Construction steel bar processing robot

Abstract

The present invention discloses a construction steel bar construction robot, which includes a vehicle, a monitoring system, a first carrying platform, a second carrying platform, a first manipulator and a second manipulator. The second carrying platform is arranged above the first carrying platform. The first carrying platform is rotatably arranged on the vehicle. The first manipulator is arranged on the first carrying platform. The second manipulator is arranged on the second carrying platform. The monitoring system is arranged above the second carrying platform and controls the actions of the first manipulator and the second manipulator. The construction steel bar construction robot of the present invention can realize automatic production for building construction, reduce labor intensity and improve construction efficiency.

Description

Technical Field

[0001] The present invention relates to a robot, and in particular to a construction steel bar construction robot. Background Art

[0002] In traditional construction, generally, formwork is erected manually first, and then steel bars are manually tied into steel bar cages and steel bar mesh plates on site. After that, the steel bar cages and steel bar mesh plates are manually placed into the mold cavity, and adjacent steel bar cages and steel bar mesh plates are tied or welded and fixed. Finally, concrete materials are poured. In this process, positioning and tying or welding and fixing the steel bar cages and steel bar mesh plates are the most troublesome. Moreover, these steel bar cages and steel bar mesh plates are very heavy and need to be accurately placed into the mold cavity with the assistance of a large crane and workers. Tying or welding will also generate a large amount of work, and the labor intensity of workers is very high, and the construction efficiency is very low. Summary of the Invention

[0003] The purpose of the present invention is to provide a construction steel bar construction robot that can automate construction production, reduce labor intensity, and improve construction efficiency.

[0004] To achieve the above purpose, the construction steel bar construction robot provided by the present invention includes a vehicle, a monitoring system, a first bearing platform, a second bearing platform, a first manipulator, and a second manipulator. The second bearing platform is arranged above the first bearing platform. The first bearing platform is rotatably arranged on the vehicle. The first manipulator is arranged on the first bearing platform. The second manipulator is arranged on the second bearing platform. The monitoring system is arranged above the second bearing platform and controls the actions of the first manipulator and the second manipulator.

[0005] Compared with the prior art, since the present invention arranges a first bearing platform and a second bearing platform on the vehicle, the second bearing platform is arranged above the first bearing platform, and the first bearing platform is rotatably arranged on the vehicle, the actions of the first manipulator and the second manipulator can be controlled by the monitoring system, so that the first manipulator and the second manipulator work simultaneously and can also achieve collaborative operation. Thus, manual operation is not required, and automated construction production, reduced labor intensity, and improved construction efficiency can be achieved.

[0006] Preferably, the construction steel bar construction robot further includes a first rotation driving mechanism controlled by the monitoring system, and the first rotation driving mechanism drives the first bearing platform to rotate. The first rotation driving mechanism can make the first bearing platform rotate automatically, so that the first manipulator and the second manipulator can perform construction without dead angles of 360 degrees, effectively improving the flexibility of the construction steel bar construction robot.

[0007] Preferably, the first carrying platform can move up and down relative to the carrier.

[0008] Specifically, the construction rebar construction robot also includes a first lifting drive mechanism controlled by the monitoring system. The first lifting drive mechanism is mounted on the carrier and drives the first supporting platform to move up and down. This allows the height of the first manipulator to be automatically adjusted, enabling large-scale construction up and down, and improving the applicability and flexibility of the construction rebar construction robot.

[0009] Preferably, the second carrying platform can move up and down relative to the first carrying platform.

[0010] Specifically, the rebar construction robot also includes a second lifting drive mechanism controlled by the monitoring system. The second lifting drive mechanism is located above the first support platform and drives the second support platform up and down. This allows the height of the second manipulator to be automatically adjusted, enabling large-scale up and down construction, and improving the applicability and flexibility of the rebar construction robot.

[0011] Specifically, the second carrying platform is rotatably disposed on the carrier, and a rotation center axis coincides with a rotation center of the first carrying platform.

[0012] Specifically, the rebar construction robot also includes a second rotary drive mechanism controlled by the monitoring system. The second rotary drive mechanism is located at the output end of the second elevating drive mechanism and drives the second manipulator to rotate. This second rotary drive mechanism automatically rotates the second carrying platform, enabling the second manipulator to achieve 360-degree, seamless construction, effectively improving the robot's flexibility.

[0013] Preferably, the carrier is a mobile trolley that can be controlled by the monitoring system, so that the construction steel bar construction robot can automatically enter the construction position according to the instructions, thereby improving production automation and mobility flexibility.

[0014] Preferably, an articulation device controlled by the monitoring system is provided between the first manipulator and the first carrying platform, and between the second manipulator and the second carrying platform. The articulation device enables the first manipulator and the second manipulator to be movable relative to the first carrying platform and the second carrying platform, thereby enabling multi-angle construction and improving construction flexibility.

[0015] Preferably, the movable connection device is a joint and / or a telescopic drive.

[0016] Preferably, the number of the first manipulators is at least two, which are a positioning manipulator and a welding manipulator respectively; the number of the second manipulators is at least two, which are a grabbing manipulator and a binding manipulator respectively.

[0017] Specifically, a guide rail and a driving device are provided on the first carrying platform, and the driving device can drive the welding robot to move along the guide rail to be close to the positioning robot.

[0018] Preferably, the monitoring system includes a control circuit board, a laser ranging device, a camera device, an infrared sensing device, a visual system, a transmitting and receiving device and / or a power supply device.

[0019] Preferably, the carrier is provided with foldable supporting legs.

[0020] Preferably, a smart shielding umbrella is provided on the top of the monitoring system. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of embodiment 1 of the building reinforcement construction robot of the present invention.

[0022] Figure 2 This is a state diagram of the building reinforcement construction robot of the present invention when the intelligent shielding umbrella is opened.

[0023] Figure 3 It is a structural schematic diagram of embodiment 2 of the building reinforcement construction robot of the present invention. DETAILED DESCRIPTION

[0024] In order to explain the technical content, structural features and achieved effects of the present invention in detail, the following is a detailed description in conjunction with the embodiments and the accompanying drawings.

[0025] like Figure 1As shown, the construction rebar construction robot 100 of the present invention is suitable for rebar construction during concrete building construction. It includes a carrier 1, a monitoring system 2, a first carrying platform 3, a second carrying platform 4, a first manipulator 5, a second manipulator 6, a first rotary drive mechanism 7, a first lifting drive mechanism 8, and a second lifting drive mechanism 9. The second carrying platform 4 is disposed above the first carrying platform 3. The first manipulator 5 is disposed on the first carrying platform 3, and the second manipulator 6 is disposed on the second carrying platform 4. The first carrying platform 3 is movable up and down relative to the carrier 1. Specifically, the first lifting drive mechanism 8 is disposed on the carrier 1, and the first carrying platform 3 is disposed at the output end of the first lifting drive mechanism 8. The first lifting drive mechanism 8 drives the first carrying platform 3 up and down. The first lifting drive mechanism 8 may be a linear actuator such as an oil cylinder or a pneumatic cylinder. The first lifting drive mechanism 8 enables automatic height adjustment of the first manipulator 5, enabling large-scale construction up and down, thereby improving the applicability and flexibility of the construction rebar construction robot 100. The first carrying platform 3 is rotatably disposed on the carrier 1. Specifically, the first supporting platform 3 rotates relative to the output end of the first lifting drive mechanism 8. The first rotary drive mechanism 7 is disposed at the output end of the first lifting drive mechanism 8, and the first rotary drive mechanism 7 can drive the first supporting platform 3 to rotate. The first rotary drive mechanism 7 can be in the form of a motor-driven gear set to drive the first supporting platform 3 to rotate. By driving the first supporting platform 3 to rotate automatically, the first manipulator 5 and the second manipulator 6 can achieve 360-degree construction without blind spots, effectively improving the flexibility of the construction rebar construction robot 100.

[0026] The second supporting platform 4 is movable up and down relative to the first supporting platform 3. Specifically, the second lifting drive mechanism 9 is disposed above the first supporting platform 3. The output end of the second lifting drive mechanism 9 is connected to the second supporting platform 4 and drives the second supporting platform 4 up and down. The second lifting drive mechanism 9 can be a linear actuator such as an oil cylinder or a pneumatic cylinder. This allows the height of the second manipulator 6 to be automatically adjusted, thereby enabling large-scale construction up and down, and improving the applicability and flexibility of the construction rebar construction robot 100.

[0027] The first manipulator 5 and the second manipulator 6 are located on the same side. Specifically, in this embodiment, the number of the first manipulators 5 is two, namely the positioning manipulator 51 and the welding manipulator 52; the number of the second manipulators 6 is two, namely the grabbing manipulator 61 and the tying manipulator 62. The grabbing manipulator 61 is located on the same side as the positioning manipulator 51, and the tying manipulator 62 is located on the other side of the same side as the welding manipulator 52. The one side and the other side are arranged relative or symmetrically. The positioning manipulator 51 and the welding manipulator 52, the grabbing manipulator 61 and the tying manipulator 62 are all multi-axis manipulators to improve construction flexibility. By arranging manipulators that work together at the upper and lower positions on both sides, the two pairs of manipulators work simultaneously, which can simulate the operation of a worker's hands and greatly improve construction efficiency. In addition, a guide rail 31 and a drive device are provided on the first supporting platform 3. The drive device can drive the welding manipulator 52 to move along the guide rail 31 to approach the positioning manipulator 51. In this way, the welding robot 52 and the positioning robot 51 can cooperate with each other to improve construction efficiency.

[0028] Articulating devices 10, controlled by the monitoring system 2, are provided between the first manipulator 5 and the first load-bearing platform 3, and between the second manipulator 6 and the second load-bearing platform 4. Specifically, articulating devices 10 are provided between the positioning manipulator 51 and the welding manipulator 52 and the first load-bearing platform 3; and between the grabbing manipulator 61 and the lashing manipulator 62 and the second load-bearing platform 4. These articulating devices 10 are joints and / or telescopic actuators. In this embodiment, the articulating devices 10 are joints. These joints enable movement between the positioning manipulator 51 and the welding manipulator 52 and the first load-bearing platform 3, and between the grabbing manipulator 61 and the lashing manipulator 62 and the second load-bearing platform 4, thereby enabling multi-angle construction and increasing construction flexibility. Alternatively, the articulating devices 10 can be telescopic actuators, capable of driving the first manipulator 5 and the second manipulator 6 horizontally to expand the scope of construction and increase construction flexibility.

[0029] The carrier 1 is a mobile cart. This allows the construction rebar construction robot 100 to automatically enter the construction position according to instructions, improving production automation and mobility. Furthermore, the carrier 1 is equipped with retractable support legs 1a. These support legs 1a are located at the four corners of the carrier 1.

[0030] Combine Figure 2, the monitoring system 2 is arranged above the second bearing platform 4. The monitoring system 2 includes a control circuit board, a laser ranging device, a camera device, an infrared sensing device, a vision system, a transmitting and receiving device, and a power supply device, but is not limited to these devices. Among them, the power supply device can supply power to the mobile trolley, the first lifting drive mechanism 8, the first rotary drive mechanism 7, the positioning manipulator 51, the welding manipulator 52, the heavy object grasping manipulator 61 and the tying manipulator 62, the second lifting drive mechanism 9, the control circuit board, the laser ranging device, the camera device, the infrared sensing device, the vision system, the transmitting and receiving device, and joints and other such devices. The monitoring system 2 can control the operation of the mobile trolley, the first lifting drive mechanism 8, the first rotary drive mechanism 7, the positioning manipulator 51, the welding manipulator 52, the heavy object grasping manipulator 61 and the tying manipulator 62, the second lifting drive mechanism 9, the control circuit board, the laser ranging device, the camera device, the infrared sensing device, the vision system, the transmitting and receiving device, and joints and other such devices. The top of the monitoring system 2 is provided with an intelligent sunshade 21. The intelligent sunshade 21 is an umbrella that can be folded or opened by horizontal rotation, and can be automatically opened or folded by driving the central axis to rotate by a motor.

[0031] When laying steel bars, after the monitoring system 2 receives an instruction, it drives the mobile trolley to move to the designated construction position, and then controls the heavy object grasping manipulator 61 to grab one end of the steel cage or steel plate. Then, it controls the positioning manipulator 51 again, so that the positioning manipulator 51 grabs the other end of the steel cage or steel plate, so as to grab the steel cage or steel plate together with the heavy object grasping manipulator 61. Then, the monitoring system 2 detects the position of the mold cavity, and then controls the heavy object grasping manipulator 61 and the positioning manipulator 51 to place the steel cage or steel plate into the mold cavity. Then, the monitoring system 2 controls the first rotary drive mechanism 7 to start, so as to drive the first bearing platform 3 to rotate, and further make the welding manipulator 52 and the tying manipulator 62 change positions with the heavy object grasping manipulator 61 and the positioning manipulator 51. After detecting the position by using precise measuring devices such as a laser ranging device and a vision system, the welding manipulator 52 and the tying manipulator 62 are controlled according to the position information to perform welding or tying positioning on the steel cage or steel plate, so as to ensure that the steel cage or steel plate is fixed in the mold cavity. If the monitoring system 2 receives other instructions, it can control the movement of the mobile trolley after completing the current construction instruction to move to other construction positions to continue construction.

[0032] Compared with the prior art, since the present invention provides a first carrying platform 3 and a second carrying platform 4 on the vehicle 1, with the second carrying platform 4 disposed above the first carrying platform 3 and the first carrying platform 3 rotatably disposed on the vehicle 1, the monitoring system 2 can be used to control the actions of the first manipulator 5 and the second manipulator 6, enabling the first manipulator 5 and the second manipulator 6 to work simultaneously and also achieve collaborative operation, thus eliminating the need for manual operation, realizing the automated production of building construction, reducing labor intensity, and improving construction efficiency. Additionally, by making the vehicle 1 movable, it can achieve the purpose of free movement, and then can be reasonably and effectively transferred to different construction positions according to construction needs for construction, realizing automated and intelligent construction, improving the utilization rate of resources, and further improving construction efficiency.

[0033] As Figure 3 shown, the figure shows the second embodiment of the building steel bar construction robot 100 of the present invention:

[0034] The structure of the building steel bar construction robot 100 in this embodiment is basically the same as that of the building steel bar construction robot 100 in the first embodiment, and the same points will not be described repeatedly. The difference lies in that some functions are added to this embodiment on the basis of the first embodiment. Specifically, the building steel bar construction robot 100 further includes a second rotation drive mechanism 11 controlled by the monitoring system 2. The second carrying platform 4 can rotate relative to the vehicle 1, and the rotation center axis coincides with the rotation center of the first carrying platform 3. The second rotation drive mechanism 11 is disposed at the output end of the second lifting drive mechanism 9, and its output end is connected to the second carrying platform 4 and drives the second carrying platform 4 to rotate. The second rotation drive mechanism 11 can also be in the form of a motor-driven gear set to drive the second carrying platform 4 to rotate. The second rotation drive mechanism 11 can make the second carrying platform 4 rotate automatically, enabling the second manipulator 6 to perform construction without dead angles of 360 degrees, effectively improving the flexibility of the building steel bar construction robot 100. The working principle and effects of the building steel bar construction robot 100 in this embodiment are basically the same as those of the building steel bar construction robot 100 in the first embodiment and will not be described repeatedly.

[0035] The specific structure of each manipulator involved in the building steel bar construction robot 100 of the present invention, as well as the specific structure and control principle of the monitoring system 2, are well-known to those of ordinary skill in the art and will not be described in detail here.

[0036] The above-disclosed are only the preferred examples of the present invention. Of course, the scope of the rights of the present invention cannot be limited thereby. Therefore, equivalent changes made according to the scope of the patent application of the present invention still fall within the scope covered by the present invention.

Claims

1. A construction steel bar construction robot, characterized in that: It includes a vehicle (1), a monitoring system (2), a first carrying platform (3), a second carrying platform (4), a first manipulator (5) and a second manipulator (6). The second carrying platform (4) is arranged above the first carrying platform (3). The first carrying platform (3) is rotatably arranged on the vehicle (1). The first manipulator (5) is arranged on the first carrying platform (3). The second manipulator (6) is arranged on the second carrying platform (4). The monitoring system (2) is arranged above the second carrying platform (4) and controls the actions of the first manipulator (5) and the second manipulator (6). The construction steel bar construction robot further includes a first rotation driving mechanism (7) controlled by the monitoring system (2). The first rotation driving mechanism (7) drives the first carrying platform (3) to rotate. The number of the first manipulators (5) is two, which are respectively a positioning manipulator (51) and a welding manipulator (52). The number of the second manipulators (6) is two, which are respectively a heavy grasping manipulator (61) and a binding manipulator (62).

2. The construction steel bar construction robot according to claim 1, characterized in that: The first carrying platform (3) can move up and down relative to the vehicle (1).

3. The construction steel bar construction robot according to claim 2, characterized in that: The construction steel bar construction robot further includes a first lifting driving mechanism (8) controlled by the monitoring system (2). The first lifting driving mechanism (8) is arranged on the vehicle (1) and drives the first carrying platform (3) to move up and down.

4. The construction steel bar construction robot according to claim 1, characterized in that: The second carrying platform (4) can move up and down relative to the first carrying platform (3).

5. The construction steel bar construction robot according to claim 4, wherein: The construction steel bar construction robot further includes a second lifting driving mechanism (9) controlled by the monitoring system (2). The second lifting driving mechanism (9) is arranged above the first carrying platform (3) and drives the second carrying platform (4) to move up and down.

6. The construction steel bar construction robot according to claim 5, characterized in that: The second carrying platform (4) is rotatably arranged on the vehicle (1), and the rotation central axis coincides with the rotation center of the first carrying platform (3).

7. The construction steel bar construction robot according to claim 6, wherein: The construction steel bar construction robot further includes a second rotation driving mechanism (11) controlled by the monitoring system (2). The second rotation driving mechanism (11) is arranged at the output end of the second lifting driving mechanism (9) and drives the second carrying platform (4) to rotate.

8. The construction steel bar construction robot according to claim 1, characterized in that: The vehicle (1) is a mobile trolley that can be controlled by the monitoring system (2).

9. The construction steel bar construction robot according to claim 1, characterized in that: An active connection device (10) controlled by the monitoring system (2) is provided between the first manipulator (5) and the first carrying platform (3) and between the second manipulator (6) and the second carrying platform (4).

10. The construction steel bar construction robot according to claim 9, characterized in that: The active connection device (10) is a joint and / or a telescopic driver.

11. The construction steel bar construction robot according to claim 1, characterized in that: A guide rail (31) and a driving device are provided on the first carrying platform (3). The driving device can drive the welding manipulator (52) to move along the guide rail (31) to approach the positioning manipulator (51).

12. The construction steel bar construction robot according to claim 1, characterized in that: Retractable support feet (1a) are provided on the vehicle (1).

13. The construction steel bar construction robot according to claim 1, characterized in that: An intelligent sunshade (21) is provided on the top of the monitoring system (2).

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