Plate installation mechanical equipment with adjustable gravity center

Abstract

The utility model provides gravity-center-adjustable mechanical equipment for plate installation, the gravity-center-adjustable mechanical equipment for plate installation comprises a base, a mechanical arm assembly, a sliding frame, a balancing weight, a first driving assembly and a walking assembly, and the side, facing a plate during operation, of the base serves as the front side; the mechanical arm assembly is arranged on the upper side of the base and connected with the base. The sliding frame is arranged on the rear side of the base and slidably matched with the base. The balancing weight is arranged on the sliding frame; the first driving assembly is connected with the base, and the power output end is connected with the sliding frame. The walking assembly is arranged at the bottoms of the base and the sliding frame and connected with the base and the sliding frame. According to the plate installation mechanical equipment with the adjustable gravity center, when the mechanical arm assembly stretches out to grab a plate, the sliding frame loaded with the balancing weight moves towards the rear side of the base, so that the gravity center moves backwards, and the equipment is effectively prevented from inclining forwards; after the mechanical arm assembly grabs the plate and retracts, the sliding frame moves forwards, the total length of the equipment is shortened, and the equipment can move flexibly.

Description

Technical Field

[0001] The utility model belongs to the technical field of plate handling equipment, and particularly relates to a mechanical device for plate installation with adjustable center of gravity. Background Technique

[0002] At present, due to certain space limitations in the indoor installation environment, it is extremely difficult to install indoor plates using traditional methods. It is time-consuming and laborious, and it is extremely easy to cause harm to installers. When installing large-weight plates, it is difficult for manual installation to ensure the installation accuracy, and the installation process is extremely cumbersome. Therefore, in order to improve the level of building automation, mechanical devices for handling plates have emerged on the market.

[0003] At present, the handling equipment is provided with a movable base, a telescopic robotic arm, and a suction cup gripper installed at the end of the robotic arm. During operation, it usually moves to the vicinity of the plate first, and then grabs the plate through the telescopic robotic arm and the suction cup gripper installed at the end of the robotic arm; in order to facilitate movement indoors, the length and width of the handling equipment are usually small. After the robotic arm is extended to pick up a large plate, it is easy to tip forward due to the excessive weight of the plate.

[0004] For this reason, counterweights are usually added to the rear of the vehicle. If the counterweights are large, the equipment size will increase, making it inconvenient to move indoors. If the counterweights are small, tipping may still occur. Content of the Utility Model

[0005] The utility model provides a mechanical device for plate installation with adjustable center of gravity, aiming to solve the technical problems raised in the above background technique.

[0006] To achieve the above object, the technical solution adopted by the utility model is: to provide a mechanical device for plate installation with adjustable center of gravity, including:

[0007] A base, with the side facing the plate during operation being the front side;

[0008] A robotic arm assembly, connected to the upper side of the base and used to grab the plate;

[0009] A sliding frame, arranged at the rear side of the base and slidably matched with the base;

[0010] A counterweight, arranged on the sliding frame;

[0011] A first driving component, connected to the base, and the power output end is connected to the sliding frame; and

[0012] A traveling component, arranged at the bottoms of the base and the sliding frame and connected to the base and the sliding frame.

[0013] In a possible implementation of the mechanical equipment for installing plates with adjustable center of gravity provided by the present utility model, two oppositely arranged guiding grooves are provided on the lower side of the base, and slide rails that are slidably engaged with the guiding grooves are provided on the sliding frame.

[0014] In a possible implementation of the mechanical equipment for installing plates with adjustable center of gravity provided by the present utility model, a storage groove is further provided on the sliding frame, the storage groove is connected to the slide rail, and the counterweight block is placed in the storage groove.

[0015] In a possible implementation of the mechanical equipment for installing plates with adjustable center of gravity provided by the present utility model, the storage groove is divided into a plurality of storage compartments by a plurality of partition plates, the counterweight blocks are multiple, and the multiple counterweight blocks are adapted to be placed into the multiple storage compartments one by one.

[0016] In a possible implementation of the mechanical equipment for installing plates with adjustable center of gravity provided by the present utility model, a rectangular hole is provided in the upper part of the counterweight block.

[0017] In a possible implementation of the mechanical equipment for installing plates with adjustable center of gravity provided by the present utility model, anti-collision strips are provided on the outer edges of both the base and the sliding frame.

[0018] In a possible implementation of the mechanical equipment for installing plates with adjustable center of gravity provided by the present utility model, the robotic arm assembly includes:

[0019] A gantry frame, provided on the upper side of the base and connected to the base;

[0020] A lifting frame, slidably engaged with the gantry frame and having the freedom to slide up and down along the gantry frame;

[0021] A second driving assembly, connected to the lifting frame, with the power output end connected to the gantry frame, used to drive the lifting frame to lift along the gantry frame;

[0022] A telescopic frame, rotatably connected to the lifting frame and having the freedom to rotate in a vertical plane;

[0023] A third driving assembly, rotatably connected to the lifting frame, with the power output end rotatably connected to the telescopic frame, used to drive the telescopic frame to rotate in a vertical plane; and

[0024] A suction cup gripper, connected to the end of the telescopic frame, used to grip the plate.

[0025] In a possible implementation of the mechanical equipment for installing plates with adjustable center of gravity provided by the present utility model, a rack is provided on one side of the gantry frame. The second driving assembly includes a motor assembly and a gear. The motor assembly is connected to the lifting frame. The gear is connected to the power output end of the motor assembly and meshes with the rack.

[0026] In a possible implementation of the mechanical equipment for installing plates with adjustable center of gravity provided by the present utility model, the telescopic frame includes:

[0027] A fixed frame, rotatably connected to the lifting frame, and the power output end of the third driving assembly is rotatably connected to the fixed frame;

[0028] A sliding frame, slidably matched with the fixed frame, and the suction cup gripper is connected to the sliding frame; and

[0029] A fourth driving assembly, connected to the fixed frame, and the power output end is connected to the sliding frame.

[0030] The beneficial effects of the mechanical equipment for installing plates with adjustable center of gravity provided by the present utility model are as follows: Compared with the prior art, when the robotic arm assembly extends to grab a plate, the first driving assembly drives the sliding frame carrying the counterweight block to move backward to the rear side of the base, so that the center of gravity moves backward to effectively prevent the equipment from tipping forward; after the robotic arm assembly grabs the plate and retracts, the first driving assembly drives the sliding frame to move forward, shortening the total length of the equipment to facilitate the flexible movement of the equipment. Description of the Drawings

[0031] Figure 1 It is a three-dimensional structural schematic diagram of the mechanical equipment for installing plates with adjustable center of gravity provided by an embodiment of the present utility model;

[0032] Figure 2 It is a front view structural schematic diagram of the mechanical equipment for installing plates with adjustable center of gravity provided by an embodiment of the present utility model;

[0033] Description of the Reference Numerals:

[0034] 10. Base; 11. Guide groove; 12. First driving assembly; 20. Sliding frame;

[0035] 21. Slide rail; 30. Counterweight block; 31. Rectangular hole; 40. Traveling assembly;

[0036] 51. Gantry frame; 511. Rack; 52. Lifting frame; 53. Motor assembly;

[0037] 54. Gear; 551. Fixed frame; 552. Sliding frame; 553. Fourth driving assembly;

[0038] 56. The third driving component; 57. The suction cup gripper; 60. The anti-collision strip. Detailed implementation manners

[0039] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model.

[0040] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The description of at least one exemplary embodiment is actually only illustrative and in no way restricts the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0041] It should be noted that the terms used herein are only for describing the specific implementation manners and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless otherwise clearly specified in the context, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "include" and / or "comprise" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0042] Unless otherwise specifically stated, the relative arrangements, numerical expressions and values of the components and steps described in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for the convenience of description, the dimensions of the various parts shown in the drawings are not drawn according to the actual proportional relationship. Technologies, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods and devices should be regarded as part of the specification. In all the examples shown and discussed here, any specific value should be interpreted as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that like reference numerals and letters denote like items in the following drawings, and thus, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0043] In the description of the present application, it should be understood that the orientation or positional relationship indicated by orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom", etc. is usually based on the orientation or positional relationship shown in the drawings. This is only for the convenience of describing the present application and simplifying the description. Without contrary instructions, these orientation words do not indicate or imply that the device or component referred to must have a specific orientation or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the protection scope of the present application; the orientation words "inside, outside" refer to the inside and outside relative to the contour of each component itself.

[0044] For the convenience of description, spatial relative terms such as "above...", "over...", "on the upper surface of...", "upper...", etc. can be used here to describe the spatial positional relationship between a device or feature shown in the drawings and other devices or features. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation described in the drawings for the device. For example, if the device in the drawing is inverted, the device described as "above other devices or structures" or "over other devices or structures" will then be positioned as "below other devices or structures" or "under other devices or structures". Thus, the exemplary term "above..." can include both the orientations of "above..." and "below...". The device can also be positioned in other different ways, and corresponding interpretations should be made for the spatial relative descriptions used here.

[0045] In addition, it should be noted that the use of words such as "first", "second", etc. to limit components is only for the convenience of differentiating the corresponding components. Without additional statements, the above words have no special meanings. Therefore, it should not be construed as a limitation on the protection scope of the present application.

[0046] Please refer to Figures 1 to 2 together. Now, the mechanical equipment for sheet installation with adjustable center of gravity provided by the present utility model will be described. The mechanical equipment for sheet installation with adjustable center of gravity includes a base 10, a robotic arm assembly, a sliding frame 20, a counterweight 30, a first driving assembly 12, and a traveling assembly 40. The front side of the base 10 is the side facing the sheet during operation; the robotic arm assembly is arranged on the upper side of the base 10 and is connected to the base 10 for grasping the sheet; the sliding frame 20 is arranged at the rear side of the base 10 and is slidably matched with the base 10; the counterweight 30 is arranged on the sliding frame 20; the first driving assembly 12 is connected to the base 10, and the power output end is connected to the sliding frame 20; the traveling assembly 40 is arranged at the bottoms of the base 10 and the sliding frame 20 and is connected to the base 10 and the sliding frame 20.

[0047] Specifically, the traveling assembly 40 includes at least three traveling wheels. The three traveling wheels are respectively arranged at the bottoms of the base 10 and the sliding frame 20, and at least one traveling wheel is a driving wheel.

[0048] The beneficial effects of the mechanical equipment for sheet installation with adjustable center of gravity provided by the present utility model are as follows: Compared with the prior art, when the robotic arm assembly extends to grasp a sheet, the first driving component 12 drives the sliding frame 20 carrying the counterweight 30 to move towards the rear side of the base 10, shifting the center of gravity backward to effectively prevent the equipment from tipping forward; after the robotic arm assembly grasps the sheet and retracts, the first driving component 12 drives the sliding frame 20 to move forward, shortening the total length of the equipment for flexible movement of the equipment.

[0049] Specifically, as Figure 1 and Figure 2 shown, in a specific embodiment of the mechanical equipment for sheet installation with adjustable center of gravity provided by the embodiments of the present utility model, two oppositely arranged guiding grooves 11 are provided on the lower side of the base 10, and the sliding frame 20 is provided with slide rails 21 slidably engaged with the guiding grooves 11.

[0050] Furthermore, as Figure 1 and Figure 2 shown, in a specific embodiment of the mechanical equipment for sheet installation with adjustable center of gravity provided by the embodiments of the present utility model, the sliding frame 20 is further provided with a storage groove, the storage groove is connected to the slide rail 21, and the counterweight 30 is placed in the storage groove.

[0051] Even further, as Figure 1 and Figure 2 shown, in a specific embodiment of the mechanical equipment for sheet installation with adjustable center of gravity provided by the embodiments of the present utility model, the storage groove is divided into a plurality of storage compartments by a plurality of partition plates, the counterweight 30 is in multiple pieces, and the multiple pieces of counterweight 30 are adapted to be respectively placed into the plurality of storage compartments one by one.

[0052] It should be noted that the counterweights required for sheets of different weights are different. According to the weight of the grasped sheet, different numbers of counterweights 30 are placed in the storage groove to avoid excessive counterweights increasing the load of the entire equipment and reducing energy consumption.

[0053] As Figure 1 and Figure 2 shown, in a specific embodiment of the mechanical equipment for sheet installation with adjustable center of gravity provided by the embodiments of the present utility model, a rectangular hole 31 is formed in the upper part of the counterweight 30 for convenient grasping of the counterweight 30.

[0054] As Figure 1 and Figure 2 shown, in a specific embodiment of the mechanical equipment for sheet installation with adjustable center of gravity provided by the embodiments of the present utility model, anti-collision strips 60 are provided on the outer edges of both the base 10 and the sliding frame 20 to prevent other facilities from being damaged when the equipment moves indoors.

[0055] As Figure 1 and Figure 2 shown, in a specific embodiment of the mechanical equipment for sheet installation with adjustable center of gravity provided by the embodiment of the present utility model, the robotic arm assembly includes a gantry 51, a lifting frame 52, a second drive assembly, a telescopic frame, a third drive assembly 56 and a suction cup gripper 57. The gantry 51 is arranged on the upper side of the base 10 and is connected to the base 10. The lifting frame 52 is slidably engaged with the gantry 51 and has the freedom to slide up and down along the gantry 51. The second drive assembly is connected to the lifting frame 52, and the power output end is connected to the gantry 51 to drive the lifting frame 52 to lift along the gantry 51. The telescopic frame is rotatably connected to the lifting frame 52 and has the freedom to rotate in the vertical plane. The third drive assembly 56 is rotatably connected to the lifting frame 52, and the power output end is rotatably connected to the telescopic frame to drive the telescopic frame to rotate in the vertical plane. The suction cup gripper 57 is connected to the end of the telescopic frame to grasp the sheet.

[0056] Specifically, the suction cup gripper 57 directly adopts an existing mechanism.

[0057] Furthermore, as Figure 1 and Figure 2 shown, in a specific embodiment of the mechanical equipment for sheet installation with adjustable center of gravity provided by the embodiment of the present utility model, a rack 511 is arranged on one side of the gantry 51. The second drive assembly includes a motor assembly 53 and a gear 54. The motor assembly 53 is connected to the lifting frame 52, the gear 54 is connected to the power output end of the motor assembly 53 and meshes with the rack 511.

[0058] Specifically, the motor assembly 53 includes a motor and a reducer, and the reducer has two output ends, and both output ends are connected to the gear 54.

[0059] Specifically, as Figure 1 and Figure 2 shown, in a specific embodiment of the mechanical equipment for sheet installation with adjustable center of gravity provided by the embodiment of the present utility model, the telescopic frame includes a fixed frame 551, a sliding frame 552 and a fourth drive assembly 553. The fixed frame 551 is rotatably connected to the lifting frame 52, and the power output end of the third drive assembly 56 is rotatably connected to the fixed frame 551. The sliding frame 552 is slidably engaged with the fixed frame 551, and the suction cup gripper 57 is connected to the sliding frame 552. The fourth drive assembly 553 is connected to the fixed frame 551, and the power output end is connected to the sliding frame 552.

[0060] It should be noted that the first drive assembly 12, the third drive assembly 56 and the fourth drive assembly 553 are hydraulic cylinders, and can also be power elements such as air cylinders and electric push rods that can output axial displacement.

[0061] During operation, first, the device is driven to the vicinity of the board by the traveling assembly 40. Then, the telescopic frame is lifted and lowered by the second driving assembly, the angle of the lifting frame 52 is adjusted by the third driving assembly 56, and the sliding frame 552 of the telescopic frame is extended by the fourth driving assembly 553, so that the suction cup gripper 57 moves to the surface of the board. Then, the sliding frame 20 is driven to move backward by the first driving assembly 12, and then the suction cup gripper 57 adsorbs the board. After that, the telescopic frame can be retracted by the fourth driving assembly 553, and the sliding frame 20 can be driven to move forward by the first driving assembly 12 to reduce the overall size of the device. Then, the device is driven to the vicinity of the installation position by the traveling assembly 40.

[0062] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A mechanical device for installing a plate with an adjustable center of gravity, characterized in that: include: The base, with the side facing the plate during operation as the front side; A mechanical arm assembly, arranged on the upper side of the base and connected to the base, for grabbing the plate; A sliding frame, arranged at the rear side of the base, and slidingly matched with the base; A counterweight block is arranged on the sliding frame; A first driving assembly connected to the base, with a power output end connected to the sliding frame; as well as The walking assembly is arranged at the bottom of the base and the sliding frame, and is connected with the base and the sliding frame.

2. The mechanical equipment for panel installation with adjustable center of gravity as claimed in claim 1, characterized in that: The lower side of the base is provided with two guide grooves arranged opposite to each other, and the sliding frame is provided with a slide rail which is slidably matched with the guide grooves.

3. The mechanical equipment for panel installation with adjustable center of gravity as claimed in claim 2, characterized in that: The sliding frame is also provided with a storage groove, the storage groove is connected to the slide rail, and the counterweight block is placed in the storage groove.

4. The mechanical equipment for panel installation with adjustable center of gravity as claimed in claim 3, characterized in that: The storage tank is divided into a plurality of storage compartments by a plurality of partitions. The counterweight blocks are in a plurality of pieces, and the plurality of counterweight blocks are suitable for being placed one by one in the plurality of storage compartments.

5. The mechanical equipment for panel installation with adjustable center of gravity as claimed in claim 4, characterized in that: A rectangular hole is provided on the upper portion of the counterweight block.

6. The mechanical equipment for panel installation with adjustable center of gravity as claimed in claim 1, characterized in that: Anti-collision strips are arranged on the outer edges of the base and the sliding frame.

7. The mechanical equipment for panel installation with adjustable center of gravity as claimed in claim 1, characterized in that: The mechanical arm assembly comprises: A door-type frame, arranged on the upper side of the base and connected to the base; A lifting frame, which is slidably matched with the portal frame and has the freedom to slide up and down along the portal frame; A second driving assembly is connected to the lifting frame, and a power output end is connected to the portal frame, and is used to drive the lifting frame to move up and down along the portal frame; A telescopic frame, rotatably connected to the lifting frame, and having the freedom to rotate in a vertical plane; A third driving assembly, which rotates with the lifting frame, and whose power output end is rotatably connected with the telescopic frame, and is used to drive the telescopic frame to rotate in a vertical plane; and A suction cup gripper is connected to the end of the telescopic frame and is used to grab the plate.

8. The mechanical equipment for panel installation with adjustable center of gravity as claimed in claim 7, characterized in that: A rack is provided on one side of the portal frame, and the second driving assembly includes a motor assembly and a gear. The motor assembly is connected to the lifting frame, and the gear is connected to the power output end of the motor assembly and meshes with the rack.

9. The mechanical equipment for panel installation with adjustable center of gravity as claimed in claim 7, characterized in that: The telescopic frame comprises: A fixed frame is rotatably connected to the lifting frame, and a power output end of the third driving assembly is rotatably connected to the fixed frame; A sliding frame, slidably matched with the fixed frame, the suction cup gripper being connected to the sliding frame; and The fourth driving assembly is connected to the fixed frame, and a power output end is connected to the sliding frame.

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