A robotic arm connection module and an inner core plate auxiliary installation device

Abstract

This invention relates to the field of core board installation technology, specifically to a robotic arm connection module and an auxiliary installation device for core boards. This device overcomes the shortcomings of existing technologies that require manual adjustment of the core board's posture before pushing it into the installation position and fixing it, which is cumbersome and laborious. Through the mutually cooperating left-right adjustment mechanism, front-back adjustment mechanism, and up-down adjustment mechanism of this invention, the clamp posture adjustment module and the clamp module can be driven to adjust their positions left-right, front-back, and up-down. The cooperation between this module and the clamp posture adjustment module and clamp module makes the installation of the board much more convenient compared to manual adjustment.

Description

Technical Field

[0001] This invention relates to the field of core board installation technology, and more specifically, to a robotic arm connection module and an auxiliary installation device for core boards. Background Technology

[0002] The outer walls of steel structure workshops are usually made of metal-faced inner core panels, which are installed on the outside of the main steel frame as non-load-bearing enclosure structures to provide insulation, heat insulation, waterproofing and architectural aesthetics.

[0003] Because existing panel installation devices cannot perform close-range operations on unpaved surfaces, the installation of the inner core panel is usually completed manually in conjunction with a boom lift platform. The installer stands on the boom lift platform, which is equipped with a pulley mechanism to hoist the inner core panel. After the platform brings the installer to the vicinity of the installation position, the inner core panel is hoisted up by the pulley mechanism. The installer needs to manually adjust the posture of the panel, push it into the installation position, and then fix it in place. This process is quite troublesome and laborious. Summary of the Invention

[0004] This invention provides a robotic arm connection module and an inner core plate auxiliary installation device. The device can overcome the shortcomings of the prior art, which requires manual adjustment of the inner core plate's posture, pushing the inner core plate into the installation position after adjusting its posture, and then fixing it, which is troublesome and laborious.

[0005] According to a robotic arm connection module of the present invention, it includes a mounting base for connecting with a boom lift robotic arm; the mounting base is provided with a left-right adjustment mechanism, a front-back adjustment mechanism and a vertical adjustment mechanism that cooperate with each other; the left-right adjustment mechanism is used to enable the clamping module to move left and right in the horizontal direction; the front-back adjustment mechanism is used to enable the clamping module to move back and forth in the horizontal direction; the vertical adjustment mechanism is used to enable the clamping module and the clamping posture adjustment module to move up and down in the vertical direction.

[0006] The left-right adjustment mechanism, front-back adjustment mechanism, and up-down adjustment mechanism of this invention can drive the fixture posture adjustment module and the fixture module to adjust their positions left-right, front-back, and up-down. Through the cooperation of this module with the fixture posture adjustment module and the fixture module, the installation of the plate is more convenient compared to manual adjustment.

[0007] Preferably, the left and right adjustment mechanism includes multiple first slide rails arranged along the length of the mounting base and located on the top of the mounting base; first sliders are slidably fitted on the first slide rails; and multiple first sliders are connected to a first adjustment seat arranged parallel to the top of the mounting base.

[0008] In this invention, the first slide rail and the first slider are configured so that the first adjusting seat can slide left and right on the first slide rail, thereby enabling the structure connected to the first adjusting seat to move left and right in the horizontal direction.

[0009] Preferably, the left and right adjustment mechanism further includes a driving component; the driving component includes a left and right adjustment motor installed on one side of the mounting base; the bottom of the first adjustment seat is provided with a rack arranged parallel to the length direction of the first slide rail; the output shaft of the left and right adjustment motor is provided with a first gear for meshing with the rack.

[0010] In this invention, the driving component of the left and right adjustment mechanism enables the left and right adjustment motor to drive the first gear to rotate. The rotation of the first gear drives the meshing rack to move linearly, thereby driving the first adjustment seat and the structure connected to the first adjustment seat to move left and right in the horizontal direction without manual adjustment.

[0011] Preferably, the front and rear adjustment mechanism includes multiple second slide rails arranged along the width direction of the mounting base and disposed on the top of the first adjustment seat; second sliders are slidably fitted on the second slide rails; and multiple second sliders are connected to a second adjustment seat disposed parallel to the top of the first adjustment seat.

[0012] In this invention, by setting the second slide rail and the second slider, the second adjusting seat can slide left and right on the second slide rail, thereby enabling the structure connected to the second adjusting seat to move left and right in the horizontal direction.

[0013] Preferably, the front and rear adjustment mechanism further includes a driving component; the driving component includes a front and rear adjustment telescopic cylinder disposed on the top of the second adjustment seat; the tail end of the front and rear adjustment telescopic cylinder is connected to the first adjustment seat, and the output end is connected to the second adjustment seat.

[0014] In this invention, by setting the driving component of the adjustment mechanism, the front and rear adjustment telescopic cylinder can drive the second adjustment seat to slide automatically on the second slide rail. In conjunction with the left and right adjustment mechanism, the structure connected to the second adjustment seat can move forward and backward and left and right in the horizontal direction, so that the front, rear, left and right positions of the plate can be adjusted without manual intervention.

[0015] Preferably, the height adjustment mechanism includes a rectangular support frame; the support frame is arranged along the height direction of the mounting base and connected to one side of the second adjustment seat; the support frame has sliding grooves on both sides arranged along its length direction; the sliding grooves are used to cooperate with the fixture posture adjustment module, so that the fixture posture adjustment module can move along the length direction of the support frame.

[0016] In this invention, the support frame and the slide groove are designed so that the fixture posture adjustment module and the fixture module can cooperate directly or indirectly with the slide groove, thereby enabling the fixture posture adjustment module and the fixture module to move up and down in the vertical direction.

[0017] Preferably, the up-and-down adjustment mechanism also includes a drive component; the drive component includes several lifting and telescopic cylinders respectively installed on both sides of the support frame.

[0018] In this invention, by setting up a lifting telescopic cylinder, the clamp posture adjustment module and clamp module that cooperate with the slide groove can automatically slide up and down. Furthermore, when in conjunction with the front-back adjustment module and the left-right adjustment module, the clamp module and clamp posture adjustment module that hold the plate can automatically move up and down, so that the front-back, left-right and up-down positions of the plate can be adjusted without manual intervention when installing the plate.

[0019] Preferably, the lifting telescopic cylinder is arranged along the length of the slide groove, and its output end is provided with a connecting plate for connecting with the clamp attitude adjustment module.

[0020] In this invention, the output end of the lifting and telescopic cylinder can be connected to the clamp posture adjustment module by setting the connecting plate, thereby realizing the above-mentioned driving function.

[0021] Preferably, the bottom of the mounting base is provided with several mounting plates.

[0022] In this invention, the mounting plate allows the mounting base to be connected to the end of the boom lift's robotic arm. This enables the boom lift's robotic arm to drive the robotic arm connection module, clamp attitude adjustment module, clamp module, and plate to move to the installation position without contacting the ground at the construction site. This solves the problem that existing technologies cannot perform close-range operations on unpaved surfaces.

[0023] An inner core board auxiliary installation device includes any of the robotic arm connection modules described above. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the device body in Example 1 when clamping the inner core plate. Figure 2 This is a schematic diagram of the device body in Example 1; Figure 3 This is a schematic diagram of the robotic arm connection module in Example 1; Figure 4 This is a schematic diagram of the robotic arm connection module in Example 1; Figure 5 This is a schematic diagram of the assembly of the rack and the first gear in Example 1; Figure 6 This is a schematic diagram of the robotic arm connection module in Example 1; Figure 7 This is a schematic diagram of the cooperation between the left-right adjustment mechanism and the front-back adjustment mechanism in Embodiment 1; Figure 8 This is a front view of the fixture attitude adjustment module in Example 1; Figure 9 This is a rear view of the fixture attitude adjustment module in Example 1; Figure 10 for Figure 9 An enlarged schematic diagram of point A in the diagram; Figure 11 This is a schematic diagram of the connecting ring and inner ring after separation in Example 1; Figure 12 This is a schematic diagram of the engagement point between the second and third gears in Example 1; Figure 13 This is a schematic diagram of the inner ring, middle ring, and outer ring fitting together in Example 1; Figure 14 This is a schematic diagram of the clamping module in Example 1; Figure 15 This is a schematic diagram of one end of the clamping module in Embodiment 1; Figure 16 This is a schematic diagram of the clamping module in Example 1; Figure 17 This is a schematic diagram of one end of the clamping module in Example 1. Detailed Implementation

[0025] To further understand the content of this invention, the invention will be described in detail with reference to the embodiments. It should be understood that the embodiments are merely illustrative and not limiting of the invention.

[0026] Example 1 like Figure 1-17 As shown, this embodiment provides an inner core board auxiliary installation device, the device body 100 including a clamp module 130, a clamp posture adjustment module 120 and a robotic arm connection module 110; The robotic arm connection module 110 is used to connect with the robotic arm of the boom lift. The clamping module 130 is used to form a limiting clamp on the inner core plate 140; The fixture posture adjustment module 120 is used to connect with the fixture module 130 and the robotic arm connection module 110 to adjust the posture of the plate 140.

[0027] Through the clamp module 130, clamp posture adjustment module 120 and robotic arm connection module 110 in this embodiment, the clamp module 130 can clamp and limit the plate 140; the clamp posture adjustment module 120 can adjust the posture of the clamp module 130 and the plate 140 by flipping up and down, flipping left and right and rotating; the robotic arm connection module 110 can move the plate 140, clamp module 130 and clamp posture adjustment module 120 forward, backward, left and right and up and down, and assemble with the robotic arm of the boom lift. Through cooperation with the robotic arm of the boom lift, the device does not need to contact the unpaved ground for close operation, nor does it require manual hoisting of the plate 140, nor does it require manual adjustment of the posture of the plate 140 during installation.

[0028] In this embodiment, as Figure 3-7 As shown, the robotic arm connection module 110 includes a mounting base 311 for connecting with the robotic arm of the boom lift; the mounting base 311 is provided with a left-right adjustment mechanism 312, a front-back adjustment mechanism 313, and a vertical adjustment mechanism 314 that cooperate with each other; the left-right adjustment mechanism 312 is used to enable the clamping module 130 to move left and right in the horizontal direction; the front-back adjustment mechanism 313 is used to enable the clamping module 130 to move back and forth in the horizontal direction; the vertical adjustment mechanism 314 is used to enable the clamping module 130 and the clamping posture adjustment module 120 to move up and down in the vertical direction.

[0029] Through the mutually cooperating left-right adjustment mechanism 312, front-back adjustment mechanism 313 and up-down adjustment mechanism 314 in this embodiment, the clamp posture adjustment module 120 and clamp module 130 can be driven to adjust their positions left-right, front-back and up-down. Through the cooperation of this module with the clamp posture adjustment module 120 and clamp module 130, the plate 140 is more convenient to install compared with manual adjustment.

[0030] In this embodiment, the left and right adjustment mechanism 312 includes a plurality of first slide rails 5120 arranged along the length of the mounting base 311 and disposed on the top of the mounting base 311; a first slider 5122 is slidably engaged at the first slide rail 5120; the plurality of first sliders 5122 are connected together to a first adjustment seat 5121 arranged parallel to the top of the mounting base 311. The left and right adjustment mechanism 312 also includes a driving component; the driving component includes a left and right adjustment motor 5123 installed on one side of the mounting base 311; the bottom of the first adjustment seat 5121 is provided with a rack 5124 arranged parallel to the length direction of the first slide rail 5120; the output shaft of the left and right adjustment motor 5123 is provided with a first gear 5125 for meshing with the rack 5124.

[0031] With the arrangement of the first slide rail 5120 and the first slider 5122 in this embodiment, the first adjusting seat 5121 can slide left and right on the first slide rail 5120, thereby enabling the structure connected to the first adjusting seat 5121 to move left and right in the horizontal direction; with the arrangement of the driving component of the left and right adjusting mechanism 312, the left and right adjusting motor 5123 can drive the first gear 5125 to rotate, and the rotation of the first gear 5125 drives the meshing rack 5124 to move linearly, thereby driving the first adjusting seat 5121 and the structure connected to the first adjusting seat 5121 to move left and right in the horizontal direction without manual adjustment.

[0032] In this embodiment, the front and rear adjustment mechanism 313 includes a plurality of second slide rails 7130 arranged along the width direction of the mounting base 311 and disposed on the top of the first adjustment seat 5121; a second slider 7131 is slidably engaged at the second slide rail 7130; a plurality of second sliders 7131 are connected to a second adjustment seat 6132 arranged parallel to the top of the first adjustment seat 5121. The front and rear adjustment mechanism 313 also includes a driving component; the driving component includes a front and rear adjustment telescopic cylinder 6133 disposed on the top of the second adjustment seat 6132; the tail end of the front and rear adjustment telescopic cylinder 6133 is connected to the first adjustment seat 5121, and the output end is connected to the second adjustment seat 6132.

[0033] With the second slide rail 7130 and the second slider 7131 in this embodiment, the second adjusting seat 6132 can slide left and right on the second slide rail 7130, thereby enabling the structure connected to the second adjusting seat 6132 to move left and right in the horizontal direction. With the driving component of the front and rear adjusting mechanism 313, the front and rear adjusting telescopic cylinder 6133 can drive the second adjusting seat 6132 to slide automatically on the second slide rail 7130. In conjunction with the left and right adjusting mechanism 312, the structure connected to the second adjusting seat 6132 can move forward and backward and left and right in the horizontal direction, thereby adjusting the front, rear, left and right positions of the plate 140 without manual intervention.

[0034] In this embodiment, the up-down adjustment mechanism 314 includes a rectangular support frame 6140; the support frame 6140 is arranged along the height direction of the mounting base 311 and connected to one side of the second adjustment seat 6132; the support frame 6140 has slide grooves 6141 arranged along its length direction on both sides; the slide grooves 6141 are used to cooperate with the clamp posture adjustment module 120, so that the clamp posture adjustment module 120 can move along the length direction of the support frame 6140; The up-down adjustment mechanism 314 also includes a driving component; the driving component includes several lifting and telescopic cylinders 6142 respectively installed on both sides of the support frame 6140; the lifting and telescopic cylinders 6142 are arranged along the length direction of the slide groove 6141, and their output ends are provided with a connecting plate 6143 for connecting with the fixture posture adjustment module 120; several mounting plates 3110 are provided at the bottom of the mounting base 311.

[0035] The support frame 6140 and slide 6141 in this embodiment allow the clamp posture adjustment module 120 and clamp module 130 to directly or indirectly cooperate with the slide 6141, enabling them to move vertically. The lifting telescopic cylinder 6142 allows the clamp posture adjustment module 120 and clamp module 130, which cooperate with the slide 6141, to automatically slide vertically. Furthermore, when combined with the front-to-back adjustment mechanism 313 and the left-to-right adjustment mechanism 312, the clamp module 130 and clamp posture adjustment module 120 clamping the plate 140 can automatically move vertically, thus eliminating the need for manual adjustment when installing the plate 3110. The front-back, left-right, and up-down positions of the plate 140 can be adjusted manually. The connecting plate 6143 allows the output end of the lifting telescopic cylinder 6142 to connect with the clamp posture adjustment module 120, thus achieving the aforementioned driving function. The mounting plate 3110 allows the mounting base 311 to connect with the end of the boom lift's robotic arm, enabling the boom lift's robotic arm connecting module 110, clamp posture adjustment module 120, clamp module 130, and plate to be roughly moved to the installation position without contacting the ground, solving the problem of existing technologies being unable to perform close-range operations on unpaved surfaces.

[0036] In this embodiment, as Figure 8-13 As shown, the clamp posture adjustment module 120 includes a first connecting frame 821 for cooperating with the robotic arm connection module 110, and a second connecting frame 822 for cooperating with the clamp module 130; a rotating mechanism 825 is provided at the first connecting frame 821; a left-right flipping mechanism 824 and a right-down flipping mechanism 823 are provided between the first connecting frame 821 and the second connecting frame 822. The rotating mechanism 825 is used to drive the clamping module 130 to rotate, so that the plate 140 can rotate in the vertical plane to adjust its posture; the left and right flipping mechanism 824 and the up and down flipping mechanism 823 are used to drive the clamping module 130 to flip left and right and up and down, so that the plate 140 can tilt to the left and right and up and down to adjust its posture. The left-right flipping mechanism 824 includes an outer ring 11221 connected to one side of the second connecting frame 822; the outer ring 11221 is annular and has two vertical rotating shafts 13225 penetrating the side wall; the two vertical rotating shafts 13225 are axially aligned and their axes intersect the center of the outer ring 11221; the two vertical rotating shafts 13225 rotate together and are engaged with a middle ring 11222; the middle ring 11222 is concentrically arranged with the outer ring 11221 and is located on the outer ring 11221. The inner side of 221; the left and right flipping mechanism 824 also includes a driving component; the driving component includes a left and right flipping motor 12240 connected to one side of the outer ring 11221; the output end of the left and right flipping motor is connected to a worm gear 12241; the worm gear 12241 is rotatably engaged with one side of the outer ring 11221; a worm wheel 12242 is provided on the side wall of the inner ring 11223; the worm wheel 12242 is rotatably engaged with the vertical rotating shaft 13225 and meshes with the worm gear 12241; The up-and-down tilting mechanism 823 includes two horizontal rotating shafts 13224 connected to the side wall of the middle ring 11222; the two horizontal rotating shafts 13224 are axially aligned and their axes intersect the center of the middle ring 11222; the axes of two vertical rotating shafts 13225 intersect the axes of the two horizontal rotating shafts 13224 in a cross shape; the two horizontal rotating shafts 13224 are rotatably coupled to an inner ring 11223 for connection with the first connecting frame 821; the inner ring 11223 is concentrically arranged with the middle ring 11222 and located inside the middle ring 11222; the up-and-down tilting mechanism 823 also includes a driving component; the driving component includes an up-and-down tilting telescopic cylinder 10230; the tail of the up-and-down tilting telescopic cylinder 10230 is hinged to the first connecting frame 821, and the output end is connected to a single connecting rod 10231; one end of the single connecting rod 10231 is hinged to the output end of the up-and-down tilting telescopic cylinder 10230, and the other end is connected to a horizontal rotating component as described above. The rotating mechanism 825 includes a bearing 11220 disposed at the second connecting frame 822; the bearing 11220 is concentrically arranged with the outer ring 11221, the middle ring 11222 and the inner ring 11223 for connecting with the clamp module 130; the rotating mechanism 825 also includes a driving component; the driving component includes a rotary motor 12250 connected to one side of the outer ring 11221; the output end of the rotary motor 12250 is provided with a second gear 12251; the second gear 12251 meshes with a third gear 12252 concentrically arranged with the bearing 11220 and for connecting with the clamp module 130; The first connecting frame 821 is provided with a plurality of connecting arms 11213 extending toward the outer ring 11221; the plurality of connecting arms 11213 are connected together to a connecting ring 11214 for connecting with the inner ring 11223; both the inner ring 11223 and the connecting ring 11214 are provided with a plurality of second connecting holes 13226, and are connected by fasteners; the top of the first connecting frame 821 is provided with a connecting plate 9211 for connecting with the robotic arm connecting module 110; the connecting plate 9211 is provided with a plurality of first connecting holes 9212; the inner side of the first connecting frame 821 is provided with a plurality of pulleys 9210; the pulleys 9210 are used to slide with the robotic arm connecting module 110 to achieve up and down movement.

[0037] Through the rotation mechanism 825, the left-right flipping mechanism 824, and the up-down flipping mechanism 823 in this embodiment, the plate 140 can be rotated, tilted left-right, or tilted up-down, or rotated and flipped in combination, when the clamping module 130 clamps the plate 140, so as to adjust the posture of the plate 140. In conjunction with the clamping module 130 and the robotic arm connection module 110, the plate 140 can be moved forward and backward, left and right, up and down, rotated, tilted left and right, tilted up and down, and tilted up and down, etc., which is more convenient and less labor-intensive than manually holding the inner core plate 140 for adjustment. By setting up the outer ring 11221, the vertical rotating shaft 13225 and the middle ring 11222, the middle ring 11222 can rotate around the vertical rotating shaft 13225 inside the outer ring 11221 which is concentric with it, so that the outer ring 11221 can rotate relative to the middle ring 11222. The second connecting frame 822 connected to the outer ring 11221 and the clamping module 130 connected to the second connecting frame 822 can both achieve relative rotation. By setting the driving component of the left and right flipping mechanism 824, the left and right flipping motor 12240 can drive the worm gear 12241 to rotate, thereby driving the worm wheel 12242 to rotate so that the outer ring 11221 can automatically rotate relative to the middle ring 11222. The second connecting frame 822 connected to the outer ring 11221 and the clamping module 130 connected to the second connecting frame 822 can both achieve automatic relative rotation. By setting the horizontal pivot 13224 and the inner ring 11223, the middle ring 11222, the outer ring 11221, the second connecting frame 822 and the clamp module 130 can be rotated up and down around the horizontal pivot 13224 as a whole, thereby realizing the pitch attitude adjustment of the plate 140 by rotating it up and down. By configuring the driving component of the up-and-down tilting mechanism 823, the up-and-down tilting telescopic cylinder 10230 can drive the single connecting rod 10231, which is hinged to it, to rotate around the axis of the horizontal rotating shaft 13224. This causes the single connecting rod 10231 to drive the horizontal rotating shaft 13224 and the middle ring 11222 to rotate. Since the outer ring 11221 rotates with the middle ring 11222 through the vertical rotating shaft 13225, the outer ring 11221 can also rotate with the middle ring 11222. The inner ring 11223 is connected to the first connecting frame 821. Therefore, when the output shaft of the up-and-down tilting telescopic cylinder 10230 extends or retracts, it can cause the middle ring 11222, the outer ring 11221, the second connecting frame 822, the clamping module 130 that cooperates with the second connecting frame 822, and the clamping module 132 to rotate. The plate 140, when in contact with the horizontal axis 13224, can rotate as a whole around the horizontal axis 13224, thereby adjusting the tilting and flipping posture of the plate 140. This allows the plate 140 to be tilted and adjusted to be parallel to the installation position, facilitating subsequent operations after alignment. When the left and right flipping motor 12240 drives the worm gear 12241 to rotate, the worm gear 12241 drives the worm wheel 12242 to rotate. Since the worm wheel 12242 is connected to the middle ring 11222, and the inner ring 11223 is connected to the middle ring 11222 via the horizontal axis 13224, and the inner ring 11223 is connected to the first connecting frame 821, the rotation of the worm wheel 12242 will cause the outer ring 11221 to rotate around the vertical axis 13225, thereby adjusting the tilting and flipping posture.

[0038] By setting the bearing 11220, the clamp module 130 can be connected to the rotation mechanism 825 of the clamp attitude adjustment module 120 via the shaft, thereby enabling the clamp module 130 and the mating plate 140 to rotate. By setting the driving component of the rotating mechanism 825, when the third gear 12252 is connected to the shaft after being assembled with the shaft and bearing 11220 of the clamping module 130, the rotary motor 12250 can drive the second gear 12251 to rotate. The second gear 12251 drives the third gear 12252 and the shaft of the clamping module 130 to rotate, thereby driving the clamping module 130 and the plate 140 to rotate. By setting multiple connecting arms 11213 and connecting rings 11214, the first connecting frame 821 can be connected to the inner ring 11223 via fasteners through the connecting rings 11214. Furthermore, the extension of the connecting arms 11213 allows for a space to be reserved between the first connecting frame 821 and the inner ring 11223, the middle ring 11222, and the outer ring 11221, so that the middle ring 11222, the outer ring 11221, the second connecting frame 822, and other connected structures can be flipped up and down or left and right without obstruction. By setting up the connecting plate 9211 and the pulley 9210, the first connecting frame 821 can be connected to the drive component of the up-down adjustment mechanism 314 of the robotic arm connecting module 110 through the connecting plate 9211. The pulley 9210 can slide and engage with the slide groove 6141 of the up-down adjustment mechanism 314, so that the clamp posture adjustment module 120, the clamp module 130 and the plate 140 can be driven by the robotic arm connecting module 110 to achieve up-down, left-right and forward-backward movement adjustment.

[0039] In this embodiment, as Figure 14-17 As shown, the clamp module 130 includes a fixed frame 1431 for connecting and cooperating with the clamp posture adjustment module 120; the fixed frame 1431 is rectangular and is arranged along the length direction of the plate 140; both ends of the fixed frame 1431 are provided with a limiting mechanism 1433 and a pushing mechanism 1432. The limiting mechanism 1433 is used to support and limit the plate 140 on one side of the fixed frame 1431; the pushing mechanism 1432 is used to move the plate 140 to the installation position.

[0040] Through the limiting mechanism 1433 and the pushing mechanism 1432 in this embodiment, the plate 140 can be supported and clamped by the limiting mechanism 1433. Under the limiting clamping condition, the plate 140 is moved to the installation position. In conjunction with the robotic arm connection module 110 and the fixture posture adjustment module 120, the posture and position of the plate 140 are adjusted. After the adjustment is completed, the limiting clamping can be released, and the plate 140 can be pushed into the installation position by the pushing mechanism 1432. The entire installation process does not require manual pushing of the plate 140, which is more convenient and labor-saving.

[0041] In this embodiment, the limiting mechanism 1433 includes two support plates 14311 respectively disposed at both ends of the fixed frame 1431; the two support plates 14311 are parallel to each other and together with the fixed frame 1431 form a U-shaped structure, which is used to support the plate 140 within the area of ​​the inner U-shaped structure. The pushing mechanism 1432 includes a fixed plate 14312 connected to and parallel to the fixed frame 1431; two symmetrically arranged guide rods 15322 are provided on the fixed plate 14312; the two guide rods 15322 pass vertically through the fixed plate 14312; a guide cylinder 15321 is provided on the fixed plate 14312 for the guide rods 15322 to pass through; one end of the two guide rods 15322 passing through the fixed plate 14312 is connected to a third slide rail 15336, and the other end is connected to a synchronization plate 15323; The pushing mechanism 1432 also includes a driving component; the driving component includes a first double link 15324 and a second double link 15325 arranged symmetrically; both the first double link 15324 and the second double link 15325 are composed of two sections of rods that are hinged to each other; the two sections of the first double link 15324 are hinged together at the synchronization plate 15323; the two ends of the second double link 15325 are hinged together at the fixing plate 14312; The two ends of the first double connecting rod 15324 and the second double connecting rod 15325 are respectively hinged to each other through the first hinge shaft 15326 and the second hinge shaft 15327 to form a rhombus; a push motor is also connected to the first hinge shaft 15326; the output end of the push motor passes through the first hinge shaft 15326 and is connected to a screw 15328 that is threadedly engaged with the second hinge shaft 15327.

[0042] With the arrangement of the support plate 14311 in this embodiment, when the fixed frame 1431 and the plate 140 are in the vertical state, the inner core plate 140 can be placed in the area formed by the fixed frame 1431 and the support plate 14311, thereby achieving a preliminary support effect. By setting the guide rod 15322 and the third slide rail 15336, the sliding guide rod 15322 can drive the third slide rail 15336 to move, thereby pushing the plate 140 at the fixed frame 1431 out. By configuring the driving components, when the push motor drives the screw 15328 to rotate, the diagonal lengths of the first double connecting rod 15324 and the second double connecting rod 15325, which form a rhombus, can be changed. When the diagonal lengths change, the distance between the synchronization plate 15323 and the fixed plate 14312 can be changed, thereby allowing the guide rod 15322 to slide and drive the third slide rail 15336 and the support back plate 15320 to move, automatically pushing out the plate 140.

[0043] In this embodiment, the third slide rail 15336 is arranged along the width direction of the fixed frame 1431 and is slidably connected to the support back plate 15320 for supporting the back plate 15320 body; the support back plate 15320 is arranged along the length direction of the fixed plate 14312 and is parallel to the fixed plate 14312; a clamping side plate 17338 is vertically connected to one end of the support back plate 15320, and an L-shaped first limiting plate 15330 is hinged to the other end; a limiting telescopic cylinder 15331 is provided at the support back plate 15320; the output end of the limiting telescopic cylinder 15331 is hinged to the first limiting plate 15330, and is used to drive the first limiting plate 15330 to rotate toward the clamping side plate 17338 to form a limiting clamp on the plate body 140; A translational telescopic cylinder 15337 is provided at the third slide rail 15336. The output end of the translational telescopic cylinder 15337 is connected to the support back plate 15320 and is used to drive the support back plate 15320 to move along the third slide rail 15336. A third limiting plate 16334 is rotatably fitted at the clamping side plate 17338 and is arranged parallel to the supporting back plate 15320, and a second limiting motor 17335 is provided; the second limiting motor 17335 is used to drive the third limiting plate 16334 to flip, so that the third limiting plate 16334 can flip to the front of the plate body 140. A guide surface is provided at position 16334 of the third limiting plate; A second limiting plate 15332 is provided at one end of the support back plate 15320 away from the clamping side plate 17338 for rotational engagement; the second limiting plate 15332 is parallel to the clamping side plate 17338; a first limiting motor 15333 is provided at the support back plate 15320 for driving the second limiting plate 15332 to rotate.

[0044] The clamping side plate 17338 and the flip-out first limiting plate 15330 in this embodiment allow the plate 140 to be clamped by the clamping side plate 17338 and the first limiting plate 15330, thus preventing the plate 140 from detaching during movement. Since the inner core plate 140 is placed horizontally and perpendicular to the ground, and there is a gap between the plate 140 and the ground due to the support of sleepers below, when the clamping module 130 removes the plate, the clamping posture adjustment module 120 can adjust the fixing frame 1431 to be horizontally aligned with the plate 140. The first limiting plate 15330, the second limiting plate 15332, and the third limiting plate 16334 can all be put into a non-limiting state by the driving component, preventing obstruction when the plate 140 enters the area of ​​the fixing frame 1431. When the frame 1431 and the pallet 14311 are in the area formed, the first limiting plate 15330 and the third limiting plate 16334 can extend into the gap between the plate 140 and the ground. By flipping, the long side of the plate 140 is clamped, and the short side of the plate 140 is simultaneously limited by the abutment plate. At this time, the removal of the plate is completed. After the plate is removed, the plate 140 can be transported to the vicinity of the installation position. At this time, the plate 140 can be adjusted to a vertical state. Subsequently, the clamp attitude adjustment module 120 and the robotic arm connection module 110 are used to adjust the plate 140 to move up and down, move left and right, move forward and backward, tilt and flip up and down, tilt and flip left and right, and rotate. After the plate 140 is completely aligned with the installation position, the clamp module 130 pushes the plate 140 into the installation position through its own pushing mechanism 1432. The whole process does not require manual straightening or pushing. Furthermore, during posture adjustment, the upper and lower support plates 14311, as well as the left and right second clamping plates and clamping side plates 17338, can all serve as references for the installation position of the steel structure frame.

[0045] By using the telescopic cylinder 15337, the structure connecting the support back plate 15320, clamping side plate 17338, first limiting plate 15330, second limiting plate 15332, and third limiting plate 16334 can move along the width direction of the fixed frame 1431 while the plate body 140 is in the limiting position. This movement adjusts the position of the plate body 140. During the plate removal process, the fixed frame 1431 and the plate body 140 stacked on the ground are also in a horizontal state. At this time, the above-mentioned movement is a vertical movement. The vertical movement allows the smaller structures such as the support back plate 15320, clamping side plate 17338, first limiting plate 15330, second limiting plate 15332, and third limiting plate 16334 to move and clamp the plate body 140 while keeping the fixed frame 1431 stationary. By setting the third limiting plate 16334 and the second limiting motor 17335, the third limiting plate 16334 can be flipped to the front of the plate 140 to contact it and achieve clamping and limiting, or flipped away from the front of the plate 140 to release the limiting. By setting the guide surface, the third limiting plate 16334 can avoid hitting the side of the plate 140 during rotation and being unable to flip over, thus avoiding contact with the front of the plate 140, thereby reducing the error rate. The second limiting plate 15332 is designed to support the long side of the plate 140 during the removal process. Since the first limiting plate 15330 is L-shaped, it and the third limiting plate 16334 will press against the front of the plate 140 during the flip-and-limit operation. Once the plate 140 has been adjusted to align with its installation position, the first limiting plate 15330 and the third limiting plate 16334 need to be opened to prevent them from obstructing the plate 140 from being pushed into the installation position. Inside, at this time only the upper and lower support plates 14311 and the clamping side plate 17338 on one side serve as limiting and guiding functions. Therefore, the second limiting plate 15332 can be supplemented after the first limiting plate 15330 is released. So when the plate 140 is pushed out, the upper and lower positions are limited by the support plates 14311, and the left and right sides are limited by the second limiting plates 15332 and the clamping side plate 17338 respectively. The plate 140 can be steadily pushed into the installation position by the pushing mechanism 1432.

[0046] The mounting plate 3110 of the robotic arm connection module 110 is connected to the robotic arm of the boom lift; the connecting plate 6143 of the robotic arm connection module 110 is connected to the connecting plate 9211 of the fixture posture adjustment module 120 through connecting holes and fasteners, and the pulley 9210 slides in fit with the slide groove 6141; the connecting shaft 14310 of the fixture module 130 is connected to the bearing 11220 and the third gear 12252 of the fixture posture adjustment module 120; the three modules can be assembled into one unit through the above connection method.

[0047] All the drive motors in this device are geared motors.

[0048] In this device, the control of all driving components is achieved by a control system based on existing technology. The hardware can be installed on a platform, which can also be mounted on the robotic arm. The platform is close to the three modules, and the operator performs the operation on the platform.

[0049] Example 2 like Figure 1-17 As shown, this embodiment provides an auxiliary installation method for an inner core board, implemented by an auxiliary installation device for an inner core board as described in Embodiment 1, which includes the following steps: S1. Assemble the device with the robotic arm of the boom lift via the robotic arm connection module 110; S2. Move the clamp module 130 to the ground material stacking area via the robotic arm, robotic arm connection module 110, and clamp attitude adjustment module 120. S3. The inner core board 140 is removed by the clamp module 130; S4. Move the inner core plate 140 to the installation position and adjust its attitude using the robotic arm, robotic arm connection module 110 and fixture attitude adjustment module 120. S5. The inner core board 140 is pushed to the installation position by the clamp module 130 to complete the auxiliary installation.

[0050] It is readily understood that those skilled in the art can combine, split, or reorganize the embodiments provided in this application to obtain other embodiments, all of which do not exceed the protection scope of this application.

[0051] The present invention and its embodiments have been described above illustratively. This description is not restrictive, and the embodiments shown are only part of the embodiments of the present invention. The actual structure is not limited thereto. Therefore, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the present invention, they should all fall within the protection scope of the present invention.

Claims

1. A robot arm connection module, characterized by: The mounting base (311) is connected with the mechanical arm of the articulated vehicle; the left-right adjusting mechanism (312), the front-rear adjusting mechanism (313) and the up-down adjusting mechanism (314) are arranged at the mounting base (311); the left-right adjusting mechanism (312) is used for enabling the clamp module (130) to move left and right in the horizontal direction; the front-rear adjusting mechanism (313) is used for enabling the clamp module (130) to move forward and backward in the horizontal direction; and the up-down adjusting mechanism (314) is used for enabling the clamp module (130) and the clamp posture adjusting module (120) to move up and down in the vertical direction.

2. The robotic arm connection module of claim 1, wherein: The left-right adjusting mechanism (312) comprises a plurality of first sliding rails (5120) arranged along the length direction of the mounting base (311) and arranged at the top of the mounting base (311); the first sliding rails (5120) are slidably connected with a plurality of first sliding blocks (5122); and the first sliding blocks (5122) are jointly connected with a first adjusting seat (5121) arranged in parallel at the top of the mounting base (311).

3. The robotic arm connection module of claim 2, wherein: The left-right adjusting mechanism (312) further comprises a driving member; the driving member comprises a left-right adjusting motor (5123) arranged at one side of the mounting base (311); the bottom of the first adjusting seat (5121) is provided with a rack (5124) arranged in parallel along the length direction of the first sliding rail (5120); and the output shaft of the left-right adjusting motor (5123) is provided with a first gear (5125) used for engaging with the rack (5124).

4. The robotic arm connection module of claim 3, wherein: The front-rear adjusting mechanism (313) comprises a plurality of second sliding rails (7130) arranged along the width direction of the mounting base (311) and arranged at the top of the first adjusting seat (5121); the second sliding rails (7130) are slidably connected with a plurality of second sliding blocks (7131); and the second sliding blocks (7131) are jointly connected with a second adjusting seat (6132) arranged in parallel at the top of the first adjusting seat (5121).

5. The robotic arm connection module of claim 4, wherein: The front-rear adjusting mechanism (313) further comprises a driving member; the driving member comprises a front-rear adjusting telescopic cylinder (6133) arranged at the top of the second adjusting seat (6132); the tail of the front-rear adjusting telescopic cylinder (6133) is connected at the first adjusting seat (5121), and the output end is connected at the second adjusting seat (6132).

6. The robotic arm connection module of claim 5, wherein: The up-down adjusting mechanism (314) comprises a support frame (6140) in the shape of a rectangle; the support frame (6140) is arranged along the height direction of the mounting base (311) and connected at one side of the second adjusting seat (6132); the two sides of the support frame (6140) are provided with sliding grooves (6141) arranged along the length direction thereof; and the sliding grooves (6141) are used for cooperating with the clamp posture adjusting module (120) to enable the clamp posture adjusting module (120) to move along the length direction of the support frame (6140).

7. The robotic arm connection module of claim 6, wherein: The up-down adjusting mechanism (314) further comprises a driving member; the driving member comprises a plurality of lifting telescopic cylinders (6142) respectively arranged at the two sides of the support frame (6140).

8. The robotic arm connection module of claim 7, wherein: The lifting telescopic cylinder (6142) is arranged along the length of the slide groove (6141), and its output end is provided with a connecting plate (6143) for connecting with the fixture posture adjustment module (120).

9. The robotic arm connection module of claim 1, wherein: The mounting base (311) has several mounting plates (3110) at its bottom.

10. An inner core plate auxiliary installation device, comprising a robotic arm connection module (110) as described in any one of claims 1-9.

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