Pallet removal robot for assisting in hoisting of ALC pallets

Abstract

The application provides a kind of pad removal robot for assisting ALC strip hoisting, chassis, the chassis is equipped with walking mechanism and fixed support mechanism;Lifting device is installed on the chassis, including the forklift that can be driven reciprocating movement along the length direction, the forklift can be driven to lift or drop, for inserting between upper ALC strip and lower ALC strip, and exert upward lifting force on the upper ALC strip;Removal device is installed on the chassis, including a synchronous motion lifting removal power output, when the forklift exerts upward lifting force on the upper ALC strip, for removing the pad between the upper ALC strip and the lower ALC strip from the stacking area between the upper and lower ALC strip;Avoiding the board bottom surface peeling, cracking caused by forcibly pulling, protecting the integrity of ALC strip, ensuring installation quality;Replace manual removal, eliminate the safety hazards such as stacking overturning, pad falling, greatly improve hoisting efficiency and safety.

Description

Technical Field

[0001] This invention relates to an auxiliary technology for lifting ALC strips, and more particularly to a block removal robot for assisting in the lifting of ALC strips. Background Technology

[0002] ALC panels at construction sites are typically stored in stacks, with spacers placed between each layer to ensure adequate spacing, distribute pressure, and prevent moisture damage, warping, or crushing. However, existing methods have significant drawbacks in subsequent hoisting operations: manually removing the spacers beforehand is inefficient and requires personnel to be in close contact with the stack, posing safety hazards such as spacer slippage and stack tipping; if the spacers are lifted directly with the panels in place for convenience, they are prone to slipping and falling during hoisting, causing accidents. Some construction companies have attempted to forcibly remove the spacers using mechanical devices during hoisting, but because the weight of the upper panels is transferred to the lower layers through the spacers, there is significant static friction at the contact interface between the spacers and the panels. Forcibly pulling out these spacers results in friction directly acting on the bottom surface of the ALC panels. ALC material itself has low tensile strength and is brittle. This friction can easily cause the bottom surface of the panel to peel off, crack, or the bonding surface to be damaged, resulting in damage to the panel before it is hoisted, which seriously affects the installation quality and structural safety of the wall. Summary of the Invention

[0003] In view of this, the present invention provides a pad removal robot for assisting in the lifting of ALC strips, comprising:

[0004] The chassis is equipped with a walking mechanism and a fixed support mechanism. The walking mechanism is used to drive the robot to the working position and form a fixed support through the fixed support mechanism.

[0005] A lifting device, mounted on a chassis, includes forks that can be driven to reciprocate along its length, the forks being driven to lift or lower.

[0006] Used to insert between the upper ALC strip and the lower ALC strip, and to apply an upward lifting force to the upper ALC strip;

[0007] The removal device, mounted on the chassis, includes a removal power output that moves and lifts synchronously with the forks. When the forks apply an upward lifting force to the upper ALC strip, it is used to remove the pad between the upper and lower ALC strips from the stacking area between the upper and lower ALC strips.

[0008] Furthermore, the forks gradually decrease in size towards the far end in at least the vertical direction; and when the forks apply an upward lifting force to the upper ALC strip, the upper side of the forks is adjusted to be horizontal, and the forks are reset when they are withdrawn.

[0009] Furthermore, the forks are frustoconical in shape with a cross-section that gradually narrows towards the distal end.

[0010] Furthermore, the fixed support mechanism provides fixed support to the chassis at least at the four corners, and adjusts the pitch angle of the forks by adjusting the height of the chassis.

[0011] Furthermore, the lifting device includes a main lifting mechanism and a fork drive mechanism for driving the forks to reciprocate, the fork drive mechanism being mounted on the top of the lifting power output end of the main lifting mechanism.

[0012] Furthermore, the lifting power output end is a lifting platform, the fork drive mechanism is installed on the lifting platform and is provided with a fork drive rod for driving the forks, and the lifting platform is provided with at least two support seats for supporting the fork drive rod.

[0013] Furthermore, the removal power output component is a swing arm that can be driven to swing on both sides of the fork. The removal device also includes a swing arm drive mechanism for driving the swing arm to swing. When the fork applies an upward lifting force to the upper ALC strip, the swing arm drive mechanism drives the swing arm to swing to remove the pad between the upper and lower ALC strips from the stacking area between the upper and lower ALC strips by swinging.

[0014] Furthermore, the removal device is installed on the lifting platform, and the removal power output component is a swing arm that can be driven to swing on both sides of the forks. The removal device also includes a swing arm drive mechanism for driving the swing arm to swing. When the forks apply an upward lifting force to the upper ALC strip, the swing arm drive mechanism drives the swing arm to swing to remove the pad between the upper ALC strip and the lower ALC strip from the stacking area between the upper ALC strip and the lower ALC strip by swinging.

[0015] Furthermore, it also includes an automatic control unit, comprising:

[0016] The position detection unit is used to detect the position information of the robot relative to the ALC slab stacking.

[0017] The controller receives position information from the position detection unit and drives the walking wheels to move the robot to the set position based on the position information.

[0018] Furthermore, the automatic control unit also includes:

[0019] The pressure signal detection unit is used to acquire the pressure exerted by the forks when they lift the upper ALC bar.

[0020] The controller receives the pressure signal from the pressure signal detection unit, determines the lifting status of the upper ALC strip, and issues a removal command to the removal device based on the lifting status.

[0021] The beneficial effects of this invention are as follows: By coordinating the operation of walking positioning, fork lifting, and swing arm removal, the upper ALC strip is first lifted to unload the pad, and then the pad is automatically removed, avoiding the peeling and cracking of the bottom surface of the plate caused by forced pulling, thus protecting the integrity of the ALC strip and ensuring installation quality; it replaces manual removal, eliminating safety hazards such as stack overturning and pad falling, and greatly improving lifting efficiency and safety; the fork cone design reduces insertion resistance, the fixed support has an adjustable posture to adapt to stacking, and the automatic control unit achieves precise positioning and lifting status detection, ensuring reliable operation. Attached Figure Description

[0022] The present invention will be further described below with reference to the illustrative figures and embodiments:

[0023] Figure 1 This is the working state of the lifting device of the present invention pressing against the upper ALC strip (with a pair of robots that cooperate and coordinate with each other).

[0024] Figure 2 This is a schematic diagram of the working state of the fixed support mechanism and the leveling device of the present invention so that the forks can be retracted.

[0025] Figure 3 This is a rear view of the pad removal robot.

[0026] Figure 4 This is a top view.

[0027] Among them, 1-chassis, 2-lifting device, 201-fork drive mechanism, 2011-fork drive hydraulic cylinder, 2012-fork drive rod, 2013-support seat, 202-lifting hydraulic rod, 203-lifting platform, 2031-controller, 3-removal device, 301-swing arm, 4-fork, 501-upper ALC strip, 502-lower ALC strip, 6-pad, 7-fixed support mechanism, 701-support cylinder, 702-support foot, 8-counterweight, 9-traveling mechanism, 10-position detection unit, 11-pressure signal detection unit. Detailed Implementation

[0028] This invention provides a pad removal robot for assisting in the lifting of ALC strips, comprising:

[0029] The chassis 1 is equipped with a walking mechanism 9 and a fixed support mechanism 7. The walking mechanism 9 consists of wheels that drive the robot to the work position and form a fixed support through the fixed support mechanism 7. The fixed support mechanism 7 includes multiple support cylinders 701 arranged around the chassis 1. The support cylinders 701 can extend downward and press against the ground to fix the chassis 1 in the work position. The support cylinders 701 are also equipped with rotatable support feet 702 to ensure that the support block can still maintain complete contact with the ground when the chassis 1 is in different working postures.

[0030] The lifting device 2 is installed in the middle of the chassis 1 and includes a hydraulic cylinder and a lifting hydraulic rod 202. The hydraulic cylinder is located inside the chassis 1, and the lifting hydraulic rod 202 extends vertically out of the chassis 1. The lifting device 2 also includes a fork 4 that can be driven to move back and forth along its length. The fork 4 can be lifted or lowered by the fork drive mechanism 201. The fork 4 and the fork guide mechanism are fixed on the lifting platform 203, and the lifting platform 203 is fixedly connected to the end of the lifting hydraulic rod 202.

[0031] The controller 2031 is integrated into the lifting platform 203. To balance the center of gravity, a counterweight 8 is also installed on the other side of the chassis 1.

[0032] The fork 4 is used to insert between the upper ALC strip 501 and the lower ALC strip 502, and to apply an upward lifting force to the upper ALC strip 501.

[0033] The removal device 3 is mounted on the chassis 1 via the lifting device 2. It includes a removal power output component that moves and lifts synchronously with the forks 4. The removal power output component is a small motor that drives the swing arm 301 to rotate and move.

[0034] When the forks 4 apply an upward lifting force to the upper ALC strip 501, the pad 6 used to move the upper ALC strip 501 and the lower ALC strip 502 out of the stacking area between the upper and lower ALC strips.

[0035] In this embodiment, two robots are deployed, positioned on opposite sides of the stacked slats and working synchronously. This symmetrical arrangement ensures balanced force on both sides of the slats, fundamentally eliminating the risk of tilting or tipping due to unilateral lifting. The two robots establish a communication link via an industrial wireless communication module and coordinate synchronous actions through a controller 2031, ensuring synchronized lifting of the forks 4 on both sides and synchronized sweeping by the removal devices 3 on both sides. The controller 2031 sends synchronization command frames to both sides at fixed intervals, and both sides execute corresponding actions within the same cycle upon receiving the command from the controller 2031. During synchronized sweeping, the swing arms 301 on both sides simultaneously push out the same pad 6 from both ends of the stack. The pad 6 experiences balanced force at both ends, resulting in a stable removal posture and preventing deflection or jamming in the gaps between the slats.

[0036] In this embodiment, the fork 4 gradually shrinks towards the far end in at least the vertical direction; and when the fork 4 applies an upward lifting force to the upper ALC strip 501, the upper side of the fork 4 is adjusted to be horizontal, and the fork 4 is reset when it is withdrawn.

[0037] The reset state is such that the support cylinder 701 keeps the chassis 1 in a horizontal state, and the axis of the fork 4 is also in a horizontal state.

[0038] In this embodiment, the fork 4 is a frustum-shaped cross-section that gradually narrows towards the distal end.

[0039] In this embodiment, the fixed support mechanism 7 provides fixed support to the chassis 1 at least at four corners, and adjusts the pitch angle of the forks 4 by adjusting the height of the chassis 1. Figure 4 As shown, this design includes four corner-positioned support cylinders 701. When the forks 4 need to support the upper ALC slats 501, the two support cylinders 701 closest to the slat stack are raised moderately, while the two support cylinders 701 furthest from the slat stack are lowered moderately, causing the chassis 1 to tilt. This simultaneously drives the forks 4, making the upper generatrix of the forks 4 parallel to the bottom surface of the upper ALC slats 501, forming line contact. Line contact provides sufficient support force and avoids excessive friction from the upper ALC slats 501 caused by surface contact, which would make it difficult for the forks 4 to withdraw from the slat area.

[0040] In this embodiment, the lifting device 2 includes a main lifting mechanism and a fork drive mechanism 201 for driving the forks 4 to reciprocate. The fork drive mechanism 201 is mounted on the lifting platform 203 and includes a fork drive hydraulic cylinder 2011 and a fork drive rod 2012. The fork drive rod 2012 is also reinforced by a support base 2013. The support base 2013 is a semi-circular metal ring that is semi-arc-shaped and fastened to the hydraulic rod. The two ends of the semi-circular metal ring are fixed to the lifting platform 203. The support base 2013 can disperse the force of the hydraulic rod of the fork drive mechanism 201, reducing the impact of the component force generated by the ALC strip when the forks 4 are removed from the ALC strip area where the pad block 6 has been removed on the hydraulic cylinder of the fork drive mechanism 201.

[0041] In this embodiment, the lifting power output end is a lifting platform 203. The fork drive mechanism 201 is installed on the lifting platform 203 and is provided with a fork drive rod for driving the forks 4. The lifting platform 203 is provided with at least two support seats for supporting the fork drive rod. The main lifting platform includes a lifting hydraulic rod and a platform.

[0042] In this embodiment, the removal power output component is a swing arm 301 that can be driven to swing on both sides of the split fork 4, such as... Figure 4 As shown, the position of the swing arm 301, located on the outer side of the fork 4, reduces the risk of interference between the fork 4 and the swing arm 301 compared to its position on the inner side of the fork 4, while also reducing the required length of the swing arm 301. The removal device 3 also includes a swing arm drive mechanism for driving the swing arm 301 to swing; when the fork 4 applies an upward lifting force to the upper ALC strip 501, the swing arm drive mechanism drives the swing arm 301 to swing, thereby removing the pad 6 between the upper ALC strip 501 and the lower ALC strip 502 from the stacking area between the upper and lower ALC strips by swinging.

[0043] The cross-sectional and length dimensions of the swing arm 301 are smaller than those of the fork 4, so as to avoid the fork 4 being disturbed by the movement of the swing arm 301 when it is inserted between the upper ALC strip 501 and the lower ALC strip 502.

[0044] In this embodiment, the removal device 3 is installed on the lifting platform 203, and the removal power output component is a swing arm 301 that can be driven to swing on both sides of the fork 4. The removal device 3 also includes a swing arm drive mechanism for driving the swing arm 301 to swing. When the fork 4 applies an upward lifting force to the upper ALC strip 501, the swing arm drive mechanism drives the swing arm 301 to swing to remove the pad 6 between the upper ALC strip 501 and the lower ALC strip 502 from the stacking area between the upper ALC strip 501 and the lower ALC strip 502 by swinging.

[0045] This embodiment also includes an automatic control unit, comprising:

[0046] The position detection unit 10 is used to detect the position information of the robot relative to the ALC stack of strips; the information detection unit is a laser rangefinder, which can rotate and transmit distance information to the controller 2031. The information detection unit is set on the left and right sides of the fork 4 and is located behind the removal power output component. At the same time, the laser starting point of the laser rangefinder is higher than the power output component and the swing arm 301 to avoid interference.

[0047] The controller 2031 is used to receive the position information from the position detection unit 10 and drive the walking wheels to move the robot to the set position according to the position information.

[0048] In this embodiment, the automatic control unit further includes:

[0049] The pressure signal detection unit 11 is used to obtain the pressure borne by the fork 4 when lifting the upper ALC strip 501. The pressure signal detection unit 11 is set between the lifting platform 203 and the fork drive mechanism 201 and can detect the vertical force on the fork drive mechanism 201.

[0050] The controller 2031 receives the pressure signal from the pressure signal detection unit 11, determines the lifting state of the upper ALC strip 501, and issues a removal command to the removal device 3 based on the lifting state.

[0051] In this embodiment, a traveling mechanism 9 is also included. The traveling mechanism 9 is four-wheel drive, and the length direction of the forks 4 is perpendicular to the straight-line forward direction of the traveling mechanism 9. The traveling mechanism 9 uses solid rubber tires, which provide better ground adhesion than pneumatic tires. When the forks 4 are withdrawn, although the chassis 1 is locked by the fixed support mechanism 7, the arrangement of the traveling mechanism 9 provides additional safety. The rolling direction of its wheels is perpendicular to the withdrawal direction of the forks 4, and the lateral friction provided by the ground to the chassis 1 forms a solid foundation to resist the withdrawal reaction force.

[0052] The working steps of the present invention are illustrated by the following example:

[0053] S1: The chassis 1 is moved to the working position by the walking mechanism 9 and the position detection unit 10, and the chassis 1 is locked to the ground by the fixed support mechanism 7;

[0054] S2: Lift the fork 4 to the predetermined height, then extend the fork 4 and insert it between the upper ALC strip 501 and the lower ALC strip 502; the two support cylinders 701 close to the strip stack are raised appropriately, while the two support cylinders 701 far from the strip stack are lowered appropriately, so that the chassis 1 tilts, and at the same time drives the fork 4, so that the upper generatrix of the fork 4 is parallel to the bottom surface of the upper ALC strip 501, forming line contact;

[0055] S3: Control the lifting device 2 to lift, the pressure on the pad 6 from the upper ALC strip 501 decreases, read the pressure signal in real time, and the pressure value gradually increases proportionally until the pressure value increases proportionally and there is no obvious fluctuation. At this time, the pressure is released and the pad 6 can be removed.

[0056] S4: Control the swing arm 301 of the removal device 3 to rotate, and smoothly sweep the unloaded pad 6 out of the stacking area from the side;

[0057] S5: The fork 4 is slowly pulled out. At this time, the support cylinder 701 returns to the center, and the chassis 1 gradually returns to the center. At this time, the conical shape of the fork 4 causes the pressure from the upper ALC strip 501 to generate a component force that pushes the fork 4 away from the stack, effectively preventing the fork 4 from getting stuck in the stack.

[0058] S6: Control the fork drive lever 2012 to retract smoothly, completing one work cycle.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application, and all such modifications or substitutions should be covered within the scope of the claims of this application.

Claims

1. A block removal robot for assisting in the lifting of ALC strips, characterized in that: include: The chassis is equipped with a walking mechanism and a fixed support mechanism. The walking mechanism is used to drive the robot to the working position and form a fixed support through the fixed support mechanism. The lifting device, mounted on the chassis, includes forks that can be driven to reciprocate along the length direction. The forks can be driven to be raised or lowered to insert between the upper ALC bar and the lower ALC bar and to apply an upward lifting force to the upper ALC bar. The removal device, mounted on the chassis, includes a removal power output that moves and lifts synchronously with the forks. When the forks apply an upward lifting force to the upper ALC strip, it is used to remove the pad between the upper and lower ALC strips from the stacking area between the upper and lower ALC strips.

2. The pad removal robot for assisting ALC strip lifting according to claim 1, characterized in that: The forks gradually decrease in size towards the far end in at least the vertical direction; and when the forks apply an upward lifting force to the upper ALC strip, the upper side of the forks is adjusted to be horizontal, and the forks are reset when they are removed.

3. The pad removal robot for assisting ALC strip lifting according to claim 2, characterized in that: The forks are frustoconical in shape with a cross-section that gradually narrows towards the distal end.

4. The pad removal robot for assisting ALC strip lifting according to claim 2, characterized in that: The fixed support mechanism provides fixed support to the chassis at least at the four corners, and adjusts the pitch angle of the forks by adjusting the height of the chassis.

5. The pad removal robot for assisting ALC strip lifting according to claim 2, characterized in that: The lifting device includes a main lifting mechanism and a fork drive mechanism for driving the forks to reciprocate. The fork drive mechanism is installed on the top of the lifting power output end of the main lifting mechanism.

6. The pad removal robot for assisting ALC strip lifting according to claim 5, characterized in that: The lifting power output end is a lifting platform. The fork drive mechanism is installed on the lifting platform and is provided with a fork drive rod for driving the forks. The lifting platform is provided with at least two support seats for supporting the fork drive rod.

7. The pad removal robot for assisting ALC strip lifting according to claim 1, characterized in that: The removal power output component is a swing arm that can be driven to swing on both sides of the forks. The removal device also includes a swing arm drive mechanism for driving the swing arm to swing. When the forks apply an upward lifting force to the upper ALC strip, the swing arm drive mechanism drives the swing arm to swing to remove the pad between the upper and lower ALC strips from the stacking area between the upper and lower ALC strips by swinging.

8. The pad removal robot for assisting ALC strip lifting according to claim 6, characterized in that: The removal device is installed on the lifting platform. The removal power output component is a swing arm that can be driven to swing on both sides of the forks. The removal device also includes a swing arm drive mechanism for driving the swing arm to swing. When the forks apply an upward lifting force to the upper ALC strip, the swing arm drive mechanism drives the swing arm to swing to remove the pad between the upper ALC strip and the lower ALC strip from the stacking area between the upper ALC strip and the lower ALC strip by swinging.

9. The pad removal robot for assisting ALC strip lifting according to claim 1, characterized in that: It also includes an automatic control unit, including: The position detection unit is used to detect the position information of the robot relative to the ALC slab stacking. The controller receives position information from the position detection unit and drives the walking mechanism to move the robot to the set position based on the position information.

10. The pad removal robot for assisting ALC strip lifting according to claim 1, characterized in that: The automatic control unit also includes: The pressure signal detection unit is used to acquire the pressure exerted by the forks when they lift the upper ALC bar. The controller receives the pressure signal from the pressure signal detection unit, determines the lifting status of the upper ALC strip, and issues a removal command to the removal device based on the lifting status.

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