A platform for research: civil engineering, architecture and urbanism
A platform for research: civil engineering, architecture and urbanism
High-altitude curtain wall mounting robot and mounting method
The invention discloses a high-altitude curtain wall mounting robot and a mounting method. The robot comprises a control system and a movable chassis; a rotating table capable of horizontally rotating is arranged on the chassis, a movable arm capable of being unfolded and folded, a lower swing adjusting mechanism capable of adjusting the vertical angle of the movable arm and a supporting arm with a damping function are arranged on the rotating table, the bottom end of the movable arm is installed in a hinged mode, the lower portion of the movable arm is supported by the supporting arm, and a bracket is installed at the movable tail end through an upper swing adjusting mechanism. The upper swing adjusting mechanism can adjust the angle of the bracket in the vertical direction; the bracket is provided with a displacement fine adjustment mechanism capable of extending and retracting forwards, the front end of the displacement fine adjustment mechanism is provided with an end plate through a rotating seat, the rotating seat can adjust the rotating angle of the end plate around the displacement fine adjustment mechanism, the front side of the end plate is provided with a suction cup used for sucking a curtain wall plate, and the periphery of the end plate is adjustably provided with screw installation mechanisms. Positioners are distributed on the end plate; the screw mounting mechanism comprises a screwdriver with a magnetic attraction function and a driving assembly capable of driving the screwdriver to rotate and move front and back. The control system can obtain the current position and posture information of the curtain wall plate positioned and installed on the end plate according to the feedback of each positioner, and manually or automatically adjust each execution piece in combination with preset target position information, so that the curtain wall plate is in place, and screw installation is completed. When the curtain wall is installed, manual aloft work is not needed, the risk of personnel falling from high altitude is avoided, the installation position and angle of the curtain wall can be adjusted, and the application range is wide.
本发明公开一种高空幕墙安装机器人及安装方法，该机器人包括控制系统和能移动的底盘；底盘上设有能水平旋转的旋转台，旋转台上设有能展开和收回的活动臂、能调节活动臂上下方向角度的下摆动调节机构、带有阻尼功能的支撑臂，活动臂的底端铰接安装、下部由支撑臂支撑、活动末端通过上摆动调节机构安装托架，上摆动调节机构能调节托架在上下方向的角度；托架上设有能向前伸出和缩回的位移微调机构，位移微调机构的前端通过旋转座安装有端板，旋转座能调整端板绕位移微调机构的旋转角度，端板的前侧设有用于吸附幕墙板的吸盘、四周位置可调地设有螺钉安装机构，端板上分布有定位器；螺钉安装机构包括带有磁吸功能的螺丝刀以及能驱动螺丝刀旋转和前后移动的驱动组件；控制系统能根据各定位器的反馈得到端板上定位安装的幕墙板的当前位置以及姿态信息，并结合预设的目标位置信息，手动或自动调整各执行件，使幕墙板到位并完成螺钉安装。本发明在安装幕墙时无需人工高空作业，没有人员高空坠风险，能调整幕墙的安装位置和角度，适用范围广。
High-altitude curtain wall mounting robot and mounting method
The invention discloses a high-altitude curtain wall mounting robot and a mounting method. The robot comprises a control system and a movable chassis; a rotating table capable of horizontally rotating is arranged on the chassis, a movable arm capable of being unfolded and folded, a lower swing adjusting mechanism capable of adjusting the vertical angle of the movable arm and a supporting arm with a damping function are arranged on the rotating table, the bottom end of the movable arm is installed in a hinged mode, the lower portion of the movable arm is supported by the supporting arm, and a bracket is installed at the movable tail end through an upper swing adjusting mechanism. The upper swing adjusting mechanism can adjust the angle of the bracket in the vertical direction; the bracket is provided with a displacement fine adjustment mechanism capable of extending and retracting forwards, the front end of the displacement fine adjustment mechanism is provided with an end plate through a rotating seat, the rotating seat can adjust the rotating angle of the end plate around the displacement fine adjustment mechanism, the front side of the end plate is provided with a suction cup used for sucking a curtain wall plate, and the periphery of the end plate is adjustably provided with screw installation mechanisms. Positioners are distributed on the end plate; the screw mounting mechanism comprises a screwdriver with a magnetic attraction function and a driving assembly capable of driving the screwdriver to rotate and move front and back. The control system can obtain the current position and posture information of the curtain wall plate positioned and installed on the end plate according to the feedback of each positioner, and manually or automatically adjust each execution piece in combination with preset target position information, so that the curtain wall plate is in place, and screw installation is completed. When the curtain wall is installed, manual aloft work is not needed, the risk of personnel falling from high altitude is avoided, the installation position and angle of the curtain wall can be adjusted, and the application range is wide.
本发明公开一种高空幕墙安装机器人及安装方法，该机器人包括控制系统和能移动的底盘；底盘上设有能水平旋转的旋转台，旋转台上设有能展开和收回的活动臂、能调节活动臂上下方向角度的下摆动调节机构、带有阻尼功能的支撑臂，活动臂的底端铰接安装、下部由支撑臂支撑、活动末端通过上摆动调节机构安装托架，上摆动调节机构能调节托架在上下方向的角度；托架上设有能向前伸出和缩回的位移微调机构，位移微调机构的前端通过旋转座安装有端板，旋转座能调整端板绕位移微调机构的旋转角度，端板的前侧设有用于吸附幕墙板的吸盘、四周位置可调地设有螺钉安装机构，端板上分布有定位器；螺钉安装机构包括带有磁吸功能的螺丝刀以及能驱动螺丝刀旋转和前后移动的驱动组件；控制系统能根据各定位器的反馈得到端板上定位安装的幕墙板的当前位置以及姿态信息，并结合预设的目标位置信息，手动或自动调整各执行件，使幕墙板到位并完成螺钉安装。本发明在安装幕墙时无需人工高空作业，没有人员高空坠风险，能调整幕墙的安装位置和角度，适用范围广。
High-altitude curtain wall mounting robot and mounting method
高空幕墙安装机器人及安装方法
YUAN ZHENG (author) / YANG SHUN (author) / LIAO HONGYU (author) / LYU WEN (author) / SONG GONGWEN (author)
2024-07-12
Patent
Electronic Resource
Chinese
IPC:
E04G
SCAFFOLDING
,
Baugerüste
/
B66F
HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
,
Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last
/
E04B
Allgemeine Baukonstruktionen
,
GENERAL BUILDING CONSTRUCTIONS
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