Wallboard clamping manipulator and wallboard mounting robot

Abstract

The utility model relates to a wallboard clamping manipulator and a wallboard installation robot, which comprise a base body, a width clamping unit, a thickness clamping unit, a first sensor, a second sensor and a third sensor, the width clamping unit and the thickness clamping unit are connected to the base body, and the first sensor, the second sensor and the third sensor are arranged on the base body. When the distance between the working face and the wall plate reaches a threshold value, the first sensor is triggered; when the clamping surface of the first clamping assembly is in contact with the wall plate, the second sensor is triggered; the wallboard installation robot has the beneficial effects that under the synergistic effect of the three sensors, a worker can be reminded of the in-place condition when the wallboard clamping mechanical arm moves and grabs the wallboard, so that the wallboard installation robot is more convenient in the using process, and the wallboard installation efficiency is improved. And a wallboard or a manipulator can be prevented from colliding with the wallboard due to a working surface.

Description

Technical Field

[0001] The utility model relates to the technical field of wall panel clamping, in particular to a wall panel clamping manipulator. 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, which has a 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. Wall panel installation robots are the key machinery for realizing mechanized installation of wall panels.

[0003] In the prior art, during the operation of the wall panel installation robot's wall panel clamping manipulator, workers are required to visually identify the robot's movement and grasping status, which often results in the manipulator damaging the wall panel. 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 clamping robot, which solves the problem in the prior art that the wall panel clamping robot of the wall panel installation robot requires workers to identify the movement and grasping of the robot by naked eyes during operation, resulting in the robot often damaging the wall panel.

[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 clamping robot, comprising a base, a width clamping unit and a thickness clamping unit connected to the base, and a first sensor, a second sensor and a third sensor arranged on the base, the width clamping unit comprising a first clamping assembly fixedly connected to one side of the base; and a second clamping assembly movably connected to the other side of 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 onto a working surface; when the distance between the working surface and the wall panel reaches a threshold, the first sensor is triggered; when the clamping surface of the first clamping assembly contacts the wall panel, the second sensor is triggered; when the thickness clamping unit clamps the wall panel, the third sensor is triggered.

[0009] In a technical solution of the utility model, the wall panel clamping manipulator also includes a warning device, and the warning device alarms when the first sensor, the second sensor, and the third sensor are triggered;

[0010] The warning device is communicatively connected with the first sensor, the second sensor and the third sensor in a one-to-one correspondence.

[0011] In one technical solution of the utility model, the wall panel clamping robot also includes a marking device supported on a base, which can project an assembly baseline; the assembly baseline is projected based on the working surface; the marking device is located on one side of the second clamping component and is suitable for projecting the assembly baseline on one side of the second clamping component.

[0012] In a technical solution of the utility model, a first clamping space on the width direction side of the wallboard is formed between the first clamping assembly and the second clamping assembly;

[0013] The thickness clamping assembly comprises a third clamping assembly movably connected to the base, and a second clamping space on the thickness direction side of the wallboard is formed between the third clamping assembly and the base.

[0014] In one technical solution of the present utility model, the first sensor and the third sensor are both located below the working surface, the trigger plane of the first sensor protrudes from the working surface or is coplanar with the working surface toward the wall panel, and the trigger plane of the third sensor is coplanar with the working surface; the second sensor is installed on the same side of the first clamping assembly, and the trigger plane of the second sensor remains coplanar with the contact surface between the first clamping assembly and the wall panel.

[0015] In a technical solution of the utility model, the first clamping assembly includes a connecting block, a sliding pressure block and a first locking member, and the connecting block is fixedly connected to the base;

[0016] A first clamping space is formed between the sliding pressing block and the second clamping assembly; the sliding pressing block is slidably connected to the connecting block along the width direction of the wallboard and can be locked by the first locking member to change the width of the second clamping space.

[0017] In one technical solution of the utility model, the third clamping assembly includes a first bent arm hinged on the base along the length direction of the wall panel and a first swinging pressure block hinged on the first bent arm along the length direction of the wall panel, a second clamping space is formed between the first swinging pressure block and the working surface, and the first bent arm can be extended and retracted to change the thickness of the second clamping space.

[0018] In a technical solution of the utility model, the first curved arm includes a first body connected to the base body and a second body connected to the first swinging pressure block, and the first body and the second body are slidably connected;

[0019] The first curved arm also includes a second locking member capable of locking the sliding connection between the first body and the second body;

[0020] The first body extends in a straight line, the second body extends in an L shape, and the straight line segment of the second body is slidably connected to the first body.

[0021] In one technical solution of the utility model, the wall panel clamping robot also includes a buffer layer, and the first clamping assembly, the second clamping assembly, the third clamping assembly and the surface of the base facing the wall panel are all provided with a buffer layer, and the surface of the buffer layer on the base in contact with the wall panel forms a working surface.

[0022] In a second aspect, the utility model provides a wall panel installation robot, comprising a wall panel clamping manipulator in any of the above technical solutions.

[0023] (III) Beneficial effects

[0024] The beneficial effects of the utility model are: the wall panel clamping manipulator and wall panel installation robot of the utility model, the first sensor is used to detect whether the wall panel is close to the working surface of the substrate, the trigger threshold can be set to 10mm or within 10mm, the second sensor is used to detect whether the wall panel contacts the first clamping component, and the third sensor is used to detect whether the thickness clamping device has clamped the wall panel. Under the coordinated action of the three sensors, the staff can be prompted to the position of the wall panel clamping manipulator when moving and grabbing the wall panel, making the wall panel installation robot more convenient during use, and can also prevent the wall panel or the manipulator from colliding with the wall panel due to the working surface.

[0025] At the same time, the first sensor, the second sensor and the third sensor can also cooperate with the control system to provide a hardware basis for the automatic control of the manipulator, thereby realizing the automatic clamping of the wall panel by the manipulator and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0027] Figure 2 For this utility model Figure 1 A schematic diagram of the local enlarged structure at the X in the middle;

[0028] Figure 3 This is the second structural schematic diagram of the wall panel clamping manipulator of the utility model;

[0029] Figure 4 For this utility model Figure 3 Schematic diagram of the local enlarged structure at Y in the middle.

[0030] [Description of Reference Numerals]

[0031] 1: base; A: working surface;

[0032] 2: width clamp unit; 21: first clamping assembly; 211: connecting block; 212: sliding pressing block; 22: second clamping assembly;

[0033] 3: thickness clamp unit; 31: third clamping assembly; 311: first bending arm; 3111: first body; 3112: second body; 312: first swinging pressing block;

[0034] 4: First sensor;

[0035] 5: Second sensor;

[0036] 6: The third sensor;

[0037] 7: marking device;

[0038] 8: Buffer layer. DETAILED DESCRIPTION

[0039] In order to better explain the present invention and facilitate understanding, the following Figure 1-4 , 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.

[0040] Embodiment 1:

[0041] Reference Figure 1-Figure 4 An embodiment of the utility model provides a wall panel clamping robot, including a base, a width clamping unit and a thickness clamping unit connected to the base, and a first sensor 4, a second sensor 5 and a third sensor 6 arranged on the base 1. 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 onto the working surface A; when the distance between the working surface A and the wall panel reaches a threshold, the first sensor 4 is triggered; when the clamping surface of the first clamping component 21 contacts the wall panel, the second sensor 5 is triggered; when the thickness clamping unit 3 clamps the wall panel, the third sensor 6 is triggered.

[0042] In this embodiment, the first sensor 4 is used to detect whether the wall panel is close to the working surface A of the substrate, and the trigger threshold can be set to 10 mm or less. The second sensor 5 is used to detect whether the wall panel contacts the first clamping component 21. The third sensor 6 is used to detect whether the thickness clamping device has clamped the wall panel. With the coordinated action of the three sensors, the staff can be prompted to check the position of the wall panel clamping robot when it moves and grabs the wall panel, making the wall panel installation robot more convenient to use and preventing the wall panel or the robot from colliding with the wall panel due to the working surface A.

[0043] At the same time, the first sensor 4, the second sensor 5 and the third sensor 6 can also cooperate with the control system to provide a hardware basis for the automatic control of the manipulator, thereby realizing the automatic clamping of the wall panel by the manipulator and improving work efficiency.

[0044] The wall panel clamping robot also includes a warning device, which alarms when the first sensor 4, the second sensor 5, and the third sensor 6 are triggered; the warning device is communicatively connected with the first sensor 4, the second sensor 5, and the third sensor 6 in a one-to-one correspondence.

[0045] In this embodiment, the warning device can be a warning light. When the corresponding sensor is triggered, the warning light will light up, thereby reminding the staff that the corresponding action of the robot arm has been completed.

[0046] Specifically, the first sensor 4 may be triggered when it contacts the wall panel or when the wall panel squeezes the first sensor 4. If the squeezing trigger is adopted, the first sensor 4, the second sensor 5 and the third sensor 6 may all be set as travel switches.

[0047] A first clamping space on the width direction side of the wallboard is formed between the first clamping assembly 21 and the second clamping assembly 22;

[0048] Specifically, the following is a brief description of the clamping process of the wall panel by the wall panel clamping robot. First, the robot moves as a whole to the stacked wall panels, and the stacking direction of the wall panels is that the thickness surface is supported on the base surface; when the working surface A is close to the wall panel and the distance reaches the threshold, the robot is controlled to adjust the position so that the first clamping component 21 of the robot gradually approaches a thickness plane of the wall panel. When the second sensor 5 is triggered, it means that the two are in contact, and then the second clamping component 22 is controlled to press the other thickness plane of the wall panel to complete the clamping of the wall panel in the width direction; then the third clamping component 31 is controlled to work. When the third sensor 6 is triggered, it means that the wall panel is clamped in the thickness direction, and the clamping of the wall panel is completed at this time.

[0049] The first sensor 4 and the third sensor 6 are both located below the working surface A, and if embedded on the base 1, the triggering plane of the first sensor 4 protrudes from the working surface A toward the wall panel or is coplanar with the working surface A, and the triggering plane of the third sensor 6 is coplanar with the working surface A; the second sensor 5 is installed on the same side of the first clamping component 21, and the triggering plane of the second sensor 5 remains coplanar with the contact surface between the first clamping component 21 and the wall panel to ensure the triggering stability and accuracy of each sensor.

[0050] Figure 1-4 Each sensor shown includes a swing position, which is in the shape of a swing arm. Because the travel switch itself is a prior art means, it will not be described in detail here.

[0051] The width clamping unit 2 also includes a second clamping component 22 movably connected to the other side of the base 1; a first clamping space on the width direction side of the wall panel is formed between the first clamping component 21 and the second clamping component 22; the thickness clamping component includes a third clamping component 31 movably connected to the base 1, and a second clamping space on the thickness direction side of the wall panel is formed between the third clamping component 31 and the base 1.

[0052] In this embodiment, the first clamping space is used to match the width direction of the wall panel, and the second clamping space is used to match the thickness direction of the wall panel. By coordinating the friction between the working surface A, each clamping component and the wall panel, the wall panel can be reliably clamped to ensure the stability and reliability of the wall panel.

[0053] Specifically, the second clamping assembly 22 includes a second swinging pressure block, a second bending arm and a first telescopic driving member. The first telescopic driving member is supported on the back of the base 1. One end of the second bending arm is hinged on the base 1 along the length direction of the wall panel. The second swinging pressure block is hinged at the other end of the second rocker arm along the length direction of the wall panel. The telescopic end of the first telescopic driving member drives the second bending arm to swing. In this way, through the extension of the first telescopic driving member, the second swinging pressure block can cooperate with the sliding pressure block 212 to press the wall panel in the thickness direction.

[0054] The first clamping assembly 21 includes a connecting block 211, a sliding pressure block 212 and a first locking member, wherein the connecting block 211 is fixedly connected to the base 1; a first clamping space is formed between the sliding pressure block 212 and the second clamping assembly 22; the sliding pressure block 212 is slidably connected to the connecting block 211 along the width direction of the wall panel, and can be locked by the first locking member to change the width of the second clamping space.

[0055] Since the width of the first clamping space is adjustable, the manipulator can better match the use requirements of clamping wall panels of different widths, thereby improving the use flexibility of the manipulator.

[0056] Specifically, a sliding connection relationship can be established between the sliding pressure block 212 and the connecting block 211 through bolts, and the first locking member can be nuts located on both sides of the connecting plate, and the bolts are locked on the connecting block 211 through the nuts.

[0057] The wall panel clamping robot also includes a buffer layer 8. The first clamping assembly 21, the second clamping assembly 22, the third clamping assembly 31 and the surface of the base 1 facing the wall panel are all provided with a buffer layer 8. The surface of the buffer layer 8 on the base 1 in contact with the wall panel forms a working surface A.

[0058] Embodiment 2:

[0059] Reference Figure 1 and Figure 3In addition to all the technical solutions of the above embodiments, the embodiments of the present utility model further have the following technical solutions:

[0060] The wall panel clamping robot also includes a marking device 7 supported on the base 1, and the marking device 7 can project an assembly baseline; the assembly baseline is projected with the working surface A as the reference; the marking device 7 is located on one side of the second clamping component 22, and is suitable for projecting the assembly baseline on one side of the second clamping component 22. Since the assembly side of the wall panel is the side of the second clamping component 22, such an arrangement can make the marking more intuitive and play a role in assisting assembly; the assembly baseline includes a first baseline extending perpendicular to the wall panel and a second baseline extending along the length direction of the wall panel; the second baseline is arranged in multiple groups.

[0061] In this embodiment, by providing a marking device 7 on the clamping mechanism, workers can be reminded of the alignment status with the reference object during the wall panel installation, making the wall panel installation robot more convenient during use.

[0062] Specifically, when the wall panel is installed, one group of second baselines is projected toward the top, and one group of second baselines is projected toward the bottom, so that both ends of the wall panel can obtain assembly references of the second baselines.

[0063] More specifically, the projection device may be a laser marker, and the laser marker may be disposed at positions on both sides of the base 1 along the width direction of the wallboard.

[0064] Embodiment 3:

[0065] Reference Figure 1 and Figure 4 In addition to all the technical solutions of any of the above embodiments, the embodiments of the present utility model further have the following technical solutions:

[0066] The third clamping assembly 31 includes a first bent arm 311 hinged on the base 1 along the length direction of the wall panel and a first swinging pressure block 312 hinged on the first bent arm 311 along the length direction of the wall panel. A second clamping space is formed between the first swinging pressure block 312 and the working surface A. The first bent arm 311 can be extended and retracted to change the thickness of the second clamping space.

[0067] The third clamping assembly 31 also includes a second telescopic driving member, which is also supported on the base 1 and can also drive the first bending arm 311 to swing, thereby enabling the first swinging pressure block 312 to press the wall panel in cooperation with the working surface A in the thickness direction of the wall panel.

[0068] The first bent arm 311 includes a first body 3111 connected to the base 1 and a second body 3112 connected to the first swing pressure block 312, and the first body 3111 and the second body 3112 are slidably connected; the first bent arm 311 also includes a second locking piece capable of locking the sliding connection between the first body 3111 and the second body 3112; the first body 3111 extends in a straight line, and the second body 3112 extends in an L shape, and the straight section of the second body 3112 is slidably connected to the first body 3111.

[0069] In this embodiment, by relying on the extension and retraction of the first bent arm 311, the thickness of the second clamping space can be adjusted, so that the manipulator can match the clamping requirements of wall panels of different thicknesses, thereby further improving the flexibility of use of the manipulator.

[0070] The first body 3111 and the second body 3112 can be set to be box-shaped, and the two are connected in a pull-out sliding manner. In addition, the second locking member may include a bolt, and locking holes are opened on the first body 3111 and the second body 3112. When the second body 3112 slides relative to the first body 3111, the corresponding locking holes will match each other. At this time, after the bolt passes through the matching locking holes, the length limit of the first bent arm 311 can be achieved.

[0071] Embodiment 4:

[0072] An embodiment of the utility model provides a wall panel installation robot, comprising the wall panel clamping manipulator in any of the above embodiments.

[0073] It also includes a robotic arm and a mobile vehicle. The robotic arm is supported on the mobile vehicle, so that the robot and the robotic arm can move as a whole; the robot can realize flipping and rotating movements, so that the robot can clamp the wall panel and complete the movement, flipping and tilting of the wall panel.

[0074] It can be understood that, except for any conflicting parts, the above-mentioned embodiments 1-4 can be freely combined to form other implementation methods of the present utility model.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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 clamping robot, characterized in that: include: A base (1) having a working surface (A) for abutting against the wall panel; A width clamping unit (2) connected to the base (1) is capable of clamping the wallboard in the width direction of the wallboard, and the width clamping unit (2) comprises a first clamping component (21) fixedly connected to one side of the base (1) and a second clamping component (22) movably connected to the other side of the base (1); A thickness clamp unit (3) connected to the base (1) and capable of pressing the wallboard onto the working surface (A); A first sensor (4), a second sensor (5) and a third sensor (6) are arranged on the base (1); when the distance between the working surface (A) and the wall panel reaches a threshold value, the first sensor (4) is triggered; when the clamping surface of the first clamping component (21) contacts the wall panel, the second sensor (5) is triggered; when the thickness clamping unit (3) clamps the wall panel, the third sensor (6) is triggered.

2. The wall panel clamping robot according to claim 1, characterized in that: The wall panel clamping robot also includes a warning device, and when the first sensor (4), the second sensor (5), and the third sensor (6) are triggered, the warning device alarms; The warning device is communicatively connected with the first sensor (4), the second sensor (5) and the third sensor (6) in a one-to-one correspondence.

3. The wall panel clamping robot according to claim 1, characterized in that: The wall panel clamping robot further comprises a marking device (7) supported on the base (1), wherein the marking device (7) is capable of projecting an assembly baseline; The assembly baseline is projected based on the working surface (A); The marking device (7) is located on one side of the second clamping component (22) and is suitable for projecting the assembly baseline on one side of the second clamping component (22).

4. The wall panel clamping robot according to any one of claims 1 to 3, characterized in that: A first clamping space on the width direction side of the wallboard is formed between the first clamping assembly (21) and the second clamping assembly (22); The thickness clamping assembly comprises a third clamping assembly (31) movably connected to the base (1), and a second clamping space on the thickness direction side of the wallboard is formed between the third clamping assembly (31) and the base (1).

5. The wall panel clamping robot according to claim 4, characterized in that: The first sensor (4) and the third sensor (6) are both located below the working surface (A); the trigger plane of the first sensor (4) protrudes from the working surface (A) toward the wall panel or is coplanar with the working surface (A); the trigger plane of the third sensor (6) is coplanar with the working surface (A); the second sensor (5) is installed on the same side of the first clamping component (21), and the trigger plane of the second sensor (5) remains coplanar with the contact surface between the first clamping component (21) and the wall panel.

6. The wall panel clamping robot according to claim 4, characterized in that: The first clamping assembly (21) comprises a connecting block (211), a sliding pressing block (212) and a first locking member, wherein the connecting block (211) is fixedly connected to the base body (1); The first clamping space is formed between the sliding pressure block (212) and the second clamping assembly (22); the sliding pressure block (212) is slidably connected to the connecting block (211) along the width direction of the wall panel, and can be locked by the first locking piece to change the width of the second clamping space.

7. The wall panel clamping robot according to claim 4, characterized in that: The third clamping assembly (31) comprises a first bent arm (311) hinged on the base (1) along the length direction of the wall panel and a first swinging pressure block (312) hinged on the first bent arm (311) along the length direction of the wall panel, the second clamping space is formed between the first swinging pressure block (312) and the working surface (A), and the first bent arm (311) can be extended and retracted to change the thickness of the second clamping space.

8. The wall panel clamping robot according to claim 7, characterized in that: The first curved arm (311) comprises a first body (3111) connected to the base (1) and a second body (3112) connected to the first swinging pressure block (312), and the first body (3111) and the second body (3112) are slidably connected; The first curved arm (311) further comprises a second locking member capable of locking the sliding connection between the first body (3111) and the second body (3112); The first body (3111) extends in a straight line, the second body (3112) extends in an L shape, and the straight line segment of the second body (3112) is slidably connected to the first body (3111).

9. The wall panel clamping robot according to claim 4, characterized in that: The wall panel clamping robot further comprises a buffer layer (8), and the first clamping assembly (21), the second clamping assembly (22), the third clamping assembly (31) and the surface of the base (1) facing the wall panel are all provided with the buffer layer (8), and the surface of the base (1) where the buffer layer (8) contacts the wall panel forms the working surface (A).

10. A wall panel installation robot, characterized in that: It comprises a wall panel clamping robot as described in any one of claims 1-9.

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