Wallboard moving robot

Abstract

The utility model relates to a wallboard moving robot which comprises a chassis, a swing arm, a sliding assembly, a rotary table and a mechanical arm. The chassis is suitable for executing moving actions; the swing arm is hinged to the chassis along the front-back axis so that the swing arm can be folded or erected relative to the chassis. The sliding assembly is connected with the swing arm and the rotary table so as to drive the rotary table to slide in the length direction and the width direction of the swing arm. The wallboard moving robot has the beneficial effects that the wallboard moving robot is used for grabbing and moving the wallboards, and then the wallboards can be conveyed to the mounting position from the storage position; a hardware foundation is provided for automatic movement and automatic installation of the wallboards; the wallboard moving robot provided by the utility model can execute more actions, so that the wallboard moving robot has better use flexibility.

Description

Technical Field

[0001] The utility model relates to the technical field of prefabricated wall panel installation, in particular to a wall panel mobile robot. Background Art

[0002] Since the storey height and plane dimensions of residential buildings are universal and repetitive, prefabricated wall panels are an important part of the "industrialization and generalization of components and parts". They are the most standardized and most suitable part of residential buildings for prefabricated assembly design and construction. They have positive significance for promoting the rapid promotion of building industrialization technology. As for the convenience of wall panel installation, the feasibility of realizing "prefabricated buildings", effectively improving the efficiency of the construction industry and reducing labor costs, and replacing manual labor with machinery are key links that cannot be avoided in future house construction. The mobile robot for wall panel installation is the key machine for realizing the mechanized installation of wall panels.

[0003] The actions that the existing wall panel mobile robot can perform are limited to grabbing wall panels, adjusting the longitudinal clamping height of wall panels and moving wall panels, resulting in poor flexibility in use. This utility model aims to propose a highly flexible and adaptable wall panel mobile robot to provide support for the movement and assembly process of prefabricated wall panels. Utility Model Content

[0004] 1. Technical issues to be resolved

[0005] In view of the above-mentioned shortcomings and deficiencies of the prior art, the utility model provides a wall panel mobile robot, which solves the technical problem of poor flexibility in use of the wall panel mobile robot in the prior art.

[0006] (II) Technical solution

[0007] In order to achieve the above-mentioned purpose, the main technical solutions adopted by the utility model include:

[0008] In the first aspect, the utility model provides a wall panel moving robot, comprising a chassis, a swing arm, a sliding assembly, a turntable and a manipulator; the chassis is suitable for performing moving actions; the swing arm is hinged to the chassis along a front-rear axis so that the swing arm can be folded or erected relative to the chassis; the sliding assembly is respectively connected to the swing arm and the turntable to drive the turntable to slide along the length and width directions of the swing arm; the manipulator is connected to the turntable and is used to clamp the wall panel, and the turntable can drive the manipulator to rotate along the thickness direction axis of the swing arm.

[0009] In a technical solution of the utility model, the wall panel mobile robot also includes a swing drive component for driving the swing arm to swing relative to the chassis; the swing drive component includes a first telescopic rod, and both ends of the first telescopic rod are respectively hinged to the swing arm and the chassis along the front and rear axis.

[0010] In a technical solution of the utility model, the sliding assembly includes a first slide and a second slide, the first slide is slidably connected to the swing arm along the length direction of the swing arm, and the second slide is slidably connected to the first slide along the width direction of the swing arm.

[0011] In a technical solution of the present invention, the sliding assembly also includes a first sliding drive member and a second sliding drive member; the first sliding drive member includes a rack connected to the swing arm, a first rotating drive member supported on the first slide, and a gear connected to the power output end of the first rotating drive member, the gear is meshed with the rack, and the rack extends along the length direction of the swing arm; the second sliding drive member includes a second telescopic rod, and both ends of the second telescopic rod are respectively fixed on the first slide and the second slide; the second telescopic rod extends along the width direction of the swing arm.

[0012] In one technical solution of the utility model, the turntable includes a second rotating drive member and a self-locking operating mechanism, the manipulator is supported on the self-locking operating mechanism, and the second rotating drive member is drivingly connected to the torque input end of the self-locking operating mechanism; the self-locking operating mechanism includes a worm wheel and a worm, and the worm wheel and the worm are directly or indirectly rotationally connected to the second slide, and the worm wheel and the worm are meshed, the manipulator is connected to the worm wheel, and the worm is connected to the torque output end of the second rotating drive member; the turntable also includes a shell supported on the manipulator and / or the second slide, and the shell cover is arranged outside the self-locking operating mechanism.

[0013] In a technical solution of the utility model, the chassis includes a body, the body is provided with a receiving groove along its length direction, and one end of the swing arm is hinged in the receiving groove to accommodate the swing arm when the swing arm is folded relative to the chassis.

[0014] In a technical solution of the utility model, the chassis also includes running wheels connected to the bottom of the main body to drive the main body to perform movement and turning actions.

[0015] In one technical solution of the utility model, the chassis also includes a support wheel connected to the bottom of the main body and located outside the outline formed by the connecting line of the running wheels. The running wheels are located on the side close to the wall panel to balance the center of gravity of the main body when the manipulator clamps the wall panel.

[0016] In a technical solution of the utility model, the chassis further comprises a counterweight portion connected to a side of the main body away from the swing arm.

[0017] In a technical solution of the utility model, the swing arm includes a frame and a reinforcement beam, the frame forms a rectangular structure, and the reinforcement beam is arranged in the frame at intervals along the width direction of the frame.

[0018] (III) Beneficial effects

[0019] The beneficial effect of the utility model is that the wall panel mobile robot of the utility model is used to grab and move the wall panel, and then can transport the wall panel from the storage position to the installation position, thereby providing a hardware basis for the automated movement and automated installation of the wall panel.

[0020] The chassis serves as a mobile body, which is used to make the wall panel mobile robot move as a whole. The swing arm can be folded or erected relative to the chassis, thereby facilitating the storage of the wall panel mobile robot and reducing its space occupancy during transportation. At the same time, it can also support the use of the wall panel mobile robot in relatively small space usage scenarios, thereby improving its flexibility of use.

[0021] The sliding assembly can drive the manipulator to slide on two axes, so that the manipulator can slide along the width direction of the swing arm within a certain range without moving the chassis, thereby enabling the manipulator to have better flexibility both in the clamping process and the wall panel assembly process.

[0022] Since the movement frequency of the chassis can be reduced, the overall accuracy of the wall panel mobile robot will be higher, thereby improving the use effect of the robot.

[0023] At the same time, the manipulator can also slide along the length of the swing arm to adjust the vertical position of the manipulator, which also improves the flexibility of the manipulator.

[0024] The turntable can drive the manipulator to rotate. During the wall panel clamping process, since most wall panels are placed horizontally, the turntable can adjust the manipulator to a horizontal state to match the clamping conditions. During the wall panel assembly process, no matter whether the wall panel assembly requirements are vertical or horizontal, the manipulator can make corresponding adjustments under the drive of the turntable, thereby further improving the use flexibility of the wall panel mobile robot.

[0025] The wall panel mobile robot provided by the utility model can perform more actions and thus has better flexibility of use. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is one of the structural schematic diagrams of the wall panel mobile robot of the utility model;

[0027] Figure 2 This is the second structural schematic diagram of the wall panel mobile robot of the utility model;

[0028] Figure 3 This is the third structural schematic diagram of the wall panel mobile robot of the utility model;

[0029] Figure 4 This is the fourth structural schematic diagram of the wall panel mobile robot of the utility model;

[0030] Figure 5 For this utility model Figure 1 A schematic diagram of the local enlarged structure at X in the middle;

[0031] Figure 6 For this utility model Figure 4 Schematic diagram of the local enlarged structure at Y in the middle.

[0032] [Description of Reference Numerals]

[0033] 1: chassis; 11: body; 100: receiving slot; 12: running wheel; 13: supporting wheel; 14: counterweight;

[0034] 2: swing arm; 21: frame; 22: reinforcement beam;

[0035] 3: sliding assembly; 31: first slide; 32: second slide;

[0036] 33: first sliding driving member; 331: rack; 332: first rotating driving member; 333: gear;

[0037] 34: second sliding driving member; 341: second telescopic rod;

[0038] 4: turntable; 41: second rotation driving member; 42: housing;

[0039] 5: Robotic arm;

[0040] 6: swing driving member; 61: first telescopic rod. DETAILED DESCRIPTION

[0041] In order to better explain the present invention and facilitate understanding, the following Figure 1-6 , the utility model is described in detail through specific implementation methods. Among them, the directional nouns such as "upper" and "lower" mentioned in this article are Figure 1 The orientation is used as a reference.

[0042] Embodiment 1:

[0043] Reference Figure 1-Figure 6 An embodiment of the utility model provides a wall panel moving robot, comprising a chassis 1, a swing arm 2, a sliding assembly 3, a turntable 4 and a manipulator 5; the chassis 1 is suitable for performing moving actions; the swing arm 2 is hinged to the chassis 1 along the front-rear axis so that the swing arm 2 can be folded or erected relative to the chassis 1; the sliding assembly 3 is respectively connected to the swing arm 2 and the turntable 4 to drive the turntable 4 to slide along the length direction and width direction of the swing arm 2; the manipulator 5 is connected to the turntable 4 and is used to clamp the wall panel, and the turntable 4 can drive the manipulator 5 to rotate along the thickness direction axis of the swing arm 2.

[0044] In this embodiment, the wall panel mobile robot is used to grab and move the wall panel, and then the wall panel can be transported from the storage position to the installation position, thereby providing a hardware foundation for the automated movement and automated installation of the wall panel. The chassis 1 is used as a mobile body to move the wall panel mobile robot as a whole. The swing arm 2 can be folded or erected relative to the chassis 1, thereby facilitating the storage of the wall panel mobile robot and reducing the space occupied during its transportation. At the same time, it can also support the use of the wall panel mobile robot in a relatively small space usage scenario, thereby improving its flexibility of use. The sliding component 3 can drive the manipulator 5 to slide on two axes, so that the manipulator 5 can slide along the width direction of the swing arm 2 within a certain range without moving the chassis 1, thereby enabling the manipulator 5 to have better flexibility in both the clamping process and the wall panel assembly process. Since the movement frequency of the chassis 1 can be reduced, the overall accuracy of the wall panel mobile robot will also be higher, thereby improving the use effect of the robot. At the same time, the manipulator 5 can also slide along the length direction of the swing arm 2, thereby adjusting the vertical position of the manipulator 5, thereby also improving the flexibility of use of the manipulator 5. The turntable 4 can drive the manipulator 5 to rotate. During the wall panel clamping process, since most of the wall panels are placed horizontally, the turntable 4 can adjust the manipulator 5 to a horizontal state to match the clamping condition; during the wall panel assembly process, no matter whether the wall panel assembly requirements are vertical or horizontal, the manipulator 5 can make corresponding adjustments under the drive of the turntable 4, thereby further improving the use flexibility of the wall panel mobile robot.

[0045] Specifically, the wall panel is a prefabricated wall panel, and the manipulator 5 includes a base, a width clamping unit and a thickness clamping unit connected to the base, the width clamping unit can clamp the wall panel in the width direction of the wall panel, and the thickness clamping unit can press the wall panel against the working surface of the base.

[0046] The swing arm 2 includes a frame 21 and a reinforcing beam 22. The frame 21 is surrounded by a rectangular structure, and the reinforcing beam 22 is arranged in the frame 21 at intervals along the width direction of the frame 21. In this way, while ensuring the strength of the swing arm 2, the curb weight of the swing arm 2 can be reduced.

[0047] In this embodiment, the wall panel mobile robot also includes a swing driving component 6 for driving the swing arm 2 to swing relative to the chassis 1; the swing driving component 6 includes a first telescopic rod 61, and the two ends of the first telescopic rod 61 are respectively hinged to the swing arm 2 and the chassis 1 along the front and rear axis. Under the action of the first telescopic rod 61, the swing arm 2 can swing relative to the chassis 1, change the angle of the swing arm 2, and improve the use flexibility of the wall panel mobile robot.

[0048] In this embodiment, the sliding assembly 3 includes a first slide 31 and a second slide 32. The first slide 31 is slidably connected to the swing arm 2 along the length direction of the swing arm 2, and the second slide 32 is slidably connected to the first slide 31 along the width direction of the swing arm 2. The sliding assembly 3 also includes a first sliding drive member 33 and a second sliding drive member 34; the first sliding drive member 33 includes a rack 331 connected to the swing arm 2, a first rotating drive member 332 supported on the first slide 31, and a gear 333 connected to the power output end of the first rotating drive member 332, the gear 333 is meshed with the rack 331, and the rack 331 extends along the length direction of the swing arm 2; the second sliding drive member 34 includes a second telescopic rod 341, and the two ends of the second telescopic rod 341 are respectively fixed to the first slide 31 and the second slide 32; the second telescopic rod 341 extends along the width direction of the swing arm 2.

[0049] In this embodiment, the sliding assembly 3 provides a hardware foundation for two-axis sliding of the turntable 4 and the manipulator 5 through the cooperation of the first slide 31 and the second slide 32. The first slide 31 establishes a sliding connection with the swing arm 2 through the slide rail. When the first rotating drive member 332 is running, the gear 333 rotates. Since the first rotating drive member 332 is supported on the first slide 31, with the cooperation of the gear 333 and the rack 331, the first slide 31 will slide along the length direction of the swing arm 2, thereby changing the height of the manipulator 5.

[0050] Specifically, the first rotating drive member 332 can be a low-speed motor with its own reduction gearbox, which can use the reduction effect of the reduction gearbox to limit the position between the first slide 31 and the swing arm 2; or the first rotating drive member 332 can be equipped with a self-locking mechanism.

[0051] The second slide 32 is slidably connected to the first slide 31 via a slide rail. Driven by the second telescopic rod 341, the second slide 32 can drive the turntable 4 and the manipulator 5 to slide along the width direction of the swing arm 2, thereby improving the use flexibility of the manipulator 5.

[0052] Specifically, the first telescopic rod 61 and the second telescopic rod 341 can be configured as a pneumatic cylinder or a hydraulic cylinder with a pressure-maintaining function, or can be configured as an electric telescopic member.

[0053] In this embodiment, the turntable 4 includes a second rotating drive member 41 and a self-locking operating mechanism, the manipulator 5 is supported on the self-locking operating mechanism, and the second rotating drive member 41 is drivingly connected to the torque input end of the self-locking operating mechanism; the self-locking operating mechanism includes a worm wheel and a worm, and the worm wheel and the worm are directly or indirectly rotationally connected to the second slide 32, and the worm wheel and the worm are meshed, the manipulator 5 is connected to the worm wheel, and the worm is connected to the torque output end of the second rotating drive member 41; the turntable 4 also includes a shell 42 supported on the manipulator 5 and / or the second slide 32, and the shell 42 is covered outside the self-locking operating mechanism.

[0054] In this embodiment, the turntable 4 can drive the manipulator 5 to perform a rotation action. The turntable 4 has a self-locking function. The worm is driven to rotate through the second rotating drive member 41, and the worm is then driven to rotate through the worm. By setting the design parameters of the worm gear to a one-way transmission form, the manipulator 5 with a heavier mass can reliably maintain its position and angle after clamping the wall panel, thereby improving the reliability of the manipulator 5.

[0055] The housing 42 can provide protection for the worm wheel and the worm shaft to prevent the worm wheel and the worm shaft from being contaminated.

[0056] In this embodiment, the chassis 1 includes a main body 11 , and a receiving groove 100 is formed along the length direction of the main body 11 . One end of the swing arm 2 is hinged in the receiving groove 100 to accommodate the swing arm 2 when the swing arm 2 is folded relative to the chassis 1 .

[0057] By providing the receiving groove 100 on the main body 11 , the swing arm 2 can have a lower longitudinal height after being folded relative to the chassis 1 , thereby further improving the compactness of the wall panel mobile robot after the swing arm 2 is folded.

[0058] The chassis 1 further includes running wheels 12 connected to the bottom of the body 11 to drive the body 11 to move and turn.

[0059] The running wheels 12 are self-driving wheels, which are evenly distributed at the bottom of the body 11 in the circumferential direction. If four running wheels 12 are provided, the running wheels 12 can drive the body 11 to turn by the speed difference. The chassis 1 also includes a support wheel 13 connected to the bottom of the body 11 and located outside the outline formed by the connecting line of the running wheels 12, so as to balance the center of gravity of the body 11 when the manipulator 5 clamps the wall panel. The support wheel 13 is provided on the side close to the wall panel to better balance the center of gravity of the wall panel moving robot of the chassis 1.

[0060] At the same time, the chassis 1 also includes a counterweight portion 14 connected to the side of the body 11 away from the swing arm 2 to better balance the center of gravity of the wall panel mobile robot and improve the stability of the wall panel mobile robot.

[0061] Specifically, the counterweight part 14 and the supporting wheel 13 may exist independently or simultaneously, preferably simultaneously, so as to further improve the stability of the wall panel mobile robot during use.

[0062] In the description of the present utility model, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0063] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0064] In the present utility model, unless otherwise clearly specified and limited, when a first feature is “on” or “below” a second feature, it may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, when a first feature is “above”, “above” or “above” a second feature, it may be that the first feature is directly above or obliquely above the second feature, or it may simply mean that the first feature is higher in level than the second feature. When a first feature is “below”, “below” or “below” a second feature, it may be that the first feature is directly below or obliquely below the second feature, or it may simply mean that the first feature is lower in level than the second feature.

[0065] The term "comprise" or any other similar term is intended to cover a non-exclusive inclusion, such that a process, article, or apparatus / device that includes a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, article, or apparatus / device.

[0066] So far, the technical solution of the present invention has been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

Claims

1. A wall panel mobile robot, characterized in that: It comprises a chassis (1), a swing arm (2), a sliding assembly (3), a rotating table (4) and a manipulator (5); The chassis (1) is suitable for performing a moving action; the swing arm (2) is hinged to the chassis (1) along a front-rear axis so that the swing arm (2) can be folded or erected relative to the chassis (1); The sliding assembly (3) is respectively connected to the swing arm (2) and the turntable (4) to drive the turntable (4) to slide along the length direction and width direction of the swing arm (2); The manipulator (5) is connected to the turntable (4) and is used to clamp the wall panel. The turntable (4) can drive the manipulator (5) to rotate along the axis in the thickness direction of the swing arm (2).

2. The wall panel mobile robot according to claim 1, characterized in that: The wall panel moving robot also includes a swing driving member (6) for driving the swing arm (2) to swing relative to the chassis (1); the swing driving member (6) includes a first telescopic rod (61), and the two ends of the first telescopic rod (61) are respectively hinged to the swing arm (2) and the chassis (1) along the front and rear axis.

3. The wall panel mobile robot according to claim 2, characterized in that: The sliding assembly (3) comprises a first slide (31) and a second slide (32), wherein the first slide (31) is slidably connected to the swing arm (2) along the length direction of the swing arm (2), and the second slide (32) is slidably connected to the first slide (31) along the width direction of the swing arm (2).

4. The wall panel mobile robot according to claim 3, characterized in that: The sliding assembly (3) further comprises a first sliding driving member (33) and a second sliding driving member (34); The first sliding driving member (33) comprises a rack (331) connected to the swing arm (2), a first rotating driving member (332) supported on the first slide (31), and a gear (333) connected to the power output end of the first rotating driving member (332), the gear (333) meshing with the rack (331), and the rack (331) extending along the length direction of the swing arm (2); The second sliding driving member (34) comprises a second telescopic rod (341), the two ends of which are respectively fixed on the first slide platform (31) and the second slide platform (32); the second telescopic rod (341) extends along the width direction of the swing arm (2).

5. The wall panel moving robot according to claim 4, characterized in that: The turntable (4) comprises a second rotation driving member (41) and a self-locking operating mechanism, the manipulator (5) is supported on the self-locking operating mechanism, and the second rotation driving member (41) is drivingly connected to a torque input end of the self-locking operating mechanism; The self-locking operation mechanism comprises a worm wheel and a worm, the worm wheel and the worm are directly or indirectly rotationally connected to the second slide (32), and the worm wheel and the worm are meshed, the manipulator (5) is connected to the worm wheel, and the worm is connected to the torque output end of the second rotation drive member (41); The turntable (4) further comprises a shell (42) supported on the manipulator (5) and / or the second slide (32), and the shell (42) is arranged outside the self-locking operation mechanism.

6. The wall panel moving robot according to claim 1, characterized in that: The chassis (1) comprises a main body (11), wherein the main body (11) is provided with a receiving groove (100) along its length direction, and one end of the swing arm (2) is hinged in the receiving groove (100) so as to receive the swing arm (2) when the swing arm (2) is folded relative to the chassis (1).

7. The wall panel moving robot according to claim 6, characterized in that: The chassis (1) further comprises running wheels (12) connected to the bottom of the body (11) so as to drive the body (11) to move and turn.

8. The wall panel moving robot according to claim 7, characterized in that: The chassis (1) further comprises a support wheel (13) connected to the bottom of the body (11) and located outside the outline formed by the connecting line of the running wheels (12), wherein the running wheels (12) are located on a side close to the wall panel so as to balance the center of gravity of the body (11) when the manipulator (5) clamps the wall panel.

9. The wall panel moving robot according to any one of claims 6 to 8, characterized in that: The chassis (1) further comprises a counterweight portion (14) connected to a side of the body (11) away from the swing arm (2).

10. The wall panel moving robot according to claim 9, characterized in that: The swing arm (2) comprises a frame (21) and a reinforcing beam (22); the frame (21) forms a rectangular structure; and the reinforcing beam (22) is arranged in the frame (21) at intervals along the width direction of the frame (21).

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