point.

[0004] To achieve the above object, the present application provides the following technical scheme: an energy-saving door and window processing mechanical hand device, comprising a mechanical hand, a first guide rod, a recording mechanism and a clamping jaw; the first guide rod is arranged at the right top end of the mechanical hand, the recording mechanism is arranged at the right top end of the mechanical hand, and the clamping jaw is arranged at the right end of the recording mechanism; the recording mechanism comprises a connecting cylinder, a recording cavity, a moving groove, an extension rod, a first spring, a marking assembly, a supporting assembly and a cavity door; the connecting cylinder is arranged at the right top end of the mechanical hand, the top of the connecting cylinder is provided with the recording cavity, the inner cavity of the recording cavity is provided with the moving groove which is connected with the inner cavity of the connecting cylinder and extends along the left-right direction in the middle of the bottom of the inner cavity, the extension rod is slidably fitted in the inner cavity of the connecting cylinder, the right end of the extension rod extends out of the right side of the connecting cylinder, the inner cavity of the extension rod is slidably sleeved on the outer wall of the first guide rod, the clamping jaw is arranged at the right end of the extension rod, the first spring is sleeved on the outer wall of the extension rod on the left side, one end of the first spring is clamped on the inner wall of the connecting cylinder, and the other end of the first spring is clamped on the outer wall of the extension rod; the marking assembly is arranged in the middle of the inner cavity of the recording cavity, the marking assembly can record the change of the force applied when the energy-saving door and window is pulled to open and close, the supporting assembly is arranged at the top of the inner cavity of the recording cavity, and the cavity door is detachably arranged at the right side of the inner cavity of the recording cavity.

[0005] Preferably, the marking assembly comprises a recording pen, a motor, a rotating rod, a baffle, a sleeve, a recording paper roll, a guide roller and a positioning assembly; the recording pen is screw-connected to the middle of the top end of the outer wall of the extension rod, the recording pen is slidably fitted in the middle of the inner cavity of the moving groove, the top end of the recording pen extends into the inner cavity of the recording cavity in a slidable manner, the number of the motor is two, the two motors are respectively screw-connected to the left top end of the connecting cylinder, the motor is electrically connected with the mechanical hand, the left end of the rotating rod is locked on the output end of the motor through a shaft coupling, the right end of the rotating rod extends into the inner cavity of the recording cavity in a rotatable manner, a plurality of first sliding grooves are equidistantly arranged on the outer wall of the rotating rod from left to right in the circumferential direction, a plurality of clamping grooves are equidistantly arranged on the inner side of the inner cavity of the first sliding groove from left to right in the left-right direction, the baffle is arranged on the left side of the outer wall of the rotating rod, the sleeve is slidably fitted on the outer wall of the rotating rod, the left side of the sleeve is in contact with the baffle, the two ends of the recording paper roll are respectively wound on the outer wall of the two sleeves, the middle of the bottom end of the recording paper roll is in contact with the top end of the recording pen, the number of the guide roller is two, the left ends of the two guide rollers are respectively rotatably arranged on the left side of the inner cavity of the recording cavity through bearings, the outer wall of the recording paper roll is lapped on the outer wall of the guide roller, and the positioning assembly is arranged in the inner cavity of the sleeve.

[0006] Preferably, the positioning assembly comprises a first sliding block, a pressing groove, a second spring and a clamping ball; the first sliding block is in number of several, the several first sliding blocks are respectively arranged in the inner cavity of the sleeve at equal intervals in the circumferential direction, the first sliding block is slidably and fitly inserted into the inner cavity of the first sliding groove corresponding to its position, the inner side of the first sliding block is provided with a plurality of pressing grooves at equal intervals in the left-right reverse direction, the positions of the plurality of pressing grooves and the positions of the plurality of clamping grooves are one-to-one corresponding, the second spring is embedded in the inner cavity of the pressing groove, one end of the second spring is clamped in the inner side of the inner cavity of the pressing groove, a part of the clamping ball is embedded in the inner cavity of the pressing groove, the other end of the clamping ball is fitly inserted into the inner cavity of the clamping groove corresponding to its position, the other end of the second spring is clamped to the outer wall of the clamping ball.

[0007] Preferably, the supporting assembly comprises a supporting rod, a positioning block, a second sliding groove, a second guide rod, a nut, a third spring, a connecting column, a supporting plate and a lifting assembly; the supporting rod is in number of two, the left ends of the two supporting rods are respectively arranged on the left side of the inner cavity of the recording cavity at the top of the front and back sides, the top of the positioning block is fitly sleeved on the outer wall of the two supporting rods, the inner cavity top of the positioning block is provided with a second sliding groove on the front and back sides in the left-right direction, the bottom of the positioning block is provided with an expansion cavity on the four corners, the left and right ends of the second guide rod are respectively arranged on the left and right sides of the inner cavity of the second sliding groove, the nut is screwed on the right side of the outer wall of the supporting rod, the left side of the nut and the right side of the positioning block are in contact, the third spring is embedded in the inner cavity of the expansion cavity, the top of the third spring is clamped in the inner cavity of the expansion cavity, the connecting column is fitly inserted into the inner cavity of the expansion cavity, the bottom of the connecting column is slidably extended out of the inner cavity of the expansion cavity, the bottom of the third spring is clamped to the top of the connecting column, the top of the supporting plate is respectively arranged on the bottom of the four connecting columns, the bottom of the supporting plate and the middle part of the top of the recording paper are in contact, the lifting assembly is arranged in the inner cavity of the positioning block, and the height of the supporting plate can be adjusted by the lifting assembly.

[0008] Preferably, the inner cavity of the moving groove is provided with a normally closed switch on the left and right sides, and the two normally closed switches are electrically connected with the mechanical hand.

[0009] Preferably, when the energy-saving door and window sliding rail is stuck due to wear, the mechanical hand drives the clamping jaw to continue the opening and closing action, so that the expansion rod drives the recording pen to slide along the moving groove and touch the normally closed switch, and the normally closed switch can immediately cut off the power supply of the mechanical hand to avoid overload damage of the mechanical hand and deformation and fracture of the sliding rail.

[0010] Preferably, the left rear end of the recording cavity is provided with a tension sensor, the tension sensor extends into the inner cavity of the recording cavity, and the recording paper is lapped on the outer wall of the tension sensor.

[0011] Preferably, the tension sensor can monitor the tension state of the recording paper in real time, and feed the tension signal to the control end, so that the recording paper can always maintain appropriate tension by adjusting the speed difference of the two motor output ends.

[0012] Preferably, the length of the ball inserted into the inner cavity of the card slot is less than the radius of the ball.

[0013] Compared with the prior art, the present application has the following advantages: (1) The present application simulates the opening and closing action of energy-saving doors and windows by a mechanical hand, and clamps the door and window handle by a clamping jaw, so as to realize automatic testing, improve testing efficiency and accuracy, provide a basic power and an execution mechanism for testing, and ensure the repeatability and consistency of testing.

[0014] (2) In the opening and closing process, the telescopic rod moves with the force of the door and window, and drives the recording pen to draw a "corrugated line" on the recording paper, so as to intuitively reflect the change of the friction characteristics of the slide rail, and provide visual data for subsequent analysis.

[0015] (3) With the increase of the opening and closing times of the energy-saving door and window, the abrasion of the slide rail causes the increase of the arc and fluctuation of the "corrugated line", which is accurately recorded for quantitatively evaluating the abrasion process of the slide rail, so that the abrasion degree can be quantified, and the failure threshold can be predicted.

[0016] (4) When the slide rail is stuck, the recording pen contacts the normally closed switch, and the mechanical hand is automatically turned off to prevent damage to the equipment, so as to ensure the safety of the testing process, and avoid damage to the equipment or injury to the personnel caused by sudden failure.

[0017] (5) After the testing is completed, the abrasion process and the failure threshold of the slide rail can be intuitively analyzed by observing the "corrugated line" on the recording paper, so as to provide a scientific basis for optimizing the material matching of hardware and improving the lubrication scheme, and help to improve the durability design level of energy-saving door and window products.

[0018] (6) The present application also provides installation and debugging, opening and closing testing, and maintenance and replacement steps, so as to ensure the continuous and effective operation of the device and the accuracy of the testing.

[0019] (7) This device effectively solves the problem that traditional testing methods cannot quantitatively assess the wear process of slide rails. It can accurately record the change law of slide rail friction characteristics under different opening and closing times. The wave characteristics of the corrugated line can intuitively reflect the wear critical point and accurately predict the failure threshold of the hardware system. The test data not only reveals the correspondence between slide rail wear and opening and closing times, but also provides a scientific basis for optimizing hardware material matching and improving lubrication schemes. It significantly improves the durability design level of energy-saving doors and windows products, realizes the technological leap from passive testing to active prediction, and makes the durability test results have higher engineering guidance value. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is an exploded view of the present invention; Figure 3 To record the main view sectional view of the mechanism; Figure 4 To record a schematic diagram of the cavity structure; Figure 5 This is the front view of the recording cavity; Figure 6 To record the exploded view of the facility; Figure 7 This is a schematic diagram of the rotating rod. Figure 8 This is a schematic diagram of the internal structure of the sleeve. Figure 9 This is a front sectional view of the positioning block; Figure 10 This is an exploded view of the positioning block; Figure 11 This is a schematic diagram of the telescopic cavity. Figure 12 for Figure 3 Enlarged view of point A; Figure 13 for Figure 6 Enlarged view of point B; Figure 14 for Figure 7 Enlarged view of point C; Figure 15 for Figure 7 Enlarged view of point D; Figure 16 forFigure 8 Enlarged view of E of Fig. 1; Figure 17 is Figure 11 Enlarged view of F of Fig. 1.

[0022] The components represented by the numbers in the figures are listed as follows: 1, mechanical hand; 2, first guide rod; 3, recording mechanism; 31, connecting cylinder; 32, recording cavity; 33, moving groove; 34, telescopic rod; 35, first spring; 36, recording pen; 37, motor; 38, rotating rod; 39, first sliding groove; 310, clamping groove; 311, baffle; 312, sleeve; 313, first sliding block; 314, extrusion groove; 315, second spring; 316, clamping ball; 317, guide roller; 318, recording paper roll; 319, supporting rod; 320, positioning block; 321, second sliding groove; 322, second guide rod; 323, telescopic cavity; 324, nut; 325, second sliding block; 326, first extrusion block; 327, screw rod; 328, third spring; 329, connecting column; 330, supporting plate; 331, second extrusion block; 332, normally closed switch; 333, tension sensor; 334, cavity door; 4, clamping jaw. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0024] With reference to Figures 1-17 An energy-saving door and window processing mechanical hand device comprises a mechanical hand 1, a first guide rod 2, a recording mechanism 3 and a clamping jaw 4. The first guide rod 2 is arranged at the right top end of the mechanical hand 1, and can provide a stable guiding action for a telescopic rod 34 in the recording mechanism 3. When the mechanical hand 1 drives the clamping jaw 4 to perform an opening and closing action, the first guide rod 2 ensures that the telescopic rod 34 can smoothly slide along a predetermined direction, avoiding affecting the accuracy of test results due to deviation or shaking. The recording mechanism 3 is arranged at the right top end of the mechanical hand 1, and is used for recording the friction characteristic change of a sliding rail of an energy-saving door and window in an opening and closing process in real time. The clamping jaw 4 is arranged at the right end of the recording mechanism 3, and is a prior art which will not be described in detail here. The clamping jaw 4 is used for clamping a handle of an energy-saving door and window, and can accurately perform an opening and closing action under the driving of the mechanical hand 1, simulating the wear condition of the door and window in actual use.

[0025] Further, the recording mechanism 3 comprises a connecting cylinder 31, a recording cavity 32, a moving groove 33, an extension rod 34, a first spring 35, a marking assembly, a supporting assembly, a normally closed switch 332, a tension sensor 333 and a cavity door 334; the connecting cylinder 31 is arranged at the right top end of the mechanical arm 1, the top of the connecting cylinder 31 is provided with the recording cavity 32, the middle of the inner cavity bottom of the recording cavity 32 is provided with the moving groove 33 which is in communication with the inner cavity of the connecting cylinder 31 along the left-right direction, the connecting cylinder 31 serves as the main supporting structure of the recording mechanism 3 and provides a stable mounting basis for the internal components, the extension rod 34 is slidably and adaptively inserted into the inner cavity of the connecting cylinder 31, the right end of the extension rod 34 slidably extends out of the right side of the connecting cylinder 31, the inner cavity of the extension rod 34 is slidably sleeved on the outer wall of the first guide rod 2, the clamping jaw 4 is arranged at the right end of the extension rod 34, the first spring 35 is sleeved on the left side of the outer wall of the extension rod 34, one end of the first spring 35 is clamped to the inner wall of the connecting cylinder 31, the other end of the first spring 35 is clamped to the outer wall of the extension rod 34, the first spring 35 is a rotary spring which can elastically deform after being pressed or stretched by external force, and can provide a reset elastic force for the extension rod 34 when the external force is removed or returns to the initial state, so as to ensure that the extension rod 34 can quickly and accurately return to the initial position after each opening and closing action, and be ready for the next test, the marking assembly is arranged in the middle of the inner cavity of the recording cavity 32, and the marking assembly can record the change of the force applied when the energy-saving door and window is pulled to open and close, the supporting assembly is arranged at the top of the inner cavity of the recording cavity 32, and the supporting assembly is used to ensure the clarity of the “corrugated line”, the number of the normally closed switches 332 is two, and the two normally closed switches 332 are arranged on the left and right sides of the inner cavity of the moving groove 33, when the extension rod 34 continuously moves due to the jamming of the sliding rail and causes the recording pen 36 to contact the normally closed switch 332, the normally closed switch 332 can immediately cut off the power supply of the mechanical arm 1 to prevent equipment damage and ensure test safety, the tension sensor 333 is arranged at the left rear end of the recording cavity 32, the tension sensor 333 extends into the inner cavity of the recording cavity 32, the tension sensor 333 is a prior art which will not be described here in detail, during the test process, the tension sensor 333 can feedback the tension state of the recording paper roll 318 in real time and feedback the tension signal to the control end, the rotation speed of the motor 37 is adjusted to maintain the appropriate tension of the recording paper roll 318, so as to ensure the continuity and accuracy of the recording data, and the cavity door 334 is detachably arranged on the right side of the inner cavity of the recording cavity 32.

[0026] More specifically, the marking assembly comprises a recording pen 36, a motor 37, a rotating rod 38, a baffle 311, a sleeve 312, a recording paper 318, a guide roller 317 and a positioning assembly. The recording pen 36 is screw-connected to the middle part of the top end of the outer wall of the telescopic rod 34, and is slidably and adaptively inserted into the middle part of the inner cavity of the moving groove 33. The top end of the recording pen 36 is slidably extended into the inner cavity of the recording cavity 32. When the mechanical hand 1 drives the clamp jaw 4 to pull the energy-saving door and window to open and close, the recording pen 36 slides with the movement of the telescopic rod 34, and draws a “corrugated line” on the recording paper 318 through the top end thereof, directly reflecting the change of the friction characteristics of the sliding rail. The number of the motor 37 is two, and the two motors 37 are respectively screw-connected to the left top front and rear ends of the connecting cylinder 31. The motor 37 is electrically connected with the mechanical hand 1. The motor 37 is a prior art, which is a servo motor, and will not be described here. The motor 37 serves as a driving source of the rotating rod 38, and transmits the rotating power to the rotating rod 38 through a shaft coupling, drives the rotating rod 38 to rotate, thereby driving the movement of the recording paper 318, and provides a continuous recording surface for the recording pen 36. The left end of the rotating rod 38 is locked to the output end of the motor 37 through a shaft coupling. The right end of the rotating rod 38 is rotatably extended into the inner cavity of the recording cavity 32. A plurality of first sliding grooves 39 are equidistantly and circumferentially formed on the outer wall of the rotating rod 38 from left to right. A plurality of clamping grooves 310 are equidistantly and left-right directionally formed in the inner cavity of the first sliding groove 39. The baffle 311 is arranged on the left side of the outer wall of the rotating rod 38. The sleeve 312 is slidably and adaptively sleeved on the outer wall of the rotating rod 38. The left side of the sleeve 312 is in contact with the baffle 311. The two ends of the recording paper 318 are respectively wound around the outer wall of the two sleeves 312. The bottom middle part of the recording paper 318 is in contact with the top end of the recording pen 36. The recording paper 318 is overlapped on the outer wall of the tension sensor 333. The recording paper 318 is used for recording the movement track of the recording pen 36. The number of the guide roller 317 is two. The left ends of the two guide rollers 317 are rotatably arranged on the left side of the inner cavity of the recording cavity 32 through bearings. The outer wall of the recording paper 318 is overlapped on the outer wall of the guide roller 317. The positioning assembly is arranged in the inner cavity of the sleeve 312, and is used for fixing the position of the sleeve 312.

[0027] More specifically, the positioning assembly comprises: a first sliding block 313, a pressing groove 314, a second spring 315 and a clamping ball 316; the first sliding block 313 is in plurality, and the plurality of first sliding blocks 313 are respectively arranged at equal intervals in the circumferential direction in the inner cavity of the sleeve 312; the first sliding block 313 is slidably and adaptively inserted into the inner cavity of the first sliding groove 39 corresponding to its position; the inner side of the first sliding block 313 is oppositely and equidistantly provided with a plurality of pressing grooves 314; the positions of the plurality of pressing grooves 314 and the plurality of clamping grooves 310 correspond one by one; when the rotating rod 38 rotates, the sleeve 312 can be rotated by using the cooperation of the first sliding block 313 between the first sliding grooves 39; the second spring 315 is embedded in the inner cavity of the pressing groove 314; one end of the second spring 315 is clamped to the inner side of the inner cavity of the pressing groove 314; the second spring 315 is a rotary spring, which is elastically deformed after being extruded or stretched by external force, and returns to the initial state after the external force is removed; the second spring 315 is used herein to push the clamping ball 316 into the clamping groove 310 to realize positioning; a part of the clamping ball 316 is embedded in the inner cavity of the pressing groove 314; the other end of the clamping ball 316 is adaptively inserted into the inner cavity of the clamping groove 310 corresponding to its position; the other end of the second spring 315 is clamped to the outer wall of the clamping ball 316; the length of the clamping ball 316 inserted into the inner cavity of the clamping groove 310 is less than its radius; and the position of the sleeve 312 can be fixed by using the cooperation between the clamping ball 316 and the clamping groove 310.

[0028] More specifically, the supporting assembly comprises the supporting rods 319, the positioning blocks 320, the second sliding grooves 321, the second guide rods 322, the nuts 324, the third springs 328, the connecting columns 329, the supporting plates 330 and the lifting assemblies; the number of the supporting rods 319 is two, the left ends of the two supporting rods 319 are arranged on the left side of the inner cavity of the recording cavity 32 respectively, the supporting rods 319 are used for supporting the positioning blocks 320, the top ends of the positioning blocks 320 are slidably and adaptably connected to the outer walls of the two supporting rods 319, the second sliding grooves 321 are formed on the top ends of the positioning blocks 320 on the left and right sides respectively, the telescopic cavities 323 are formed on the bottom ends of the positioning blocks 320 respectively, the left and right ends of the second guide rods 322 are arranged on the left and right sides of the inner cavities of the second sliding grooves 321 respectively, the nuts 324 are screwed on the right sides of the outer walls of the supporting rods 319, the left sides of the nuts 324 are in contact with the right sides of the positioning blocks 320, the nuts 324 are used for locking the positioning blocks 320 on the supporting rods 319, preventing the positioning blocks 320 from moving during the recording process, and ensuring the stability of the supporting assembly, the third springs 328 are embedded in the inner cavities of the telescopic cavities 323, the top ends of the third springs 328 are clamped to the inner cavities of the telescopic cavities 323, the third springs 328 are rotary springs, which are elastically deformed after being pressed or stretched by external force, and return to the initial state after the external force is removed, the third springs 328 are used for connecting the positioning blocks 320 and the supporting plates 330, and pulling the supporting plates 330 to return to the initial position, the connecting columns 329 are slidably and adaptably inserted into the inner cavities of the telescopic cavities 323, the bottom ends of the connecting columns 329 are slidably extended out of the inner cavities of the telescopic cavities 323, the bottom ends of the third springs 328 are clamped to the top ends of the connecting columns 329, the top ends of the supporting plates 330 are arranged on the bottom ends of the four connecting columns 329 respectively, the bottom ends of the supporting plates 330 are in contact with the middle part of the top end of the recording paper 318, and the recording paper 318 is resisted by the supporting plates 330, so that the clarity of the "corrugated lines" on the recording paper 318 can be ensured, the lifting assemblies are arranged in the inner cavities of the positioning blocks 320, the height of the supporting plates 330 can be adjusted by the lifting assemblies, the lifting assemblies can accurately control the rising or falling of the supporting plates 330, and thus the contact pressure between the supporting plates 330 and the recording paper 318 can be adjusted.

[0029] More specifically, the lifting assembly comprises the second sliding block 325, the first extrusion block 326, the screw rod 327 and the second extrusion block 331, the second sliding block 325 is slidably and fittingly inserted into the left side of the inner cavity of the second sliding groove 321, the second sliding block 325 is slidably sleeved on the outer wall of the second guide rod 322, the top end of the first extrusion block 326 is arranged on the bottom end of the two second sliding blocks 325 respectively, the first extrusion block 326 is slidably embedded in the inner cavity of the positioning block 320, the height of the supporting plate 330 is adjusted through the interaction of the first extrusion block 326 and the second extrusion block 331, the left end of the screw rod 327 is rotatably arranged on the embedded left side of the positioning block 320 through a bearing, the right end of the screw rod 327 is rotatably extended out of the right side of the positioning block 320, the first extrusion block 326 is screwed on the outer wall of the screw rod 327, the screw rod 327 is a power transmission component of the lifting assembly, the second extrusion block 331 is arranged on the top end of the supporting plate 330, the top end of the second extrusion block 331 is in contact with the bottom end of the first extrusion block 326, the first extrusion block 326 and the second extrusion block 331 are matched, the main function of the second extrusion block 331 is to bear the pressure transmitted by the first extrusion block 326 and uniformly transmit it to the supporting plate 330, so as to adjust the height of the supporting plate 330.

[0030] The working principle is as follows: Step one, when in use, the clamping jaw 4 can clamp the handle of the energy-saving door and window, the mechanical arm 1 can move the clamping jaw 4, so that the clamping jaw 4 can pull the energy-saving door and window to open and close, when the mechanical arm 1 moves the clamping jaw 4, two motors 37 are started at the same time, the two rotating rods 38 are driven to rotate counterclockwise synchronously by the two motors 37, the sleeve 312 is driven to rotate counterclockwise by the cooperation between the first sliding groove 39 and the first sliding block 313, so that the recording paper roll 318 can be loosened from the outer wall of the sleeve 312 located at the rear side, gradually moved to the front side and wound on the outer wall of the sleeve 312 located at the front side, the tension of the recording paper roll 318 can be monitored by the tension sensor 333 in the process of movement, when the tension of the recording paper roll 318 is not appropriate, the rotating speed of the output end of the two motors 37 can be adjusted, so that the rotating speed of the rotating rod 38 can be adjusted, the tension of the recording paper roll 318 can be adjusted by the rotating speed difference of the two rotating rods 38, and the rotating speed of the output end of the two motors 37 returns to the same value after the recording paper roll 318 is adjusted to the appropriate tension; Step two, when the energy-saving door and window is pulled to open or close by the clamping jaw 4, the clamping jaw 4 is pulled to move the telescopic rod 34 to the right side under the action of the energy-saving door and window, and the first spring 35 is deformed, the telescopic rod 34 moves to the right side to drive the recording pen 36 to move to the right side, so that the recording pen 36 draws a "wavy line" on the bottom end of the recording paper 318, and the telescopic rod 34 drives the recording pen 36 to move to the left side when the energy-saving door and window is closed by the clamping jaw 4, so that the recording pen 36 draws a "wavy line" on the bottom end of the recording paper 318 in the opposite direction, so that the "wavy line" can reflect the force applied to the energy-saving door and window, and the smoothness of the opening and closing of the energy-saving door and window, and the two opposite "wavy lines" are a group, that is, one opening and closing of the energy-saving door and window is recorded; Step three, after the energy-saving door and window is opened and closed by the mechanical hand 1 for many times, the sliding rail of the energy-saving door and window may be worn due to the increase of the opening and closing times, and the opening and closing force of the energy-saving door and window may be increased or jammed, even stuck, so that the range of movement of the telescopic rod 34 driven by the recording pen 36 is increased, so that the arc of the "wavy line" drawn by the recording pen 36 on the recording paper 318 is increased, and the change of the opening and closing force of the mechanical hand 1 to the energy-saving door and window is reflected; if the sliding rail is worn and jammed, the "wavy line" drawn by the recording pen 36 on the recording paper 318 will fluctuate greatly, the "smoothness" will decrease, or the arc of the "wavy line" may increase instantaneously and then recover; when the sliding rail is stuck, the energy-saving door and window is pulled to open and close by the mechanical hand 1, because the sliding rail of the energy-saving door and window is stuck, and the mechanical hand 1 continues to drive the clamping jaw 4 to open and close, so that the clamping jaw 4 pulls or pushes the telescopic rod 34 to move forward or backward along the inner cavity of the connecting cylinder 31, until the recording pen 36 contacts the normally closed switch 332, and the normally closed switch 332 can close the mechanical hand 1 to prevent the mechanical hand 1 from continuing to drive the clamping jaw 4 to open and close, so as to avoid deformation and fracture of the sliding rail, or surface damage, and to avoid the mechanical hand overload stop or transmission component damage, in addition, to avoid the safety hidden danger caused by sudden component collapse, to ensure the test safety and data accuracy; Step four, when the simulation test of the durability of the energy-saving door and window sliding rail is finished, the mechanical hand 1 and the motor 37 are closed, the cavity door 334 is opened, the two sleeves 312 are slid to the right, the sleeve 312 is slid to the right, the inner wall of the clamping groove 310 is used to extrude the clamping ball 316 to move to the inner cavity of the extrusion groove 314, and the second spring 315 is extruded to be elastically deformed, until the clamping ball 316 is completely moved out of the inner cavity of the clamping groove 310, until the sleeve 312 is completely separated from the outer wall of the rotating rod 38, at this time, the recording paper 318 wound on the outer wall of the sleeve 312 located at the front side is opened, and the “corrugated line” drawn on the recording paper 318 wound on the outer wall of the sleeve 312 located at the front side is observed, which can reflect the wear critical point, can accurately predict the failure threshold of the hardware system, reveals the corresponding relationship between the sliding rail wear and the opening and closing times, and embodies the change rule of the sliding rail friction characteristics under different opening and closing times; Step five, if the recording pen 36 needs to be replaced, rotate the nut 324 until the nut 324 is completely separated from the outer wall of the support rod 319, at this time slide the positioning block 320 to the right side, so that the positioning block 320 can drive the support plate 330 to move to the right side through the telescopic cavity 323 and the connecting column 329, until the positioning block 320 is separated from the outer wall of the support rod 319, at this time, the recording pen 36 can be rotated to realize the disassembly of the recording pen 36 and the installation of the new recording pen 36, the outer wall of one of the sleeves 312 disassembled can continue to wind the new recording paper 318, the sleeve 312 winding the new recording paper 318 is sleeved on the outer wall of the rotating rod 38 located at the rear side, the sleeve 312 without winding the recording paper 318 is sleeved on the outer wall of the rotating rod 38 located at the front side, at the same time, the first sliding block 313 is inserted into the inner cavity of the first sliding groove 39 and slides until the left side of the sleeve 312 and the right side of the baffle 311 contact, at this time, the position of the extrusion groove 314 and the position of the clamping groove 310 are one-to-one corresponding, and then the clamping ball 316 can be pushed to move into the inner cavity of the clamping groove 310 corresponding to its position under the elastic force of the second spring 315, for fixing the position of the sleeve 312, at the same time, a part of the recording paper 318 on the outer wall of the sleeve 312 located at the rear side is uncoiled, and the outer wall of the recording paper 318 is lapped on the outer wall of the guide roller 317 and the outer wall of the tension sensor 333, and is bonded to the outer wall of the sleeve 312 located at the front side, the top end of the positioning block 320 is sleeved on the outer wall of the support rod 319 and slides to the left side until it moves to the initial position, the nut 324 is sleeved on the right side of the outer wall of the support rod 319 and is rotated until the left side of the nut 324 and the right side of the positioning block 320 contact, the position of the positioning block 320 can be fixed by the nut 324, the first extrusion block 326 can be extruded to the top end of the second extrusion block 331 by rotating the screw rod 327, so that the support plate 330 and the connecting column 329 are driven by the second extrusion block 331 to move downward and stretch the third spring 328 to elastically deform until the bottom end of the support plate 330 and the top middle part of the recording paper 318 contact, at the same time, the bottom middle part of the recording paper 318 and the recording pen 36 contact, so that the clarity of the "corrugated line" can be ensured, and the installation is completed, and the above-mentioned action can be repeated to realize the durability simulation detection of the sliding rail of the energy-saving door and window.

[0031] The application effectively solves the defect that the traditional detection method cannot quantitatively evaluate the wear process of the slide rail, can accurately record the change rule of the friction characteristics of the slide rail under different opening and closing times, intuitively reflects the wear critical point through the fluctuation characteristics of the corrugated line, can accurately predict the failure threshold of the hardware system, the test data not only reveals the corresponding relationship between the wear of the slide rail and the opening and closing times, but also provides a scientific basis for optimizing the material matching of the hardware and improving the lubrication scheme, significantly improves the durability design level of the energy-saving door and window product, realizes the technical leap from passive detection to active prediction, and makes the durability test result have higher engineering guidance value.

[0032] The preferred embodiments disclosed above are only used to help explain the application. The preferred embodiments do not describe all the details and limit the application to the specific embodiments. Obviously, many modifications and changes can be made according to the content of the specification. The specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the application, so that those skilled in the art can well understand and use the application. The application is limited by the claims and their entire scope and equivalents.

Claims

1. An energy-saving door and window processing robot device, characterized in that, include: robotic arm (1); The first guide rod (2) is located at the top right side of the robot arm (1); A recording mechanism (3) is located at the top right side of the robotic arm (1); The gripper (4) is located at the right end of the recording mechanism (3); The recording mechanism (3) includes: Connecting cylinder (31), the connecting cylinder (31) is located at the top right side of the robot (1), the top of the connecting cylinder (31) is provided with a recording cavity (32), and the bottom of the recording cavity (32) is provided with a moving groove (33) that communicates with the inner cavity of the connecting cylinder (31) along the left and right direction. Telescopic rod (34), the telescopic rod (34) is slidably adapted to be inserted into the inner cavity of the connecting cylinder (31), the right end of the telescopic rod (34) extends slidably out of the right side of the connecting cylinder (31), the inner cavity of the telescopic rod (34) is slidably sleeved on the outer wall of the first guide rod (2), and the gripper (4) is provided at the right end of the telescopic rod (34); The first spring (35) is sleeved on the left side of the outer wall of the telescopic rod (34), one end of the first spring (35) is clamped to the inner wall of the connecting cylinder (31), and the other end of the first spring (35) is clamped to the outer wall of the telescopic rod (34). A marking component is disposed in the middle of the inner cavity of the recording cavity (32). The marking component can be used to record the change of force applied when pulling the energy-saving door and window to open and close. A support assembly is disposed at the top of the inner cavity of the recording cavity (32); A cavity door (334) is detachably disposed on the right side of the inner cavity of the recording cavity (32).

2. The energy-saving door and window processing robot device according to claim 1, characterized in that, The tagging component includes: A recording pen (36) is screwed to the middle of the top of the outer wall of the telescopic rod (34). The recording pen (36) is slidably and compatiblely inserted into the middle of the inner cavity of the moving slot (33). The top of the recording pen (36) is slidably extended into the inner cavity of the recording cavity (32). Two motors (37) are screwed to the front and rear ends of the top left side of the connecting cylinder (31), and the motors (37) are electrically connected to the robot (1). A rotating rod (38) is provided. The left end of the rotating rod (38) is locked to the output end of the motor (37) by a coupling. The right end of the rotating rod (38) extends rotatably into the inner cavity of the recording cavity (32). The outer wall of the rotating rod (38) is provided with a plurality of first sliding grooves (39) equidistantly from left to right along the circumferential direction. The inner side of the inner cavity of the first sliding groove (39) is provided with a plurality of slots (310) equidistantly from left to right along the left and right directions. A baffle (311) is provided on the left side of the outer wall of the rotating rod (38); Sleeve (312), which is slidably fitted to the outer wall of rotating rod (38), and the left side of sleeve (312) is in contact with baffle (311); Recording roll (318), the two ends of which are respectively wrapped around the outer walls of two sleeves (312), and the bottom middle of the recording roll (318) is in contact with the top of the recording pen (36); Guide roller (317), there are two guide rollers (317), the left ends of the two guide rollers (317) are respectively rotatably set at the front and rear ends of the left side of the inner cavity of the recording cavity (32) through bearings, and the outer wall of the recording roll paper (318) overlaps the outer wall of the guide roller (317); A positioning component is disposed in the inner cavity of the sleeve (312).

3. The energy-saving door and window processing robot device according to claim 2, characterized in that, The positioning component includes: The first slider (313) has a number of first sliders (313), and the first sliders (313) are respectively equidistantly arranged in the inner cavity of the sleeve (312) along the circumferential direction. The first sliders (313) are slidably adapted to be inserted into the inner cavity of the first groove (39) corresponding to their positions. The inner side of the first slider (313) is provided with a number of extrusion grooves (314) equidistantly arranged in the left and right directions. The positions of the extrusion grooves (314) and the positions of the slots (310) correspond one-to-one. The second spring (315) is embedded in the inner cavity of the extrusion groove (314), and one end of the second spring (315) is engaged with the inner side of the inner cavity of the extrusion groove (314). A ball (316) is inserted into the inner cavity of the extrusion groove (314), and the other end of the ball (316) is adapted to be inserted into the inner cavity of the corresponding slot (310). The other end of the second spring (315) is engaged with the outer wall of the ball (316).

4. The energy-saving door and window processing robot device according to claim 3, characterized in that, The support components include: Support rod (319), there are two support rods (319), and the left ends of the two support rods (319) are respectively set on the front and rear sides of the top left side of the inner cavity of the recording cavity (32); The top of the positioning block (320) is slidably and appropriately connected to the outer wall of the two support rods (319). The top of the inner cavity of the positioning block (320) is provided with a second sliding groove (321) on both the front and rear sides along the left and right directions. The bottom of the positioning block (320) is provided with a telescopic cavity (323) at each of the four corners. The second guide rod (322) is located on the left and right sides of the inner cavity of the second slide groove (321), respectively. Nut (324), the nut (324) is screwed to the right side of the outer wall of the support rod (319), and the left side of the nut (324) is in contact with the right side of the positioning block (320); The third spring (328) is embedded in the inner cavity of the telescopic cavity (323), and the top end of the third spring (328) is engaged with the top end of the inner cavity of the telescopic cavity (323); A connecting post (329) is slidably fitted into the inner cavity of the telescopic cavity (323), and the bottom end of the connecting post (329) extends slidably out of the inner cavity of the telescopic cavity (323). The bottom end of the third spring (328) is engaged with the top end of the connecting post (329). The support plate (330) has its top four corners respectively located at the bottom of four connecting posts (329), and the bottom of the support plate (330) is in contact with the top center of the recording roll paper (318). A lifting assembly is provided in the inner cavity of the positioning block (320), and the height of the support plate (330) can be adjusted by means of the lifting assembly.

5. The energy-saving door and window processing robot device according to claim 4, characterized in that, Normally closed switches (332) are provided on both the left and right sides of the inner cavity of the moving slot (33), and both normally closed switches (332) are electrically connected to the robot (1).

6. The energy-saving door and window processing robot device according to claim 5, characterized in that, When the energy-saving door and window slide rail gets stuck due to wear, the robotic arm (1) drives the gripper (4) to continue to perform opening and closing actions, causing the telescopic rod (34) to drive the recording pen (36) to slide excessively along the moving groove (33) and touch the normally closed switch (332). The normally closed switch (332) can immediately cut off the power supply of the robotic arm (1) to avoid overload damage to the robotic arm (1) and deformation and breakage of the slide rail.

7. The energy-saving door and window processing robot device according to claim 6, characterized in that, A tension sensor (333) is provided at the left rear end of the recording cavity (32). The tension sensor (333) extends into the inner cavity of the recording cavity (32), and the recording roll paper (318) overlaps the outer wall of the tension sensor (333).

8. The energy-saving door and window processing robot device according to claim 7, characterized in that, The tension sensor (333) can monitor the tension state of the recording paper roll (318) in real time and feed the tension signal back to the control terminal. By adjusting the speed difference between the output terminals of the two motors (37), the recording paper roll (318) can always maintain a suitable tension.

9. The energy-saving door and window processing robot device according to claim 8, characterized in that, The length of the ball (316) inserted into the cavity of the slot (310) is less than its radius.

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