A substation wallboard mounting clamp

Abstract

The application discloses a substation wallboard mounting clamp and relates to the field of automatic wallboard mounting tools. The installation operation of a traditional substation wallboard requires 2-3 high-altitude workers to stand on a scaffold or a basket to manually receive and operate various installations, which is low in installation efficiency, unstable in installation quality and high in risk of aerial operation. The application comprises a support plate, a rectangular structure frame, a visual module, a suction module, a fastener module and a tightening module, wherein the tightening module comprises a horizontal sliding assembly and an upper wire assembly. The application integrates functions of grabbing, positioning, fastener supply and tightening, realizes full-automatic operation, can synchronously and accurately identify wallboards and installation positions, realizes full-process automation from grabbing to fixing, does not require manual high-altitude carrying and positioning, greatly reduces safety risks and significantly improves installation efficiency and accuracy.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of wallboard automatic installation tools, in particular to a substation wallboard installation clamp. BACKGROUND

[0002] As the core hub of the power system, the stability and safety of the wall structure of the substation are directly related to the normal operation of the power equipment and the working environment of the operation and maintenance personnel. The wallboard of the substation is mostly made of lightweight high-strength metal composite board or prefabricated concrete board, which has the characteristics of uniform size and large weight, and needs to meet high flatness and perpendicularity requirements during installation to ensure subsequent equipment installation, rainproof sealing and overall structural strength.

[0003] At present, the installation of the wallboard of the substation is still mainly manual, and the typical process is as follows: the wallboard is lifted from the stacking area to the installation height by a ground crane or forklift, 2-3 high-altitude workers stand on the scaffold or basket to manually receive and temporarily fix, then the workers manually install the fixing fasteners at the preset position on the wall, and need to repeatedly measure and position to ensure that the spacing error of the fasteners is within the required range; then multiple people lift the wallboard to the fastener position, adjust the perpendicularity and gap, and then fix it by temporary support; finally, the electric screwdriver is used to manually screw in the self-tapping screw or expansion bolt to complete the connection of the wallboard and the fastener, and 8-16 fixing points are needed for a single plate.

[0004] The manual installation mode has many significant limitations. It takes a long time to complete the installation of a single wallboard from lifting to fixing, and is greatly affected by the proficiency of personnel cooperation, which is difficult to meet the construction period requirements of large substations. The wallboard flatness and perpendicularity deviation rate is high due to reliance on manual visual inspection and experience adjustment, which may lead to problems such as poor sealing of the plate joint, water leakage, and increased maintenance costs. High-altitude workers need to complete the heavy lifting and positioning on platforms without guardrails or with narrow platforms, which poses a risk of falling. If the manual receiving is unstable during the lifting of the wallboard, it may cause the board to fall, causing object impact hazards to ground personnel and equipment. The high-altitude lifting and positioning of a single wallboard requires multiple people to exert force simultaneously, and the workers are prone to operational errors due to fatigue, and long-term high-altitude work may cause occupational injuries such as muscle strain. In windy, high-temperature or low-temperature environments, the stability of manual operation decreases significantly, which not only makes it difficult to ensure installation accuracy, but also increases the probability of safety accidents due to limb stiffness and slow reaction.

[0005] With the increasing requirements of the power industry for construction efficiency and construction safety, the traditional manual installation mode has been difficult to meet the development needs of the large-scale construction and intelligent operation and maintenance of substations, and an automated device integrating grabbing, positioning, fastener installation and tightening functions is urgently needed to improve installation efficiency and quality and safety. SUMMARY

[0006] The technical problems to be solved and the technical tasks proposed by the present application are to perfect and improve the prior art, provide a substation wallboard installation clamp, to improve the installation efficiency and installation quality of the substation wallboard, and improve the safety of installation. To this end, the present application adopts the following technical solutions.

[0007] A substation wallboard installation clamp, comprising a support frame, a visual module for identifying and positioning the wallboard and the installation position, a suction module for sucking the wallboard, a fastener module for storing and releasing the fastener, and a tightening module for tightening and fixing the wallboard and the fastener on the purlin, the support frame comprising a support plate and a rectangular structure frame, one side of the support plate being connected to the lower part of one side of the frame, the other side of the support plate being provided with an interface connected to the mechanical arm in the middle, the side of the frame opposite to the support plate being provided with the suction module and the fastener module, the suction module being located at the lower part of the support frame, the fastener module being located at the upper part of the support frame, the visual module being provided in the middle of the lower part of the support plate, the sensing direction of the visual module being consistent with the orientation of the suction module, the tightening module being provided in the middle of the support frame, the tightening module comprising a horizontal sliding assembly and an upper thread assembly, the upper thread assembly being provided above the horizontal sliding assembly, the horizontal sliding assembly driving the upper thread assembly to move to the upper thread position, the upper thread assembly fixing the fastener to the purlin through the screw to fix the wallboard. The tool clamp integrates the visual module, the suction module, the fastener module and the tightening module, can realize full-automatic operation through the mechanical arm, can accurately identify the wallboard and the installation position synchronously, realizes full-process automation from grabbing to fixing, does not need manual high-altitude carrying and positioning, greatly reduces the safety risk, and significantly improves the installation efficiency and precision.

[0008] As a preferred technical means: the suction module comprises a plurality of suction cups, the suction cups are divided into two groups, each group of suction cups is arranged horizontally according to the length direction of the frame, the rear end of each suction cup is connected with an air duct, and the air duct is connected and fixed on the frame. The structure of the plurality of suction cups arranged horizontally in two groups can uniformly distribute the adsorption force according to the size of the wallboard, avoid the deformation or falling of the wallboard caused by the excessive force of a single suction cup, enhance the grabbing stability, cooperate with the unified control of the air duct, realize rapid suction and release, ensure that the wallboard remains stable during carrying and installation, and reduce the installation deviation caused by unstable grabbing.

[0009] As a preferred technical means: the visual module comprises a binocular camera and a laser sensor, two camera holes of the binocular camera are arranged horizontally according to the length direction of the frame, and the laser sensor is arranged below the middle of the binocular camera. The layout is reasonable and optimized, the accuracy of identifying the positions of the wallboard, the fastener and the purlin is improved, reliable data support is provided for subsequent grabbing, alignment and tightening, and the error of manual visual inspection is reduced.

[0010] As a preferred technical means: the fastener module comprises a plurality of fastener boxes arranged horizontally along the length direction of the frame and a fastener limiting and releasing mechanism for limiting and releasing the fasteners in the fastener boxes, the fastener boxes are vertically arranged, the lower end of the fastener box is a fastener disengagement port, and the upper end of the fastener box is connected to the upper end of the frame through an L-shaped top plate; the fastener limiting and releasing mechanism comprises a fastener limiting and releasing lower mechanism for limiting and releasing the bottom fasteners at the lower end of the fastener box and a fastener limiting and releasing upper mechanism for limiting and releasing the fasteners above the bottom fasteners. Through the plurality of fastener boxes arranged in a row, the fasteners on the top of the wallboard are installed simultaneously in an entire row, and the fastener limiting and releasing mechanism realizes the orderly release of the fasteners.

[0011] As a preferred technical means: the fastener box is an inverted U-shaped structure with a closed upper end, the vertical two side walls of the fastener box are provided with sliding grooves, the two sides of the fasteners enter the sliding grooves to be arranged in a vertical queue, when the fastener limiting and releasing lower mechanism is in a releasing state and the fastener limiting and releasing upper mechanism is in a limiting state, the bottom fasteners at the lower end of the fastener box automatically disengage from the fastener box under the action of gravity, and then when the fastener limiting and releasing lower mechanism is in a limiting state and the fastener limiting and releasing upper mechanism is in a releasing state, the fasteners above automatically slide down to the lower end under the action of gravity. The inverted U-shaped fastener box and the sliding grooves in the inner walls can guide the vertical and orderly arrangement of the fasteners, avoiding jamming; through the cooperation of the upper and lower limiting and releasing mechanisms, the fasteners above are limited when the bottom fasteners are released, the fasteners above automatically slide down after the bottom fasteners disengage, the automatic replacement is realized by using gravity, no additional power is required for feeding, the structure is simplified, the continuous and stable supply of fasteners is ensured, and the work efficiency is improved.

[0012] As a preferred technical means: the fastener limiting and releasing lower mechanism comprises a first driving push rod, a support, a lower connecting plate and a lower limiting rod, the length direction of the lower limiting rod is horizontally arranged according to the length direction of the frame, the lower limiting rod is located at the lower end of the fastener box in the height direction, the upper end of the lower connecting plate is connected to the middle position of the length direction of the lower limiting rod, the first driving push rod is connected and fixed to the upper part of the support plate through the support, and the driving output end of the first driving push rod is connected to the lower end of the lower connecting plate to push and retract the lower limiting rod. The fastener limiting and releasing lower mechanism adopts the structure that the first driving push rod drives the lower limiting rod, which can accurately control the extension and retraction of the lower limiting rod, reliably limit and release the bottom fasteners; the lower connecting plate is connected to the middle part of the lower limiting rod to ensure balanced stress, the support is fixed to the upper part of the support plate to enhance the stability of the mechanism, the power output of the driving push rod is stable, the error of manual operation is avoided, and the accuracy and consistency of the release action of the bottom fasteners are ensured.

[0013] As a preferred technical means: the upper limiting and releasing mechanism of the fastener comprises a second driving push rod, an upper connecting plate and an upper limiting rod, the upper limiting rod is arranged in parallel above the lower limiting rod, the lower end of the upper connecting plate is connected to the middle part of the upper limiting rod in the length direction, the second driving push rod is connected and fixed to the middle part of the upper end of the frame, and the driving output end of the second driving push rod is connected to the upper end of the upper connecting plate to push and retract the upper limiting rod. The upper limiting and releasing mechanism of the fastener drives the upper limiting rod through the second driving push rod, cooperates with the lower limiting rod up and down, can accurately limit the upper fastener when releasing the bottom fastener, and prevents multiple fasteners from sliding off; the upper limiting rod is arranged in parallel with the lower limiting rod, ensuring that the limiting position of the fastener is uniform, the driving push rod is directly connected to the upper connecting plate, the response is rapid, the action is accurate, and the controllability and reliability of the fastener releasing are further improved.

[0014] As a preferred technical means: a plurality of groups of connecting holes are uniformly arranged on the upper connecting plate and the lower connecting plate in the vertical direction; the L-shaped top plate is provided with two horizontal long holes in the length direction perpendicular to the length direction of the frame, the top of the frame is provided with a T-shaped long hole in the length direction consistent with the length direction of the frame and facing downward, the L-shaped top plate is fixed by fasteners connected between the horizontal long holes of the L-shaped top plate and the downward T-shaped long hole of the top of the frame; the upper middle part of the support plate is provided with two vertical parallel long holes, the connecting part of the support and the support plate is correspondingly connected and fastened to the parallel long holes by fasteners, and the support comprises two L-shaped plates arranged in reverse back-to-back, each L-shaped plate is provided with two long holes in the length direction perpendicular to the long hole of the lower connecting plate, and the two L-shaped plates are fixed by fasteners connected between the long holes. The design of the multiple groups of connecting holes of the connecting plate, the horizontal long holes of the L-shaped top plate, the vertical long holes of the support plate and the long holes of the support makes the positions of various components flexible to adjust, can adapt to fasteners and wallboards of different specifications, facilitates the adjustment of the positions of the limiting rods, the spacings between the fastener boxes and the like, improves the universality of the clamp, does not need to replace the overall structure due to the change of the workpiece specifications, and reduces the equipment adaptation cost.

[0015] As a preferred technical means: the horizontal sliding assembly comprises a lower sliding seat, a lower sliding block and a driving motor, the lower sliding seat is located in the middle part of the frame in the height direction, the length direction of the lower sliding seat is arranged according to the length direction of the frame, the lower sliding seat is provided with a lower sliding rail on the upper surface, the lower sliding block is arranged on the upper surface of the lower sliding rail and can slide along the lower sliding rail, and the driving motor is connected with the lower sliding block to drive the lower sliding block to move along the lower sliding rail. The horizontal sliding assembly drives the lower sliding block to move along the lower sliding rail through the driving motor, can drive the upper wire assembly to accurately move in the length direction of the frame, adapts to the position requirements of multiple fixing points on the wallboard, makes the upper wire assembly quickly positioned to each tightening position, improves the efficiency and precision of multi-point tightening, and ensures smooth sliding through the sliding cooperation of the lower sliding block and the lower sliding rail.

[0016] As a preferred technical means: the upper wire assembly includes a Y-shaped tube, a screwdriver, an upper wire driver, a third driving push rod, an upper sliding block and an upper sliding seat, the upper sliding seat is fixedly connected to the upper surface of the lower sliding block, a horizontal upper sliding rail perpendicular to the lower sliding rail is arranged on the upper sliding seat, the upper sliding block is arranged on the upper surface of the upper sliding rail, the upper wire driver is fixedly connected to the upper sliding seat through a fixing plate, the screwdriver is connected to the driving output end of the upper wire driver, the Y-shaped tube is provided with an inclined pipe hole for conveying a screw and a horizontal pipe hole in communication with the inclined pipe hole for screw tightening, the inclined pipe hole is located above the horizontal pipe hole, the end of the screwdriver extends into the horizontal pipe hole, the screw tightening end of the horizontal pipe hole is provided with an openable horizontal pipe hole sealing structure, the screw tightening end of the horizontal pipe hole faces the lower end area of the fastener box, the Y-shaped tube is fixedly connected to the end of the upper sliding seat adjacent to the fastener box through a fixing frame, and the other end of the upper sliding seat is fixedly connected to the third driving push rod to drive the upper sliding block to move. The inclined pipe hole of the Y-shaped tube in the upper wire assembly can realize automatic conveying of the screw, the horizontal pipe hole cooperates with the screwdriver to complete tightening, and the sealing structure prevents the screw from falling; the third driving push rod drives the upper sliding block to move along the upper sliding rail, the position of the screwdriver can be adjusted, the upper wire driver provides stable torque to ensure the tightening quality, and the overall structure realizes integration of screw conveying, positioning and tightening, reduces labor intensity of manual wire feeding, and improves fixing reliability and efficiency.

[0017] Advantages:

[0018] 1. The mechanical arm cooperates with various functional modules to replace manual high-altitude carrying, alignment and fastening operations, thereby fundamentally eliminating safety hazards such as high-altitude falling and object impact, avoiding occupational injury risks caused by long-term high-altitude operation of workers, and significantly improving construction safety.

[0019] 2. The vision module realizes three-dimensional accurate positioning through cooperation of binocular cameras and laser sensors, cooperates with the multi-point uniform suction of the suction module to ensure that the wallboard grabbing and alignment error is controlled within millimeters, the fastener module realizes sequential and continuous supply of fasteners through gravity compensation and upper and lower limit release mechanisms, and the tightening module completes automatic fastening of multiple points by means of horizontal sliding and fine adjustment structure, thereby greatly improving installation efficiency, effectively reducing flatness and perpendicularity deviation rate, effectively solving the problems of low efficiency and insufficient precision of manual operation, and improving installation efficiency and quality.

[0020] 3. The functions of grabbing, positioning, fastener supply and tightening are integrated to realize fully automatic installation process and reduce manual cooperation links; the automatic feeding and fastening mechanism avoids physical consumption caused by manual carrying of heavy objects, repeated measurement and positioning and manual wire feeding, greatly reduces labor intensity, reduces dependence on skilled workers, and is conducive to standardized construction. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a structural schematic diagram of the present application.

[0022] Figure 2 is another view structural schematic diagram of the present application.

[0023] Figure 3 is Figure 1 is an enlarged schematic diagram of part A.

[0024] Figure 4 is Figure 1 is an enlarged schematic diagram of part B.

[0025] Figure 5 is a structural schematic diagram of the tightening module of the present application.

[0026] Figure 6 is Figure 1 is an enlarged schematic diagram of part C.

[0027] Figure 7 is Figure 1 is an enlarged schematic diagram of part D.

[0028] Figure 8 is Figure 1 is an enlarged schematic diagram of part E.

[0029] Figure 9 is a schematic diagram of the arrangement of fasteners in the fastener box of the present application.

[0030] Figure 10 is a schematic diagram of the fixed position of the fastener and wallboard on the purlin of the present application.

[0031] In the figure: 1, frame; 2, support plate; 3, visual module; 4, suction module; 5, horizontal sliding assembly; 6, upper wire assembly; 7, fastener box; 8, L-shaped top plate; 9, fastener limiting release lower mechanism; 10, fastener limiting release upper mechanism; 11, fastener; 12, wallboard; 13, purlin; 101, vertical column; 102, horizontal connecting beam; 103, horizontal upper beam; 104, horizontal lower beam; 105, horizontal bottom beam; 106, support column; 107, connecting seat; 108, bracket plate; 109, support seat; 301, binocular camera; 302, laser sensor; 401, suction cup; 402, air duct; 501, lower sliding seat; 502, lower sliding block; 601, Y-shaped tube; 602, screwdriver; 603, upper wire driver; 604, third driving push rod; 605, upper sliding block; 606, upper sliding seat; 607, fixed plate; 608, horizontal tube hole closing structure; 609, fixing frame; 610, base; 701, sliding groove; 901, first driving push rod; 902, bracket; 903, lower connecting plate; 904, lower limiting rod; 1001, second driving push rod; 1002, upper connecting plate; 1003, upper limiting rod. DETAILED DESCRIPTION

[0032] The technical solutions of the present application are further described in detail below in combination with the accompanying drawings of the specification.

[0033] In the description of the present application, it should be understood that the terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", etc. indicating the orientation or positional relationship are based on the orientation or relative orientation shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation. Since the disclosed embodiments of the present application can be arranged in different directions, these orientation-indicating terms are only illustrative and should not be considered as limiting. For example, "upper" and "lower" are not necessarily limited to the direction opposite or consistent with the direction of gravity.

[0034] Embodiment one

[0035] As shown in Figure 1 , Figure 2 , Figure 10 A substation wallboard mounting clamp, comprising a support frame, a vision module 3 for identifying and positioning the wallboard 12 and the mounting position, a suction module 4 for sucking the wallboard 12, a fastener 11 module for storing and releasing the fastener 11, and a tightening module for tightening and fixing the wallboard 12 and the fastener 11 on the purlin 13, the support frame comprising a support plate 2 and a rectangular structure frame 1, the front side of the support plate 2 being connected to the lower part of the rear side of the frame 1, the rear side of the support plate 2 being provided with a cylindrical interface connected to the mechanical arm in the middle, the front side of the frame 1 being provided with the suction module 4 and the fastener 11 module, the suction module 4 being located at the lower part of the support frame, and the fastener 11 module being located at the upper part of the support frame. The vision module 3 is arranged in the middle of the lower part of the front side of the support plate 2, the sensing direction of the vision module 3 being consistent with the orientation of the suction module 4, as shown in Figure 3 The vision module 3 comprises a binocular camera 301 and a laser sensor 302, the two camera holes of the binocular camera 301 being arranged horizontally along the left and right length directions of the frame 1, and the laser sensor 302 being arranged below the middle of the binocular camera 301. The tightening module is arranged in the middle of the support frame, and the tightening module comprises a horizontal sliding assembly 5 and an upper thread assembly 6, the upper thread assembly 6 being arranged above the horizontal sliding assembly 5, the horizontal sliding assembly 5 driving the upper thread assembly 6 to move to the upper thread position, and the upper thread assembly 6 fixing the fastener 11 to the purlin 13 through screws.

[0036] As shown in Figure 1 , Figure 4As shown, the suction module 4 includes eight suction cups 401, which are arranged in two groups vertically, and each group has four suction cups 401 arranged horizontally along the length of the frame 1. The rear end of each suction cup 401 is connected to an air duct 402, which is fixed to the frame 1 and connected to a vacuum pump through an air path. The vacuum pump extracts air to form negative pressure inside the suction cup 401, thereby firmly adsorbing the wallboard 12. The structure of the two vertically arranged horizontal groups of suction cups 401 can uniformly distribute the adsorption force according to the size of the wallboard 12, avoid deformation or falling of the wallboard 12 caused by excessive stress on a single suction cup 401, and enhance the stability of the grabbing. With the unified control of the air duct 402, the wallboard 12 can be quickly sucked and released, ensuring that the wallboard 12 remains stable during the handling and installation process, and reducing installation deviations caused by unstable grabbing.

[0037] To achieve simultaneous release of the entire row of fasteners 11 on the top of the wallboard 12, as shown in Figure 1 、 9 , the fastener 11 module in this embodiment includes four fastener boxes 7 arranged horizontally along the length of the frame 1 and a fastener 11 limiting and releasing mechanism for limiting and releasing the fasteners 11 in the fastener boxes 7. The fastener boxes 7 are vertically arranged, with the lower end being a fastener 11 disengagement port, and the upper end being connected to the upper end of the frame 1 through an L-shaped top plate 8. The fastener 11 limiting and releasing mechanism includes a fastener limiting and releasing lower mechanism 9 for limiting and releasing the bottom fasteners 11 in the fastener boxes 7, and a fastener limiting and releasing upper mechanism 10 for limiting and releasing the fasteners 11 above the bottom fasteners 11. In this embodiment, the top of the wallboard 12 is fixed by four fasteners 11, and the four fastener boxes 7 arranged in a row achieve simultaneous release of the four fasteners 11 on the top of the wallboard 12. The fastener 11 limiting and releasing mechanism achieves the orderly release of the vertically arranged fasteners 11 in the fastener boxes 7.

[0038] To achieve the orderly release of the fasteners 11, as shown in Figure 1 、 Figure 6 、 Figure 9As shown, the buckle box 7 is a reverse U-shaped structure with a closed upper end, and the vertical two side inner walls of the buckle box 7 are provided with sliding grooves 701, the two sides of the buckle 11 are matched with the sliding grooves 701 on the two sides of the buckle box 7, so that the buckle 11 can be pushed into the sliding grooves 701 one by one for vertical queue type discharge, the buckle limiting and releasing lower mechanism 9 limits the lowest row of buckles 11 at the bottom of the four buckle boxes 7, and the buckle limiting and releasing upper mechanism 10 limits the second row of buckles 11 from bottom to top in the buckle box 7; when the buckle limiting and releasing lower mechanism 9 is in the releasing state and the buckle limiting and releasing upper mechanism 10 is in the limiting state, the lowest row of buckles 11 at the lower end of the buckle box 7 automatically separates from the buckle box 7 under the action of gravity and is matched with the upper end of the wallboard 12, and then when the buckle limiting and releasing lower mechanism 9 is in the limiting state and the buckle limiting and releasing upper mechanism 10 is in the releasing state, the upper buckles 11 automatically slide to the lower end under the action of gravity, completing the release of the buckles 11 once and preparing for the release of the buckles 11 next time. The reverse U-shaped buckle box 7 and the inner wall sliding grooves 701 can guide the vertical and orderly arrangement of the buckles 11, avoiding jamming; through the cooperation of the upper and lower limiting and releasing mechanisms, the upper buckles 11 are limited when the bottom buckles 11 are released, and the upper buckles 11 automatically slide down after the bottom buckles 11 are separated, realizing automatic replacement by gravity without the need for additional power-driven feeding, simplifying the structure while ensuring continuous and stable supply of the buckles 11 and improving work efficiency.

[0039] In order to realize the structure of the buckle limiting and releasing lower mechanism 9, as shown in Figure 7 The buckle limiting and releasing lower mechanism 9 includes a first driving push rod 901, a support 902, a lower connecting plate 903 and a lower limiting rod 904. The length direction of the lower limiting rod 904 is horizontally arranged according to the left-right length direction of the frame 1, and the length of the lower limiting rod 904 is greater than the width between the outer sides of the left and right two outer buckle boxes 7. The lower limiting rod 904 is located at the lower end of the buckle box 7 in the height direction. The upper end of the lower connecting plate 903 is connected to the middle position of the length direction of the lower limiting rod 904. The first driving push rod 901 is connected and fixed to the upper part of the support plate 2 through the support 902. The driving output end of the first driving push rod 901 is connected to the lower end of the lower connecting plate 903 to push and retract the lower limiting rod 904. The cross section of the lower limiting rod 904 is L-shaped structure. The buckle limiting and releasing lower mechanism 9 adopts the structure of the first driving push rod 901 driving the lower limiting rod 904, which can accurately control the extension and retraction of the lower limiting rod 904, and realize reliable limiting and releasing of the bottom buckles 11. The lower connecting plate 903 is connected to the middle part of the lower limiting rod 904 to ensure balanced stress. The support 902 is fixed to the upper part of the support plate 2 to enhance the stability of the mechanism, the power output of the driving push rod is stable, avoiding errors in manual operation, and ensuring the accuracy and consistency of the releasing action of the bottom buckles 11.

[0040] In order to realize the structure of the buckle limiting and releasing upper mechanism 10, as shown in Figure 8As shown, the upper limiting release mechanism 10 of the fastener includes a second driving push rod 1001, an upper connecting plate 1002, and an upper limiting rod 1003. The upper limiting rod 1003 is arranged above the lower limiting rod 904. The lower end of the upper connecting plate 1002 is connected to the middle of the length direction of the upper limiting rod 1003. The second driving push rod 1001 is connected and fixed to the middle of the upper end of the frame 1. The driving output end of the second driving push rod 1001 is connected to the upper end of the upper connecting plate 1002 to push and retract the upper limiting rod 1003. The length of the upper limiting rod 1003 is the same as that of the lower limiting rod 904, and the cross section is L-shaped. The upper limiting release mechanism 10 drives the upper limiting rod 1003 through the second driving push rod 1001, cooperates with the lower limiting rod 904 up and down, and can accurately limit the upper fastener 11 when releasing the bottom fastener 11 to prevent multiple fasteners 11 from falling off. The upper limiting rod 1003 is arranged in parallel with the lower limiting rod 904 to ensure that the limiting position of the fastener 11 is uniform. The driving push rod is directly connected to the upper connecting plate 1002, which responds quickly and accurately, and further improves the controllability and reliability of the release of the fastener 11.

[0041] In order to improve the versatility of the clamp, four groups of evenly arranged connecting holes are arranged on the upper connecting plate 1002 and the lower connecting plate 903 in the vertical direction, which can adjust the vertical position of the upper limiting rod 1003 and the lower limiting rod 904 according to the actual situation. The L-shaped top plate 8 is provided with two horizontal long holes with the length direction being front-to-back, so as to facilitate the adjustment of the position of the fastener box 7 in the front-to-back direction. The top of the frame 1 is provided with a T-shaped long hole with the length direction being left-to-right and the notch facing downward. The L-shaped top plate 8 is fixed by fasteners between the horizontal long hole and the T-shaped long hole at the top of the frame 1 facing downward. The fastener 11 can be moved left and right according to the specification of the wallboard 12, so as to facilitate the increase or decrease of the fastener box 7 or the adjustment of the left-to-right position of the fastener box 7. The upper part of the support plate 2 is provided with two vertical parallel long holes. The connecting part of the bracket 902 and the support plate 2 is correspondingly connected and fastened to the parallel long holes by fasteners. The bracket 902 includes two L-shaped plates arranged in reverse back-to-back. Each L-shaped plate is provided with two long holes with the length direction being perpendicular to the lower connecting plate 903. The two L-shaped plates are fixed by fasteners between the long holes. The vertical height position adjustment and the front-to-back position adjustment of the lower connecting plate 903 can be easily realized. The design of the multiple connecting holes of the connecting plate, the horizontal long hole of the L-shaped top plate, the vertical long hole of the support plate 2, and the long hole of the bracket 902 makes the position of each component flexible, which can adapt to different specifications of the fastener 11 and the wallboard 12, facilitates the adjustment of the position of the limiting rod, the spacing of the fastener box 7, etc., improves the versatility of the clamp, and reduces the cost of equipment adaptation without changing the overall structure due to the change of the workpiece specification.

[0042] In order to realize fast and high-precision movement and positioning, the bracket 902 is provided with a plurality of long holes with the length direction being vertical and horizontal, and the fastener box 7 is provided with a plurality of connecting holes with the length direction being vertical and horizontal. The bracket 902 is connected to the support plate 2 through the vertical long holes, and the fastener box 7 is connected to the bracket 902 through the horizontal long holes. The bracket 902 can be adjusted in the vertical direction and the horizontal direction according to the actual situation, and the fastener box 7 can be adjusted in the vertical direction and the horizontal direction according to the actual situation. The bracket 902 and the fastener box 7 can be adjusted in the vertical direction and the horizontal direction according to the actual situation, and the fastener box 7 can be adjusted in the vertical direction and the horizontal direction according to the actual situation. Figure 5As shown, the horizontal sliding assembly 5 includes a lower sliding seat 501, a lower sliding block 502 and a driving motor, the lower sliding seat 501 is located in the middle of the frame 1 in the height direction, the length direction of the lower sliding seat 501 is arranged according to the left and right length direction of the frame 1, the lower sliding seat 501 is provided with a lower sliding rail on each of the front and rear sides of the top surface, the lower sliding block 502 is arranged on the upper surface of the lower sliding rail and can slide along the lower sliding rail, the lower sliding block 502 adopts a groove structure with a notch downward, and is sleeved on the top of the lower sliding seat 501. In this embodiment, the driving motor adopts a servo motor, the motor shaft of the servo motor is connected with a synchronous pulley, a synchronous belt is wound around the pulleys at both ends of the sliding rail, the lower sliding block 502 is fixedly connected with the synchronous belt, the driving motor rotates to drive the synchronous belt, and then the sliding block moves linearly along the sliding rail. The servo motor and the pulley transmission can satisfy the accurate positioning of the screw position, and realize fast and high-precision movement and positioning.

[0043] In order to realize automatic conveying and tightening of the screw, as shown, Figure 5 As shown, the upper screw assembly 6 includes a Y-shaped tube 601, a screwdriver 602, an upper screw driver 603, a third driving push rod 604, an upper sliding block 605 and an upper sliding seat 606, the upper sliding seat 606 is fixedly connected to the base 610 arranged on the upper surface of the lower sliding block 502 by bolts, the upper sliding seat 606 is provided with horizontal front-to-back upper sliding rails, the upper sliding block 605 is arranged on the upper surface of the upper sliding rails and is matched with the upper sliding rails for sliding, the upper screw driver 603 is fixedly connected to the upper sliding seat 606 through a fixed plate 607, the screwdriver 602 is connected to the driving output end of the upper screw driver 603, the Y-shaped tube 601 is provided with an inclined tube hole for conveying the screw and a horizontal tube hole in communication with the inclined tube hole for screw tightening, the inclined tube hole is located above the horizontal tube hole, the end of the screwdriver 602 extends into the horizontal tube hole, the screw tightening end of the horizontal tube hole is provided with an openable horizontal tube hole sealing structure 608, the screw tightening end of the horizontal tube hole faces the lower end area of the fastener magazine 7, the Y-shaped tube 601 is fixedly connected to the end adjacent to the left side of the fastener magazine 7 on the upper sliding seat 606 through a fixed frame 609, and the right end of the upper sliding seat 606 is fixedly connected with the third driving push rod 604 to drive the upper sliding block 605 to move. The inclined tube hole of the Y-shaped tube 601 in the upper screw assembly 6 is connected with a feeding track, the feeding track can realize automatic sorting and accurate conveying of the screw through a vibrating disc, the horizontal tube hole cooperates with the screwdriver 602 to complete the tightening, and the sealing structure prevents the screw from falling; the third driving push rod 604 drives the upper sliding block 605 to move along the upper sliding rail, the position of the screwdriver 602 can be adjusted, the upper screw driver 603 provides stable torque to ensure the tightening quality, and the overall structure realizes the integration of screw conveying, positioning and tightening, reduces the labor intensity of manual screw feeding, and improves the fixing reliability and efficiency.

[0044] In this embodiment, the frame 1 adopts a profiled frame 1, as shown, Figure 2As shown, the frame 1 includes two vertical columns 101, a horizontal connecting beam 102, a horizontal upper beam 103, a horizontal lower beam 104, a horizontal bottom beam 105, and support columns 106. The two vertical columns 101 are located at both sides of the frame 1 in the length direction. The horizontal upper beam 103, the horizontal lower beam 104, and the horizontal bottom beam 105 are connected to the upper part, the lower part, and the bottom of the two vertical columns 101, respectively. The horizontal connecting beam 102 is located above the horizontal upper beam 103 and is used to hang the fastener box 7. The support columns 106 are vertically and parallelly arranged in four groups. The support columns 106 are connected and fixed to the horizontal lower beam 104 and the horizontal bottom beam 105. Each group of support columns 106 on the outer sides of the frame 1 in the length direction includes two profiles. The top ends of the two profiles are connected and fixed to the bottom ends of the lower sliding seat 501 through the connecting seat 107 and the fastener. The support plate 2 is connected and fixed to the horizontal lower beam 104 and the horizontal bottom beam 105. The top of the support plate 2 is provided with a horizontal support plate 108. Four support seats 109 are arranged on the support plate 108. The support seats 109 are connected and fixed to the middle region of the bottom of the lower sliding seat 501 through the fastener. In this embodiment, the profiles of each part are made of square and rectangular high-strength aluminum alloy profiles according to actual needs. The aluminum alloy profiles are light in weight, high in strength, and pre-fabricated with various grooves and holes, which facilitates installation.

[0045] Before the wallboard 12 is installed, the calibration state of the binocular camera 301 and the laser sensor 302 of the visual module 3 is checked to ensure that the three-dimensional coordinates of the wallboard 12, the purlin 13, and the fastener 11 can be accurately recognized. It is confirmed that the air tightness of the suction cup 401 of the suction module 4 is good, and the air duct 402 is connected normally. The fasteners 11 are filled in the vertical fastener boxes 7 of the fastener 11 module according to the specifications, arranged in a queue through the sliding groove 701, and supplemented to the screw supply system of the Y-shaped pipe 601 of the tightening module at the same time. The interface on the support plate 2 is rigidly connected with the mechanical arm, and the connection of the circuit, the air path, and the control line is completed. The running accuracy of each driving component is debugged.

[0046] After starting the operation, the mechanical arm carrying the clamp moves above the wallboard 12 stacking area. The visual module 3 first scans and positions the ground wallboard 12 to obtain its size, placement angle, and plane coordinates. The mechanical arm adjusts the posture of the clamp according to the positioning data, so that the upper and lower two groups of suction cups 401 of the suction module 4 are vertically aligned with the surface of the wallboard 12. Then the clamp is driven to descend until the suction cups 401 completely adhere to the wallboard 12. The air duct 402 is connected to the negative pressure system, a vacuum is formed in the suction cup 401, and the wallboard 12 is firmly adsorbed. At this time, the visual module 3 confirms the flatness of the adsorption position again to ensure that the wallboard 12 is not skewed.

[0047] After the wallboard 12 is grabbed, the robot arm changes its pose and transports the wallboard 12 to the wall installation area along a preset path. The visual module 3 synchronously identifies the position and spacing of the wall purlin 13, measures the real-time distance between the clamp and the wall in combination with the laser sensor 302, guides the robot arm to move the wallboard 12 to a preset installation height stably, and aligns the wallboard 12 with the purlin 13.

[0048] The first driving push rod 901 of the lower limit release mechanism of the fastener 11 module is retracted, the lower limit rod 904 is withdrawn, the limit on the fastener 11 at the bottom of the fastener box 7 is released, and the fastener 11 at the bottom of the fastener box 7 slides along the sliding groove 701 to the top end of the wallboard 12 under the action of gravity; at this time, the second driving push rod 1001 of the upper limit release mechanism remains in the extended state, and the upper limit rod 1003 blocks the upper fastener 11. The robot arm controls the clamp to move to the wall surface to make the wallboard 12 and the fastener 11 adhere to the purlin 13. After the visual module 3 confirms that the fastener 11 is in place, the lower limit rod 904 is reset to block the subsequent fastener 11, and at the same time, the upper limit rod 1003 is withdrawn to allow the upper fastener 11 to slide down to the bottom along the sliding groove 701, complete the automatic repositioning, and prepare for the next release.

[0049] The driving motor of the horizontal sliding assembly 5 drives the lower sliding block 502 to move along the lower sliding rail, and accurately sends the upper wire assembly 6 to the screw hole position of the first fastener 11. The screw is transported from the inclined pipe hole of the Y-shaped pipe 601 to the horizontal pipe hole through air pressure, and the closed structure ensures that the screw is temporarily stored in the pipe opening; the third driving push rod 604 pushes the upper sliding block 605 to fine-tune along the upper sliding rail, so that the screwdriver 602 is aligned with the screw head, the upper wire driver 603 is started, drives the screwdriver 602 to rotate and advance forward, screws the screw into the connecting hole of the fastener 11 and the purlin 13, and stops until a preset torque is reached, thereby fixing the wallboard 12. After the first point is completed, the horizontal sliding assembly 5 drives the upper wire assembly 6 to move to the positions of the remaining fasteners 11 in turn, and repeats the above tightening action until all four fixing points of the single wallboard 12 are fixed.

[0050] Finally, the visual module 3 scans the installed wallboard 12 as a whole, detects the flatness, perpendicularity and screw fastening state, and confirms that there is no error. The air duct 402 of the suction module 4 switches to positive pressure, and the suction cup 401 releases the wallboard 12. The robot arm carrying the clamp retreats to a safe position, prepares to enter the installation cycle of the next wallboard 12, and thus completes a single complete wallboard 12 installation operation.

[0051] The whole process does not need manual participation in high-altitude operation, is fully automated from grabbing to fixing, the installation time of a single wallboard 12 can be greatly shortened, the installation precision and stability are significantly better than those of the traditional manual mode, the safety risk is greatly reduced, and the installation efficiency and precision are significantly improved.

[0052] In the embodiment, the first driving push rod 901, the second driving push rod 1001 and the third driving push rod 604 are electric push rods, and the thread driving device 603 is an adjustable torque electric thread driver.

[0053] Embodiment two

[0054] Different from the above embodiment one, the driving motor is a servo motor, and the screw pair transmission is used between the lower slide base 501 and the lower slide block 502 for precise movement and positioning. The servo motor and the screw transmission can also satisfy the precise positioning of the thread driving position.

[0055] Embodiment three

[0056] Different from the above embodiment one or two, the driving motor is a linear motor, the stator magnetic poles of the linear motor are arranged on the top surface of the lower slide base 501 in the length direction of the lower slide base 501, and the rotor magnetic poles of the linear motor are arranged in the groove of the lower slide block 502 in the left-right direction. The horizontal sliding assembly 5 drives the lower slide block 502 to move along the lower slide rail through the linear motor, and can drive the thread driving assembly 6 to move and position along the length direction of the frame 1 at a higher speed and higher precision, adapt to the position requirements of multiple fixed points on the wallboard 12, make the thread driving assembly 6 quickly position to each tightening position, improve the efficiency and precision of multi-point tightening, and ensure smooth sliding of the lower slide block 502 and the lower slide rail.

[0057] Embodiment four

[0058] Different from the above embodiment one, two or three, the first driving push rod 901, the second driving push rod 1001, the third driving push rod 604 and the thread driving device 603 can be selected to be driven by pneumatic power. The pneumatic power can be adjusted by adjusting the air pressure to adapt to different operation objects. In the case of a unified air source, the pneumatic tool occupies less space, and the tool and the use cost are lower.

[0059] The substation wallboard mounting clamp shown above is a specific embodiment of the present application, which has embodied the outstanding substantial features and significant progress of the present application. According to the actual use needs, equivalent modifications can be made to the shape, structure and the like under the inspiration of the present application, which are all within the protection scope of the present application.

Claims

1. A substation wall panel mounting clamp, characterized in that: The system includes a support frame, a vision module for identifying and locating wall panels and their installation positions, a suction module for suctioning wall panels, a fastener module for storing and releasing fasteners, and a tightening module for tightening and fixing wall panels and fasteners to purlins. The support frame includes a support plate and a rectangular structural frame. One side of the support plate is connected to the lower part of one side of the frame, and the other side of the support plate has an interface for connecting to a robotic arm. The suction module and fastener module are located on the opposite side of the frame to the support plate. The suction module is located at the lower part of the support frame, and the fastener module is located at the upper part of the support frame. The vision module is located in the lower middle area of ​​the support plate, and the sensing direction of the vision module is consistent with the orientation of the suction module. The tightening module is located in the middle of the support frame and includes a horizontal sliding component and a screw-on component. The screw-on component is located above the horizontal sliding component and moves the screw-on component to the screw-on position. The screw-on component fixes the fasteners to the purlins with screws to secure the wall panels. The fastener module includes multiple fastener boxes arranged horizontally along the length of the frame and a fastener limiting and releasing mechanism for limiting and releasing the fasteners in the fastener boxes. The fastener boxes are arranged vertically, with the lower end of the fastener box being the fastener release port, and the upper end of the fastener box being connected to the upper end of the frame through an L-shaped top plate. The fastener limiting and releasing mechanism includes a lower fastener limiting and releasing mechanism for limiting and releasing the bottom fasteners at the lower end of the fastener box and an upper fastener limiting and releasing mechanism for limiting and releasing the fasteners above the bottom fasteners. The fastener box is an inverted U-shaped structure with a closed top. The inner walls of the two vertical sides of the fastener box are provided with sliding grooves. The fasteners are arranged vertically in the sliding grooves. When the lower fastener limiting release mechanism is in the released state and the upper fastener limiting release mechanism is in the limiting state, the bottom fastener at the lower end of the fastener box automatically detaches from the fastener box under the action of gravity. Then, when the lower fastener limiting release mechanism is in the limiting state and the upper fastener limiting release mechanism is in the released state, the upper fastener automatically slides down to the lower end under the action of gravity.

2. The substation wall panel mounting clamp according to claim 1, characterized in that: The suction module includes multiple suction cups, which are divided into upper and lower groups. Each group of suction cups is arranged horizontally along the length of the frame. The rear end of each suction cup is connected to a ventilation pipe, which is fixed to the frame.

3. A substation wall panel mounting clamp according to claim 1, characterized in that: The vision module includes a binocular camera and a laser sensor. The two camera holes of the binocular camera are arranged horizontally along the length of the frame, and the laser sensor is located in the lower middle of the binocular camera.

4. A substation wall panel mounting clamp according to claim 1, characterized in that: The fastener limiting release mechanism includes a first drive push rod, a bracket, a lower connecting plate, and a lower limiting rod. The lower limiting rod is horizontally arranged along the length of the frame and is located at the lower end of the fastener box in the height direction. The upper end of the lower connecting plate is connected to the middle position of the lower limiting rod in the length direction. The first drive push rod is fixed to the upper part of the support plate through the bracket. The drive output end of the first drive push rod is connected to the lower end of the lower connecting plate to push and retract the lower limiting rod.

5. A substation wall panel mounting clamp according to claim 4, characterized in that: The fastener limiting release mechanism includes a second drive push rod, an upper connecting plate, and an upper limit rod. The upper limit rod is arranged parallel to the lower limit rod above it. The lower end of the upper connecting plate is connected to the middle of the upper limit rod along its length. The second drive push rod is fixed to the middle of the upper end of the frame. The drive output end of the second drive push rod is connected to the upper end of the upper connecting plate to push and retract the upper limit rod.

6. A substation wall panel mounting clamp according to claim 5, characterized in that: The upper and lower connecting plates are provided with multiple sets of connecting holes evenly arranged vertically; the L-shaped top plate has two horizontal elongated holes with a length direction perpendicular to the length direction of the frame, and the top of the frame has a downward-facing T-shaped elongated hole with a length direction consistent with the length direction of the frame. The L-shaped top plate is fixed by fasteners connecting its horizontal elongated holes and the downward-facing T-shaped elongated holes of the top of the frame; the upper middle part of the support plate has two vertical parallel elongated holes, and the connection part of the bracket and the support plate is connected and fixed to the parallel elongated holes by fasteners. The bracket includes two L-shaped plates arranged back to back in opposite directions. Each L-shaped plate has two elongated holes with a length direction perpendicular to the lower connecting plate, and the two L-shaped plates are fixed by fasteners connecting the elongated holes.

7. A substation wall panel mounting clamp according to claim 1, characterized in that: The horizontal sliding assembly includes a lower slide block, a lower slide block, and a drive motor. The lower slide block is located in the middle of the frame in the height direction and is set in the length direction of the frame. A lower slide rail is provided on the lower slide block. The lower slide block is located on the lower slide rail and can slide along the lower slide rail. The drive motor is connected to the lower slide block to drive the lower slide block to move along the lower slide rail.

8. A substation wall panel mounting clamp according to claim 1, characterized in that: The screw-feeding assembly includes a Y-shaped tube, a screwdriver, a screw-feeding driver, a third drive push rod, an upper slide block, and an upper slide base. The upper slide base is connected and fixed to the upper slide block. The upper slide base has a horizontal upper slide rail that is perpendicular to the lower slide rail. The upper slide block is located on the upper slide rail. The screw-feeding driver is connected and fixed to the upper slide base via a fixing plate. The screwdriver is connected to the drive output end of the screw-feeding driver. The Y-shaped tube has an oblique tube hole for conveying screws and a horizontal tube hole communicating with the oblique tube hole for screw tightening. The oblique tube hole is located above the horizontal tube hole. The end of the screwdriver extends into the horizontal tube hole. The screw-out end of the horizontal tube hole has an openable horizontal tube hole closure structure. The screw-out end of the horizontal tube hole faces the lower end area of ​​the fastener box. The Y-shaped tube is connected and fixed to the end of the upper slide base adjacent to the fastener box via a fixing bracket. The other end of the upper slide base is connected and fixed to the third drive push rod to drive the upper slide block to move.

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