Curtain wall installation robot

Abstract

The application discloses a curtain wall installation robot, and relates to the field of curtain wall installation.The curtain wall installation robot comprises a robot main body, a supporting foot device arranged on the robot main body and used for supporting and lifting the robot main body, a self-adaptive positioning foot device arranged on the robot main body and used for being fixed with different types of floor edges, a curtain wall fixing foot device arranged on the robot main body and used for picking up a curtain wall, and a curtain wall installation foot device arranged on the robot main body and used for rotating screws to install the curtain wall.The stability and installation efficiency of the curtain wall installation robot during installation of the curtain wall are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of curtain wall installation, in particular to a curtain wall installation robot. BACKGROUND

[0002] With the continuous progress of construction engineering technology, the construction technology of buildings and people's requirements for living environment are also increasing. When installing the traditional building outer surface curtain wall, high-altitude operation is mainly performed from top to bottom by manual operation of a work basket.

[0003] At present, a small curtain wall installation robot base is fixed on a basket to replace the construction personnel to install the curtain wall by using a robot, or a large curtain wall installation robot is used to install the curtain wall through a hoisting truss unit and a cantilever beam.

[0004] However, the height range of the curtain wall installed by the large curtain wall installation robot is limited, and the small curtain wall installation robot has the base fixed on the basket, which on one hand requires high control of the basket, and on the other hand, the stability of the basket is poor in the event of high-level wind, resulting in poor stability of the curtain wall installation robot when installing the curtain wall. SUMMARY

[0005] In view of the above deficiencies of the related art, the present application provides a curtain wall installation robot. By providing a plurality of functional foot fixtures on the robot body, on one hand, the curtain wall installation robot can be adjusted to compensate for the poor stability of the basket, and on the other hand, the self-adaptive positioning foot fixture can be used to fix the curtain wall installation robot with different types of floor edges, thereby improving the stability and installation efficiency of the curtain wall installation robot when installing the curtain wall.

[0006] The curtain wall installation robot provided by the present application adopts the following technical solutions:

[0007] A curtain wall installation robot comprises:

[0008] a robot body;

[0009] a support foot fixture arranged on the robot body and used for supporting and lifting the robot body;

[0010] a self-adaptive positioning foot fixture arranged on the robot body and used for fixing with different types of floor edges;

[0011] a curtain wall fixing foot fixture arranged on the robot body and used for picking up a curtain wall; and

[0012] a curtain wall installation foot fixture arranged on the robot body and used for rotating a screw to install the curtain wall.

[0013] Preferably, the adaptive positioning foot comprises a clamping jaw and an adaptive assembly arranged on the clamping jaw, the clamping jaw comprises a mounting frame, a driving plate, a first folding plate hingedly connected at two ends of the driving plate respectively, a connecting rod for connecting the first folding plate and the mounting frame, and a driving member for driving the driving plate to move towards the mounting frame or away from the mounting frame, the mounting frame is connected with the robot body, the connecting rod is rotatably connected with the mounting frame and the first folding plate at two ends respectively, and the adaptive assembly is arranged at one end of the first folding plate away from the driving plate.

[0014] Preferably, the adaptive assembly comprises a mounting block arranged at one end of the first folding plate away from the driving plate, a second folding plate hingedly connected at two ends of the mounting block respectively, a limiting rod slidingly arranged in the mounting block, a driven plate fixed at an end of the limiting rod, an adaptive unit plate for connecting the driven plate and the second folding plate, and a connecting frame for connecting the limiting rod and the second folding plate, and the adaptive unit plate is hingedly arranged with the driven plate.

[0015] Preferably, a plurality of adaptive unit plates are arranged.

[0016] Preferably, the connecting frame comprises a connecting block fixedly sleeved at one end of the limiting rod away from the driven plate, and a connecting rod for connecting the connecting block and the second folding plate, and the connecting rod is hingedly connected with the connecting block and the second folding plate at two ends respectively.

[0017] Preferably, a buffer is arranged between the connecting block and the mounting block.

[0018] Preferably, the surface of the driven plate and the adaptive unit plate is provided with an anti-skid structure for contacting the floor.

[0019] Preferably, the support foot comprises a support air spring arranged on the robot body, and a load-bearing leg arranged on the side of the support air spring away from the robot body.

[0020] Preferably, the curtain wall fixing foot comprises a vacuum suction cup for sucking the curtain wall.

[0021] Preferably, the curtain wall mounting foot comprises a self-locking screw driver.

[0022] In summary, the present application has at least one of the following beneficial technical effects:

[0023] 1. By setting multiple functional footwears on the robot body, on the one hand, the curtain wall installation robot is adjusted to make up for the poor stability of the hanging basket, and on the other hand, the curtain wall installation robot is fixed with the edge of different types of floor through self-adaptive positioning footwears, thereby improving the stability and installation efficiency of the curtain wall installation robot when installing the curtain wall.

[0024] 2. By adjusting the position of the self-adaptive positioning footwears in the hanging basket, the self-adaptive positioning footwears are aligned with the edge of different types of floor, thereby positioning the curtain wall installation robot, improving the stability and installation efficiency of the curtain wall installation robot when installing the curtain wall.

[0025] 3. Under the positioning effect of the self-adaptive positioning footwears on the curtain wall robot, the curtain wall is picked up by the curtain wall fixing footwears, reducing the possibility of the curtain wall separating from the curtain wall fixing footwears, and the curtain wall installation footwears are aligned with the curtain wall installation position when rotating the screw, thereby improving the safety and efficiency of the curtain wall installation process. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creating laborious work.

[0027] Figure 1 is a schematic diagram of the overall structure of the embodiment of the present application;

[0028] Figure 2 is a schematic diagram of the structure of the self-adaptive positioning footwears in the embodiment of the present application;

[0029] Figure 3 is a schematic diagram of the structure of the self-adaptive assembly in the embodiment of the present application.

[0030] Reference signs: 1, robot body; 2, mechanical arm; 3, curtain wall fixing footwears; 4, curtain wall installation footwears; 5, supporting footwears; 51, supporting gas spring; 52, load-bearing leg; 6, self-adaptive positioning footwears; 61, clamping jaw; 611, mounting bracket; 612, driving plate; 613, first folding plate; 614, connecting rod; 615, driving part; 621, mounting block; 622, second folding plate; 623, limiting rod; 624, driven plate; 625, self-adaptive unit plate; 626, connecting bracket; 6261, connecting block; 6262, connecting rod; 7, buffer. DETAILED DESCRIPTION

[0031] The following will be described in conjunction with the drawings Figures 1-3Further details of the application are described below.

[0032] The embodiment of the application discloses a curtain wall installation robot. Figure 1 The curtain wall installation robot comprises a robot body 1, support foot devices 5 for supporting and lifting the robot body 1, adaptive positioning foot devices 6 for being fixed with edges of different types of floors, curtain wall fixing foot devices 3 for picking up curtain walls and curtain wall installation foot devices 4 for rotating screws to install the curtain walls. Specifically, the support foot devices 5 are arranged in two groups and located below the robot body 1, the adaptive positioning foot devices 6 are arranged in two groups and located in the middle of the robot body 1, the curtain wall fixing foot devices 3 and the curtain wall installation foot devices 4 are located above the robot body 1, and the support foot devices 5, the adaptive positioning foot devices 6, the curtain wall fixing foot devices 3 and the curtain wall installation foot devices 4 are connected with the robot body 1 through mechanical arms 2.

[0033] Referring to Figure 1 In the embodiment of the application, the support foot devices 5 comprise support air springs 51 and load-bearing legs 52 arranged on sides, away from the robot body 1, of the support air springs 51, the curtain wall installation robot is fixed on a hanging basket through the load-bearing legs 52, and then the height of the robot body 1 is adjusted through the support air springs 51, so that the adaptive positioning foot devices 6 are convenient for being aligned with edges of floors. In other embodiments, the support air springs 51 can also be replaced by hydraulic load-bearing rods. Compared with the hydraulic load-bearing rods used on conventional aerial ladders, the support air springs 51 have higher material design, and the self weight and use cost of the support air springs 51 are much lower than those of common hydraulic load-bearing rods, which is beneficial to reducing the load of the hanging basket. The air spring design not only effectively reduces the direct equipment cost, but also reduces the difficulty and cost of repairing the subsequent possible fault equipment, and therefore the support air springs 51 are preferred.

[0034] After the position of the robot body 1 is adjusted through the support foot devices 5, the robot body 1 is further fixed with edges of floors through the adaptive positioning foot devices 6, referring to Figure 1 and Figure 2The adaptive positioning foot 6 comprises a clamping jaw 61 and an adaptive assembly arranged on the clamping jaw 61. The clamping jaw 61 comprises a mounting frame 611, a driving plate 612, first folding plates 613 respectively hinged at two ends of the driving plate 612, a connecting rod 614 for connecting the first folding plates 613 and the mounting frame 611, and a driving member 615 for driving the driving plate 612 to move towards the mounting frame 611. Specifically, the mounting frame 611 is fixed on the mechanical arm 2, and the mechanical arm 2 is connected with the robot body 1. The driving member 615 can be a pneumatic cylinder, an oil cylinder or an electric push rod. In the embodiment, the driving member 615 is preferably an electric push rod, which is fixed on the mounting frame 611 and has an output end fixed with the driving plate 612. One end of the connecting rod 614 is hinged with the mounting frame 611, and the other end is rotationally connected with the middle part of the first folding plate 613. The adaptive assembly is arranged at one end of the first folding plate 613 away from the driving plate 612.

[0035] When it is needed to position the robot body 1 on the floor edge, the electric push rod is started to drive the driving plate 612 to move towards the mounting frame 611, thereby driving the two first folding plates 613 to move towards each other at one end away from the driving plate 612, so that the adaptive assembly moves towards each other.

[0036] When it is needed to position the robot body 1 on the floor edge, in order to improve the adaptability of the clamping jaw 61 to different types of floor edges such as parapet light plate surface, with reference to Figure 2 and Figure 3 The adaptive assembly comprises a mounting block 621 arranged at one end of the first folding plate 613 away from the driving plate 612, second folding plates 622 respectively hinged at two ends of the mounting block 621, a limiting rod 623 slidingly arranged in the mounting block 621, a driven plate 624 fixed at an end of the limiting rod 623, an adaptive unit plate 625 for connecting the driven plate 624 and the second folding plate 622, and a connecting frame 626 for connecting the limiting rod 623 and the second folding plate 622. The adaptive unit plate 625 is hingedly arranged with the driven plate 624. The connecting frame 626 comprises a connecting block 6261 sleeved at one end of the limiting rod 623 away from the driven plate 624, and a connecting rod 6262 for connecting the connecting block 6261 and the second folding plate 622. The connecting rod 6262 is hingedly connected with the connecting block 6261 and the second folding plate 622 at two ends, respectively. Specifically, the driven plate 624 is arranged perpendicularly to the limiting rod 623, one end of the connecting rod 6262 is hingedly connected with the connecting block 6261, and the other end is hingedly connected with the middle part of the second folding plate 622. The adaptive unit plate 625 is provided with a plurality of adaptive unit plates 625, which are hingedly arranged with each other.

[0037] In the embodiment of the present application, one end of the driven plate 624 is connected to the end of the second folding plate 622 on the same side through two adaptive unit plates 625, that is, one adaptive assembly unit includes four adaptive unit plates 625, which are distributed at both ends of the driven plate 624 two by two, and are located between the end of the second folding plate 622 away from the mounting block 621 and the end of the driven plate 624. In other embodiments, the number of adaptive unit plates 625 can be adaptively adjusted to one, three, four, etc. according to the type of commonly used clamped floor edge, which can improve the contact point and contact area of the adaptive unit plate 625 and the floor edge when the floor edge pushes the driven plate 624 to move towards the mounting block 621. Further, to improve the fixing effect of the adaptive positioning clamp and the floor edge, the surface of the driven plate 624 and the adaptive unit plate 625 is provided with an anti-skid structure for contacting the floor, which can be anti-skid lines or a rubber layer, and in the embodiment of the present application, it is preferably anti-skid lines (not shown in the figure).

[0038] Further, to improve the service life of the adaptive assembly, referring to Figure 3 , a buffer 7 is arranged between the connecting block 6261 and the mounting block 621, and in the embodiment of the present application, the buffer 7 is arranged as a spring, which is sleeved on the limiting rod 623 and abuts against the connecting block 6261 and the mounting block 621 at both ends. In other embodiments, the buffer 7 can also be a rubber layer or a sponge layer wrapped on the limiting rod 623.

[0039] Further, to avoid interference of the connecting rod 614, the first folding plate 613, the second folding plate 622, the connecting rod 6262 and the adaptive unit plate 625 during movement, a yielding slot (not shown in the figure) is formed on the first folding plate 613 and the second folding plate 622.

[0040] After positioning the robot body 1 on the floor edge, to facilitate picking up and installing the curtain wall, referring to Figure 1 , the curtain wall fixing foot 3 includes a vacuum chuck for sucking the curtain wall, and the vacuum chuck is provided with a plurality of vacuum chucks arranged in an array. The curtain wall installation foot 4 includes a self-locking screw driver. When installing the curtain wall, the curtain wall fixing foot 3 is used to suck the curtain wall through the vacuum chuck, and then the self-locking screw driver on the curtain wall installation foot 4 is used to fix the curtain wall to the preset position through the screw, that is, the installation process of the curtain wall is completed.

[0041] The implementation principle of the curtain wall installation robot is as follows: when the curtain wall needs to be installed, the curtain wall installation robot is fixed on the basket through the load-bearing leg 52, then the height of the robot main body 1 is adjusted through the supporting air spring 51, so that the self-adaptive positioning foot 6 is aligned with the floor edge, then the electric push rod is started, the driving plate 612 is driven to move towards the installation frame 611, so that the two first folding plates 613 move towards each other from the end of the driving plate 612, so that the self-adaptive assembly moves towards each other. At this time, the floor edge pushes the driven plate 624, so that the self-adaptive unit plate 625 automatically adjusts the position and abuts against the floor edge, so as to position the robot main body 1 on the floor edge, finally the curtain wall fixing foot 3 is used to suck the curtain wall through the vacuum suction cup, then the self-locking screw driver on the curtain wall installation foot 4 is used to fix the curtain wall to the preset position through the screw, that is, the installation process of the curtain wall is completed.

[0042] Unless otherwise defined, technical terms or scientific terms used in the present application shall be understood as having the usual meaning understood by a person skilled in the art to which the present application belongs. The "first", "second", "third" and similar words used in the specification and claims of the present application do not represent any order, quantity or importance, but are used to distinguish different components. "One" or "a" and similar words do not represent a quantity limit, but represent the existence of at least one. "Include" or "contain" and similar words mean that the elements or objects appearing before "include" or "contain" cover the elements or objects listed after "include" or "contain" and their equivalents, and do not exclude other elements or objects. "Up", "down", "left", "right" and the like are only used to represent relative positional relationship, when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0043] The above are optional embodiments of the present application, and do not limit the protection scope of the present application, therefore: any equivalent changes made according to the structure, shape, principle of the present application shall be covered within the protection scope of the present application.

Claims

1. A curtain wall installation robot, characterized by, The application relates to a robot body, a supporting foot device arranged on the robot body for supporting and lifting the robot body, an adaptive positioning foot device arranged on the robot body for fixing with different types of floor edges, a curtain wall fixing foot device arranged on the robot body for picking up a curtain wall, and a curtain wall mounting foot device arranged on the robot body for rotating a screw to mount the curtain wall. The adaptive positioning foot device comprises a clamping jaw and an adaptive assembly arranged on the clamping jaw. The adaptive assembly comprises a mounting block arranged on one end of the first folding plate away from the driving plate, a second folding plate hingedly arranged on two ends of the mounting block, a limiting rod slidingly arranged through the mounting block, a driven plate fixed on an end of the limiting rod, an adaptive unit plate for connecting the driven plate and the second folding plate, and a connecting frame for connecting the limiting rod and the second folding plate. The adaptive unit plate is hingedly arranged with the driven plate. The connecting frame comprises a connecting block fixedly sleeved on one end of the limiting rod away from the driven plate and a connecting rod for connecting the connecting block and the second folding plate. The connecting block and the mounting block are provided with a buffer.

2. The curtain wall installation robot of claim 1, wherein: The driven plate and the adaptive unit plate are provided with anti-skid structures on surfaces thereof for contacting the floor.

3. The curtain wall installation robot of claim 1, wherein: The supporting foot device comprises a supporting air spring arranged on the robot body and a load-bearing supporting leg arranged on one side of the supporting air spring away from the robot body.

4. The curtain wall installation robot of claim 3, wherein: The curtain wall fixing foot device comprises a vacuum suction cup for sucking the curtain wall.

5. The curtain wall installation robot of claim 1, wherein: The curtain wall mounting foot device comprises a self-locking screw driver.

6. The curtain wall installation robot of claim 1, wherein: ​ 7. The curtain wall installation robot of claim 1, wherein: ​ 8. The curtain wall installation robot of claim 1, wherein: ​

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