Pressure maintaining mechanical arm for installing awning glass

Abstract

The invention discloses a pressure-maintaining manipulator for mounting awning glass, which comprises a moving device (1), a lifting device (2) is mounted on the moving device (1), the lower end of the lifting device (2) is connected with a floating mechanism (3), and a first mounting frame (4) is mounted on the floating mechanism (3). And a plurality of awning glass suckers (5) and a plurality of pressure maintaining cylinders (6) are arranged on the first mounting frame (4). Alignment during assembly can be facilitated, the production efficiency is improved, pressure maintaining installation can be achieved, and the product quality is improved.

Description

Technical Field

[0001] The invention relates to a pressure-maintaining manipulator for installing skylight glass. Background Art

[0002] As people's demand for automobile consumption grows, the types of automobile configurations also increase, and cars with canopies become the first choice of more and more consumers. The installation quality of canopies directly affects the sealing of the entire vehicle. How to achieve pressure-maintaining installation of canopies in multi-variety, large-volume, flexible automobile assembly production lines, and how to achieve rapid hole alignment of canopy glass during installation have become a process that must be considered in automobile assembly production lines.

[0003] At present, the existing manual assembly has no pressure-maintaining function, which causes some vehicles to leak after a period of use, affecting the normal use of the vehicle. In addition, in the existing technology, manual assembly has the problem of difficulty in aligning holes, which is time-consuming and labor-intensive, affecting the production cycle. Summary of the invention

[0004] The purpose of the present invention is to provide a pressure-maintaining robot for installing skylight glass to solve the technical problems in the prior art. It can facilitate alignment during assembly and improve production efficiency, and can also achieve pressure-maintaining installation and improve product quality.

[0005] The present invention provides a pressure-maintaining robot for installing skylight glass, comprising a moving device, a lifting device installed on the moving device, a floating mechanism connected to the lower end of the lifting device, a first mounting frame installed on the floating mechanism, and a plurality of skylight glass suction cups and a plurality of pressure-maintaining cylinders provided on the first mounting frame.

[0006] In the aforementioned pressure-maintaining robot for installing skylight glass, preferably, the moving device includes a moving frame, a lifting device mounting frame, a pulley and a driving motor, four pulleys are arranged on the top of the moving frame, the bottom of the moving frame is fixedly connected to the top of the lifting device mounting frame through four mounting seats, two mounting beams are arranged in the lifting device mounting frame, and a lifting device mounting plate is respectively fixed on the two mounting beams.

[0007] In the aforementioned pressure-maintaining robot for installing skylight glass, preferably, an "L"-shaped support frame is fixedly provided on the movable frame, and the "L"-shaped support frame is rotatably connected to the motor mounting frame through a rotating shaft, the driving motor is fixedly provided at one end of the motor mounting frame, and a driving wheel is installed on the output shaft of the driving motor, and a motor height adjustment cylinder is provided at one end of the support frame away from the driving motor, and the telescopic end of the motor height adjustment cylinder is rotatably connected to the other end of the motor mounting frame.

[0008] In the aforementioned pressure-maintaining manipulator for installing skylight glass, preferably, the lifting device includes a guide rail mounting tube, a guide rail, a first single-rod cylinder, a second single-rod cylinder and a floating mechanism connecting plate, the guide rail mounting tube is vertically arranged, the middle part of the guide rail mounting tube is fixedly connected to the two lifting device mounting plates, the guide rail is plugged and slidably connected to the guide rail mounting tube, the lower end of the guide rail extends out of the lower end of the guide rail mounting tube and is fixedly connected to the floating mechanism connecting plate, the first single-rod cylinder is fixedly mounted on the outer wall of the upper end of the guide rail mounting tube, the lower end of the second single-rod cylinder is rotatably connected to the floating mechanism connecting plate, and the telescopic end of the first single-rod cylinder is connected to the telescopic end of the second single-rod cylinder by a first internal threaded connecting sleeve.

[0009] In the aforementioned pressure-maintaining robot for installing skylight glass, preferably, an open groove is provided on one side of the guide rail mounting tube, an L-shaped limit block is fixed on the guide rail, and a limit cylinder is fixed on one side of the open groove.

[0010] In the aforementioned pressure-maintaining robot for installing skylight glass, preferably, the floating mechanism includes an upper mounting plate, a middle mounting plate and a lower mounting plate, the floating mechanism connecting plate is fixedly connected to the top surface of the upper mounting plate, the bottom of the upper mounting plate is provided with a first shaft sleeve and a second shaft sleeve arranged in parallel, the first shaft sleeve and the second shaft sleeve are respectively fixed at the two ends of the bottom of the upper mounting plate, and the top surface of the middle mounting plate is provided with a third shaft sleeve and a fourth shaft sleeve arranged in parallel, the first shaft sleeve, the second shaft sleeve, the third shaft sleeve and the fourth shaft sleeve are arranged in the same plane and are distributed in a "mouth" shape, a connecting shaft is respectively slidably installed in the first shaft sleeve, the second shaft sleeve, the third shaft sleeve and the fourth shaft sleeve, the four connecting shafts are connected by four connecting blocks, and two springs are respectively sleeved on each of the connecting shafts.

[0011] In the aforementioned pressure-maintaining robot for installing skylight glass, preferably, an upper connecting seat is arranged at the center position of the bottom surface of the middle-level mounting plate, and a lower connecting seat is arranged at the center position of the top surface of the lower-level mounting plate, the upper connecting seat and the lower connecting seat are connected via a rotating shaft, the first mounting frame is fixedly connected to the lower-level mounting plate, a first cylinder is arranged on the top surface of the lower-level mounting plate, a cylinder mounting plate is fixedly provided on one side of the middle-level mounting plate, a second cylinder is installed on the cylinder mounting plate, and the telescopic end of the second cylinder is connected to the telescopic end of the first cylinder via a second internally threaded connecting sleeve.

[0012] In the aforementioned pressure-maintaining robot for installing skylight glass, preferably, an operating handle is fixedly provided on one group of opposite sides of the first installation frame, and a plurality of pressure regulating valve assemblies are fixedly provided on the top of the first installation frame.

[0013] Compared with the prior art, the present invention includes a moving device, a lifting device is installed on the moving device, a floating mechanism is connected to the lower end of the lifting device, a first installation frame is installed on the floating mechanism, and a plurality of awning glass suction cups and a plurality of pressure-maintaining cylinders are provided on the first installation frame. The present invention uses the awning glass suction cup to absorb the awning glass, so that the robot grasps and releases the awning glass, the moving device is used to transport the awning glass, and the lifting device is used to adjust the height of the awning glass. The present invention is provided with a floating mechanism, and the awning glass can be quickly aligned with the hole position during installation through the floating mechanism, thereby improving the installation efficiency, and the pressure-maintaining cylinder can achieve pressure-maintaining installation, effectively improving the installation quality of the awning glass. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is an axonometric view of the present invention;

[0015] Figure 2 It is an axonometric view of the mobile device;

[0016] Figure 3 It is an axonometric view of the lifting device;

[0017] Figure 4 This is an axonometric view of the lifting device from another angle;

[0018] Figure 5 It is an axonometric view of the floating mechanism;

[0019] Figure 6 It is a schematic diagram of the structure of the upper mounting plate and the components thereon;

[0020] Figure 7 It is a schematic diagram of the structure of the middle-layer mounting plate and the components thereon;

[0021] Figure 8 It is a schematic diagram of the connection structure between the middle-layer mounting plate and the lower-layer mounting plate;

[0022] Fig. 9 It is a structural schematic diagram of the first installation frame and the components thereon;

[0023] Fig.10 It is a schematic diagram of the structure of a multi-angle adjustable bracket and a canopy glass suction cup.

[0024] Description of the accompanying drawings: moving device 1, lifting device 2, floating mechanism 3, first mounting frame 4, skylight glass suction cup 5, pressure-maintaining cylinder 6, moving frame 7, lifting device mounting frame 8, pulley 9, driving motor 10, mounting seat 11, mounting beam 12, lifting device mounting plate 13, "L"-shaped support frame 14, motor mounting frame 15, driving wheel 16, motor height adjustment cylinder 17, guide rail mounting tube 18, guide rail 19, first single-rod cylinder 20, second single-rod cylinder 21, floating mechanism connecting plate 22, first internal thread connecting sleeve 23, opening groove 24, L-shaped limit block 25, limit cylinder 26, upper mounting plate 27, Middle mounting plate 28, lower mounting plate 29, first bushing 30, second bushing 31, third bushing 32, fourth bushing 33, connecting shaft 34, connecting block 35, spring 36, upper connecting seat 37, lower connecting seat 38, first cylinder 39, cylinder mounting plate 40, second cylinder 41, second internal threaded connecting sleeve 42, operating handle 43, pressure regulating valve assembly 44, floating mechanism locking cylinder 45, locking hole 46, side plate 47, L-shaped connecting plate 48, controller 49, frame connecting seat 50, first connecting pipe 51, first pipe clamp 52, second connecting pipe 53, second pipe clamp 54, third connecting pipe 55, part mounting seat 56. DETAILED DESCRIPTION

[0025] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be interpreted as limiting the present invention.

[0026] Embodiments of the present invention: Figure 1-Figure 10 As shown, a pressure-maintaining robot for installing skylight glass includes a moving device 1, a lifting device 2 is installed on the moving device 1, a floating mechanism 3 is connected to the lower end of the lifting device 2, a first installation frame 4 is installed on the floating mechanism 3, and a plurality of skylight glass suction cups 5 and a plurality of pressure-maintaining cylinders 6 are arranged on the first installation frame 4.

[0027] The canopy glass suction cup 5 can firmly adsorb the canopy glass, and the moving device 1 can move the canopy glass to the installation station, and then the lifting device 2 can control the canopy glass to descend to a suitable position, and the floating mechanism 3 can quickly align the installation hole position, and the pressure-maintaining cylinder 6 can be used to apply pressure to the canopy glass to achieve pressure-maintaining installation, which greatly improves the installation efficiency and quality.

[0028] In this embodiment, specifically, the mobile device 1 includes a mobile frame 7, a lifting device mounting frame 8, a pulley 9 and a driving motor 10. Four pulleys 9 are arranged on the top of the mobile frame 7. The bottom of the mobile frame 7 is fixedly connected to the top of the lifting device mounting frame 8 through four mounting seats 11. Two mounting beams 12 are arranged in the lifting device mounting frame 8, and a lifting device mounting plate 13 is fixed on each of the two mounting beams 12.

[0029] The pulley 9 and the drive motor 10 are existing products and can be purchased directly. The movable frame 7 is a rectangular frame. Two pulleys 9 form a group. The two pulleys 9 in the same group are installed on a walking track (not shown in the figure). Two walking tracks are set in the factory. The four pulleys 9 can ensure stability during movement.

[0030] Furthermore, an L-shaped support frame 14 is fixedly provided on the movable frame 7, and the L-shaped support frame 14 is rotatably connected to the motor mounting frame 15 through a rotating shaft. The driving motor 10 is fixedly provided at one end of the motor mounting frame 15, and a driving wheel 16 is installed on the output shaft of the driving motor 10. A motor height adjustment cylinder 17 is provided at one end of the support frame 14 away from the driving motor 10, and the telescopic end of the motor height adjustment cylinder 17 is rotatably connected to the other end of the motor mounting frame 15.

[0031] Depend on Figure 2 It can be seen that one end of the motor mounting bracket 15 connected to the driving motor 10 extends to the outside of the mobile frame 7, the driving motor 10 is located outside the mobile frame 7, and the driving wheel 16 on the driving motor 10 is aligned with one of the groups of pulleys 9. The height of the driving motor 10 can be adjusted by the elongation of the motor height adjustment cylinder 17 to achieve the contact or separation of the driving wheel 16 and the bottom surface of the walking track and adjust the contact force between the driving wheel 16 and the bottom surface of the walking track.

[0032] When the driving motor 10 is working, the driving wheel 16 rotates, and the driving wheel 16 contacts the bottom surface of the walking track, driving the entire manipulator to move.

[0033] Furthermore, the lifting device 2 includes a guide rail mounting tube 18, a guide rail 19, a first single-rod cylinder 20, a second single-rod cylinder 21 and a floating mechanism connecting plate 22. The guide rail mounting tube 18 is arranged vertically, and the middle part of the guide rail mounting tube 18 is fixedly connected to the two lifting device mounting plates 13. The guide rail 19 is plugged and slidably connected to the guide rail mounting tube 18. The lower end of the guide rail 19 extends out of the lower end of the guide rail mounting tube 18 and is fixedly connected to the floating mechanism connecting plate 22. The first single-rod cylinder 20 is fixed on the outer wall of the upper end of the guide rail mounting tube 18, and the lower end of the second single-rod cylinder 21 is rotatably connected to the floating mechanism connecting plate 22. The telescopic end of the first single-rod cylinder 20 is connected to the telescopic end of the second single-rod cylinder 21 through a first internal threaded connecting sleeve 23.

[0034] The guide rail mounting tube 18 serves to mount the guide rail 19 . The guide rail 19 can only move up and down in the vertical direction without any horizontal displacement. The outer wall of the guide rail 19 contacts and is slidably connected to the inner wall of the guide rail mounting tube 18 .

[0035] The guide rail mounting tube 18 has four side walls, and a mounting seat for mounting the first single-rod cylinder 20 is fixedly provided at the upper end of one of the side walls. The first single-rod cylinder 20 is rotatably connected to the mounting seat via a rotating shaft. Similarly, a mounting seat for mounting the second single-rod cylinder 21 is fixedly installed on the top surface of the floating mechanism connecting plate 22. The lower end of the second single-rod cylinder 21 is rotatably connected to the mounting seat via a rotating shaft. The second single-rod cylinder 21 is located directly below the first single-rod cylinder 20, and the two are coaxially arranged. During operation, the first single-rod cylinder 20 and the second single-rod cylinder 21 extend or contract at the same time, which can effectively increase the height adjustment speed and improve work efficiency. Of course, only one of the cylinders can be used for operation, and the other cylinder can be used as a backup, so that when one of the cylinders is damaged, the other cylinder can work normally without affecting the production rhythm.

[0036] Preferably, an opening groove 24 is formed on one side of the guide rail mounting tube 18 , an L-shaped limit stopper 25 is fixedly provided on the guide rail 19 , and a limit cylinder 26 is fixedly provided on one side of the opening groove 24 .

[0037] In this embodiment, the side wall where the opening slot 24 is located is opposite to the side wall where the first single-rod cylinder 20 is installed, and the L-shaped limit stopper 25 moves with the guide rail 19. The L-shaped limit stopper 25 is located in the opening slot 24, and the opening slot 24 is vertically opened. The opening end of the opening slot 24 is located at the lower end of the guide rail mounting tube 18. The cylinder rod of the limit cylinder 26 is perpendicular to the length direction of the opening slot 24. The cylinder rod of the limit cylinder 26 is in a long-term elongated state. The cylinder rod of the limit cylinder 26 plays a role in limiting the maximum downward position of the guide rail 19. When the L-shaped limit stopper 25 contacts the cylinder rod of the limit cylinder 26, the guide rail 19 reaches the maximum downward position and cannot continue to move downward, which plays a role in protecting the skylight glass. The limit cylinder 26 is controlled to retract only when the guide rail 19 needs to be disassembled.

[0038] Furthermore, the floating mechanism 3 includes an upper mounting plate 27, a middle mounting plate 28 and a lower mounting plate 29, the floating mechanism connecting plate 22 is fixedly connected to the top surface of the upper mounting plate 27, the bottom of the upper mounting plate 27 is provided with a first shaft sleeve 30 and a second shaft sleeve 31 arranged in parallel, the first shaft sleeve 30 and the second shaft sleeve 31 are respectively fixed at the two ends of the bottom of the upper mounting plate 27, and the top surface of the middle mounting plate 28 is provided with a third shaft sleeve 32 and a fourth shaft sleeve 33 arranged in parallel, the first shaft sleeve 30, the second shaft sleeve 31, the third shaft sleeve 32 and the fourth shaft sleeve 33 are arranged in the same plane and are distributed in a "mouth" shape, and a connecting shaft 34 is slidably installed in the first shaft sleeve 30, the second shaft sleeve 31, the third shaft sleeve 32 and the fourth shaft sleeve 33 respectively, the four connecting shafts 34 are connected by four connecting blocks 35, and each connecting shaft 34 is respectively sleeved with two springs 36.

[0039] The specifications and structures of the first shaft sleeve 30, the second shaft sleeve 31, the third shaft sleeve 32 and the fourth shaft sleeve 33 are exactly the same. The first shaft sleeve 30 is opposite to the second shaft sleeve 31, and the third shaft sleeve 32 is opposite to the fourth shaft sleeve 33. The lengths of the four connecting shafts 34 are the same and greater than the lengths of the first shaft sleeve 30, the second shaft sleeve 31, the third shaft sleeve 32 and the fourth shaft sleeve 33. The four connecting shafts 34 are connected together by four connecting blocks 35 to form a square. The connection of the four connecting shafts 34 is realized by the connection of the middle mounting plate 28 and the upper mounting plate 27, and the middle mounting plate 28 can move in four directions: front, back, left and right relative to the upper mounting plate 27.

[0040] Two springs 36 are sleeved on each connecting shaft 34. The third sleeve 32 is used as an example for explanation. The two springs 36 are located on both sides of the third sleeve 32. The two ends of the spring 36 are respectively in contact with the end surface of the third sleeve 32 and the end surface of the connecting block 35 on the same side. When the third sleeve 32 moves to one end under the action of external force, the spring 36 automatically returns the third sleeve 32 to the middle of the connecting shaft 34 after the external force is removed. In addition, through the action of the spring 36, the elastic force of the spring 36 needs to be overcome when the external force is applied, so that the movement will not be too fast, thereby protecting the skylight glass. The other three sleeves have the same principle.

[0041] Furthermore, an upper connecting seat 37 is provided at the center position of the bottom surface of the middle mounting plate 28, and a lower connecting seat 38 is provided at the center position of the top surface of the lower mounting plate 29. The upper connecting seat 37 and the lower connecting seat 38 are connected by a rotating shaft. The first mounting frame 4 is fixedly connected to the lower mounting plate 29, and a first cylinder 39 is provided on the top surface of the lower mounting plate 29. A cylinder mounting plate 40 is fixedly provided on one side of the middle mounting plate 28, and a second cylinder 41 is installed on the cylinder mounting plate 40. The telescopic end of the second cylinder 41 is connected to the telescopic end of the first cylinder 39 via a second internal threaded connecting sleeve 42.

[0042] Specifically, the middle mounting plate 28 is provided with side plates 47 fixed at both ends of the third sleeve 32 and the fourth sleeve 33, and the same end of the two side plates 47 is connected by an L-shaped connecting plate 48, one end of the cylinder mounting plate 40 is fixedly connected to the L-shaped connecting plate 48, and the other end of the cylinder mounting plate 40 is rotatably connected to the upper end of the second cylinder 41, and the second cylinder 41 is located above the first cylinder 39, and the two are coaxially arranged. The first cylinder 39 and the second cylinder 41 are arranged here mainly to prevent the cylinder from being damaged. When the first cylinder 39 and the second cylinder 41 are working, only one of them is in standby mode.

[0043] By controlling the extension and contraction amount of the first cylinder 39 or the second cylinder 41, the angle between the middle mounting plate 28 and the lower mounting plate 29 can be adjusted, thereby facilitating the installation of the skylight glass.

[0044] In a preferred embodiment, a floating mechanism locking cylinder 45 is fixedly provided on the top of the upper mounting plate 27, and the telescopic end of the floating mechanism locking cylinder 45 vertically penetrates the upper mounting plate 27 downward, and a locking hole 46 is provided on the middle mounting plate 28. The locking hole 46 is a funnel-shaped hole with a larger upper end and a smaller lower end, and the minimum diameter of the lower end of the locking hole 46 is equal to the diameter of the telescopic rod of the floating mechanism locking cylinder 45.

[0045] Further, an operating handle 43 is fixedly provided on one set of opposite sides of the first mounting frame 4, and a plurality of pressure regulating valve assemblies 44 are fixedly provided on the top of the first mounting frame 4. The pressure regulating valve assemblies 44 are connected to the canopy glass suction cup 5 and the pressure-maintaining cylinder 6 through an air pipe. The pressure regulating valve assemblies 44, the canopy glass suction cup 5 and the pressure-maintaining cylinder 6 are all commercially available products and can be purchased.

[0046] In this embodiment, six pressure regulating valve assemblies 44 are arranged on the first mounting frame 4, and controllers 49 are arranged on the two operating handles 43, wherein three pressure regulating valve assemblies 44 are located on the same side as one of the operating handles 43, and the other three pressure regulating valve assemblies 44 are located on the same side as the other operating handle 43. The actual number and distribution position of the skylight glass suction cup 5 and the pressure-maintaining cylinder 6 on the first mounting frame 4 are set according to actual needs, and are not specifically limited in this embodiment. The two controllers 49 have the same functions, and can both control the working states of the pressure regulating valve assembly 44, the drive motor 10, the motor height adjustment cylinder 17, the first single-rod cylinder 20, the second single-rod cylinder 21, the limit cylinder 26, the first cylinder 39, the second cylinder 41 and the floating mechanism locking cylinder 45. The controller 49 is a PLC programmable controller, and those skilled in the art can customize the functions of the controller 49 according to actual needs.

[0047] Each awning glass suction cup 5 and pressure-maintaining cylinder 6 are connected to the first installation frame 4 through a multi-angle adjustable bracket. The multi-angle adjustable bracket can be set so that the working surface of each awning glass suction cup 5 and pressure-maintaining cylinder 6 can be perpendicular to the awning glass at the corresponding position, thereby ensuring that the awning glass suction cup 5 is firmly adsorbed and the pressure-maintaining cylinder 6 can effectively provide pressure. It should be noted that a fixed angle bracket can also be used instead of a multi-angle adjustable bracket, but the disadvantage is that the fixed angle bracket can only be used for the installation of a fixed model of awning glass.

[0048] The multi-angle adjustable bracket includes a frame connecting seat 50, a first connecting tube 51, a first pipe clamp 52, a second connecting tube 53, a second pipe clamp 54, a third connecting tube 55 and a part mounting seat 56. The frame connecting seat 50 is fixedly connected to the first mounting frame 4 by bolts, the first connecting tube 51 is fixed on the frame connecting seat 50, the second connecting tube 53 is connected to the first connecting tube 51 by the first pipe clamp 52, the second connecting tube 53 is perpendicular to the first connecting tube 51, the third connecting tube 55 is connected to the second connecting tube 53 by the second pipe clamp 54, the third connecting tube 55 is perpendicular to the second connecting tube 53, and the part mounting seat 56 is fixed to the end of the third connecting tube 55, and a part mounting hole is opened on the part mounting seat 56.

[0049] By setting up this multi-angle adjustable bracket, the skylight glass suction cup 5 and the pressure-maintaining cylinder 6 can be adjusted to the required angle according to needs.

[0050] The working principle of the present invention is as follows: during operation, the working state of the pressure regulating valve assembly 44 is controlled by the controller 49, so that the skylight glass suction cup 5 generates negative pressure to adsorb the skylight glass, and then the first single-rod cylinder 20 and / or the second single-rod cylinder 21 are controlled to contract by the controller 49 to make the skylight glass rise. At this time, the floating mechanism locking cylinder 45 is in an extended state, and the telescopic rod of the floating mechanism locking cylinder 45 is inserted into the locking hole 46. At this time, the floating mechanism 3 is in a locked state, and then the motor height adjustment cylinder 17 is controlled by the controller 49 to contract to make the drive motor 10 rise in height until the drive wheel 16 thereon abuts against the bottom surface of the walking track. When the drive motor 10 is working, the drive wheel 16 rotates to make the entire manipulator move along the walking track to realize the transportation of the skylight glass. When the skylight glass is transported to the installation station, the drive motor 10 stops working.

[0051] The controller 49 controls the first single-rod cylinder 20 and / or the second single-rod cylinder 21 to extend until the skylight glass reaches the installation height. At this time, the controller 49 controls the floating mechanism locking cylinder 45 to contract, so that the telescopic rod on it is separated from the locking hole 46. At this time, the floating mechanism 3 is unlocked, and two staff members stand on both sides of the manipulator and hold the operating handle 43. The position of the skylight glass in the front, rear, left and right directions is adjusted by sliding the connecting shaft 34 with the first sleeve 30, the second sleeve 31, the third sleeve 32, and the fourth sleeve 33, so as to quickly align the installation hole. When the skylight glass needs to adjust the angle with the horizontal plane, the controller 49 can adjust the telescopic amount of the first cylinder 39 and / or the second cylinder 41. After aligning the installation hole, the skylight glass is slowly lowered until it contacts the vehicle body, and then the controller 49 is used to control the pressure regulating valve assembly 44, so that the pressure regulating valve assembly 44 drives the pressure holding cylinder 6 to extend, and the pressure holding cylinder 6 applies a preset pressure to the skylight glass. After the staff fixes the skylight glass, the pressure needs to be maintained for a preset time. When the preset time is reached, the skylight glass suction cup 5 releases the skylight glass, the pressure-maintaining cylinder 6 contracts, the first single-rod cylinder 20 and / or the second single-rod cylinder 21 contracts, so that the floating mechanism 3 and the first mounting frame 4 rise to a preset height, and under the action of the spring 36, the first sleeve 30, the second sleeve 31, the third sleeve 32 and the fourth sleeve 33 all return to their positions automatically, the telescopic rod of the floating mechanism locking cylinder 45 is extended and inserted into the locking hole 46, the floating mechanism 3 is locked, and the manipulator is returned to the skylight glass storage station by driving the motor 10 to wait for the next working cycle.

[0052] The above describes in detail the structure, features and effects of the present invention based on the embodiments shown in the drawings. The above is only a preferred embodiment of the present invention, but the present invention is not limited to the scope of implementation shown in the drawings. Any changes made according to the concept of the present invention, or modifications to equivalent embodiments with equivalent changes, which still do not exceed the spirit covered by the description and drawings, should be within the protection scope of the present invention.

Claims

1. A pressure-maintaining robot for installing skylight glass, comprising a moving device (1), characterized in that: A lifting device (2) is installed on the moving device (1); a floating mechanism (3) is connected to the lower end of the lifting device (2); a first mounting frame (4) is installed on the floating mechanism (3); and a plurality of skylight glass suction cups (5) and a plurality of pressure-maintaining cylinders (6) are arranged on the first mounting frame (4).

2. The pressure-maintaining robot for installing skylight glass according to claim 1 is characterized in that: The mobile device (1) comprises a mobile frame (7), a lifting device mounting frame (8), a pulley (9) and a driving motor (10); four pulleys (9) are arranged on the top of the mobile frame (7); the bottom of the mobile frame (7) is fixedly connected to the top of the lifting device mounting frame (8) via four mounting seats (11); two mounting beams (12) are arranged in the lifting device mounting frame (8); and a lifting device mounting plate (13) is fixedly arranged on each of the two mounting beams (12).

3. The pressure-maintaining robot for installing skylight glass according to claim 2 is characterized in that: An "L"-shaped support frame (14) is fixedly provided on the mobile frame (7), and the "L"-shaped support frame (14) is rotatably connected to a motor mounting frame (15) via a rotating shaft. The drive motor (10) is fixedly provided at one end of the motor mounting frame (15), and a drive wheel (16) is installed on the output shaft of the drive motor (10). A motor height adjustment cylinder (17) is provided at one end of the support frame (14) away from the drive motor (10), and a telescopic end of the motor height adjustment cylinder (17) is rotatably connected to the other end of the motor mounting frame (15).

4. The pressure-maintaining robot for installing skylight glass according to claim 2 is characterized in that: The lifting device (2) comprises a guide rail mounting tube (18), a guide rail (19), a first single-rod cylinder (20), a second single-rod cylinder (21) and a floating mechanism connecting plate (22); the guide rail mounting tube (18) is arranged vertically; the middle portion of the guide rail mounting tube (18) is fixedly connected to the two lifting device mounting plates (13); the guide rail (19) is plugged and slidably connected to the guide rail mounting tube (18); the lower end of the guide rail (19) extends out of the lower end of the guide rail mounting tube (18) and is fixedly connected to the floating mechanism connecting plate (22); the first single-rod cylinder (20) is fixedly mounted on the outer wall of the upper end of the guide rail mounting tube (18); the lower end of the second single-rod cylinder (21) is rotatably connected to the floating mechanism connecting plate (22); the telescopic end of the first single-rod cylinder (20) is connected to the telescopic end of the second single-rod cylinder (21) via a first internally threaded connecting sleeve (23).

5. The pressure-maintaining robot for installing skylight glass according to claim 4 is characterized in that: An open groove (24) is provided on one side of the guide rail mounting tube (18), an L-shaped limit stopper (25) is fixedly provided on the guide rail (19), and a limit cylinder (26) is fixedly provided on one side of the open groove (24).

6. The pressure-maintaining robot for installing skylight glass according to claim 4 is characterized in that: The floating mechanism (3) comprises an upper mounting plate (27), a middle mounting plate (28) and a lower mounting plate (29); the floating mechanism connecting plate (22) is fixedly connected to the top surface of the upper mounting plate (27); a first shaft sleeve (30) and a second shaft sleeve (31) arranged in parallel are provided at the bottom of the upper mounting plate (27); the first shaft sleeve (30) and the second shaft sleeve (31) are respectively fixedly arranged at two ends of the bottom of the upper mounting plate (27); and a third shaft sleeve (31) arranged in parallel is provided on the top surface of the middle mounting plate (28). The first shaft sleeve (30), the second shaft sleeve (31), the third shaft sleeve (32) and the fourth shaft sleeve (33) are arranged in the same plane and are distributed in a "mouth" shape. A connecting shaft (34) is slidably mounted in each of the first shaft sleeve (30), the second shaft sleeve (31), the third shaft sleeve (32) and the fourth shaft sleeve (33). The four connecting shafts (34) are connected by four connecting blocks (35), and two springs (36) are sleeved on each of the connecting shafts (34).

7. The pressure-maintaining robot for installing skylight glass according to claim 6 is characterized in that: An upper connecting seat (37) is arranged at the center position of the bottom surface of the middle-layer mounting plate (28), and a lower connecting seat (38) is arranged at the center position of the top surface of the lower-layer mounting plate (29); the upper connecting seat (37) and the lower connecting seat (38) are connected via a rotating shaft; the first mounting frame (4) is fixedly connected to the lower-layer mounting plate (29); a first cylinder (39) is arranged on the top surface of the lower-layer mounting plate (29); a cylinder mounting plate (40) is fixedly arranged on one side of the middle-layer mounting plate (28); a second cylinder (41) is mounted on the cylinder mounting plate (40); and a telescopic end of the second cylinder (41) is connected to a telescopic end of the first cylinder (40) via a second internally threaded connecting sleeve (42).

8. The pressure-maintaining robot for installing skylight glass according to claim 7 is characterized in that: An operating handle (43) is fixedly provided on one set of opposite sides of the first mounting frame (4), and a plurality of pressure regulating valve assemblies (44) are fixedly provided on the top of the first mounting frame (4).

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