Manipulator for carrying, disassembling and assembling doors and windows

Abstract

The utility model discloses a manipulator for carrying, dismounting and mounting doors and windows, which comprises an omnidirectional wheel vehicle, a stand column fixedly connected to the omnidirectional wheel vehicle, a lifting assembly arranged on the stand column, a lifting sliding plate arranged on the lifting assembly in a sliding manner, and a two-section arm fixedly connected to one side, deviating from the stand column, of the lifting sliding plate, a force sensing assembly is arranged at the end, away from the lifting sliding plate, of the second-section arm and comprises a linear rail mounting plate, a sliding block, a guide rod and a pressure sensor, the linear rail mounting plate is fixed to the tail end of the second-section arm, and the sliding block is fixed to the side, away from the second-section arm, of the linear rail mounting plate. The multiple pneumatic suction cups can be adjusted at multiple angles so as to adapt to surface forms and mounting angle requirements of different workpieces, the movement speed of the two-section arm and the lifting assembly can be dynamically matched with operating force applied manually, speed parameters do not need to be manually adjusted, and the operation difficulty and physical output are greatly reduced.

Description

Technical Field

[0001] This utility model relates to the field of door and window disassembly and assembly technology, and in particular to a robotic arm used for door and window handling and disassembly operations. Background Technology

[0002] The handling and disassembly of doors and windows (including door panels, side windows, windshields, and other panel-type workpieces) are core operational processes in fields such as construction and vehicle assembly. The smooth transfer, precise positioning, and safe disassembly and assembly of workpieces are essential, directly affecting operational efficiency and workpiece integrity.

[0003] Existing work methods largely rely on manual handling or simple lifting tools, which have significant drawbacks: Plate-type workpieces are generally heavy and bulky, making manual handling extremely labor-intensive. Operators are prone to fatigue, leading to workpiece collisions and detachments, causing workpiece damage or safety accidents. Simple tools lack flexible adsorption structures adapted to different workpiece surface shapes, have poor adsorption stability, and lack dynamic force sensing and adaptive control functions. They require manual adjustment of movement speed, making it difficult to achieve precise matching between equipment movement and manual operation force. This results in low alignment accuracy, time-consuming repeated adjustments, and low work efficiency, failing to meet the demands of modern operations for high efficiency, safety, and precision. Utility Model Content

[0004] The purpose of this utility model is to solve at least one of the technical problems existing in the prior art, and to provide a robotic arm for door and window handling and disassembly operations. This solves the problems of high manual labor intensity, easy workpiece collision and detachment, insufficient adsorption adaptability, and high operation difficulty, low alignment accuracy and low operation efficiency caused by the lack of dynamic force perception and adaptive control in existing door and window handling and disassembly operations.

[0005] This utility model also provides a robotic arm for handling and disassembling doors and windows, comprising: an omnidirectional wheel, a column fixedly connected to the omnidirectional wheel, a lifting assembly on the column, a lifting slide plate slidably mounted on the lifting assembly, a two-section arm fixedly connected to the side of the lifting slide plate away from the column, a force sensing assembly at the end of the two-section arm away from the lifting slide plate, the force sensing assembly including a linear guide mounting plate, a slider, a guide rod, and a pressure sensor, the linear guide mounting plate fixed to the end of the two-section arm, the slider fixed to the side of the linear guide mounting plate away from the two-section arm, the guide rod slidably passing through the slider and fixed inside the rotary bracket, the pressure sensor fixed to the upper surface of the two-section arm and movably abutting against the rotary bracket; a clamping connecting bracket rotatably connected to the lower surface of the rotary bracket, an angle adjustment assembly on the clamping connecting bracket, and a suction cup assembly for adsorbing doors and windows on the angle adjustment assembly.

[0006] According to the present invention, the robotic arm used for door and window handling and disassembly operations includes a lifting assembly comprising a guide rail and a rack. Both the guide rail and the rack are fixed to the side of the column facing the lifting slide plate, and the lifting slide plate is slidably connected to the outside of the guide rail.

[0007] According to the present invention, the robotic arm used for door and window handling and disassembly operations includes a lifting assembly that further comprises a servo motor, a reducer, and a gear. The servo motor is fixed on the lifting slide plate, the reducer is fixed on the output end of the servo motor, and the gear is fixed on the drive shaft of the reducer and meshes with a rack.

[0008] According to the present invention, a robotic arm for handling and disassembling doors and windows has a bearing seat embedded in the lifting slide plate, a support bearing is fixedly connected inside the bearing seat, and the inner ring of the support bearing is fixedly sleeved on the outer wall of the drive shaft of the reducer.

[0009] According to the present invention, the robotic arm for handling and disassembling doors and windows includes an angle adjustment component comprising a mounting bracket and a transmission device. The mounting bracket is fixed to the lower surface of the clamp connecting bracket, and the transmission device is fixed inside the mounting bracket. A connecting panel is rotatably provided on the outside of the mounting bracket, and the connecting panel is connected to the transmission device in a transmission manner.

[0010] According to the present invention, the robotic arm used for door and window handling and disassembly operations includes a suction cup assembly comprising a suction cup bracket, the suction cup bracket being fixed to the side of the connecting panel away from the angle adjustment assembly, a plurality of supports being fixed to the side surface of the suction cup bracket, a universal ball being rotatably connected inside the supports, a connecting rod being fixed to the universal ball, and a pneumatic suction cup being fixed to the end of the connecting rod away from the universal ball.

[0011] According to the present invention, the robotic arm used for door and window handling and disassembly operations has an air pump fixedly connected to the omnidirectional wheel vehicle, and the air pump is connected to the pneumatic suction cup through a flexible air tube.

[0012] Beneficial effects:

[0013] The robotic arm in this technical solution, used for door and window handling and disassembly operations, can tightly adsorb panel workpieces such as door panels, side windows, and windshields through pneumatic suction cups, effectively preventing workpieces from falling off or shifting during handling, and ensuring the safety and stability of workpiece handling.

[0014] By using a suction cup bracket, support, universal ball joint, connecting rod, and pneumatic suction cup in conjunction with the suction cup bracket, support, universal ball joint can rotate flexibly within the support, driving the connecting rod and the pneumatic suction cup at the end to achieve multi-angle adjustment. This can adapt to the surface shape and installation angle requirements of different types of workpieces such as door panels, side windows, and windshields, ensuring that each pneumatic suction cup can be tightly attached to the corresponding workpiece surface, improving the adaptability and firmness of the adsorption, and avoiding the problem of unstable adsorption due to differences in workpiece type.

[0015] The controller adaptively adjusts the motor torque based on the signals sensed by the force sensing components, so that the movement speed of the two-section boom and lifting components is dynamically matched with the operating force applied by the operator. When the operator applies a small force, the equipment moves at a low speed and a large force is applied, and the equipment responds quickly. There is no need to manually adjust the speed parameters, which greatly reduces the difficulty of operation and physical consumption, making the movement of doors and windows, alignment and other actions more effortless and smooth. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0017] Figure 1 This is a front view structural diagram of the robotic arm used for door and window handling and disassembly operations according to this utility model.

[0018] Figure 2 This is a structural diagram of the two-section arm of the robotic arm used for door and window handling and disassembly operations according to this utility model.

[0019] Figure 3 This is a rear view structural diagram of the suction cup assembly of the robotic arm used for door and window handling and disassembly operations according to this utility model.

[0020] Figure 4 This is a front view structural diagram of the suction cup assembly of the robotic arm used for door and window handling and disassembly operations according to this utility model.

[0021] Figure 5 This is a structural diagram of the omnidirectional wheeled robot arm used for door and window handling and disassembly operations according to this utility model.

[0022] Legend:

[0023] 1. Support bearing; 2. Reducer; 3. Servo motor; 4. Two-section arm; 5. Fixture connecting bracket; 6. Rack; 7. Gear; 8. Bearing housing; 9. Lifting slide plate; 10. Guide rail; 11. Column; 12. Air pump; 13. Omnidirectional wheel; 14. Guide rod; 15. Rotary bracket; 16. Pressure sensor; 17. Slider; 18. Linear rail mounting plate; 19. Pneumatic suction cup; 20. Suction cup bracket; 21. Connecting rod; 22. Support; 23. Universal ball; 24. Connecting panel; 25. Transmission device; 26. Mounting bracket. Detailed Implementation

[0024] This section will describe in detail the specific embodiments of the present utility model. The preferred embodiments of the present utility model are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present utility model, but they should not be construed as limiting the scope of protection of the present utility model.

[0025] Reference Figures 1-5This utility model embodiment provides a robotic arm for door and window handling and disassembly operations, which includes: considering that existing operations lack flexible and stable load-bearing and telescopic mechanisms, resulting in limited operating range, an omnidirectional wheel 13 is designed. A column 11 is fixedly connected to the omnidirectional wheel 13, and a lifting assembly is provided on the column 11. A lifting slide plate 9 is slidably provided on the lifting assembly. A two-section arm 4 is fixedly connected to the side of the lifting slide plate 9 away from the column 11. The omnidirectional wheel 13 can move in all directions. The column 11 provides an installation reference for the lifting assembly. The lifting slide plate 9 slides along the column 11 through the lifting assembly. The two-section arm 4 can extend and retract to expand the operating radius.

[0026] Specifically: The omnidirectional wheel vehicle 13 is a mobile vehicle that is controlled by an onboard control system (including a Siemens 1200 series master PLC, a vehicle drive control motherboard, a Weintek touch screen and a wireless remote control). The battery pack powers the electric steering wheel system (four steering wheels with drive and steering motors), the power-assisted manipulator and the vacuum pump of the omnidirectional wheel vehicle 13. The omnidirectional wheel vehicle 13 can be moved smoothly between workstations by manual control via remote control or touch screen. The steering wheel system can achieve straight movement, translation, steering and obstacle avoidance, meeting the needs of multi-workstation operation.

[0027] Considering that existing equipment lacks dynamic force sensing capabilities and cannot achieve precise matching between equipment movement and manual operation force, a force sensing component is installed at the end of the two-section arm 4 away from the lifting slide plate 9. The force sensing component includes a linear guide mounting plate 18, a slider 17, a guide rod 14, and a pressure sensor 16. The linear guide mounting plate 18 is fixed to the end of the two-section arm 4, the slider 17 is fixed to the side of the linear guide mounting plate 18 away from the two-section arm 4, the guide rod 14 slides through the slider 17 and is fixed inside the rotary support 15, and the pressure sensor 16 is fixed to the upper surface of the two-section arm 4 and movably abuts against the rotary support 15. The guide rod 14 slides along the slider 17, causing the rotary support 15 to move. The pressure sensor 16 captures the force changes of the rotary support 15 in real time and feeds them back to the controller, providing accurate force signals for adaptive control, realizing dynamic matching between equipment movement and manual operation force, and reducing the difficulty of operation.

[0028] Specifically, the core working principle of the force sensing module is a closed loop of "force signal acquisition-processing-control". It is fixed to the end of the two-section arm 4 via a linear guide mounting plate 18. The guide rod 14 is connected to the rotary bracket 15, and the slider 17 cooperates with the guide rod 14. When the clamp handle is manually operated, the movement causes the guide rod 14 and the slider 17 to move relative to each other. The pressure sensor 16 at the top converts the physical operating force into an electrical signal, which is transmitted to the PLC controller in real time. The controller adaptively adjusts the output torque of the servo motor 3 according to an algorithm, matching the lifting speed of the two-section arm 4 with the operating force. Combined with torque balancing and other control methods, smooth and precise follow-up operation is achieved.

[0029] Considering the diverse installation angles of doors and windows, existing equipment is unable to flexibly adapt to different alignment requirements. Therefore, the lower surface of the rotary bracket 15 is rotatably connected to the clamp connecting bracket 5. The clamp connecting bracket 5 is equipped with an angle adjustment component, which includes a mounting bracket 26 and a transmission device 25. The mounting bracket 26 is fixed to the lower surface of the clamp connecting bracket 5, and the transmission device 25 is fixed inside the mounting bracket 26. A connecting panel 24 is rotatably provided on the outside of the mounting bracket 26. The connecting panel 24 is connected to the transmission device 25. The rotary bracket 15 achieves horizontal rotation, and the transmission device 25 drives the connecting panel 24 to rotate, thereby driving the angle adjustment component to adjust the adsorption position, flexibly adapting to different installation angles of doors and windows, improving alignment accuracy, and reducing the time spent on repeated adjustments.

[0030] Considering the significant differences in surface shapes of various doors and windows, and the poor adaptability and weak adhesion of existing adsorption structures, a suction cup assembly for adsorbing doors and windows is provided on the angle adjustment component. The suction cup assembly includes a suction cup bracket 20, which is fixed to the side of the connecting panel 24 away from the angle adjustment component. Multiple supports 22 are fixed to the side surface of the suction cup bracket 20. A universal ball 23 is rotatably connected inside the support 22. A connecting rod 21 is fixed on the universal ball 23. A pneumatic suction cup 19 is fixed to the end of the connecting rod 21 away from the universal ball 23. The universal ball 23 rotates flexibly inside the support 22, driving the connecting rod 21 and the pneumatic suction cup 19 to make multi-angle fine adjustments to ensure contact with the surface of the door and window, improve the adsorption adaptability and firmness, and avoid the problem of falling off and shifting due to differences in the shape of the workpiece.

[0031] In summary, the improvement of this embodiment lies in:

[0032] The pneumatic suction cup 19 can tightly adhere to panel-like workpieces such as door panels, side windows, and windshields, effectively preventing workpieces from falling off or shifting during handling and ensuring the safety and stability of workpiece handling.

[0033] With the cooperation of suction cup bracket 20, support 22, universal ball 23, connecting rod 21, and pneumatic suction cup 19, the universal ball 23 can rotate flexibly within the support 22, driving the connecting rod 21 and the pneumatic suction cup 19 at the end to achieve multi-angle adjustment. This can adapt to the surface shape and installation angle requirements of different types of workpieces such as door panels, side windows, and windshields, ensuring that each pneumatic suction cup 19 can be tightly attached to the corresponding workpiece surface, improving the adaptability and firmness of the adsorption, and avoiding the problem of unstable adsorption due to differences in workpiece type.

[0034] The controller adaptively adjusts the torque of the servo motor 3 based on the signals sensed by the force sensing component, so that the movement speed of the two-section arm 4 and the lifting component is dynamically matched with the operating force applied by the operator. When the operator applies a small force, the equipment moves at a low speed and a large force is applied, and the equipment responds quickly. There is no need to manually adjust the speed parameters, which greatly reduces the difficulty of operation and physical consumption, and makes the movement of doors and windows, alignment and other actions more effortless and smooth.

[0035] Based on the above, other structures also need to be disclosed in detail, such as:

[0036] The lifting assembly includes a guide rail 10 and a rack 6. Both the guide rail 10 and the rack 6 are fixed to the side of the column 11 facing the lifting slide plate 9. The lifting slide plate 9 is slidably connected to the outside of the guide rail 10. The lifting assembly also includes a servo motor 3, a reducer 2, and a gear 7. The servo motor 3 is fixed on the lifting slide plate 9, the reducer 2 is fixed to the output end of the servo motor 3, and the gear 7 is fixed on the drive shaft of the reducer 2 and meshes with the rack 6. A bearing seat 8 is embedded in the lifting slide plate 9. A support bearing 1 is fixedly connected in the bearing seat 8. The inner ring of the support bearing 1 is fixedly sleeved on the outer wall of the drive shaft of the reducer 2.

[0037] An air pump 12 is fixedly connected to the omnidirectional wheel 13, and the air pump 12 is connected to the pneumatic suction cup 19 through a flexible air tube.

[0038] Working principle: The robot arm used for door and window handling and disassembly operations uses the omnidirectional wheel 13 as the base for movement. The air pump 12 delivers a stable negative pressure to the pneumatic suction cup 19 through a soft air tube to ensure that it tightly adsorbs panel workpieces such as door leaves, side windows and windshields.

[0039] During operation, the omnidirectional wheel 13 can drive the overall structure to move between different workstations. The column 11 provides support for the lifting assembly. In the lifting assembly, the servo motor 3 drives the gear 7 to rotate along the rack 6 via the reducer 2, so that the lifting slide plate 9 can be smoothly lifted and lowered along the guide rail 10. The support bearing 1 assists the reducer 2 in stabilizing the transmission shaft, and realizes precise height adjustment of the suction cup assembly.

[0040] The two-section arm 4 swings horizontally, and the guide rod 14 of the force sensing component slides within the slider 17 along with the rotary bracket 15. The pressure sensor 16 senses the force and assists in adjusting the operating force and speed.

[0041] The rotary bracket 15 drives the clamp connecting bracket 5 to rotate to adjust the clamp direction. The transmission device 25 of the angle adjustment component, supported by the mounting bracket 26, drives the connecting panel 24 and the suction cup assembly to adjust the overall angle to adapt to different installation station requirements.

[0042] In the suction cup assembly, the universal ball 23 rotates within the support 22, driving the connecting rod 21 and the pneumatic suction cup 19 to adjust their angles, ensuring that the pneumatic suction cup 19 adheres to different workpiece surfaces, ultimately achieving precise handling and disassembly of workpieces, and ensuring safe, stable and high-precision operation.

[0043] The embodiments of the present utility model have been described in detail above with reference to the accompanying drawings. However, the present utility model is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present utility model.

Claims

1. A robotic arm for handling and disassembling doors and windows, comprising an omnidirectional wheel (13), wherein a column (11) is fixedly connected to the omnidirectional wheel (13), a lifting assembly is provided on the column (11), and a lifting slide plate (9) is slidably provided on the lifting assembly, characterized in that: The lifting slide plate (9) is fixedly connected to a two-section arm (4) on the side away from the column (11). A force sensing component is provided at the end of the two-section arm (4) away from the lifting slide plate (9). The force sensing component includes a linear guide mounting plate (18), a slider (17), a guide rod (14), and a pressure sensor (16). The linear guide mounting plate (18) is fixed to the end of the two-section arm (4). The slider (17) is fixed to the side of the linear guide mounting plate (18) away from the two-section arm (4). The guide rod (14) slides through the slider (17) and is fixed inside the rotary bracket (15). The pressure sensor (16) is fixed to the upper surface of the two-section arm (4) and movably abuts against the rotary bracket (15). The lower surface of the rotating bracket (15) is rotatably connected to the clamp connecting bracket (5), and the clamp connecting bracket (5) is provided with an angle adjustment component, and the angle adjustment component is provided with a suction cup component for adsorbing doors and windows.

2. The robotic arm for handling and disassembling doors and windows according to claim 1, characterized in that, The lifting assembly includes a guide rail (10) and a rack (6). The guide rail (10) and the rack (6) are both fixed to the side of the column (11) facing the lifting slide plate (9). The lifting slide plate (9) is slidably connected to the outside of the guide rail (10).

3. The robotic arm for handling and disassembling doors and windows according to claim 2, characterized in that, The lifting assembly also includes a servo motor (3), a reducer (2), and a gear (7). The servo motor (3) is fixed on the lifting slide plate (9), the reducer (2) is fixed on the output end of the servo motor (3), and the gear (7) is fixed on the transmission shaft of the reducer (2) and meshes with the rack (6).

4. The robotic arm for handling and disassembling doors and windows according to claim 3, characterized in that, The lifting slide plate (9) is embedded with a bearing seat (8), and a support bearing (1) is fixedly connected inside the bearing seat (8). The inner ring of the support bearing (1) is fixedly sleeved on the outer wall of the transmission shaft of the reducer (2).

5. The robotic arm for handling and disassembling doors and windows according to claim 1, characterized in that, The angle adjustment assembly includes a mounting bracket (26) and a transmission device (25). The mounting bracket (26) is fixed to the lower surface of the clamp connecting bracket (5), and the transmission device (25) is fixed inside the mounting bracket (26). The mounting bracket (26) is externally rotatably connected to a connecting panel (24), which is connected to the transmission device (25) via a transmission.

6. The robotic arm for handling and disassembling doors and windows according to claim 1, characterized in that, The suction cup assembly includes a suction cup bracket (20), which is fixed to the side of the connecting panel (24) away from the angle adjustment component. Multiple supports (22) are fixed to the side surface of the suction cup bracket (20). A universal ball (23) is rotatably connected inside the support (22). A connecting rod (21) is fixed on the universal ball (23). A pneumatic suction cup (19) is fixed to the end of the connecting rod (21) away from the universal ball (23).

7. The robotic arm for handling and disassembling doors and windows according to claim 6, characterized in that, An air pump (12) is fixedly connected to the omnidirectional wheel (13), and the air pump (12) is connected to the pneumatic suction cup (19) through a flexible air tube.

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