Low-altitude large and medium-sized glass curtain wall mounting robot

Abstract

The utility model relates to a low-altitude large and medium-sized glass curtain wall mounting robot, which structurally comprises a movable base, a lifting device, a mechanical arm and an end effector, and is characterized in that the lifting device comprises two vertical and symmetrical frame bodies, a lifting frame positioned between the two frame bodies and a lifting driving mechanism arranged on the lifting frame; the lifting driving mechanism is used for driving the lifting frame to move up and down along the frame bodies, the lower ends of the frame bodies are connected with the movable base, the mechanical arm is located between the two frame bodies and connected with the lifting frame, and each frame body is formed by detachably connecting one splicing unit or a plurality of same splicing units up and down. Frame bodies of different heights can be spliced according to needs, the lifting range of the mechanical arm is not limited to a fixed range any more, the low-altitude glass curtain wall installation robot is suitable for the installation requirements of low-altitude glass curtain walls of different heights, and the flexibility and applicability of the curtain wall installation robot are greatly improved.

Description

Technical Field

[0001] The utility model relates to a glass curtain wall installation robot, specifically a low-altitude large and medium-sized glass curtain wall installation robot. Background Art

[0002] At present, with the increasingly wide application of glass curtain walls in buildings, the demand for curtain wall automatic installation equipment is growing. Especially for large and medium-sized glass curtain walls, due to their large size and weight, manual installation is difficult and it is hard to ensure installation efficiency and accuracy.

[0003] The patent with application number 202111253924.9 proposes an adaptive sheet installation robot, which can be used for the automatic installation of glass curtain walls. However, in this solution, the lifting height range of the robotic arm is limited and fixed, and it can only perform the installation operation of glass curtain walls on the exterior walls of buildings at the bottom layer, and cannot install glass curtain walls on the exterior walls of buildings above the bottom layer. Therefore, there is an urgent need for a large and medium-sized glass curtain wall installation robot with an adjustable lifting height of the robotic arm in the low-altitude area. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a low-altitude large and medium-sized glass curtain wall installation robot to solve the problem that the lifting range of the robotic arm of the existing curtain wall installation robot is limited and fixed.

[0005] The utility model is realized as follows: A low-altitude large and medium-sized glass curtain wall installation robot includes a mobile base, a lifting device, a robotic arm and an end effector. The lifting device includes two vertically and symmetrically arranged frames, a lifting frame located between the two frames, and a lifting drive mechanism arranged on the lifting frame. The lifting drive mechanism is used to drive the lifting frame to move up and down along the frame. The lower end of the frame is connected to the mobile base. The robotic arm is located between the two frames and is connected to the lifting frame. The frame is formed by detachably connecting one splicing unit or multiple identical splicing units up and down.

[0006] Furthermore, the splicing unit includes several longitudinal rods, and adjacent longitudinal rods are connected by cross bars. At one end of the splicing unit, several first bolt holes and several first pin holes are provided. At the other end of the splicing unit, corresponding second bolt holes and second pin holes are provided. When adjacent two splicing units are connected, the first bolt holes and first pin holes of one splicing unit are aligned with the second bolt holes and second pin holes of the other splicing unit. A pin is arranged in the first pin hole and the second pin hole, and a connecting bolt is inserted into the first bolt hole and the second bolt hole and fastened with a nut.

[0007] Furthermore, the end face of the splicing unit is triangular or quadrilateral.

[0008] Further, the inner side edge of the splicing unit extends outside the splicing unit to form a mounting portion, and the inner side of the mounting portion is used to connect the lifting frame and the lifting drive mechanism.

[0009] Further, auxiliary limiting mechanisms are respectively arranged on both sides of the lifting frame. The auxiliary limiting mechanism includes a limiting frame and a limiting wheel. The limiting wheel is located outside the mounting portion and contacts the surface of the longitudinal rod.

[0010] Further, the lifting drive mechanism includes a drive element, a commutator, a lifting gear, and a lifting rack. The commutator is connected to the lifting frame, the drive element is connected to the input shaft of the commutator. The commutator has output shafts extending to both sides. The lifting gears are arranged on each output shaft, and a through-long lifting rack is arranged along the length direction on each splicing unit. The lifting gears are meshed and connected with the lifting rack.

[0011] Further, moving positioning mechanisms are respectively arranged on both sides of the lifting frame, and through-long sliding rails are arranged along the length direction on each splicing unit. The moving positioning mechanisms are cooperatively connected with the sliding rails.

[0012] Further, a rectangular chute is arranged along the length direction on the sliding rail. The moving positioning mechanism includes a first roller and a second roller. A rotating shaft is arranged on the lifting frame, the axial direction of the rotating shaft is perpendicular to the bottom surface of the chute. The first roller is arranged at the end of the rotating shaft. A connecting frame is arranged on the lifting frame, and the second roller is arranged on the connecting frame. The surface of the second roller contacts the bottom surface of the chute.

[0013] The frame body of the present utility model can be spliced into different heights according to needs. The lifting drive mechanism drives the lifting frame and the robotic arm on the lifting frame to move up and down along the frame body, so as to realize the grasping, lifting, and installation of the glass curtain wall, making the lifting range of the robotic arm no longer limited to a fixed range, and being applicable to the installation requirements of glass curtain walls at different low altitudes, greatly improving the flexibility and applicability of the curtain wall installation robot.

[0014] The frame body is composed of a plurality of splicing units spliced up and down. The splicing unit is of a frame structure. The splicing units are positioned through a fast positioning structure and are connected and fixed through a fast connection structure. While realizing fast assembly and connection, it can ensure that the frame body has sufficient structural strength and connection strength, and at the same time can ensure the smoothness of the connection, so that the lifting frame can smoothly pass through the connection nodes of the splicing units. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a structural diagram of the present utility model.

[0016] Figure 2This is the structural diagram of the lifting device of the present utility model.

[0017] Figure 3 , Figure 4 This is the perspective view of the splicing unit of the present utility model.

[0018] Figure 5 This is the structural diagram of the lifting frame of the present utility model.

[0019] In the figure: 1, mobile base; 2, lifting frame; 3, frame body; 4, lifting drive mechanism; 5, robotic arm; 6, end effector; 7, cross frame; 8, slide rail; 9, mobile positioning mechanism; 10, auxiliary limiting mechanism; 11, glass curtain wall; 3-1, longitudinal rod; 3-2, cross bar; 3-3, installation part; 3-4, diagonal brace; 3-5, first bolt hole; 3-6, first pin hole; 3-7, second bolt hole; 3-8, second pin hole; 3-9, connecting bolt; 3-10, pin; 3-11, ladder; 4-1, drive element; 4-2, commutator; 4-3, lifting gear; 4-4, lifting rack; 9-1, rotating shaft; 9-2, first roller; 9-3, connecting frame; 9-4, second roller; 10-1, limiting frame; 10-2, limiting wheel. Specific embodiments

[0020] The following will describe the specific embodiments of the present utility model with reference to the accompanying drawings.

[0021] As Figure 1 shown, the present utility model is a low-altitude large and medium-sized glass curtain wall 11 installation robot, and its structure mainly includes a mobile base 1, a lifting device, a robotic arm 5 and an end effector 6.

[0022] The robot realizes movement in any direction on the plane through the mobile base 1. The lifting device is located on the mobile base 1 and is used to realize the lifting movement of the robotic arm 5 in the height direction. The end effector 6 is used to adsorb / grab the glass curtain wall 11, and the end effector 6 cooperates with the robotic arm 5 to realize the attitude adjustment and installation of the glass curtain wall 11.

[0023] Among them, the mobile base 1, the robotic arm 5 and the end effector 6 can adopt the structures in the prior art.

[0024] As Figure 1 and Figure 2 shown, the present utility model adopts a brand-new lifting device structure. The lifting device includes two frame bodies 3, a lifting frame 2 located between the two frame bodies 3, and a lifting drive mechanism 4 arranged on the lifting frame 2.

[0025] Two frame bodies 3 are vertically arranged on the mobile base 1. The lower ends of the frame bodies 3 are connected to the mobile base 1, and the two frame bodies 3 are symmetrical to each other. The lifting frame 2 is located between the two frame bodies 3 and is connected to the frame bodies 3 through a transmission structure. The lifting frame 2 is driven by a lifting drive mechanism 4 to move up and down along the frame bodies 3.

[0026] The robotic arm 5 is installed on the lifting frame 2 and is also located between the two frame bodies 3. The robotic arm 5 moves up and down along the frame bodies 3 together with the lifting frame 2, so as to convey the glass curtain wall 11 adsorbed / grasped by the end effector 6 to a certain height for installation.

[0027] In the present utility model, both of the two frame bodies 3 are composed of the same number of splicing units spliced up and down. The number of splicing units is determined according to the installation height requirement of the glass curtain wall 11. Each frame body 3 includes at least one splicing unit. When the frame body 3 is composed of multiple splicing units, the connection between two splicing units is detachable.

[0028] As Figure 3 、 Figure 4 shown, the splicing unit includes several vertical rods 3-1. A plurality of cross rods 3-2 are connected between adjacent two vertical rods 3-1. The cross rods 3-2 are arranged at least at both ends of the vertical rods 3-1. To improve the structural strength of the splicing unit, several cross rods 3-2 can be added in the middle of the vertical rods 3-1.

[0029] To further improve the structural strength of the splicing unit, diagonal braces 3-4 can be arranged between adjacent two vertical rods 3-1.

[0030] The vertical rods 3-1 and cross rods 3-2 of the splicing unit are connected to form a frame structure. In order to realize the rapid connection of the heads and tails of two splicing units, several first bolt holes 3-5 and several first pin holes 3-6 are arranged at one end of the splicing unit, and corresponding second bolt holes 3-7 and second pin holes 3-8 are arranged at the other end of the splicing unit. When two adjacent splicing units are connected, the lower end of one splicing unit is aligned with the upper end of the other splicing unit. The first bolt holes 3-5 and first pin holes 3-6 of one splicing unit are aligned with the second bolt holes 3-7 and second pin holes 3-8 of the other splicing unit. At the same time, a pin 3-10 is arranged in the first pin hole 3-6 and the second pin hole 3-8. The two splicing units are accurately positioned and aligned through the pin 3-10. Then, a connecting bolt 3-9 is inserted into the first bolt hole 3-5 and the second bolt hole 3-7 and fastened with a nut, so as to fixedly connect the two splicing units up and down.

[0031] Among them, there should be at least two first pin holes 3-6 / second pin holes 3-8, and the precise positioning of the splicing unit is achieved through the two pin holes. There should be at least three first bolt holes 3-5 / second bolt holes 3-7. The three bolt holes are arranged in a triangle, and the distances between the three bolt holes should be as far as possible. Through at least three connecting bolts 3-9 that are not on the same straight line, the two splicing units can be firmly fixed and connected.

[0032] The end face of the splicing unit is a polygon, such as a triangle or a quadrilateral, etc. The frame structure of the polygon has strong structural strength, which can ensure that no large deformation occurs during use. When the cross-section of the splicing unit is a triangle, due to the good stability of the triangle, the splicing unit has good stability. When the splicing unit is a quadrilateral, in order to make it also have good stability, the length of one side is made shorter, that is, the distance between two adjacent longitudinal rods 3-1 is much smaller than the distance between the other two adjacent longitudinal rods 3-1. Since the distance between these two longitudinal rods 3-1 is very small and there are multiple cross rods 3-2 connecting them, this side can be approximately considered as a rigid body structure, and the remaining three sides also form a stable structure similar to a triangle. Among them,

[0033] Among them, the inner side of the splicing unit extends outside the splicing unit to form an installation part 3-3, and corresponding connection structures are arranged on the inner side of the installation part 3-3 for connecting the lifting frame 2 and the lifting drive mechanism 4. The installation part 3-3 is formed by two longitudinal rods 3-1 and several cross rods 3-2. This part has strong structural strength, and due to the setting of several parallel cross rods 3-2, there are more points for the fixed installation of connection structures such as racks and slide rails 8, etc.

[0034] Furthermore, a ladder 3-11 is arranged on the splicing unit, and the ladder 3-11 facilitates the operator to climb and perform the extension installation operation of the splicing unit.

[0035] As Figure 2 shown, the lifting drive mechanism 4 includes a driving element 4-1, a commutator 4-2, a lifting gear 4-3, a lifting rack 4-4, etc. Among them, the commutator 4-2 is connected to the lifting frame 2. The commutator 4-2 includes an input shaft and two output shafts on the left and right. After the power is input through the input shaft, it is synchronously output to both sides through the two output shafts. The driving element 4-1 is connected to the input shaft of the commutator 4-2. A lifting gear 4-3 is arranged on each output shaft, and a through-length lifting rack 4-4 is arranged along the length direction on each splicing unit. The lifting gear 4-3 is meshed with the lifting rack 4-4.

[0036] After multiple splicing units are connected end to end, the lifting racks 4-4 on the splicing units are also connected end to end to form a lifting rack 4-4 that is the same height as the frame 3, so as to ensure the transmission of the lifting device at the entire height of the frame 3.

[0037] Among them, the driving element 4-1 is generally a reduction motor.

[0038] To ensure that the lifting gear 4-3 and the lifting rack 4-4 always remain engaged during the lifting process, it is necessary to limit the lifting frame 2 to only move up and down and not move horizontally. Therefore, moving positioning mechanisms 9 are respectively arranged on both sides of the lifting frame 2. At the same time, a through-long slide rail 8 is arranged along the length direction on each splicing unit, and the moving positioning mechanism 9 is connected in cooperation with the slide rail 8 to limit the moving direction of the lifting frame 2.

[0039] Among them, a rectangular chute is arranged along the length direction on the slide rail 8.

[0040] Such as Figure 5 As shown, the moving positioning mechanism 9 includes a first roller 9-2 and a second roller 9-4. A rotating shaft 9-1 is arranged on the lifting frame 2, and the axial direction of the rotating shaft 9-1 is perpendicular to the bottom surface of the chute. A first roller 9-2 is arranged at the end of the rotating shaft 9-1, and the diameter of the first roller 9-2 is slightly smaller than the width of the chute, so that the first roller 9-2 can move along the chute in the chute. At the same time, a connecting frame 9-3 is arranged on the lifting frame 2, and a second roller 9-4 is arranged on the connecting frame 9-3, and the surface of the second roller 9-4 contacts the bottom surface of the chute. The first roller 9-2 and the second roller 9-4 are used to limit the lifting frame 2 in the front-back direction and the left-right direction.

[0041] Specifically, side plates are respectively arranged on both sides of the lifting frame 2, and the rotating shaft 9-1 and the connecting frame 9-3 are directly installed on the side plates. Two moving positioning mechanisms 9 are respectively arranged on each side of the lifting frame 2, and the stability of the lifting frame 2 during movement is ensured by a total of four moving positioning mechanisms 9 on the left and right.

[0042] In addition, to further improve the stability of the lifting frame 2, auxiliary limiting mechanisms 10 are respectively arranged on both sides of the lifting frame 2. The auxiliary limiting mechanism 10 includes a limiting frame 10-1 and a limiting wheel 10-2. The limiting frame 10-1 extends to the outside of the lifting frame 2, the limiting wheel 10-2 is installed at the outer end of the limiting frame 10-1, and the limiting wheel 10-2 is located outside the installation part 3-3 and contacts the surface of the longitudinal rod 3-1 on the installation part 3-3. For the installation part 3-3, the second roller 9-4 exerts an outward force on it, and the limiting wheel 10-2 exerts an inward force on it. The second roller 9-4 and the limiting wheel 10-2 cooperate with each other, reducing the stress deformation amount of the frame body 3 during operation, thereby ensuring the smoothness and reliability of the lifting frame 2 during up and down movement.

[0043] To further increase the stability of the frame 3, a cross-frame 7 can be provided at the top of the two frames 3. The two frames 3 are connected to each other through the cross-frame 7, so that the two frames 3 form a portal structure, and the overall structure has strong stability. Among them, the cross-frame is connected to the bolt holes on the splicing units on both sides through connecting bolts.

[0044] The frame 3 of the present utility model can be spliced into different heights according to needs. The lifting drive mechanism 4 drives the lifting frame 2 and the robotic arm 5 on the lifting frame 2 to move up and down along the frame 3, so as to realize the grasping, lifting and installation of the glass curtain wall 11, so that the lifting range of the robotic arm 5 is no longer limited to a fixed range, which is applicable to the installation requirements of glass curtain walls 11 at different low altitudes, and greatly improves the flexibility and applicability of the curtain wall installation robot.

[0045] The frame 3 is composed of a number of splicing units spliced up and down. The splicing unit is a frame structure. The splicing unit is positioned through a fast positioning structure and connected and fixed through a fast connection structure. While realizing fast assembly and connection, it can ensure that the frame 3 has sufficient structural strength and connection strength, and at the same time can ensure the smoothness of the connection, so that the lifting frame 2 can smoothly pass through the connection nodes of the splicing unit.

Claims

1. A low-altitude large and medium-sized glass curtain wall installation robot, comprising a mobile base, a lifting device, a mechanical arm and an end effector, characterized in that: The lifting device includes two vertically and symmetrically arranged frames, a lifting frame located between the two frames, and a lifting drive mechanism arranged on the lifting frame, wherein the lifting drive mechanism is used to drive the lifting frame to move up and down along the frames, the lower end of the frames is connected to the mobile base, the mechanical arm is located between the two frames and connected to the lifting frame, and the frames are formed by a splicing unit or a plurality of identical splicing units that are detachably connected up and down.

2. The low-altitude large and medium-sized glass curtain wall installation robot according to claim 1 is characterized in that: The splicing unit includes a plurality of longitudinal rods, and two adjacent longitudinal rods are connected by a transverse rod. A plurality of first bolt holes and a plurality of first pin holes are arranged at one end of the splicing unit, and corresponding second bolt holes and second pin holes are arranged at the other end of the splicing unit. When two adjacent splicing units are connected, the first bolt hole and the first pin hole of one splicing unit are aligned with the second bolt hole and the second pin hole of the other splicing unit, and pins are arranged in the first pin hole and the second pin hole, and connecting bolts are passed through the first bolt hole and the second bolt hole and fastened by nuts.

3. The low-altitude large and medium-sized glass curtain wall installation robot according to claim 2 is characterized in that: The end face of the splicing unit is a triangle or a quadrilateral.

4. The low-altitude large and medium-sized glass curtain wall installation robot according to claim 2 is characterized in that: The inner side edge of the splicing unit extends to the outside of the splicing unit to form a mounting portion, and the inner side of the mounting portion is used to connect the lifting frame and the lifting drive mechanism.

5. The low-altitude large and medium-sized glass curtain wall installation robot according to claim 4 is characterized in that: Auxiliary limiting mechanisms are respectively arranged on both sides of the lifting frame, and the auxiliary limiting mechanisms include a limiting frame and a limiting wheel. The limiting wheel is located outside the mounting portion and contacts the surface of the longitudinal rod.

6. The low-altitude large and medium-sized glass curtain wall installation robot according to claim 1 is characterized in that: The lifting drive mechanism includes a driving element, a commutator, a lifting gear, and a lifting rack. The commutator is connected to the lifting frame, and the driving element is connected to the input shaft of the commutator. The commutator has an output shaft extending to both sides, and the lifting gear is arranged on each output shaft. A full-length lifting rack is arranged along the length direction on each splicing unit, and the lifting gear is meshed and connected with the lifting rack.

7. The low-altitude large and medium-sized glass curtain wall installation robot according to claim 1 is characterized in that: A movable positioning mechanism is respectively arranged on both sides of the lifting frame, and a full-length slide rail is arranged on each splicing unit along the length direction, and the movable positioning mechanism is cooperatively connected with the slide rail.

8. The low-altitude large and medium-sized glass curtain wall installation robot according to claim 7 is characterized in that: A rectangular slide groove is arranged on the slide rail along the length direction, the mobile positioning mechanism includes a first roller and a second roller, a rotating shaft is arranged on the lifting frame, the axial direction of the rotating shaft is perpendicular to the bottom surface of the slide groove, a first roller is arranged at the end of the rotating shaft, a connecting frame is arranged on the lifting frame, and a second roller is arranged on the connecting frame, and the surface of the second roller contacts the bottom surface of the slide groove.

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