Prefabricated wallboard mounting manipulator

Abstract

The invention relates to a prefabricated wallboard mounting manipulator which comprises a waist rotation module, a large arm module, a wrist module and a vacuum suction cup device. The waist rotationmodule comprises a first swing hydraulic cylinder, a base shell, a shell upper cover, a shell lower cover, a large gear, a pinion, a transmission shaft, a positioning shaft sleeve, bearings and a positioning thread sleeve. The large arm module comprises a waist main body, a lower arm, a second swing hydraulic cylinder, a small shaft, a parallel arm and a limiting block. The wrist module comprisesan intermediate connecting piece, a long shaft, an upper arm, a short arm, a parallel rod, a lower connecting rod, an upper connecting rod, a third swing hydraulic cylinder and a movable platform. Thevacuum suction cup device comprises a mounting platform, a support connecting piece, a fixing connecting piece, a sliding rod, vacuum suction cups, a piston rod and a hydraulic cylinder. The prefabricated wallboard mounting manipulator is simple in structure, convenient to control, high in automation degree, capable of reducing operators greatly and high in working efficiency, and has the characteristics of high positioning precision, good stability, high expandability, high reliability, good safety and the like.

Description

technical field [0001] The invention relates to a manipulator for installing prefabricated wall panels, which belongs to mechanical equipment in the construction field. Background technique [0002] With the continuous improvement of the level of building industrialization, the use of prefabricated concrete wall panels to build fully assembled and assembled monolithic large-slab buildings has become one of the ways for China to develop towards building industrialization. The construction of prefabricated concrete wall panels can not only improve the degree of factory and mechanized construction and reduce on-site wet work, but also save on-site labor, overcome seasonal influences and shorten the construction period. For the installation of prefabricated wall panels, in the prior art, the conventional installation method is to set up scaffolding, lift the wall panels to the installation place with a crane (tower crane or tire crane), and install them at a high place by worker...

AI Technical Summary

Problems solved by technology

Although the overall equipment can realize long-distance transportation, there are three important shortcomings: first, the manipulator in this equipment has only three degrees of freedom, can only complete three actions of clamping, translation, and vertical movement, and has a complicated structure; second, the manipulator The clamping component realizes the function of clamping the wallboard by adjusting the distance between the clamping parts through the adjustment device

Although this gripper device uses a hydraulic device to solve the uncertain factors in the above-mentioned patents that only rely on the mechanical adjustment device to adjust the distance, and provides an actuator for the wall panel installation machine, there is an important limitation: the gripper The length of the channel steel column in the device determines the adjustable distance between the two grippers, which determines the size of the wall panels that can be grasped

Then, the gripper device with a very long channel steel column is too large in size, difficult to install, and has low universality; the gripper device with a moderate length of channel steel column can only grab the wallboard in a limited size, and its universality is still not high

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