Automatic installation device for ceiling skylight frame

Abstract

The present invention discloses an automatic installation device for a ceiling skylight frame, and relates to the field of grabbing and placing equipment, which includes a manipulator body, a clamping structure is provided at the movable end of the manipulator body, the clamping structure includes a support frame and a plurality of adsorption tubes, the support frame is connected to the movable end of the manipulator body, the adsorption tubes are provided along the side of the support frame, the manipulator body is provided with a vacuum assembly for generating negative pressure on the adsorption tubes, both ends of the lower end of the adsorption tubes are provided with avoidance ports in the lateral direction, the adsorption tubes are slidably connected with a plurality of baffles for blocking the avoidance ports, the adsorption tubes are provided with an elastic member 1, the elastic member 1 applies a thrust to the baffle rod away from the support frame, a flexible block is provided on the side of the baffle rod away from the adsorption tube, and the adsorption tubes are provided with a moving member for driving the flexible block to approach or away from the baffle rod. The present application has the effect of improving the installation convenience of the skylight frame.

Description

Technical Field

[0001] The invention relates to the field of grabbing and placing equipment, in particular to an automatic installation device for a ceiling skylight frame. Background Art

[0002] The ceiling is a covering on the top of the car. In addition to its decorative effect, it also has sound insulation and heat insulation properties. Some car ceilings are equipped with skylights to provide natural light and good ventilation. During the production process, when the ceiling is manufactured by the dry method, a skylight frame needs to be placed in the mold before the ceiling is molded.

[0003] For related technologies, the Chinese patent with announcement number CN219296588U discloses an automatic grasping and placing device for a ceiling skylight frame, including a frame, an upper pressing plate, a lower pressing cylinder, a lower clamping cylinder, a lower clamping claw and a rotating shaft. The frame is fixedly connected to the upper pressing plate, and one side of the upper pressing plate is fixedly connected to the lower pressing cylinder. When grasping the skylight frame, the robot drives the frame to the top of the skylight frame, the upper pressing plate presses on the skylight frame, the lower clamping claw cylinder is pushed out, the lower clamping claw rotates around the rotating shaft, and the lower clamping claw clamps the bottom of the skylight frame. The entire mechanism includes four sets of components, which can grasp the skylight frame from four points, so that the skylight frame is firmly grasped; when placing the skylight frame, the robot drives the skylight frame to the placement position, the piston rod of the lower clamping claw cylinder is retracted, the lower clamping claw rotates around the rotating shaft, the lower clamping claw releases the skylight frame, and the skylight frame falls under the action of gravity, and is then pushed out by the lower pressing cylinder to press the skylight frame into the mold of the next processing process to complete the placement of the skylight frame.

[0004] With regard to the above-mentioned related technologies, when a robot is used to place a skylight frame into a mold, after the skylight frame is separated from the lower clamp, the skylight frame is pressed into the mold only by the downward pressure cylinder. It is necessary to ensure that the placement position of the skylight frame is sufficiently accurate, and when transporting the skylight frame, the end of the lower clamp needs to extend into the lower end of the skylight frame. Therefore, when placing the skylight frame, there needs to be enough space for the lower clamp to move between the lower end of the skylight frame and the mold. When the skylight frame is separated from the lower clamp, the skylight frame is in a suspended state, and then falls to the installation position of the mold under the action of gravity, which causes the skylight frame to collide with the mold. At this time, if the skylight frame bounces, the operator is required to correct the position of the skylight frame. Therefore, when the skylight frame is automatically transported, its installation accuracy is low. However, the skylight frame itself is relatively thin, and it is difficult to transport it by side clamping. In order to improve the structural strength of the skylight frame, a wavy groove structure needs to be set on the vertical end face. In addition, for the convenience of installation, a large number of through holes are reserved in the skylight frame, resulting in a small proportion of the flat end face of the skylight frame, making it difficult to grasp it using a suction cup-type grasping mechanism. Therefore, a more stable conveying mechanism is urgently needed to improve the installation convenience of the skylight frame. Summary of the invention

[0005] In order to improve the installation convenience of the skylight frame, the present application provides an automatic installation device for the ceiling skylight frame.

[0006] This application provides a ceiling skylight frame automatic installation device, which adopts the following technical solutions:

[0007] An automatic installation device for a ceiling skylight frame includes a manipulator body, a clamping structure is provided at the movable end of the manipulator body, the clamping structure includes a support frame and a plurality of adsorption tubes, the support frame is connected to the movable end of the manipulator body, the manipulator body is used to drive the support frame to move, the plurality of adsorption tubes are arranged along the side of the support frame, and all the adsorption tubes are arranged vertically, and a sealing strip is circumferentially provided at the lower end of the adsorption tube, a vacuum component for generating negative pressure on the adsorption tube is provided on one side of the manipulator body, avoidance openings are opened at both ends of the lower end of the adsorption tube along the horizontal direction, and a plurality of baffles are slidably connected to the two ends of the adsorption tube with the avoidance openings along the length direction, an elastic member is provided between the baffle and the adsorption tube, the elastic member applies a thrust to the baffle away from the support frame, a flexible block is provided on the side of the baffle away from the adsorption tube, and the adsorption tube is provided with a moving member for driving the flexible block to approach or away from the baffle.

[0008] By adopting the above technical solution, in the initial state, the manipulator body drives the support frame to move above the skylight frame. At this time, the adsorption tube is located directly above the skylight frame, and the adsorption tube is parallel to the long groove structure or convex strip structure on the skylight frame. At this time, the avoidance port is directly opposite to the groove structure or convex strip structure of the skylight frame. If the adsorption tube is directly opposite to the groove of the skylight frame, after the lower end of the adsorption tube contacts the upper end surface of the skylight frame, the baffle rod extends into the groove under the action of the elastic member 1 and contacts the inner wall of the groove. If the adsorption tube is directly opposite to the convex strip of the skylight frame, the convex strip enters the avoidance port, and the baffle rod avoids the convex block. In the initial state, the flexible block is away from the baffle rod. When the baffle rod contacts the skylight frame, the rotating member drives the flexible block close to the baffle rod, thereby blocking the gap between the baffle rod and the skylight frame. The vacuum component generates negative pressure in the adsorption tube, so that the adsorption tube adsorbs the skylight frame. When placing the skylight frame, the support frame drives the skylight frame downward so that the skylight frame contacts the mold, and the vacuum assembly controls the adsorption tube to stop adsorbing the skylight frame, thereby completing the placement of the skylight frame. The adsorption tube and the flexible block cooperate to facilitate the grabbing of non-planar skylight frames by adsorption, reducing the need for working space between the skylight frame and the mold, which is conducive to improving the installation convenience of the skylight frame.

[0009] Optionally, the adsorption tube includes a transverse tube and a plurality of vertical tubes. The transverse tube is hollow and connected to a support frame in a transverse sliding manner. The support frame is provided with an adjusting rod for driving the transverse tube to move. When the vacuum assembly is working, negative pressure is generated in the transverse tube. A plurality of vertical tubes are arranged at the lower end of the transverse tube along the length direction of the transverse tube, and the transverse tube and the vertical tube are detachably connected. An avoidance port and a baffle are provided on the vertical tube at the end of the transverse tube. Seals are provided between adjacent vertical tubes. The vertical tube is provided with a ventilation pipe connected to the transverse tube, and the ventilation pipe is detachably connected to the transverse tube.

[0010] By adopting the above technical solution, the support frame supports all vertical tubes through the horizontal tube. When the position of the horizontal tube is adjusted by the adjusting rod, the horizontal tube drives all vertical tubes to move, thereby adjusting the position of the vertical tube. When negative pressure is generated in the horizontal tube, negative pressure is synchronously generated in the corresponding vertical tubes through the ventilation tube. The vertical tubes and the ventilation tubes can be detachable and set, thereby facilitating the adjustment of the number of vertical tubes to suit skylight frames with different structures.

[0011] Optionally, the movable part includes a movable plate, two swing rods and a piston block. The movable plate is located on a side of the vertical tube where the avoidance opening is set, and the movable plate is arranged parallel to the vertical tube. The movable plate is provided with a mounting plate that moves along the length direction of the hull, and a flexible blocking block is arranged at the lower end of the mounting plate. The two swing rods are parallel to each other, and one end of the swing rod is hinged to the movable plate, and the other end is hinged to the vertical tube. The vertical tube is provided with a piston hole along the length direction, and the lower end of the piston hole is connected to the inner cavity of the vertical tube. The piston block is located in the piston hole and fits with the inner wall of the piston hole. A flat plate is vertically fixed to the upper end of the piston block, and a sliding column is fixed to the upper end of the movable plate. The flat plate is provided with a sliding groove along the length direction, and the sliding column is inserted in the sliding groove and is slidably connected to the flat plate along the length direction of the sliding groove.

[0012] By adopting the above technical scheme, in the initial state, the piston block is located close to the cross tube, and the inner cavity of the vertical tube and the piston hole generate negative pressure at the same time. The piston block moves in the direction away from the cross tube under the action of the negative pressure. Under the limiting action of the slide groove, the piston block drives the movable plate to move downward through the flat plate and the sliding column. Under the limiting action of the swing rod, when the movable plate moves downward, it drives the flexible block to approach the baffle plate through the mounting plate. The moving trajectory of the movable plate is arc-shaped, so it approaches the baffle rod and the skylight frame at the same time, further improving the sealing effect of the flexible block.

[0013] Optionally, the vertical tube is provided with a movable groove connected with the avoidance opening along the vertical direction, all the baffle rods are located in the movable groove and fit with the inner wall of the movable groove, the vertical tube is provided with a positioning groove connected with the movable groove, the positioning groove is located on the side of the movable groove away from the inner cavity of the vertical tube, a positioning plate is slidably connected with the vertical tube in the direction approaching or away from the baffle rod, a plurality of slots are vertically provided on the side of the baffle rod close to the positioning plate, a positioning block adapted for the slot is fixedly connected to the positioning plate, two elastic members are provided between the positioning plate and the vertical tube, the two elastic members are used to push the positioning plate away from the baffle rod, a pushing block is fixedly provided on the side of the positioning plate away from the baffle plate, the pushing block passes through the vertical tube and is slidably connected with the vertical tube.

[0014] By adopting the above technical solution, the vertical tube limits the positioning plate through the positioning groove. In the initial state, the positioning plate is away from the blocking rod under the action of the second elastic member. When the blocking rod contacts the skylight frame, it moves along the moving groove. After the vertical tube contacts the skylight frame, the blocking rod stops moving. At this time, negative pressure is generated in the vertical tube, so that when the moving plate approaches the vertical tube, it contacts the push block. The push block drives the positioning plate to approach the baffle. When the positioning block is inserted into the card slot, the positioning plate positions the blocking rod, which is conducive to improving the working stability of the blocking rod.

[0015] Optionally, the support frame is provided with a plurality of supporting claws and driving members along the circumferential direction, the supporting claws include a mounting frame and a vertical moving member, a supporting frame corresponding to the supporting claws is provided at the lower end of the support frame, the mounting frame is slidably connected to the supporting frame along the horizontal direction, the driving member is connected to the supporting frame and is used to drive the mounting frame to move, the vertical moving member is located at the lower end of the mounting frame and is slidably connected to the mounting frame along the vertical direction, the mounting frame is provided with an electric push rod for driving the vertical moving member to move, and a horizontal plate is vertically fixed to the lower end of the vertical moving member.

[0016] By adopting the above technical solution, the support frame supports the mounting part through the support frame. When the driving part drives the mounting frame to move, the mounting frame drives the vertical moving part and the horizontal plate to move, so that the vertical moving part is close to or away from the side of the sunroof frame. The electric push rod drives the vertical moving part to move vertically, so that the horizontal plate supports the lower end of the sunroof frame, thereby further improving the grasping stability of the sunroof frame.

[0017] Optionally, the support frame is rotatably connected to the support frame in the transverse direction, and a rotating motor is provided at the upper end of the support frame for driving all the support frames to rotate.

[0018] By adopting the above technical solution, when the rotating motor is working, the mounting frame and the vertical moving member are driven to move through the support frame, thereby adjusting the direction of the cross plate, which is suitable for more working conditions.

[0019] Optionally, the cross plate is provided with reinforcing plates on both sides along the width direction, the reinforcing plates are hinged to the cross plate along the vertical direction, and the side of the reinforcing plate close to the vertical moving member is vertically rotatably connected with a turning rod, and an elastic member three is provided between the turning rod and the reinforcing plate. In the natural state of the elastic member three, the turning rod and the reinforcing plate are perpendicular. When the reinforcing plate and the cross plate are located in the same horizontal plane, the turning rod is located at the upper end of the reinforcing plate and is in a vertical state. The mounting frame is fixedly connected with a straight rod corresponding to the turning rod, and the lower end of the straight rod is rotatably connected to the turning rod.

[0020] By adopting the above technical solution, in the initial state, the cross plate and the reinforcing plate are located in the same plane. Under the support of the straight rod, when the cross plate moves up, it drives the reinforcing plate to move. At this time, the rotating rod limits the reinforcing plate, so that the reinforcing plate flips toward the lower end of the cross plate until the reinforcing plate is perpendicular to the cross plate. The rotating rod limits the reinforcing plate through three pairs of elastic parts, so that the reinforcing plate supports the cross plate. The reinforcing plate is beneficial to improving the structural strength of the cross plate and enhancing the bearing capacity of the cross plate.

[0021] Optionally, a plurality of positioning tubes are provided at the lower end of the support frame, the positioning tubes are connected to connecting tubes, the connecting tubes are connected to the vacuum assembly, and an extrusion block is sleeved at the lower end of the positioning tubes. The extrusion block is made of elastic material and has a movable hole connected to the positioning tube.

[0022] By adopting the above technical solution, when grabbing the skylight frame, the positioning tube drives the extrusion block to extend into the through hole of the skylight frame. When negative pressure is generated in the positioning tube, under the action of the movable hole, the extrusion blocks are squeezed against each other along the axial direction and expand along the circumferential direction, so that the extrusion blocks are fitted against the inner wall of the through hole of the skylight frame. The positioning tube limits the skylight frame through the extrusion block, thereby further improving the grabbing stability of the skylight frame and improving the installation accuracy of the skylight frame.

[0023] Optionally, it also includes a contoured positioning seat, which is located on one side of the manipulator body, and a plurality of support seats are provided at the upper end of the contoured positioning seat, and placement grooves are opened at the upper ends of all the support seats, and all the placement grooves cooperate to form a lifting groove for limiting the skylight frame.

[0024] By adopting the above technical solution, the contoured positioning seat supports the skylight frame through the support seat, which makes it easier for the grab hook and the cross plate to grab the skylight frame. All placement grooves cooperate to limit the lateral displacement of the skylight frame, which is beneficial to improve the positioning accuracy of the skylight frame.

[0025] Optionally, the contoured positioning seat is provided with a plurality of drive plates along the circumferential direction, and the plurality of drive plates are slidably connected with the contoured positioning seat in a direction approaching or moving away from each other. The contoured positioning seat is provided with a push rod for driving the drive plate to move. The support seat is provided at the upper end of the drive plate and is slidably connected with the support seat along the length direction of the drive plate. The support seat is provided with a positioning bolt, which passes through the support seat and abuts against the drive plate.

[0026] By adopting the above technical solution, the contoured positioning seat supports the support seat through the driving plate. When the push rod drives the driving plate to move, the driving plate drives all the support seats to move. The support seat is connected to the driving plate through the positioning bolts. By loosening and tightening the positioning bolts, the position of the support seat can be adjusted along the length direction of the driving plate.

[0027] In summary, the present application includes at least one of the following beneficial technical effects:

[0028] 1. In the initial state, the manipulator body drives the support frame to move above the skylight frame. At this time, the adsorption tube is located directly above the skylight frame, and the adsorption tube is parallel to the long groove structure or convex strip structure on the skylight frame. At this time, the avoidance port is directly opposite to the groove structure or convex strip structure of the skylight frame. If the adsorption tube is directly opposite to the groove of the skylight frame, after the lower end of the adsorption tube contacts the upper end surface of the skylight frame, the baffle rod extends into the groove under the action of the elastic member 1 and contacts the inner wall of the groove. If the adsorption tube is directly opposite to the convex strip of the skylight frame, the convex strip enters the avoidance port, and the baffle rod avoids the convex block. In the initial state, the flexible block is away from the baffle rod. When the baffle rod contacts the skylight frame, the rotating member drives the flexible block close to the baffle rod, thereby blocking the gap between the baffle rod and the skylight frame. The vacuum component generates negative pressure in the adsorption tube, so that the adsorption tube adsorbs the skylight frame. When placing the skylight frame, the support frame drives the skylight frame downward so that the skylight frame contacts the mold, and the vacuum assembly controls the adsorption tube to stop adsorbing the skylight frame, thereby completing the placement of the skylight frame. The adsorption tube and the flexible block cooperate to facilitate the grabbing of non-planar skylight frames by adsorption, reducing the need for working space between the skylight frame and the mold, which is conducive to improving the installation convenience of the skylight frame;

[0029] 2. In the initial state, the piston block is located close to the cross tube, and negative pressure is generated in the inner cavity of the vertical tube and the piston hole at the same time. The piston block moves away from the cross tube under the action of the negative pressure. Under the limiting action of the slide groove, the piston block drives the movable plate to move downward through the flat plate and the sliding column. Under the limiting action of the swing rod, when the movable plate moves downward, it drives the flexible block to approach the baffle through the mounting plate. The moving trajectory of the movable plate is arc-shaped, so it approaches the baffle rod and the skylight frame at the same time, further improving the sealing effect of the flexible block. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the overall structure of the embodiment.

[0031] Figure 2 This is a schematic diagram that aims to highlight the connection structure between the cross tube and the support frame.

[0032] Figure 3 is a schematic diagram intended to highlight the structure of the adsorption tube.

[0033] Figure 4is a schematic diagram intended to highlight the internal structure of the end tube.

[0034] Figure 5 It is a schematic diagram intended to highlight the positioning tube structure.

[0035] Description of the accompanying drawings: 1. Manipulator body; 2. Support frame; 21. Movable plate; 22. Adjustment rod; 23. Support frame; 231. Rotating motor; 24. Positioning tube; 241. Connecting tube; 25. Extrusion block; 251. Movable hole; 3. Adsorption tube; 30. Sealing strip; 31. Horizontal tube; 311. Movable rod; 312. Baffle; 313. Limit spring; 314. Ring; 32. Vertical tube; 321. Sealing element; 322. Ventilation tube; 33. End tube; 331. Avoidance; 332. Moving groove; 333. Positioning groove; 334. Positioning plate; 335. Positioning block; 336. Elastic member 2; 337. Pushing block; 338. Movable Plug hole; 34, stop rod; 341, elastic member one; 342, card slot; 35, flexible block; 36, moving member; 361, moving plate; 362, swing rod; 363, piston block; 364, mounting plate; 365, flat plate; 366, slide groove; 367, sliding column; 368, reset spring; 4, claw; 41, mounting frame; 411, straight rod; 42, vertical moving member; 43, electric push rod; 5, driving member; 6, horizontal plate; 61, reinforcement plate; 62, rotating rod; 63, elastic member three; 7, vacuum assembly; 8, contoured positioning seat; 81, support seat; 811, placement groove; 812, positioning bolt; 82, driving plate; 821, push rod. DETAILED DESCRIPTION

[0036] The present application is further described in detail below in conjunction with all the accompanying drawings.

[0037] The embodiment of the present application discloses an automatic installation device for a ceiling skylight frame.

[0038] Embodiment:

[0039] Reference Figure 1 and Figure 2 The automatic installation device for ceiling skylight frame comprises a manipulator body 1 and a contour positioning seat 8, both of which are arranged on one side of the ceiling forming mold, and both of which are located within the working range of the manipulator body 1. The contour positioning seat 8 is used to support the skylight frame and position the skylight frame so that the skylight frame is at a height that is convenient for grasping. The shape of the contour positioning seat 8 is not limited. In this embodiment, the contour positioning seat 8 is a rectangular body, and in other embodiments, it can also be a cylindrical body.

[0040] Reference Figure 1 and Figure 2A plurality of support seats 81 are arranged at the upper end of the contoured positioning seat 8, and a placement groove 811 is opened at the upper end of the support seat 81, and the plurality of support seats 81 are arranged according to the projection shape of the skylight frame on the plane. The placement grooves 811 on all the support seats 81 cooperate with each other to form a lifting groove corresponding to the skylight frame. After the skylight frame is placed in the lifting groove, all the support seats 81 cooperate to lift the skylight frame.

[0041] Reference Figure 1 and Figure 2 The side of the profiling positioning seat 8 along the circumferential direction is provided with a driving plate 82, and the driving plate 82 is slidably connected with the profiling positioning seat 8 along the direction from the center of the profiling positioning seat 8 to the side. The profiling positioning seat 8 is provided with a push rod 821 corresponding to the driving plate 82 one by one, and the push rod 821 is a threaded rod, and the push rod 821 is arranged along the sliding direction of the driving plate 82, and the push rod 821 passes through the driving plate 82 and is threadedly connected with the driving plate 82. The push rod 821 is rotatably connected with the profiling positioning seat 8, and when the push rod 821 is rotated, the push rod 821 drives the driving plate 82 to move. The support seat 81 is arranged on the driving plate 82, and is slidably connected with the driving plate 82 along the length direction of the driving plate 82. The support seat 81 is threadedly connected with a positioning bolt 812, and the positioning bolt 812 passes through the support seat 81 and abuts against the driving plate 82, thereby limiting the support seat 81. When it is necessary to move the support seat 81 along the driving plate 82, loosening the positioning bolt 812 can release the restriction on the support seat 81.

[0042] Reference Figure 1 and Figure 2 The movable end of the manipulator body 1 is provided with a clamping mechanism, which includes a support frame 2 and a plurality of adsorption tubes 3. The support frame 2 is fixedly connected to the movable end of the manipulator body 1. When the manipulator body 1 is working, the support frame 2 is driven to move and the support frame 2 is in a horizontal state. In this embodiment, two groups of adsorption tubes 3 are provided, and the two groups of adsorption tubes 3 are respectively located on both sides of the support frame 2 along the width direction.

[0043] Reference Figure 2 and Figure 3The adsorption tube 3 includes a transverse tube 31 and a plurality of vertical tubes 32. The transverse tube 31 is arranged horizontally and parallel to the side of the support frame 2 along the length direction. A plurality of movable rods 311 are fixedly arranged on the upper end of the transverse tube 31. The support frame 2 is slidably connected with a movable plate 21 corresponding to the transverse tube 31 along the width direction, and the support frame 2 is provided with an adjustment rod 22 for driving the movable plate 21 to move. The movable rod 311 passes through the movable plate 21 and is slidably connected with the movable plate 21. A baffle 312 is fixedly arranged on the upper end of the movable rod 311. Under the action of gravity, the lower end surface of the baffle 312 abuts against the upper end surface of the movable plate 21. A limit spring 313 is arranged between the transverse tube 31 and the support frame 2. One end of the limit spring 313 is fixedly connected with the movable plate 21, and the other end is provided with a collar 314. The collar 314 is sleeved on the outer side of the movable rod 311 and is slidably connected with the movable rod 311. In the natural state of the limit spring 313, the lower end of the collar 314 abuts against the upper end of the transverse tube 31.

[0044] Reference Figure 2 and Figure 3 , multiple vertical tubes 32 are located at the lower end of the horizontal tube 31 and are evenly arranged along the length direction of the horizontal tube 31. The upper end of the vertical tube 32 is provided with a mounting bolt, and the mounting bolt passes through the vertical tube 32 and is threadedly connected to the horizontal tube 31. Two adjacent vertical tubes 32 on the same horizontal tube 31 fit each other, the vertical tube 32 is hollow, and a seal 321 is provided between adjacent vertical tubes 32. The seal 321 is a rubber strip to improve the sealing between adjacent vertical tubes 32. The horizontal tube 31 is hollow, and all vertical tubes 32 are connected to a vent pipe 322. The end of the vent pipe 322 away from the vertical tube 32 is provided with a joint, which is threadedly connected to the horizontal tube 31 and communicated with the horizontal tube 31. A vacuum assembly 7 is provided on one side of the manipulator body 1. The vacuum assembly 7 includes a vacuum pump and a hose. The vacuum pump is connected to the horizontal tube 31 through the hose. When the vacuum pump is working, negative pressure is generated in the horizontal tube 31.

[0045] Reference Figure 2 and Figure 3 The vertical tube 32 near the end of the horizontal tube 31 is set as an end tube 33. The two end tubes 33 are fixed with a sealing plate on the side away from each other. The end of the sealing plate away from the horizontal tube 31 is provided with an escape opening 331. The skylight frame is a rectangular frame. When the skylight frame needs to be grabbed, the horizontal tube 31 is placed directly above the largest end surface of the skylight frame. The support frame 2 moves downward, so that the movable plate 21 drives the horizontal tube 31 and all the vertical tubes 32 close to the skylight frame. A sealing strip 30 is set at the lower end of the vertical tube 32. When the sealing strip 30 conflicts with the skylight frame, the support frame 2 stops moving.

[0046] Reference Figure 3 and Figure 4When a groove or a convex strip is provided at the largest end surface of the skylight frame, the avoidance opening 331 is directly opposite to the corresponding groove or convex strip, and the number of vertical pipes 32 between the two end pipes 33 is increased or decreased to be suitable for skylight frames of different sizes. A plurality of baffles 34 are provided in the avoidance opening 331, and the plurality of baffles 34 are arranged along the width direction of the end pipe 33 and block the avoidance opening 331. The baffle 34 is slidably connected to the end pipe 33 along its own length direction, and an elastic member 341 is provided between the baffle 34 and the end pipe 33. The elastic member 341 is a spring, one end of the spring is fixedly connected to the baffle 34, and the other end is fixedly connected to the end pipe 33. When the elastic member 341 is in a natural state, the lower end of the baffle 34 extends to the outside of the avoidance opening 331.

[0047] Reference Figure 3 and Figure 4 When the avoidance opening 331 is located at a groove, the blocking rod 34 enters the groove under the action of the elastic member 341 and contacts the inner wall of the groove, thereby blocking the avoidance opening 331 and the groove. The sealing plate is provided with a movable groove 332 for accommodating the blocking rod 34. When the avoidance opening 331 is located at a convex strip, the blocking rod 34 is pressed into the movable groove 332 by the convex strip, and the convex strip is located in the avoidance opening 331. When the shape of the convex strip does not match the shape of the avoidance opening 331, the blocking rod 34 blocks the gap between the outer edge of the convex strip and the inner wall of the avoidance opening 331.

[0048] Reference Figure 3 and Figure 4 , both end tubes 33 are provided with a flexible block 35 for blocking the avoidance opening 331. The flexible block 35 is latex or silicone, which has good deformability. The flexible block 35 is located outside the end tube 33, and the end tube 33 is provided with a moving member 36 for driving the flexible block 35 to approach or move away from the avoidance opening 331. The moving member 36 includes a moving plate 361, two groups of swing rods 362 and a piston block 363. The moving plate 361 is parallel to the end tube 33, and the two groups of swing rods 362 are arranged along the length direction of the moving plate 361. One end of the swing rod 362 is hinged to the moving plate 361, and the other end is hinged to the end tube 33. The two groups of swing rods 362 cooperate to limit the moving plate 361, so that the moving plate 361 remains parallel to the end tube 33.

[0049] Reference Figure 3 and Figure 4The movable plate 361 is provided with a mounting plate 364, which is slidably connected to the movable plate 361 along the length direction of the movable plate 361, and the movable plate 361 is provided with an adjusting screw for driving the mounting plate 364 to move. The flexible block 35 is fixedly arranged at the lower end of the mounting plate 364, and when the mounting plate 364 moves, the flexible block 35 is driven to approach or move away from the avoidance opening 331. The end tube 33 is provided with a piston hole 338 adapted to the piston block 363 along the length direction, and the piston block 363 is located in the piston hole 338 and is slidably connected to the end tube 33 along the axial direction of the piston hole 338, and the end of the piston hole 338 away from the transverse tube 31 is connected to the inner cavity of the end tube 33. A flat plate 365 is vertically fixedly arranged at the upper end of the piston block 363, and the flat plate 365 is arranged parallel to the transverse tube 31. When the piston block 363 moves, the flat plate 365 is driven to move.

[0050] Reference Figure 1 and Figure 4 The flat plate 365 is provided with a slide groove 366 along the length direction, and a sliding column 367 adapted to the slide groove 366 is fixedly provided at the upper end of the movable plate 361. The sliding column 367 is located in the slide groove 366 and is slidably connected to the flat plate 365 along the length direction of the slide groove 366. When all vertical pipes 32 are in contact with the skylight frame, the vacuum pump works and generates negative pressure in the transverse pipe 31. Under the connection of the vent pipe 322, negative pressure is generated in all vertical pipes 32. A return spring 368 is provided between the piston block 363 and the end pipe 33. One end of the return spring 368 is fixedly connected to the piston block 363, and the other end is fixedly connected to the end pipe 33. When the return spring 368 is in the natural state, the piston block 363 is located near the transverse pipe 31, and the flexible block 35 is away from the avoidance opening 331.

[0051] Reference Figure 3 and Figure 4 When negative pressure is generated in the vertical pipe 32, negative pressure is generated in the piston hole 338 simultaneously, so that the piston block 363 drives the flat plate 365 away from the horizontal pipe 31. When the flat plate 365 moves, it drives the movable plate 361 to move through the sliding column 367. Under the action of the swing rod 362, the movable plate 361 drives the flexible block 35 to move to the avoidance opening 331 through the mounting plate 364. When the groove or convex strip of the skylight frame is an arc structure, the blocking rod 34 is difficult to fit with the skylight frame, so that there is a gap between the blocking rod 34 and the skylight frame. After the flexible block 35 enters the avoidance opening 331, the gap between the blocking rod 34 and the skylight frame is blocked under the action of the negative pressure in the vertical pipe 32, so that the negative pressure in the vertical pipe 32 remains stable, and then the skylight frame is adsorbed through the cooperation of all vertical pipes 32. The flexible block 35 changes with the structure of the skylight frame to meet the needs of different skylight frames. At the same time, all the blocking rods 34 cooperate to prevent the flexible block 35 from excessive deformation, thereby improving the working stability of the flexible block 35 .

[0052] Reference Figure 3 and Figure 4The end tube 33 is also provided with a positioning groove 333 connected with the moving groove 332. The positioning groove 333 is located on the side of the end tube 33 away from the vertical tube 32. A positioning plate 334 is arranged inside the positioning groove 333. The positioning plate 334 is slidably connected with the end tube 33 along the length direction of the horizontal tube 31. The side of the positioning plate 334 close to the stopper 34 is fixedly connected with densely arranged positioning blocks 335. The stopper 34 is provided with a slot 342 adapted to the positioning blocks 335. When the positioning plate 334 moves, it drives the positioning blocks 335 to approach or move away from the slot 342. A push block 337 is fixedly provided at one end of the positioning plate 334 away from the stopper 34. The push block 337 passes through the end tube 33 and extends to the outside of the end tube 33. An elastic member 336 is provided between the positioning plate 334 and the end tube 33. The elastic member 336 is a spring. One end of the spring is fixedly connected to the end tube 33, and the other end is fixedly connected to the positioning plate 334. When the elastic member 336 is in a natural state, the positioning plate 334 is located away from the blocking rod 34.

[0053] Reference Figure 3 and Figure 4 When the movable plate 361 drives the flexible blocking block 35 to approach the end tube 33, the mounting plate 364 approaches the pushing block 337. After the flexible blocking block 35 enters the avoidance opening 331, the mounting plate 364 contacts the pushing block 337 and drives the positioning plate 334 to move through the pushing block 337, so that the positioning plate 334 drives the positioning block 335 to be inserted into the corresponding slot 342, and then the positioning block 335 cooperates with the slot 342 to limit the displacement of the blocking rod 34 along its own length direction, which is beneficial to improve the connection stability between the vertical pipe 32 and the skylight frame.

[0054] Reference Figure 1 and Figure 2 The support frame 2 is also provided with a claw 4 and a driving member 5. A plurality of claws 4 are provided, and the claws 4 are arranged circumferentially along the support frame 2. The claws 4 include a mounting frame 41 and a vertical moving member 42. The lower end of the support frame 2 is rotatably connected with a support frame 23 corresponding to the claws 4, and a rotating motor 231 for driving the support frame 23 to rotate is installed at the upper end of the support frame 2. The mounting frame 41 is located at the lower end of the support frame 23 and is slidably connected to the support frame 23 along the length direction of the support frame 23.

[0055] Reference Figure 1 and Figure 2 The driving member 5 includes a driving motor and a driving screw. A sliding block is fixedly provided at the upper end of the mounting frame 41. The support frame 23 is provided with a sliding groove adapted to the sliding block. The sliding block is located in the sliding groove and is slidably connected to the support frame 23 along the length direction of the sliding groove. The driving screw is located in the driving groove and is rotatably connected to the support frame 23. The driving screw passes through the sliding block and is threadedly connected to the sliding block. The driving motor is installed at one end of the support frame 23 to drive the driving screw to rotate. When the driving screw rotates, the mounting frame 41 is driven to move along the sliding groove through the sliding block.

[0056] Reference Figure 1 and Figure 2 , the vertical moving member 42 is located at the lower end of the mounting frame 41, and is slidably connected to the mounting frame 41 in the vertical direction. The mounting frame 41 is installed with an electric push rod 43 for driving the vertical moving member 42 to move. A horizontal plate 6 is vertically fixed to the lower end of the vertical moving member 42. In the initial state, the vertical moving member 42 and the horizontal plate 6 are both located away from the skylight frame. After the adsorption tube 3 is adsorbed on the skylight frame, the mounting frame 41 is driven by the driving member 5 to approach the skylight frame, so that the horizontal plate 6 moves to the bottom of the skylight frame. After the vertical moving member 42 contacts the side wall of the skylight frame, the driving member 5 stops working. At this time, the vertical moving member 42 is driven to move upward by the electric push rod 43, so that the vertical moving member 42 drives the horizontal plate 6 to contact the lower end of the skylight frame.

[0057] Reference Figure 1 and Figure 2 The horizontal plate 6 is a thin metal plate, and both sides of the horizontal plate 61 are hinged along the width direction. The side of the reinforcing plate 61 close to the vertical moving member 42 is vertically hinged with a rotating rod 62. An elastic member 3 63 is provided between the rotating rod 62 and the reinforcing plate 61. The elastic member 3 63 is a torsion spring, one end of which is fixedly connected to the reinforcing plate 61, and the other end is fixedly connected to the rotating rod 62. In the natural state of the torsion spring, the rotating rod 62 and the reinforcing plate 61 are in a vertical state. The mounting frame 41 is fixedly connected with a straight rod 411 corresponding to the rotating rod 62, and the straight rod 411 is rotatably connected to the rotating rod 62.

[0058] Reference Figure 1 and Figure 2 In the initial state, the horizontal plate 6 and the reinforcing plate 61 are located in the same plane. When the vertical moving member 42 drives the horizontal plate 6 to move vertically upward, the straight rod 411 and the rotating rod 62 cooperate to limit the reinforcing plate 61, so that the reinforcing plate 61 rotates to the bottom of the horizontal plate 6. When the horizontal plate 6 contacts the bottom of the skylight frame, the reinforcing plate 61 is at the lower end of the horizontal plate 6, thereby supporting the horizontal plate 6, which is beneficial to improve the bearing capacity of the horizontal plate 6. After the horizontal plate 6 contacts the lower end of the skylight frame, the manipulator body 1 drives the support frame 2 to move, so that the horizontal plate 6 cooperates with the adsorption tube 3 to grab the skylight frame.

[0059] Reference Figure 1 and Figure 5Furthermore, a plurality of positioning tubes 24 are also provided at the lower end of the support frame 2. The positioning tubes 24 are arranged in parallel with the vertical tubes 32. When there is a through-hole structure on the skylight frame, the position of the positioning tubes 24 is adjusted so that the positioning tubes 24 are directly opposite to the through-holes on the skylight frame. An extrusion block 25 is fixed at the lower end of the positioning tube 24. The extrusion block 25 is provided with a movable hole 251 and the movable hole 251 is connected to the positioning tube 24. A connecting tube 241 is connected to the upper end of the positioning tube 24. The connecting tube 241 is connected to the hose. When the vacuum pump is working, negative pressure is synchronously generated in the positioning tube 24. When the adsorption tube 3 contacts the skylight frame, the positioning block 335 drives the extrusion block 25 to enter the through-hole of the skylight frame.

[0060] Reference Figure 1 and Figure 5 The extrusion block 25 is made of a flexible material, such as rubber, and is provided with a plurality of annular grooves along the circumferential direction, and the plurality of annular grooves are arranged along the axial direction of the positioning tube 24. When negative pressure is generated in the positioning tube 24, the extrusion block 25 gradually deforms under the action of the negative pressure, and the annular grooves are used to weaken the structural strength of the extrusion block 25 along the axial direction, so that the extrusion block 25 deforms along the axial direction and squeezes each other, and then the extrusion block 25 expands along the circumferential direction and contacts the inner wall of the through hole of the skylight frame. In the process of transporting the skylight frame, the positioning tube 24 and the extrusion block 25 cooperate to limit the skylight frame, which is conducive to improving the transportation stability of the skylight frame.

[0061] The working principle of the automatic installation device for the ceiling skylight frame of the embodiment of the present application is as follows: during the process of the horizontal plate 6 lifting the skylight frame, the limit spring 313 is in a deformed state, at which time the baffle 312 is separated from the movable plate 21. When the skylight frame is transported to an appropriate position, the horizontal plate 6 is first reset by the electric push rod 43, so that the horizontal plate 6 moves again to a state parallel to the reinforcing plate 61. When the horizontal plate 6 moves, the adsorption tube 3 moves down synchronously under the action of the limit spring 313, thereby driving the skylight frame to approach the ceiling molding mold and shortening the distance between the skylight frame and the mold. When the lower end of the horizontal plate 6 is close to the mold, the drive member 5 drives the mounting frame 41 to move, so that the horizontal plate 6 moves out from under the skylight frame. When the horizontal plate 6 is away from the skylight frame, the electric push rod 43 drives the vertical moving member 42 to move up, so that the horizontal plate 6 avoids the mold. At this time, the support frame 2 continues to move downward, so that the adsorption tube 3 drives the skylight into the preset installation position. After the skylight frame is placed, the vacuum pump stops working, and the adsorption tube 3 stops adsorbing the skylight frame, so that the skylight frame is separated from the clamping structure, and the placement of the skylight frame is completed. During the placement process, the skylight frame is grasped by adsorption and lifting, which is conducive to improving the grasping stability of the skylight frame. By setting the avoidance port 331 and the flexible block 35, the adsorption tube 3 is convenient for adsorbing non-planar structures, meeting the working requirements of the adsorption tube 3. At the same time, when placing the skylight frame, there is no need to reserve a movable space between the skylight frame and the mold, which further improves the placement stability of the skylight frame and is more convenient to install the skylight frame.

[0062] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. An automatic installation device for a ceiling skylight frame, comprising a manipulator body (1), wherein a clamping structure is provided at a movable end of the manipulator body (1), and the device is characterized in that: The clamping structure comprises a support frame (2) and a plurality of adsorption tubes (3); the support frame (2) is connected to the movable end of the manipulator body (1); the manipulator body (1) is used to drive the support frame (2) to move; the plurality of adsorption tubes (3) are arranged along the side of the support frame (2); all the adsorption tubes (3) are arranged vertically; and a sealing strip (30) is arranged circumferentially at the lower end of the adsorption tube (3); and a sealing strip (30) is arranged on one side of the manipulator body (1) for generating negative pressure on the adsorption tube (3). The vacuum assembly (7) comprises a lower end portion of the adsorption tube (3) having avoidance openings (331) at both ends thereof in the horizontal direction, and both ends of the adsorption tube (3) having the avoidance openings (331) are slidably connected to a plurality of blocking rods (34) in the length direction, and an elastic member (341) is provided between the blocking rod (34) and the adsorption tube (3), and the elastic member (341) applies a thrust to the blocking rod (34) away from the support frame (2), and a flexible blocking member is provided on the side of the blocking rod (34) away from the adsorption tube (3). The adsorption tube (3) is provided with a moving part (36) for driving the flexible blocking block (35) to move closer to or away from the blocking rod (34); the adsorption tube (3) comprises a horizontal tube (31) and a plurality of vertical tubes (32); the horizontal tube (31) is hollow and connected to the support frame (2) in a lateral sliding manner; the support frame (2) is provided with an adjusting rod (22) for driving the horizontal tube (31) to move; when the vacuum assembly (7) is working, negative pressure is generated in the horizontal tube (31) and the plurality of vertical tubes (32) are moved away from the blocking rod (34); The tubes (32) are arranged at the lower end of the transverse tube (31) along the length direction of the transverse tube (31), and the transverse tube (31) and the vertical tube (32) are detachably connected. The avoidance opening (331) and the blocking rod (34) are arranged on the vertical tube (32) at the end of the transverse tube (31). A sealing member (321) is arranged between adjacent vertical tubes (32). The vertical tube (32) is provided with a vent pipe (322) communicating with the transverse tube (31), and the vent pipe (322) and the transverse tube (31) are detachably connected.The moving member (36) comprises a moving plate (361), two swinging rods (362) and a piston block (363); the moving plate (361) is located on a side of the vertical tube (32) where the avoidance opening (331) is provided, and the moving plate (361) is arranged in parallel with the vertical tube (32); the moving plate (361) is provided with a mounting plate (364) that moves along its length direction; the flexible blocking block (35) is arranged at the lower end of the mounting plate (364); the two swinging rods (362) are parallel to each other, and one end of the swinging rod (362) is hinged to the moving plate (361), and the other end is hinged to the vertical tube (32). The vertical tube (32) is provided with a piston hole (338) along the length direction, the lower end of the piston hole (338) is communicated with the inner cavity of the vertical tube (32), the piston block (363) is located in the piston hole (338) and is in contact with the inner wall of the piston hole (338), a plate (365) is vertically fixed to the upper end of the piston block (363), a sliding column (367) is fixed to the upper end of the movable plate (361), a sliding groove (366) is provided on the plate (365) along the length direction, and the sliding column (367) is inserted into the sliding groove (366) and is slidably connected to the plate (365) along the length direction of the sliding groove (366). ; 2. The automatic installation device for ceiling skylight frame according to claim 1, characterized in that: The vertical tube (32) is provided with a movable groove (332) in vertical direction and connected with the avoidance opening (331); all the blocking rods (34) are located in the movable groove (332) and are in contact with the inner wall of the movable groove (332); the vertical tube (32) is provided with a positioning groove (333) in communication with the movable groove (332); the positioning groove (333) is located on a side of the movable groove (332) away from the inner cavity of the vertical tube (32); a positioning plate (334) is slidably connected with the vertical tube (32) in the positioning groove (333) in a direction approaching or moving away from the blocking rod (34); the blocking rod (34) is provided with a positioning plate (334) in a direction approaching or moving away from the blocking rod (34); ) A plurality of slots (342) are vertically provided on one side close to the positioning plate (334); a positioning block (335) adapted to the slots (342) is fixedly connected to the positioning plate (334); a second elastic member (336) is provided between the positioning plate (334) and the vertical tube (32); the second elastic member (336) is used to push the positioning plate (334) away from the baffle (34); a pushing block (337) is fixedly provided on the side of the positioning plate (334) away from the baffle (312); the pushing block (337) passes through the vertical tube (32) and is slidably connected to the vertical tube (32).

3. The automatic installation device for ceiling skylight frame according to claim 1, characterized in that: The support frame (2) is provided with a plurality of supporting claws (4) and a driving member (5) along the circumferential direction. The supporting claw (4) includes a mounting frame (41) and a vertical moving member (42). A supporting frame (23) corresponding to the supporting claw (4) is provided at the lower end of the support frame (2). The mounting frame (41) is slidably connected to the supporting frame (23) in the transverse direction. The driving member (5) is connected to the supporting frame (23) and is used to drive the mounting frame (41) to move. The vertical moving member (42) is located at the lower end of the mounting frame (41) and is slidably connected to the mounting frame (41) in the vertical direction. The mounting frame (41) is provided with an electric push rod (43) for driving the vertical moving member (42) to move. A horizontal plate (6) is vertically fixed to the lower end of the vertical moving member (42).

4. The automatic installation device for ceiling skylight frame according to claim 3, characterized in that: The support frame (23) is rotatably connected to the support frame (2) in the transverse direction, and a rotating motor (231) is provided at the upper end of the support frame (2) for driving all the support frames (23) to rotate.

5. The automatic installation device for ceiling skylight frame according to claim 3, characterized in that: The transverse plate (6) is provided with reinforcing plates (61) on both sides along the width direction. The reinforcing plates (61) are hinged with the transverse plate (6) in the vertical direction. A side of the reinforcing plate (61) close to the vertical moving member (42) is vertically rotatably connected with a rotating rod (62). An elastic member (63) is provided between the rotating rod (62) and the reinforcing plate (61). In the natural state of the elastic member (63), the rotating rod (62) is perpendicular to the reinforcing plate (61). When the reinforcing plate (61) and the transverse plate (6) are located in the same horizontal plane, the rotating rod (62) is located at the upper end of the reinforcing plate (61) and is in a vertical state. The mounting frame (41) fixes the connecting body and the straight rod (411) corresponding to the rotating rod (62), and the lower end of the straight rod (411) is rotatably connected to the rotating rod (62).

6. The automatic installation device for ceiling skylight frame according to claim 1, characterized in that: The support frame (2) is also provided with a plurality of positioning tubes (24) at the lower end thereof. The positioning tubes (24) are connected to connecting tubes (241). The connecting tubes (241) are connected to the vacuum assembly (7). The lower end of the positioning tubes (24) is sleeved with an extrusion block (25). The extrusion block (25) is made of elastic material and is provided with a movable hole (251) connected to the positioning tubes (24).

7. The automatic installation device for ceiling skylight frame according to claim 1, characterized in that: The robot also comprises a contoured positioning seat (8), the contoured positioning seat (8) being located on one side of the robot body (1), and a plurality of support seats (81) being provided at the upper end of the contoured positioning seat (8), and placement grooves (811) being provided at the upper ends of all the support seats (81), and all the placement grooves (811) cooperate to form a lifting groove for limiting the position of the skylight frame.

8. The automatic installation device for ceiling skylight frame according to claim 7, characterized in that: The profiling positioning seat (8) is provided with a plurality of driving plates (82) along the circumferential direction, and the plurality of driving plates (82) are all slidably connected with the profiling positioning seat (8) in a direction of approaching or moving away from each other. The profiling positioning seat (8) is provided with a push rod (821) for driving the driving plate (82) to move. The support seat (81) is arranged at the upper end of the driving plate (82) and is slidably connected with the support seat (81) along the length direction of the driving plate (82). The support seat (81) is provided with a positioning bolt (812), and the positioning bolt (812) passes through the support seat (81) and abuts against the driving plate (82).

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