A robot for high-bay luminaire trunking installation

Abstract

The application relates to a robot for high-altitude lamp wire slot installation, and relates to the field of installation equipment, which comprises a wall-climbing vehicle for walking on a wall surface, a clamping unit, an extension piece, a driving piece, a conversion piece, a drill bit, a screwdriver and a screw compensation unit are arranged on the wall-climbing vehicle, the clamping unit is used for clamping a wire slot, the extension piece is arranged on the wall-climbing vehicle, the conversion piece is arranged on the extension piece, the driving piece is arranged on the conversion piece, the drill bit and the screwdriver are arranged on the driving piece, the driving piece is used for driving the drill bit and the screwdriver to rotate, the conversion piece is used for driving the drill bit and the screwdriver to change positions, the extension piece is used for driving the drill bit or the screwdriver to move towards the wall surface, and the screw compensation unit is used for driving a screw to move to a drilled hole. The application has the effects of saving the erection time of a support frame during manual installation, improving the efficiency of high-altitude wire slot installation and improving the safety of workers.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of installation equipment, in particular to a robot for high-altitude lamp wire slot installation. BACKGROUND

[0002] At present, with the need for lighting, people need to install lighting lamps on higher walls, and correspondingly need to install wire slots on the wall to place the lamp lead, thereby improving the overall installation aesthetics of the lamps.

[0003] The traditional installation of the lamp slot adopts manual installation. Since the height of the wire slot is high, a support frame needs to be built, which consumes a lot of time, resulting in low installation efficiency of the lamp wire slot. At the same time, workers need to perform high-altitude operations, which can cause great safety hazards. SUMMARY

[0004] In order to improve the problem that the installation of the wire slot needs to spend time to build a support frame, resulting in low installation efficiency of the wire slot, the present application provides a robot for high-altitude lamp wire slot installation.

[0005] The robot for high-altitude lamp wire slot installation provided by the present application adopts the following technical solution:

[0006] A robot for high-altitude lamp wire slot installation, comprising a wall climbing vehicle for walking on a wall, a clamping unit, an extension piece, a driving piece, a conversion piece, a drill, a screwdriver and a screw compensation unit are arranged on the wall climbing vehicle, the clamping unit is used for clamping the wire slot, the extension piece is arranged on the wall climbing vehicle, the conversion piece is arranged on the extension piece, the driving piece is arranged on the conversion piece, the drill and the screwdriver are arranged on the driving piece, the driving piece is used for driving the drill and the screwdriver to rotate, the conversion piece is used for driving the drill and the screwdriver to change position, the extension piece is used for driving the drill or the screwdriver to move towards the wall, and the screw compensation unit is used for driving the screw to move to the drilling position.

[0007] By adopting the above technical solution, when the wire slot is installed, the wire slot is first installed on the wall climbing vehicle through the clamping unit, then the wall climbing vehicle is driven to move to the installation position on the wall, then the drill is turned to the wire slot through the conversion piece, the extension piece drives the drill to move towards the wall, the driving piece drives the drill to rotate, the drill is drilled into the wall from the bottom of the wire slot, then the extension piece drives the drill to be pulled out of the drilling hole, and the conversion piece turns the screwdriver to the wire slot. Then the screw compensation unit moves the screw to the drilling position, then the extension piece drives the screwdriver to move towards the drilling hole, the driving piece drives the screwdriver to rotate, the screwdriver screws the screw into the drilling hole, and the screw fixes and installs the wire slot, thereby realizing high-altitude installation of the wire slot, saving the time for building a support frame during manual installation, and improving the efficiency of high-altitude installation of the wire slot.

[0008] In one specific implementation, the telescopic member is an electric cylinder, the electric cylinder is arranged on the wall climbing vehicle, the conversion member is a first motor, the first motor is arranged on the electric cylinder, the driving member is a double-shaft extension asynchronous motor, the double-shaft extension asynchronous motor is arranged on an output shaft of the first motor, and the drill and the screwdriver are respectively fixedly arranged on two output shafts of the double-shaft extension asynchronous motor.

[0009] By adopting the above technical scheme, when the drill and the screwdriver are switched and driven, the electric cylinder drives the drill and the screwdriver to change the distance from the wall surface, the first motor drives the screwdriver and the drill to rotate, the conversion of the drill and the screwdriver is realized, and the double-shaft extension asynchronous motor is used to drive the drill and the screwdriver to rotate.

[0010] In one specific implementation, the screw compensation unit includes a screw adding member and a screw conveying member, the screw adding member is used to store screws and send the screws to the screw conveying member, the screw conveying member is used to convey the screws to the drilling hole, the first motor and the screw conveying member are driven through a connecting member, the first motor drives the screwdriver to align with the drilling hole, and the screw conveying member moves the screws to the drilling hole.

[0011] By adopting the above technical scheme, when the drilling of the drill is completed, the first motor drives the drill to rotate away from the slot and drives the screwdriver to rotate to the slot, the first motor drives the screw conveying member to move through the connecting member, the screw conveying member moves the screws in the screw adding member to the drilling hole for the screwdriver to push and insert into the drilling hole, and the convenience of inserting the screws into the drilling hole is realized.

[0012] In one specific implementation, the screw conveying member includes a conveying plate and two conveying blocks, the conveying plate is slidably arranged on the wall climbing vehicle, the two conveying blocks are arranged on the conveying plate, each of the conveying blocks is provided with a placing groove, the two placing grooves jointly form a placing hole for the screws to be inserted, a first spring is arranged between the two conveying blocks, the first spring is used to pull the two conveying blocks to be close to each other, the placing hole wall is provided with a guide surface for the screw head to be extruded, the screw head extrudes the guide surface, and the two conveying blocks are away from each other.

[0013] By adopting the above technical scheme, when the screws are moved to the drilling hole, the screws are added to the placing grooves through the screw adding member, then the first motor drives the conveying plate to move through the connecting member, the conveying plate drives the two conveying blocks to move to the drilling hole, the screwdriver pushes the screws to move towards the drilling hole, the screws slide along the guide surface, at this time, the two conveying blocks are away from each other and the first spring is elongated, and finally the screwdriver extrudes the screws out of the placing grooves and into the drilling hole, so that the screws are moved and conveyed.

[0014] In one specific implementation, the connecting member comprises a first bevel gear, a second bevel gear, a straight gear and an extension transmission rod, the first bevel gear is coaxially arranged with the first motor, the extension transmission rod is rotationally arranged with the wall climbing vehicle, the second bevel gear is coaxially arranged with the extension transmission rod, the second bevel gear is engaged with the first bevel gear, the straight gear is coaxially fixedly arranged on the extension transmission rod, the conveying plate is provided with a rack, and the straight gear is engaged with the rack.

[0015] By adopting the above technical scheme, when the first motor turns the screwdriver to the slot, the first motor drives the extension transmission rod to rotate through the first bevel gear and the second bevel gear, the extension transmission rod drives the straight gear to rotate, the straight gear drives the conveying plate to slide through the rack, and the conveying plate conveys the conveying block to the drilling hole, so as to realize the conveying of the screw.

[0016] In one specific implementation, the screw adding member comprises a conveying belt, a pushing member, a plurality of clamping members and at least two rotating rollers, the rotating rollers are rotationally arranged on the wall climbing vehicle, the rotating rollers are connected through the conveying belt, the clamping members are arranged on the conveying belt, the clamping members are used for clamping the screw, the pushing member is used for pushing the screw into the placing hole, and the wall climbing vehicle is provided with a second motor used for driving the rotating rollers to rotate.

[0017] By adopting the above technical scheme, when the wall climbing vehicle carries the screw, a plurality of screws are first placed in the clamping members, then the rotating rollers are driven to rotate by the second motor when the screw is added to the placing groove, the rotating rollers drive the conveying belt to rotate, the conveying belt drives the clamping members to move to the conveying block position, so that the screw is aligned with the placing groove, and then the screw on the clamping member is pushed into the placing groove by the pushing member, so as to realize the supplement of the screw in the conveying block.

[0018] In one specific implementation, the clamping member comprises a support plate, a sliding block, a second spring and two clamping plates, the support plate is arranged on the conveying belt, the sliding block is slidingly arranged on the support plate, the clamping plates are rotationally arranged with the sliding block, the clamping plates enclose a clamping space used for clamping the screw, the second spring is arranged on the clamping plate, the second spring is used for driving the two clamping plates to clamp the screw, the support plate is provided with a guide surface for sliding of the clamping plate, the clamping plate slides along the guide surface, so that the two clamping plates are away from each other, and the support plate is provided with a third spring used for pushing the sliding block to move away from the drilling hole.

[0019] By adopting the technical scheme, when the screw is fixed, the screw is placed in the two clamping plates, then the second spring drives the two clamping plates to clamp and fix the screw, then the pushing piece pushes the sliding block and the screw to slide along the support plate into the placing groove, at this time the third spring is contracted, when the clamping plate sliding guide surface is on, the two clamping plates are away from each other to release the clamping and fixing of the screw, then under the continuous pushing of the pushing piece, the screw is inserted into the placing groove, then the pushing piece moves away from the conveying block, the third spring pushes the sliding block to return to the original position, thereby realizing automatic supplement of the screw in the placing groove, and the wire groove can be fixed for multiple times.

[0020] In a specific embodiment, the pushing piece comprises a first linear driving piece, a pressing block and a pressing rod, the first linear driving piece is arranged on the wall climbing vehicle, the pressing rod is arranged on the output shaft of the first linear driving piece, the pressing block is sleeved on the pressing rod and is in sliding arrangement with the pressing rod, the pressing rod and the pressing block are connected through a fourth spring, the fourth spring is used for pushing the pressing block to slide, the pressing block is used for pushing the sliding block to slide towards the placing hole, and the pressing rod is used for extruding the screw to insert into the placing hole.

[0021] By adopting the technical scheme, when the screw on the clamping plate is added to the placing groove, the first linear driving piece drives the pressing block to push the sliding block to slide towards the conveying block, when the sliding rod slides to the limit position, the pressing rod continues to push the screw to insert into the placing groove under the driving of the first linear driving piece, at this time the fourth spring is contracted, the pressing rod extrudes the screw into the placing groove completely, thereby improving the stability of the screw added to the placing groove.

[0022] In a specific embodiment, the clamping unit comprises a clamping block, two clamping plates, a fifth spring and a second linear driving piece, the second linear driving piece is arranged on the wall climbing vehicle, the clamping block is arranged on the second linear driving piece, the second linear driving piece is used for driving the clamping block to move towards the wall surface, the two clamping plates are in sliding arrangement with the clamping block, the clamping block is used for driving the clamping plates to slide, and the fifth spring is arranged on the clamping block and is used for pushing the clamping plates to clamp the wire groove.

[0023] By adopting the technical scheme, when the wire groove is installed on the wall climbing vehicle, the wire groove is first placed between the two clamping plates, then the clamping plates are pushed to clamp the wire groove through the fifth spring, thereby realizing clamping and fixing of the wire groove, then when the wall climbing vehicle is moved to the installation position, the second linear driving piece drives the support block to slide towards the wall body, the clamping plates drive the wire groove to be attached to the wall surface, thereby facilitating drilling and fixing of the wire groove.

[0024] In one specific embodiment, the wall climbing vehicle is provided with a suction cup at one end close to the wall surface, and a vacuum generator is arranged on the wall climbing vehicle and connected to the suction cup through a connecting pipe.

[0025] By using the above technical scheme, when the wall climbing vehicle moves to the installation position of the trunking, the suction cup is attached to the wall surface, and then the vacuum generator drives the suction cup to be adsorbed to the wall surface, so that the connection between the wall climbing vehicle and the wall surface is more firm.

[0026] In summary, the present application has at least one of the following beneficial technical effects:

[0027] 1. When installing the trunking, first install the trunking on the wall climbing vehicle through the clamping unit, then drive the wall climbing vehicle to move to the installation position on the wall, then turn the drill bit to the trunking through the conversion piece, drive the drill bit to move towards the wall through the telescopic piece, drive the drill bit to rotate through the driving piece, drill the drill bit into the wall from the bottom of the trunking, then drive the drill bit to be pulled out of the hole through the telescopic piece, and turn the screwdriver to the trunking through the conversion piece. Then the screw compensation unit moves the screw to the drill hole, then the telescopic piece drives the screwdriver to move towards the drill hole, the driving piece drives the screwdriver to rotate, and the screwdriver screws the screw into the drill hole, so that the trunking is fixed and installed, thereby realizing high-altitude installation of the trunking, saving the construction time of the supporting frame during manual installation, and improving the efficiency of high-altitude installation of the trunking.

[0028] 2. When the wall climbing vehicle moves to the installation position of the trunking, the suction cup is attached to the wall surface, and then the vacuum generator drives the suction cup to be adsorbed to the wall surface, so that the connection between the wall climbing vehicle and the wall surface is more firm. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is a structural schematic view of a robot for high-altitude lamp trunking installation according to an embodiment of the present application.

[0030] Figure 2 is a structural schematic view for showing a bar hole.

[0031] Figure 3 is Figure 2 is an enlarged view of part A in FIG.

[0032] Figure 4 is a structural schematic view for showing a straight gear.

[0033] Figure 5 is Figure 4 is an enlarged view of part B in FIG.

[0034] Figure 6 is an exploded view for showing a first spring.

[0035] Figure 7 is Figure 1 is an enlarged view of part C in FIG.

[0036] Figure 8 is Figure 1 is an enlarged view of the D part in FIG. 1.

[0037] Figure 9 is Figure 1 is an enlarged view of the E part in FIG. 1.

[0038] Figure 10 is a structural schematic view for showing a pushing member.

[0039] Figure 11 is a structural schematic view for showing a guide surface.

[0040] BRIEF DESCRIPTION OF DRAWINGS 1, wall climbing vehicle; 11, strip-shaped hole; 121, suction cup; 122, third linear driving member; 123, vacuum generator; 124, connecting pipe; 2, clamping unit; 21, clamping block; 22, clamping plate; 23, fifth spring; 24, second linear driving member; 3, telescopic member; 31, electric cylinder; 4, driving member; 41, double-shaft extension asynchronous motor; 5, conversion member; 51, first motor; 61, drill bit; 62, screwdriver; 7, screw compensation unit; 71, screw adding member; 711, rotating roller; 712, conveying belt; 713, pushing member; 7131, first linear driving member; 7132, extrusion block; 7133, extrusion rod; 7134, mounting frame; 7135, fourth spring; 714, clamping member; 7141, supporting plate; 7142, sliding block; 7143, second spring; 7144, clamping plate; 7145, adjusting groove; 7146, clamping rod; 7147, guide surface; 7148, third spring; 715, conveying support; 716, second motor; 72, screw conveying member; 721, conveying plate; 722, conveying block; 723, placing groove; 724, placing hole; 725, spring groove; 726, first spring; 727, guide surface; 73, connecting member; 731, first bevel gear; 732, second bevel gear; 733, spur gear; 734, telescopic transmission rod; 7341, base rod; 7342, gear rod; 7343, sliding groove; 7344, sliding block; 735, supporting rod; 736, gear box; 737, sliding sleeve; 738, rotating shaft; 739, rack. DETAILED DESCRIPTION

[0041] The following description will be made in conjunction with the accompanying Figures 1-11 The application is further described in detail.

[0042] Embodiments of the present application disclose a robot for high-altitude lamp wire slot installation.

[0043] Reference Figure 1The utility model provides a kind of robot for high-altitude luminaire wire duct installation including wall climbing vehicle 1, clamping unit 2, telescopic piece 3, driving part 4, conversion piece 5, drill bit 61, screwdriver 62 and screw compensation unit 7, wall climbing vehicle 1 is mainly attached on smooth wall by the principle of vacuum negative pressure, rely on advanced centrifugal fan system in car body, the motor high-speed driving fan impeller rotation in the bottom of car body, make air high-speed discharge, and the air in the bottom of car body is constantly supplemented to fan system, so that the instantaneous vacuum is generated in car body, and negative pressure difference is formed with atmosphere pressure outside, under the action of this pressure difference, wall climbing vehicle 1 is tightly attached on wall, glass and other plane, to achieve the effect that wall climbing vehicle 1 is attached on wall surface and other vertical or horizontal plane, clamping unit 2 is clamped in wire duct, telescopic piece 3 is electric cylinder 31 in the embodiment, can also be air cylinder in other embodiments, electric cylinder 31 is arranged along vertical wall surface, the cylinder body of electric cylinder 31 is fixedly arranged on the side of wall climbing vehicle 1 away from wall surface, the conversion piece 5 of the embodiment is first motor 51, can also be rotary air cylinder in other embodiments, the motor in the embodiment is the motor with self-locking function, first motor 51 is fixedly arranged on the output shaft end of electric cylinder 31, the driving part 4 of the embodiment is double-shaft extension asynchronous motor 41, can also be two direct current motors in other embodiments, drill bit 61 is coaxially fixedly arranged on the output shaft of one end of double-shaft extension asynchronous motor 41, screwdriver 62 is fixedly arranged on the other output shaft of double-shaft extension asynchronous motor 41, screw compensation unit 7 is arranged on wall climbing vehicle 1, and screw compensation unit 7 is used to store screw and move screw to drill hole.

[0044] When installing wire duct, wire duct is installed on wall climbing vehicle 1 by clamping unit 2 first, then wall climbing vehicle 1 is driven to move to installation position on wall, then drill bit 61 is driven to turn to wire duct by first motor 51, electric cylinder 31 drives drill bit 61 to move towards wall, double-shaft extension asynchronous motor 41 drives drill bit 61 to rotate, drill bit 61 is drilled into wall from wire duct bottom to form drill hole, then electric cylinder 31 drives drill bit 61 to be extracted from drill hole, and screwdriver 62 is turned to wire duct by first motor 51.Then screw compensation unit 7 moves screw to drill hole, then electric cylinder 31 drives screwdriver 62 to move towards drill hole, double-shaft extension asynchronous motor 41 drives screwdriver 62 to rotate, and screwdriver 62 is screwed into drill hole, so that wire duct is fixedly installed, to realize high-altitude installation of wire duct, save the erection time of support frame when installing manually, so as to improve the efficiency of wire duct high-altitude installation, which can effectively avoid manual climbing operation, so as to improve the safety of workers.

[0045] Refer to Figure 2 , Figure 3 And Figure 4The wall climbing vehicle 1 is provided with a strip hole 11, the clamping unit 2 comprises a clamping block 21, two clamping plates 22, a fifth spring 23 and a second linear driving member 24. In the embodiment, the second linear driving member 24 is a linear motor, and in other embodiments, the second linear driving member 24 can be a cylinder. The linear motor is fixedly arranged on the wall climbing vehicle 1. The clamping block 21 is inserted into the strip hole 11 and is arranged in sliding mode with the strip hole 11. The clamping block 21 is fixedly arranged on the output shaft of the linear motor. The output shaft of the linear motor is perpendicular to the wall surface. The two clamping plates 22 are uniformly arranged on one side of the clamping block 21 close to the wall surface. The clamping block 21 is provided with a supporting rod. The supporting rod is inserted into the clamping plate 22 and is arranged in sliding mode. The fifth spring 23 is provided in two groups. Each group of the fifth spring 23 corresponds to one clamping plate 22. The two clamping plates 22 are located between the two groups of the fifth spring 23. The fifth spring 23 is sleeved on the supporting rod. One end of the fifth spring 23 abuts against the clamping plate 22. The other end of the fifth spring 23 abuts against the clamping block 21. When the fifth spring 23 is in a natural state, the distance between the two clamping plates 22 is less than the width of the wire slot.

[0046] When the wire slot is installed on the wall climbing vehicle 1, the wire slot is placed between the two clamping plates 22. The two groups of the fifth spring 23 push the clamping plates 22 to clamp and fix the wire slot. Then, the wall climbing vehicle 1 is moved to the installation position. Then, the clamping block 21 is driven by the linear motor to move towards the wall surface. At this time, the clamping plate 7144 drives the wire slot to move towards the wall surface. In this way, the wire slot is attached to the wall surface when the wall climbing vehicle 1 drives the wire slot to move. Therefore, the drill bit 61 is more stable when the drill bit 61 punches the wire slot.

[0047] With reference to Figure 4 The wall climbing vehicle 1 is provided with a suction cup 121 on one end close to the wall surface. In the embodiment, the number of the suction cup 121 is two. The wall climbing vehicle 1 is provided with two third linear driving members 122. In the embodiment, the third linear driving member 122 is an electric cylinder. In other embodiments, the third linear driving member 122 can be a linear motor. The third linear driving member 122 corresponds to one suction cup 121. The suction cup 121 is fixedly arranged on the output shaft end of the third linear driving member 122. The wall climbing vehicle 1 is fixedly provided with a vacuum generator 123 on the side away from the wall surface. The vacuum generator 123 is connected with each suction cup 121 through a connecting pipe 124. The connecting pipe 124 is a rubber pipe. In other embodiments, the connecting pipe 124 can be a plastic pipe.

[0048] When the wall climbing vehicle 1 moves to the installation position of the wire slot, the third linear driving member 122 drives the suction cup 121 to move towards the wall surface and attach the suction cup 121 to the wall surface. Then, the vacuum generator 123 is started. The vacuum generator 123 draws the suction cup 121 through the connecting pipe 124. Then, the suction cup 121 is adsorbed on the wall surface. The connection between the wall climbing vehicle 1 and the wall surface is more firm when the drill bit 61 drills the hole.

[0049] With reference to Figure 1 , Figure 4 andFigure 5 The screw compensation unit 7 comprises a screw adding part 71 and a screw conveying part 72, the screw conveying part 72 comprises a conveying plate 721 and two conveying blocks 722, the conveying plate 721 is slidingly arranged on the wall climbing vehicle 1 through dovetail blocks and dovetail grooves, the conveying plate 721 slides along the vertical direction of the advancing direction of the wall climbing vehicle 1, one of the two conveying blocks 722 is fixedly arranged on the conveying plate 721, and the two conveying blocks 722 are oppositely arranged.

[0050] With reference to Figure 5 , Figure 6 The two conveying blocks 722 are each provided with a placing groove 723 on the opposite side wall, the two placing grooves 723 jointly enclose a placing hole 724 for the screw to be inserted, the opposite sides of the two conveying blocks 722 are each provided with a spring groove 725, the conveying block 722 is provided with a first spring 726, both ends of the first spring 726 are inserted into the same side spring groove 725, and both ends of the first spring 726 are fixedly connected with the groove bottom wall of the same side spring groove 725. Initially, the first spring 726 pulls the two conveying blocks 722 to abut against each other, the placing hole 724 is provided with a guide surface 727 for the screw head to be extruded, the distance between the guide surface 727 and the axis of the placing hole 724 gradually increases from the end of the guide surface 727 away from the wall surface to the end close to the wall surface, and the screw head extrudes the guide surface 727, so that the two conveying blocks 722 are away from each other.

[0051] With reference to Figure 1 , Figure 7 The first motor 51 is in transmission with the screw conveying part 72 through a connecting part 73, the connecting part 73 comprises a first bevel gear 731, a second bevel gear 732, a straight gear 733 and an extension transmission rod 734, the wall climbing vehicle 1 is provided with a support rod 735, the support rod 735 is provided with a gear box 736, the gear box 736 is slidingly arranged on the support rod 735 through a sliding sleeve 737, the double-shaft extension asynchronous motor 41 is fixedly provided with a rotating shaft 738, the axis line of the rotating shaft 738 is collinear with the axis line of the output shaft of the first motor 51, one end of the rotating shaft 738 is inserted into the gear box 736 and is rotationally arranged with the gear box 736, and the first bevel gear 731 is coaxially and fixedly arranged at one end of the rotating shaft 738 inserted into the gear box 736.

[0052] With reference to Figure 1 , Figure 8The telescopic transmission rod 734 comprises a base rod 7341 and a gear rod 7342, the base rod 7341 is arranged through the wall climbing vehicle 1 and is rotatably arranged with the wall climbing vehicle 1, one end of the gear rod 7342 is inserted into the gear box 736 and is rotatably arranged with the gear box 736, the other end of the gear rod 7342 is inserted into the base rod 7341 and is slidably arranged with the base rod 7341, the gear rod 7342 is provided with a sliding groove 7343 arranged along the axial direction of the gear rod 7342, the base rod 7341 is provided with a sliding block 7344 for sliding in the sliding groove 7343, the second bevel gear 732 is coaxially and fixedly arranged at the end of the gear rod 7342 inserted into the gear box 736, and the first bevel gear 731 is engaged with the second bevel gear 732.

[0053] With reference to Figure 4 , Figure 5 The spur gear 733 is coaxially and fixedly arranged at the end of the base rod 7341 passing through the wall climbing vehicle 1, and the rack 739 is arranged on the conveying plate 721 along the sliding direction of the conveying plate 721, and the spur gear 733 is engaged with the rack 739.

[0054] With reference to Figure 1 , Figure 9 The screw adding part 71 comprises at least two rotating rollers 711, a conveying belt 712, a pushing member 713 and a plurality of clamping members 714, the wall climbing vehicle 1 is fixedly provided with a conveying support 715, the two rotating rollers 711 are rotatably arranged on the conveying support 715, the rotating rollers 711 are connected by the conveying belt 712, and the conveying support 715 is provided with a second motor 716 for driving the rotating rollers 711 to rotate. The plurality of clamping members 714 are arranged on the conveying belt 712, each clamping member 714 comprises a supporting plate 7141, a sliding block 7142, a second spring 7143 and two clamping plates 7144, the supporting plate 7141 is fixedly arranged on the conveying belt 712 along the width direction of the conveying belt 712, each supporting plate 7141 is provided with an adjusting groove 7145 on the side away from the conveying belt 712, the sliding block 7142 is slidably arranged in the adjusting groove 7145, the sliding block 7142 is provided with two clamping rods 7146, the two clamping rods 7146 are rotatably arranged with the sliding block 7142 through a hinge shaft, the two clamping rods 7146 are cross arranged, the clamping plates 7144 correspond to the clamping rods 7146 in one-to-one manner, the clamping plates 7144 are fixedly arranged on the clamping rods 7146, the two clamping plates 7144 are oppositely arranged, the two clamping plates 7144 in the embodiment are arc-shaped plates, the two clamping plates 7144 enclose a clamping space for clamping screws, and the second spring 7143 is arranged on the two clamping rods 7146, and the two ends of the second spring 7143 are fixedly connected with the clamping rods 7146 on the same side, respectively. The second spring 7143 pulls the two clamping rods 7146, so that the two clamping plates 7144 are close to each other.

[0055] With reference to Figure 10 , Figure 11The support plate 7141 is provided with a guide surface 7147 for the clamping plate 7144 to slide. The guide surface 7147 corresponds one-to-one with the clamping rod 7146. The end of the clamping rod 7146 away from the clamping plate 7144 slides along the guide surface 7147. The distance between the two guide surfaces 7147 gradually increases from the end of the support plate 7141 away from the conveying block 722 to the end closer to the conveying block 722. The support plate 7141 is provided with a third spring 7148 for pushing the sliding block 7142 to move away from the borehole. One end of the third spring 7148 is fixedly connected to the sliding block 7142, and the other end of the third spring 7148 is fixedly connected to the side wall of the adjusting groove 7145.

[0056] Reference Figure 10 , Figure 11 The pusher 713 includes a first linear drive 7131, a pressing block 7132, and a pressing rod 7133. The climbing vehicle 1 is provided with a mounting frame 7134, one end of which extends above the conveying block 722. The first linear drive 7131 is fixedly mounted on the mounting frame 7134. In this embodiment, the first linear drive 7131 is an electric cylinder, but in other embodiments, it can also be a pneumatic cylinder. The pressing rod 7133 is mounted on the output shaft of the first linear drive 7131. The pressing block 7132 is sleeved on the pressing rod 7133 and slides with the pressing rod 7133. The pressing rod 7133 and the pressing block 7132 are connected by a fourth spring 7135. The fourth spring 7135 is used to push the pressing block 7132 to slide. The pressing block 7132 is used to push the sliding block 7142 to slide toward the placement hole 724. The pressing rod 7133 is used to press the push screw to insert into the placement hole 724.

[0057] After drilling is completed by drill bit 61, electric cylinder 31 moves drill bit 61 upward. Then, first motor 51 drives screwdriver 62 to rotate and drill. At this time, first motor 51 drives rotating shaft 738 to rotate. Rotating shaft 738 drives telescopic transmission rod 734 to rotate through first bevel gear 731 and second bevel gear 732. Telescopic transmission rod 734 drives spur gear 733 to rotate. Spur gear 733 drives conveyor plate 721 to slide through meshing with rack 739. Conveyor plate 721 drives conveyor block 722, along with screws, to slide into the drill hole. Above, the electric cylinder 31 retracts, driving the screwdriver 62 to move towards the drill hole. At this time, the gearbox 736 slides along the support rod 735, and then the screwdriver 62 is driven to rotate by the dual-shaft extension asynchronous motor 41. The screwdriver 62 pushes the screw in the placement hole 724 into the drill hole. The screw cap slides along the guide surface 727, causing one conveyor block 722 to move away from the other conveyor block 722. At this time, the first spring 726 extends, and the screwdriver 62 turns the screw into the drill hole, thereby realizing the automatic installation of the wire groove.

[0058] When the wire slot is installed, the electric cylinder 31 drives the screwdriver 62 to rise, and then the first motor 51 drives the screwdriver 62 to rotate away from the wire slot, the drill bit 61 is rotated to the wire slot, and the next installation position of the wire slot is drilled. When the drill bit 61 and the screwdriver 62 are converted each time, the first motor 51 is rotated forward and reversely to realize the position conversion of the drill bit 61 and the screwdriver 62. When the first motor 51 drives the screwdriver 62 to rotate away from the wire slot, the rotating shaft 738 drives the telescopic transmission rod 734 to rotate, the telescopic transmission rod 734 drives the straight gear 733 to rotate, the straight gear 733 drives the conveying plate 721 to slide, and the conveying plate 721 drives the conveying block 722 to move to the conveying support 715. At this time, the second motor 716 drives the conveying belt 712 to rotate, the conveying belt 712 drives the support plate 7141 to move to the conveying block 722, so that the screws clamped on the clamping plate 7144 are aligned with the placement hole 724, and then the first linear drive 7131 drives the extrusion block 7132 to move towards the placement hole 724. The extrusion block 7132 pushes the sliding block 7142 to slide towards the conveying block 722, so that the screw starts to be inserted into the placement hole 724. At this time, the sliding block 7142 drives the clamping rod 7146 to slide along the guide surface 7147, so that the two clamping plates 7144 are away from each other. Then, when the extrusion block 7132 pushes the sliding block 7142 to slide to the adjusting groove 7145, the extrusion rod 7133 and the extrusion block 7132 slide relatively, the extrusion rod 7133 pushes the screw to be completely inserted into the placement hole 724. At this time, the fourth spring 7135 is contracted, and the two extrusion screws of the extrusion rod 7133 and the extrusion block 7132 are extruded, so that the screw is completely extruded into the placement groove 723, thereby improving the stability of the screw in the placement groove 723.

[0059] Then the above operation is repeatedly performed, so that the multiple fixing points of the wire slot are fixed, and the screw is automatically added to the drilled hole, thereby improving the efficiency of the entire wire slot installation.

[0060] The implementation principle of the robot for high-altitude lamp wire slot installation is that when the wire slot is installed, the wire slot is first installed on the wall climbing vehicle 1 through the clamping unit 2, then the wall climbing vehicle 1 is driven to move to the installation position on the wall, then the drill bit 61 is rotated to the wire slot through the conversion piece 5, the telescopic piece 3 drives the drill bit 61 to move towards the wall, the driving piece 4 drives the drill bit 61 to rotate, the drill bit 61 is drilled into the wall from the bottom of the wire slot, then the telescopic piece 3 drives the drill bit 61 to be pulled out of the drilled hole, and the screwdriver 62 is rotated to the wire slot through the conversion piece 5. Then the screw compensation unit 7 moves the screw to the drilled hole, then the telescopic piece 3 drives the screwdriver 62 to move towards the drilled hole, the driving piece 4 drives the screwdriver 62 to rotate, the screwdriver 62 screws the screw into the drilled hole, and the screw fixes and installs the wire slot, thereby realizing the high-altitude installation of the wire slot, saving the construction time of the supporting frame during manual installation, and improving the efficiency of the high-altitude installation of the wire slot.

[0061] The above are all preferred embodiments of the present application, and do not limit the protection scope of the present application, so that: all equivalent changes made according to the structure, shape, principle of the present application should be covered within the protection scope of the present application.

Claims

1. A robot for high-bay luminaire trunking installation, comprising a wall-climbing vehicle (1) for walking on a wall surface, characterized in that: The wall climbing vehicle (1) is provided with a clamping unit (2), an extension piece (3), a driving piece (4), a conversion piece (5), a drill bit (61), a screwdriver (62) and a screw compensation unit (7), the clamping unit (2) is used for clamping a wire slot, the extension piece (3) is arranged on the wall climbing vehicle (1), the conversion piece (5) is arranged on the extension piece (3), the driving piece (4) is arranged on the conversion piece (5), the drill bit (61) and the screwdriver (62) are arranged on the driving piece (4), the driving piece (4) is used for driving the drill bit (61) and the screwdriver (62) to rotate, the conversion piece (5) is used for driving the drill bit (61) and the screwdriver (62) to change position, the extension piece (3) is used for driving the drill bit (61) or the screwdriver (62) to move towards the wall surface, and the screw compensation unit (7) is used for driving a screw to move to a drilled hole.

2. The robot for high bay luminaire trunking installation of claim 1, wherein: The extension piece (3) is an electric cylinder (31), the electric cylinder (31) is arranged on the wall climbing vehicle (1), the conversion piece (5) is a first motor (51), the first motor (51) is arranged on the electric cylinder (31), the driving piece (4) is a double-shaft extension asynchronous motor (41), the double-shaft extension asynchronous motor (41) is arranged on the output shaft of the first motor (51), and the drill bit (61) and the screwdriver (62) are respectively fixedly arranged on the two output shafts of the double-shaft extension asynchronous motor (41).

3. The robot for high bay luminaire trunking installation of claim 2, wherein: The screw compensation unit (7) comprises a screw adding piece (71) and a screw conveying piece (72), the screw adding piece (71) is used for storing screws and sending the screws to the screw conveying piece (72), the screw conveying piece (72) is used for conveying the screws to the drilled hole, the first motor (51) is in transmission with the screw conveying piece (72) through a connecting piece (73), the first motor (51) drives the screwdriver (62) to be aligned with the drilled hole, and the screw conveying piece (72) moves the screws to the drilled hole.

4. The robot for high bay luminaire trunking installation of claim 3, wherein: The screw conveying piece (72) comprises a conveying plate (721) and two conveying blocks (722), the conveying plate (721) is slidably arranged on the wall climbing vehicle (1), the two conveying blocks (722) are both arranged on the conveying plate (721), each conveying block (722) is provided with a placing groove (723), the two placing grooves (723) jointly enclose a placing hole (724) for inserting the screw, a first spring (726) is arranged between the two conveying blocks (722), the first spring (726) is used for pulling the two conveying blocks (722) to be close to each other, the placing hole (724) is provided with a guide surface (727) for extruding the screw head of the screw, the screw head of the screw extrudes the guide surface (727), and the two conveying blocks (722) are away from each other.

5. The robot for high bay luminaire wireway installation of claim 4, wherein: The connecting piece (73) comprises a first bevel gear (731), a second bevel gear (732), a straight gear (733) and a telescopic transmission rod (734), the first bevel gear (731) is coaxially arranged with the first motor (51), the telescopic transmission rod (734) is rotationally arranged with the wall climbing vehicle (1), the second bevel gear (732) is coaxially arranged with the telescopic transmission rod (734), the second bevel gear (732) is engaged with the first bevel gear (731), the straight gear (733) is coaxially fixedly arranged on the telescopic transmission rod (734), and the conveying plate (721) is provided with a rack (739), and the straight gear (733) is engaged with the rack (739).

6. The robot for high bay luminaire wireway installation of claim 5, wherein: The screw adding piece (71) comprises a conveying belt (712), a pushing piece (713), a plurality of clamping pieces (714) and at least two rotating rollers (711), the rotating rollers (711) are rotationally arranged on the wall climbing vehicle (1), the rotating rollers (711) are connected through the conveying belt (712), a plurality of clamping pieces (714) are arranged on the conveying belt (712), the clamping pieces (714) are used for clamping screws, the pushing piece (713) is used for pushing the screws to be inserted into the placing holes (724), and the wall climbing vehicle (1) is provided with a second motor (716) for driving the rotating rollers (711) to rotate.

7. The robot for high bay luminaire trunking installation of claim 6, wherein: The clamping piece (714) comprises a supporting plate (7141), a sliding block (7142), a second spring (7143) and two clamping plates (7144), the supporting plate (7141) is arranged on the conveying belt (712), the sliding block (7142) is slidingly arranged on the supporting plate (7141), the two clamping plates (7144) are rotationally arranged with the sliding block (7142), the two clamping plates (7144) enclose a clamping space for clamping screws, the second spring (7143) is arranged on the clamping plate (7144), the second spring (7143) is used for driving the two clamping plates (7144) to clamp the screws, the supporting plate (7141) is provided with a guide surface (7147) for sliding of the clamping plate (7144), the clamping plate (7144) slides along the guide surface (7147), so that the two clamping plates (7144) are away from each other, and the supporting plate (7141) is provided with a third spring (7148) for pushing the sliding block (7142) to move away from the drilling hole.

8. The robot for high bay luminaire wireway installation of claim 7, wherein: The pushing piece (713) comprises a first linear driving piece (7131), a pressing block (7132) and a pressing rod (7133), the first linear driving piece (7131) is arranged on the wall climbing vehicle (1), the pressing rod (7133) is arranged on an output shaft of the first linear driving piece (7131), the pressing block (7132) is sleeved on the pressing rod (7133) and is arranged in sliding mode with the pressing rod (7133), the pressing rod (7133) and the pressing block (7132) are connected through a fourth spring (7135), the fourth spring (7135) is used for pushing the pressing block (7132) to slide, the pressing block (7132) is used for pushing the sliding block (7142) to slide towards the placing hole (724), and the pressing rod (7133) is used for extruding a pushing screw to insert into the placing hole (724).

9. The robot for high bay luminaire wireway installation of claim 1, wherein: The clamping unit (2) comprises a clamping block (21), two clamping plates (22), a fifth spring (23) and a second linear driving piece (24), the second linear driving piece (24) is arranged on the wall climbing vehicle (1), the clamping block (21) is arranged on the second linear driving piece (24), the second linear driving piece (24) is used for driving the clamping block (21) to move towards the wall surface, the two clamping plates (22) are both arranged in sliding mode with the clamping block (21), the clamping block (21) is used for driving the clamping plates (22) to slide, and the fifth spring (23) is arranged on the clamping block (21) and is used for pushing the clamping plates (22) to clamp the wire groove.

10. The robot for high bay luminaire wireway installation of claim 1, wherein: The wall climbing vehicle (1) is provided with a suction cup (121) at one end close to the wall surface, the wall climbing vehicle (1) is provided with a vacuum generator (123), and the vacuum generator (123) is connected with the suction cup (121) through a connecting pipe (124).

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