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Large-span multifunctional roboticized engineering construction equipment

A kind of engineering construction and multi-functional technology, which is applied in infrastructure engineering, building maintenance, roads, etc., can solve problems such as inability to complete work requirements, achieve high reliability, save costs, and improve work efficiency

Active Publication Date: 2016-11-16
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For some complex construction environments (such as radiation zones) that make construction personnel and equipment inaccessible, the existing equipment cannot complete the work requirements due to the shortcomings of the small working range

Method used

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  • Large-span multifunctional roboticized engineering construction equipment
  • Large-span multifunctional roboticized engineering construction equipment
  • Large-span multifunctional roboticized engineering construction equipment

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0022] The structure of the large-span multi-functional robotized engineering construction equipment of the present invention is as follows when it is used for punching and piling figure 1 As shown, it includes four support columns 2, a wire rope drive unit 1, a wire rope guide device 3 and a wire rope 4, a controller, and a drop hammer (ie, the end effector of this embodiment) 5-1 provided with each support column; Among them, the four support columns 2 are distributed and arranged around the construction area 0 according to the requirements of the site conditions. In this embodiment, the bottom of the support columns 2 is provided with a base that plays a fixed role (the size and shape of the base should be determined according to the actual situation of the project) In order to further strengthen the support column 2, an inclined support beam can be provided on the outside; the inside of the support column 2 is provided with a hydraulic cylinder for realizing the lifting of ...

Embodiment 2

[0032] The structure of a kind of large-span multifunctional robotized engineering construction equipment of the present invention is used for road breaking is as follows: Figure 5 As shown, the main difference from Embodiment 1 is that the end effector adopts a cylindrical pavement breaker 5-2 according to engineering requirements, and the lower end of the hammer has an inclined cut surface at the front and rear respectively, and the two cut surfaces constitute the shovel surface 5-21; at the same time , the equipment also includes three pulling columns 15, and a wire rope drive unit 1, a wire rope guiding device 3 and a wire rope 4 that are matched with each pulling column; in the present embodiment, three supporting columns 2 are provided; wherein, three The supporting column 2 and the three pulling columns 15 are fixed in a circumferentially symmetrical staggered manner outside the construction area 0 according to the site conditions (the number of the supporting columns a...

Embodiment 3

[0035] The structure of a large-span multi-functional robotic engineering construction equipment of the present invention when used for wall demolition is as follows: Figure 7 As shown, the difference from Embodiment 1 is that the end effector adopts a pear-shaped iron ball structure 5-3 according to engineering requirements. When carrying out wall demolition, the controller controls the amount of rope output of the steel wire rope drive unit 1 to make the pear-shaped iron ball swing under the joint pull of four steel wire ropes 4 to realize the remote control of the pear-shaped iron ball 5-3. The operation of breaking and demolishing the wall is realized through the continuous impact of the pear-shaped iron ball 5-3 on the wall. The plurality of steel wire ropes in this embodiment jointly pull and swing the pear-shaped iron ball 5-3, which has a strong overall bearing capacity and high stability, and is safer and more reliable than the method of using a hoist to hang the iro...

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Abstract

The invention discloses large-span multifunctional roboticized engineering construction equipment and belongs to the technical field of civil engineering construction mechanical equipment. The large-span multifunctional roboticized engineering construction equipment comprises a plurality of supporting stand columns, steel wire rope driving units, steel wire rope guide devices, steel wire ropes, a controller and an end effector. The steel wire rope driving units, the steel wire rope guide devices and the steel wire ropes are matched with the supporting stand columns. The multiple supporting stand columns are arranged around the construction area, and a hydraulic cylinder is arranged in each supporting stand column to achieve ascending and descending of the supporting stand column in the vertical direction. Each steel wire rope driving unit is fixed to one side of the corresponding supporting stand column. The steel wire rope guide devices are arranged at the top ends of the supporting stand columns. One end of each steel wire rope is connected with the corresponding steel wire rope driving unit, and the other end of each steel wire rope penetrates the corresponding supporting stand column to be connected with the end effector after reaching the corresponding steel wire rope guide device. Remote control over the end effector is achieved through the controller, the large-span multifunctional roboticized engineering construction equipment can do wide-range large-span three-freedom-degree motion, the corresponding end effector is used in cooperation, and the work of punching and piling, wall breakage, pavement reconstruction and material carrying is completed.

Description

technical field [0001] The invention belongs to the technical field of civil engineering construction machinery and equipment, and in particular relates to a large-span multifunctional robotic engineering construction equipment. Background technique [0002] During the construction of infrastructure such as roads, railways, bridges and buildings, it is necessary to cut and form holes in the rock formation; it is necessary to excavate, break and repair the original road surface; it is necessary to demolish the original old buildings; Residual soil and gravel are transported. Therefore, punching and piling, road breaking, wall demolition and material handling are indispensable construction links in the construction of the above-mentioned infrastructure. In the prior art, the completion of the above four work links often requires the cooperation of a pile driver, an excavator equipped with a breaker, a crane equipped with a wrecking ball, and an excavator equipped with a grab ...

Claims

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Application Information

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IPC IPC(8): E01C23/12E02D7/08E04G23/08
CPCE01C23/122E02D7/08E04G23/084
Inventor 刘辛军谢福贵韩刚唐晓强汪劲松
Owner TSINGHUA UNIV
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