Automatic grabbing mechanical arm for curtain wall plates in curtain wall engineering

Abstract

The utility model relates to the technical field of automatic grabbing of curtain wall plates in curtain wall engineering, in particular to an automatic grabbing mechanical arm for curtain wall plates in curtain wall engineering, which is provided with a fixing mechanism and a climbing mechanism, so that in the automatic grabbing process of the curtain wall plates in curtain wall engineering, the automatic grabbing of the curtain wall plates in curtain wall engineering is realized. The equipment can be transported at a higher position by randomly increasing the length of the rail; comprising a fixing mechanism; the device comprises a fixing mechanism and further comprises two climbing mechanisms, two limiting mechanisms, an adsorption mechanism, two driving mechanisms and two transmission mechanisms, the two climbing mechanisms are slidably installed on the fixing mechanism, one limiting mechanism is installed at the front end of each climbing mechanism, the adsorption mechanism is installed on the two climbing mechanisms, one driving mechanism is installed on each climbing mechanism, and the transmission mechanisms are installed on the two driving mechanisms. A group of transmission mechanism is mounted on each group of limiting mechanism; the fixing mechanism is used for fixing, the climbing mechanism is used for climbing, the limiting mechanism is used for limiting, the adsorption mechanism is used for adsorption, the driving mechanism is used for driving, and the transmission mechanism is used for transmission.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic grabbing of curtain wall panels in curtain wall engineering, in particular to an automatic grabbing mechanical arm for curtain wall panels in curtain wall engineering. Background Art

[0002] Curtain wall panels refer to plate-like materials that serve as decoration and thermal insulation functions in exterior wall buildings.

[0003] In the existing automatic grasping mechanical arm for curtain wall panels of curtain wall projects, for example, the utility model patent with application number 202410350426.3 discloses an automatic grasping mechanical arm for curtain wall panels of curtain wall projects. This invention uses the robot to carry relevant sensors, so that the robot has the functions of distance measurement, visual positioning, posture measurement, pressure perception, environmental monitoring, etc., which is more accurate and intelligent during the curtain wall installation implementation process; it can automatically warn of emergencies during the installation process, and the installation is safer and more efficient; through the research and development of this curtain wall installation robot, the task of installing curtain wall glass outdoors can be transferred to indoors, making the installation operation safer. The present invention can reduce the labor cost of curtain wall installation to 1 / 4~1 / 3, increase the efficiency of curtain wall installation construction by 2~3 times, reduce the risk of high-altitude operations, and greatly improve construction safety.

[0004] However, during the automatic grabbing process of curtain wall panels in curtain wall projects, there is a distance limitation when the equipment transports the curtain wall panels upwards, which makes it impossible to transport them to higher places. Utility Model Content

[0005] In order to solve the above technical problems, the utility model provides an automatic grabbing robot arm for curtain wall panels of curtain wall projects, which is equipped with a fixing mechanism and a climbing mechanism, so that during the automatic grabbing process of curtain wall panels of curtain wall projects, the track length can be increased at will so that the equipment can be transported to a higher place.

[0006] The utility model discloses an automatic grabbing mechanical arm for curtain wall panels of curtain wall engineering, comprising a fixing mechanism; two sets of climbing mechanisms, two sets of limiting mechanisms, an adsorption mechanism, two sets of driving mechanisms and two sets of transmission mechanisms, wherein the two sets of climbing mechanisms are slidably mounted on the fixing mechanism, a set of limiting mechanisms are mounted at the front end of each set of climbing mechanisms, the adsorption mechanism is mounted on the two sets of climbing mechanisms, a set of driving mechanisms are mounted on each set of climbing mechanisms, and a set of transmission mechanisms are mounted on each set of limiting mechanisms;

[0007] The fixing mechanism is used for fixing, the climbing mechanism is used for climbing, the limiting mechanism is used for limiting, the adsorption mechanism is used for adsorption, the driving mechanism is used for driving, and the transmission mechanism is used for transmission; the fixing mechanism is used to fix the material, the climbing mechanism is used to climb, the limiting mechanism is used to limit, the material is adsorbed by opening the adsorption mechanism, the driving mechanism is used for driving, and the transmission mechanism is used for transmission; the material is fixed to the wall by the fixing mechanism, the adsorption mechanism is driven by opening the driving mechanism so that the adsorption mechanism cooperates with the transmission mechanism to press down and cover, and the limiting mechanism is used at the same time, the material is limited by opening the adsorption mechanism, the material is vertically adsorbed by retrieving the driving mechanism, and the material is transported by opening the climbing mechanism, so that during the automatic grabbing process of the curtain wall panels of the curtain wall project, the equipment can be transported to a higher place by arbitrarily increasing the track length.

[0008] Preferably, the fixing mechanism includes a clamping frame, a screw, a clamping plate and two sets of rack guides. The screw is installed at the rear end of the clamping frame through threaded engagement, the clamping plate is rotatably installed on the screw, and the two sets of rack guides are installed on the clamping frame; the screw is rotated to threadably engage with the clamping frame so that the screw drives the clamping plate to clamp the wall to fix the equipment.

[0009] Preferably, the climbing mechanism includes an equipment frame, two sets of rollers, two sets of gears and a motor. The equipment frame is slidably mounted on a rack guide rail, the two sets of rollers are rotatably mounted on the equipment frame, the two sets of gears are rotatably mounted on the equipment frame, and both sets of gears are meshed with the rack guide rail. The motor is mounted on the equipment frame, and the output end of the motor is connected to the input end of a set of gears. The gears are rotated by turning on the motor to transmit the transmission. The gears rotate and mesh with the rack guide rail at the same time to cause the equipment frame to be raised or lowered.

[0010] Preferably, the limiting mechanism includes two sets of telescopic rods, vertical rods and limiting plates, the two sets of telescopic rods are installed on the equipment frame, the vertical rods are sleeved in the two sets of telescopic rods, and the limiting plates are slidably installed on the vertical rods; the position of the limiting plates is limited by the telescopic rods and the vertical rods cooperating with the movement of the limiting plates.

[0011] Preferably, the adsorption mechanism includes a rotating frame, a negative pressure bin, multiple groups of suction cups and an air pump. The rotating frame is rotatably mounted on two groups of limit plates, the negative pressure bin is mounted on the rotating frame, multiple groups of suction cups are mounted at the lower end of the negative pressure bin, and the air pump is mounted at the upper end of the negative pressure bin. By turning on the air pump, negative pressure is created in the negative pressure bin, so that the suction cups adsorb the material.

[0012] Preferably, the driving mechanism includes a driving plate and a telescopic cylinder, the driving plate is rotatably mounted on the equipment frame, and the driving plate is rotatably connected to the limit plate, the telescopic cylinder is rotatably mounted on the equipment frame, and the telescopic cylinder is rotatably connected to the driving plate; the driving plate is driven by opening the telescopic cylinder so that the driving plate cooperates with the limit plate to drive the rotating frame.

[0013] Preferably, the transmission mechanism includes sprocket one, sprocket two, a chain, a slave gear and a main gear, sprocket one is installed on the rotating frame, sprocket two is rotatably installed on the limit plate, and sprocket one and sprocket two have the same diameter, the chain is wrapped around sprocket one and sprocket two, the slave gear is connected to sprocket two, and the slave gear is rotatably installed on the limit plate to rotate synchronously with sprocket two, the main gear is installed on the driving plate, and the main gear is meshed with the slave gear, and the slave gear and the main gear have the same diameter; the main gear is rotated by moving the driving plate, and the main gear rotates and meshes with the slave gear to rotate the slave gear, and the slave gear rotates and drives sprocket two to rotate at the same time, and sprocket two rotates and cooperates with the chain to transmit sprocket one so that sprocket one drives the rotating frame to rotate, so that the rotating frame covers downwards.

[0014] Compared with the prior art, the utility model has the following beneficial effects: it is fixed to the wall through a fixing mechanism, the adsorption mechanism is driven by opening the driving mechanism so that the adsorption mechanism cooperates with the transmission mechanism to press down and cover, and is limited by the limiting mechanism at the same time, the material is adsorbed by opening the adsorption mechanism, the material is made vertical by the recovery driving mechanism, and the material is transported by the climbing mechanism, so that during the automatic grabbing process of the curtain wall panels of the curtain wall project, the equipment can be transported to a higher place by arbitrarily increasing the track length. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a first axonometric structural schematic diagram of the utility model;

[0016] Figure 2 It is a second axonometric structural schematic diagram of the utility model;

[0017] Figure 3 It is a first right-view cross-sectional axonometric structural schematic diagram of the utility model;

[0018] Figure 4 It is a second right-view cross-sectional axonometric structural schematic diagram of the utility model;

[0019] Figure 5 It is a third right-view cross-sectional isometric structural schematic diagram of the utility model;

[0020] Figure 6 It is a fourth right-view cross-sectional axonometric structural schematic diagram of the utility model;

[0021] Figure 7 The transmission mechanism of the utility model is Figure 4 A right-view axonometric structural diagram of the middle A section;

[0022] Figure 8 The transmission mechanism of the utility model is Figure 5 A schematic diagram of the axonometric structure of the right-view section of the middle B part;

[0023] Fig. 9 The climbing mechanism of the utility model is Figure 6 A schematic diagram of the axonometric structure of the right-view section of the middle C section;

[0024] Markings in the attached drawings: 1. fixing mechanism; 11. clamping frame; 12. screw; 13. clamping plate; 14. rack guide; 2. climbing mechanism; 21. equipment frame; 22. roller; 23. gear; 24. motor; 3. limiting mechanism; 31. telescopic rod; 32. vertical rod; 33. limiting plate; 4. adsorption mechanism; 41. rotating frame; 42. negative pressure bin; 43. suction cup; 44. vacuum pump; 5. driving mechanism; 51. driving plate; 52. telescopic cylinder; 6. transmission mechanism; 61. sprocket one; 62. sprocket two; 63. chain; 64. slave gear; 65. main gear. DETAILED DESCRIPTION

[0025] In order to facilitate the understanding of the utility model, the utility model will be described more comprehensively below with reference to the relevant drawings. The utility model can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the utility model more thorough and comprehensive.

[0026] Example 1

[0027] like Figures 1 to 9 As shown, an automatic grabbing robot arm for curtain wall panels of a curtain wall project comprises a fixing mechanism 1, two sets of climbing mechanisms 2, two sets of limiting mechanisms 3, an adsorption mechanism 4, two sets of driving mechanisms 5 and two sets of transmission mechanisms 6. The two sets of climbing mechanisms 2 are slidably mounted on the fixing mechanism 1, a set of limiting mechanisms 3 are mounted on the front end of each set of climbing mechanisms 2, the adsorption mechanism 4 is mounted on the two sets of climbing mechanisms 2, a set of driving mechanisms 5 are mounted on each set of climbing mechanisms 2, and a set of transmission mechanisms 6 are mounted on each set of limiting mechanisms 3;

[0028] The fixing mechanism 1 is used for fixing, the climbing mechanism 2 is used for climbing, the limiting mechanism 3 is used for limiting, the adsorption mechanism 4 is used for adsorption, the driving mechanism 5 is used for driving, and the transmission mechanism 6 is used for transmission;

[0029] The fixing mechanism 1 comprises a clamping frame 11, a screw 12, a clamping plate 13 and two sets of rack guide rails 14. The screw 12 is installed at the rear end of the clamping frame 11 through threaded engagement, the clamping plate 13 is rotatably installed on the screw 12, and the two sets of rack guide rails 14 are installed on the clamping frame 11.

[0030] The climbing mechanism 2 includes an equipment frame 21, two groups of rollers 22, two groups of gears 23 and a motor 24. The equipment frame 21 is slidably mounted on the rack guide rail 14, the two groups of rollers 22 are rotatably mounted on the equipment frame 21, the two groups of gears 23 are rotatably mounted on the equipment frame 21, and the two groups of gears 23 are meshed with the rack guide rail 14. The motor 24 is mounted on the equipment frame 21, and the output end of the motor 24 is connected to the input end of a group of gears 23.

[0031] The limiting mechanism 3 includes two sets of telescopic rods 31, a vertical rod 32 and a limiting plate 33. The two sets of telescopic rods 31 are installed on the equipment frame 21, the vertical rod 32 is sleeved in the two sets of telescopic rods 31, and the limiting plate 33 is slidably installed on the vertical rod 32;

[0032] The adsorption mechanism 4 includes a rotating frame 41, a negative pressure chamber 42, a plurality of suction cups 43 and an air pump 44. The rotating frame 41 is rotatably mounted on the two sets of limit plates 33, the negative pressure chamber 42 is mounted on the rotating frame 41, the plurality of suction cups 43 are mounted at the lower end of the negative pressure chamber 42, and the air pump 44 is mounted at the upper end of the negative pressure chamber 42.

[0033] The driving mechanism 5 includes a driving plate 51 and a telescopic cylinder 52. The driving plate 51 is rotatably mounted on the equipment frame 21, and the driving plate 51 is rotatably connected to the limit plate 33. The telescopic cylinder 52 is rotatably mounted on the equipment frame 21, and the telescopic cylinder 52 is rotatably connected to the driving plate 51.

[0034] The transmission mechanism 6 includes a sprocket wheel 1 61, a sprocket wheel 2 62, a chain 63, a slave gear 64 and a main gear 65. The sprocket wheel 1 61 is mounted on the rotating frame 41, the sprocket wheel 2 62 is rotatably mounted on the limiting plate 33, and the sprocket wheel 1 61 and the sprocket wheel 2 62 have the same diameter. The chain 63 is covered and mounted on the sprocket wheel 1 61 and the sprocket wheel 2 62. The slave gear 64 is connected to the sprocket wheel 2 62, and the slave gear 64 is rotatably mounted on the limiting plate 33 to rotate synchronously with the sprocket wheel 2 62. The main gear 65 is mounted on the driving plate 51, and the main gear 65 is meshed with the slave gear 64, and the slave gear 64 and the main gear 65 have the same diameter.

[0035] The screw 12 is rotated to engage with the clamping frame 11 to drive the clamping plate 13 to clamp the wall so that the equipment is fixed. The telescopic cylinder 52 is opened to drive the driving plate 51 so that the driving plate 51 cooperates with the limit plate 33 to drive the rotating frame 41. The main gear 65 rotates through the movement of the driving plate 51. The main gear 65 rotates and meshes with the slave gear 64 to rotate the slave gear 64. The slave gear 64 rotates and drives the sprocket wheel 2 62 to rotate. The sprocket wheel 2 62 rotates and cooperates with the chain 63 to drive the sprocket wheel 1 61 so that the sprocket wheel 1 61 drives the rotating frame 41 to rotate. 41 covers downwards, and at the same time, the telescopic rod 31 and the vertical rod 32 cooperate with the limit plate 33 to move so as to limit the position of the limit plate 33, and the vacuum pump 44 is turned on to make negative pressure in the negative pressure bin 42, so that the suction cup 43 adsorbs the material, and the telescopic cylinder 52 is recovered to make the material vertical, and the motor 24 is turned on to transmit the gear 23 to rotate the gear 23, and the gear 23 rotates and meshes with the rack guide rail 14 to lift the equipment frame 21, so that during the automatic grabbing of the curtain wall panels of the curtain wall project, the equipment can be transported to a higher place by arbitrarily increasing the track length.

[0036] like Figures 1 to 9 As shown, the utility model is an automatic grabbing mechanical arm for curtain wall panels of curtain wall engineering. When working, the screw 12 is threadedly matched with the clamping frame 11 so that the screw 12 drives the clamping plate 13 to clamp the wall to fix the equipment. The driving plate 51 is driven by opening the telescopic cylinder 52 so that the driving plate 51 cooperates with the limit plate 33 to drive the rotating frame 41. The main gear 65 rotates through the movement of the driving plate 51. The main gear 65 rotates and meshes with the slave gear 64 to rotate the slave gear 64. The slave gear 64 rotates and drives the sprocket wheel 62 to rotate. The sprocket wheel 62 While rotating, the chain 63 is cooperated with the sprocket 61 to drive the sprocket 61 to drive the rotating frame 41 to rotate, so that the rotating frame 41 covers downwards, and at the same time, the telescopic rod 31 and the vertical rod 32 cooperate with the limit plate 33 to move to limit the position of the limit plate 33, and the vacuum pump 44 is turned on to create negative pressure in the negative pressure bin 42, so that the suction cup 43 adsorbs the material, and the material is made vertical by recovering the telescopic cylinder 52, and the motor 24 is turned on to drive the gear 23 to rotate. While the gear 23 rotates, it meshes with the rack guide 14 to lift and transport the equipment frame 21.

[0037] The motor 24, the vacuum pump 44 and the telescopic cylinder 52 of the utility model are purchased on the market, and the technicians in the industry only need to install and operate them according to the accompanying instruction manuals, without the need for the technicians in the field to make creative efforts.

[0038] The main function achieved by the utility model is: in the process of automatic grabbing of curtain wall panels of curtain wall engineering, by setting a fixing mechanism and a climbing mechanism, the length of the track can be increased at will so that the equipment can be transported to a higher place.

[0039] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principle of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A curtain wall panel automatic grabbing robot arm for curtain wall engineering, comprising a fixing mechanism (1); characterized in that: It also comprises two sets of climbing mechanisms (2), two sets of limiting mechanisms (3), an adsorption mechanism (4), two sets of driving mechanisms (5) and two sets of transmission mechanisms (6), wherein the two sets of climbing mechanisms (2) are slidably mounted on the fixing mechanism (1), a set of limiting mechanisms (3) is mounted on the front end of each set of climbing mechanisms (2), the adsorption mechanism (4) is mounted on the two sets of climbing mechanisms (2), a set of driving mechanisms (5) is mounted on each set of climbing mechanisms (2), and a set of transmission mechanisms (6) is mounted on each set of limiting mechanisms (3); The fixing mechanism (1) performs fixing, the climbing mechanism (2) performs climbing, the limiting mechanism (3) performs limiting, the adsorption mechanism (4) performs adsorption, the driving mechanism (5) performs driving, and the transmission mechanism (6) performs transmission.

2. The automatic grabbing robot arm for curtain wall panels of curtain wall engineering as claimed in claim 1, characterized in that: The fixing mechanism (1) comprises a clamping frame (11), a screw rod (12), a clamping plate (13) and two sets of rack guide rails (14); the screw rod (12) is mounted on the rear end of the clamping frame (11) by threaded engagement; the clamping plate (13) is rotatably mounted on the screw rod (12); and the two sets of rack guide rails (14) are mounted on the clamping frame (11).

3. The automatic grabbing robot arm for curtain wall panels of curtain wall engineering as claimed in claim 2, characterized in that: The climbing mechanism (2) comprises an equipment frame (21), two groups of rollers (22), two groups of gears (23) and a motor (24); the equipment frame (21) is slidably mounted on a rack guide rail (14); the two groups of rollers (22) are rotatably mounted on the equipment frame (21); the two groups of gears (23) are rotatably mounted on the equipment frame (21), and the two groups of gears (23) are meshed with the rack guide rail (14); the motor (24) is mounted on the equipment frame (21), and the output end of the motor (24) is connected to the input end of a group of gears (23).

4. The automatic grabbing robot arm for curtain wall panels of curtain wall engineering as claimed in claim 3, characterized in that: The limiting mechanism (3) comprises two sets of telescopic rods (31), a vertical rod (32) and a limiting plate (33). The two sets of telescopic rods (31) are mounted on the equipment frame (21), the vertical rod (32) is sleeved in the two sets of telescopic rods (31), and the limiting plate (33) is slidably mounted on the vertical rod (32).

5. The automatic grabbing robot arm for curtain wall panels of curtain wall engineering as claimed in claim 4, characterized in that: The adsorption mechanism (4) comprises a rotating frame (41), a negative pressure chamber (42), a plurality of groups of suction cups (43) and an air pump (44); the rotating frame (41) is rotatably mounted on two groups of limit plates (33); the negative pressure chamber (42) is mounted on the rotating frame (41); the plurality of groups of suction cups (43) are mounted at the lower end of the negative pressure chamber (42); and the air pump (44) is mounted at the upper end of the negative pressure chamber (42).

6. The automatic grabbing robot arm for curtain wall panels of curtain wall engineering as claimed in claim 3, characterized in that: The driving mechanism (5) comprises a driving plate (51) and a telescopic cylinder (52); the driving plate (51) is rotatably mounted on the equipment frame (21), and the driving plate (51) is rotatably connected to the limit plate (33); the telescopic cylinder (52) is rotatably mounted on the equipment frame (21), and the telescopic cylinder (52) is rotatably connected to the driving plate (51).

7. The automatic grabbing robot arm for curtain wall panels of curtain wall engineering as claimed in claim 4, characterized in that: The transmission mechanism (6) comprises a sprocket wheel 1 (61), a sprocket wheel 2 (62), a chain (63), a slave gear (64) and a main gear (65), wherein the sprocket wheel 1 (61) is mounted on a rotating frame (41), the sprocket wheel 2 (62) is rotatably mounted on a limiting plate (33), and the sprocket wheel 1 (61) and the sprocket wheel 2 (62) have the same diameter, the chain (63) is mounted on the sprocket wheel 1 (61) and the sprocket wheel 2 (62), the slave gear (64) is connected to the sprocket wheel 2 (62), and the slave gear (64) is rotatably mounted on the limiting plate (33) to rotate synchronously with the sprocket wheel 2 (62), and the main gear (65) is mounted on a driving plate (51), and the main gear (65) is meshed with the slave gear (64), and the slave gear (64) and the main gear (65) have the same diameter.

Images