Construction connection system and method

Abstract

The construction docking system provided by the present invention includes an independent mobile chassis, an independent work platform and an independent docking mechanism. When performing a docking task, the mobile chassis is equipped with a docking mechanism, and the docking mechanism is connected to a fixed work platform; after the work platform arrives at the task point, the docking mechanism is separated from the work platform, and the mobile chassis and the docking mechanism leave together, or are stored together or separately. The docking system and method of the present invention realize that only one mobile chassis is needed in the same space to cooperate with the platform docking mechanical arm to complete the work, which reduces the number of mobile chassis while also reducing the demand for space use, greatly reducing costs.

Description

Technical Field

[0001] The present invention relates to the technical field of construction robot mounting and construction devices in complex scenarios. Background Art

[0002] At present, the processing in the construction factory is basically a robot arm fixed on a mobile chassis, and the two are inseparable. When the robot arm is working, the mobile chassis is stationary and no mobile tasks are performed until the robot arm completes the operation, which causes the operation efficiency of the mobile chassis to be low. Secondly, if there are multiple robot arms that need to work, multiple mobile chassis are required to cooperate with the robot arms; and the cost of a mobile chassis is often much higher than that of an operating robot arm, which makes the production cost of the factory very high.

[0003] The present invention focuses on the above problems and proposes a design concept that the mobile chassis and the robotic arm platform are detachable and dockable. After the robotic arm platform is transported to the designated processing point by the mobile chassis, the mobile chassis and the platform are separated, the robotic arm operates independently, and the mobile chassis performs other scheduling tasks; when the robotic arm needs to be moved to other working points, the mobile chassis is scheduled to achieve precise docking with the robotic arm platform, and then the robotic arm platform is transported to the next target position, and the mobile chassis is separated again to perform other transportation tasks. Summary of the invention

[0004] The purpose of the present invention is to provide a construction connection system and method, so as to realize flexible transportation and operation at a construction site at a low cost.

[0005] A construction docking system comprises: an independent mobile chassis, an independent working platform and an independent docking mechanism. When performing a docking task, the mobile chassis carries the docking mechanism to the working platform position, the docking mechanism is connected to the fixed working platform, and the mobile chassis transfers the working platform to a designated task point; after the working platform arrives at the task point, the docking mechanism is separated from the working platform, and the mobile chassis and the docking mechanism start the next journey together, or are put into storage together / separated.

[0006] Furthermore, the working platform includes a workbench, a lifting electric cylinder, platform clips and feet. The lifting electric cylinder is fixed on the workbench, and the telescopic rod of the lifting electric cylinder is under the workbench when extended; the feet are arranged at the head of the telescopic rod of the lifting electric cylinder; and the platform clips are arranged in pairs on the lower surface of the workbench.

[0007] Furthermore, the docking mechanism includes a base plate, an electric locking mechanism and a navigation and positioning system PGV sensor, the electric locking mechanism and the PGV sensor are both fixed on the base plate, the electric locking mechanism includes a docking buckle, a screw rod and a motor, the screw rod is connected to the motor, and the docking buckle is arranged on the screw rod and translates as the screw rod rotates.

[0008] The platform buckle and docking buckle are corresponding male buckles and female buckles. When the mobile chassis carries the docking mechanism to the bottom of the docking position of the working platform, the docking buckle of the electric locking mechanism moves to the platform buckle position, and the docking mechanism is locked and fixed with the working platform.

[0009] Furthermore, the operating platform:

[0010] The workbench includes a support frame and a cover plate, and the cover plate is arranged above the support frame; further, the support frame is a square frame with cross support bars inside, and 45° reinforcement bars are also provided in the square space to further improve the stability of the support frame; the cover plate is provided with a snap-on observation hole; further, the workbench is provided with a horizontal sensor to monitor the level of the workbench during the movement of the lifting electric cylinder.

[0011] There are more than three lifting electric cylinders, which are arranged at the corners of the workbench; further, there are four lifting electric cylinders, which are respectively arranged at the four corners of the supporting frame; the lifting electric cylinder is a 65 linear return cylinder body with a stroke of 500mm, driven by a low-voltage servo motor.

[0012] There are more than two pairs of platform buckles, which are respectively arranged in the peripheral area of ​​the lower surface of the workbench; each pair of platform buckles is arranged in two opposite peripheral areas; further, the platform buckles are 2 pairs, fixed on the cross support bar set in the support frame. The platform buckles are all female buckles, with a 3-5° groove on the female buckle, which cooperates with the male buckle on the matching docking mechanism to achieve rotation and translation return with millimeter-level error after PGV positioning.

[0013] The number of its feet is the same as the number of lifting cylinders, and the feet are connected to the ends of the telescopic rods of the lifting cylinders through universal foot cups.

[0014] Furthermore, a positioning QR code is set on the lower surface of the workbench of the operating platform to guide the mobile chassis to perform positioning calibration and calibrate the relative position between the mobile chassis and the workbench.

[0015] The robotic arm is placed on the working platform, and the purpose of docking between the robotic arms on different working platforms of the same mobile chassis is achieved through the extension and retraction of the lifting electric cylinder.

[0016] Further, the docking mechanism:

[0017] The bottom plate includes a bottom plate body, side plates and a reinforcement plate, wherein the side plates are independent side walls and are not connected to each other; the two ends of the reinforcement plate are connected to two adjacent side plates at a 45° angle. Furthermore, the side plates are profiles with grooves on the outer walls.

[0018] Its electric locking mechanism also includes bevel gears and couplings, there are four buckles, namely the first buckle, the second buckle, the third buckle and the fourth buckle; there are four screw rods, namely the first screw rod, the second screw rod, the third screw rod and the fourth screw rod; there are three bevel gears, namely the first bevel gear, the second bevel gear and the third bevel gear; the first screw rod is connected to the motor, and the first buckle is arranged on the first screw rod and translates with the rotation of the first screw rod; the second screw rod is connected to the first screw rod through a coupling, the second screw rod is provided with a first bevel gear, and the second buckle is arranged at the other end of the second screw rod; the third screw rod is connected to the second bevel gear, and the third buckle is arranged at the other end of the third screw rod; the fourth screw rod is connected to the third bevel gear, and the fourth buckle is arranged at the other end of the fourth screw rod; the first bevel gear is meshed with the second bevel gear and the third bevel gear respectively, and the first buckle, the second buckle, the third buckle and the fourth buckle are distributed in four different directions.

[0019] The docking buckles are all male buckles, which slide forward and backward along the screw direction to achieve tolerance docking with the female buckle of the upload platform. Furthermore, the male buckle is provided with a slope of 3-5°, which is adapted to the slope of the female buckle on the upload platform to achieve rotational translation return with millimeter-level error after PGV positioning.

[0020] The bottom plate is provided with standard screw holes and captive screws.

[0021] Its navigation and positioning system PGV sensor is used to detect the QR code under the docking work platform for positioning. After the detection, the mobile chassis will be adjusted to ensure the XY coordinates and ω angle coordinates, ensure the correspondence of the center point, and ensure the consistency of the positions of each point in the area.

[0022] Furthermore, the docking mechanism further comprises a cover plate, which is fixed together with the bolts by being clamped in the profile groove of the side plate through a trapezoidal nut. Furthermore, the cover plate is provided with a buckle observation window.

[0023] Furthermore, the mobile chassis includes a cover plate, a mounting plate, a bottom frame, a steering wheel drive mechanism and an external sensor assembly. The external sensor assembly includes a laser radar, which is arranged on the outer edge of the mounting plate and is used to scan and obtain dot matrix data in two-dimensional space; there are four steering wheel drive mechanisms, which are respectively arranged at the four corners of the bottom frame; the mounting plate is arranged on the side plate of the bottom frame, and the cover plate is arranged above the mounting plate.

[0024] Furthermore, the mobile chassis:

[0025] The steering wheel driving mechanism comprises a steering gear, a steering pinion, a steering wheel, a steering motor, a driving motor, a fixing frame and two motor drivers. The steering wheel is arranged in the fixing frame, the steering gear is arranged on the fixing frame, the steering gear is in a vertical state with the steering wheel, the steering motor is connected with the steering pinion, the steering pinion is meshed with the steering gear, the driving motor is connected with the steering wheel, and the two motor drivers are respectively connected with the steering motor and the driving motor to control the operation of the steering motor and the driving motor, so as to realize the free rotation of a steering wheel mechanism independently on the X-axis and the Y-axis.

[0026] The steering motor and drive motor in the steering wheel drive mechanism are 48V, and the power is 0.2KW and 0.4KW or more respectively, to provide sufficient power for the chassis. The steering wheel 403 has a diameter of more than 250mm. The chassis can reach a linear speed of 2.0m / s and an angular speed of 4.0rad / s in the comprehensive design, and the motion performance is relatively superior to meet the obstacle crossing and precise positioning capabilities in the building environment.

[0027] The four steering wheel drive mechanisms are driven by a total of 8 motor drivers, and the X-axis and Y-axis rotation of the four steering wheels are independently controlled to achieve all-round movement of the chassis. The four-wheel drive independent control can not only provide sufficient power to continue working even when one wheel is in a suspended state, but also realize the rotation of the chassis in place. Furthermore, encoders are equipped in the steering motor and the drive motor, which can measure the rotation angle of the motor shaft and then feedback the actual movement information to assist in the precise positioning of the chassis.

[0028] There are more than two laser radars, which are respectively arranged at the two ends of the same diagonal line on the mounting plate. Furthermore, dust shields are arranged above and below the laser radar to ensure its stable operation without interfering with the accuracy of its working positioning.

[0029] The external sensor assembly also includes an anti-collision strip, which is arranged on the periphery of the mounting plate and is mainly used for emergency stop in case of collision to prevent accidents.

[0030] The bottom frame includes a bottom plate, a steering wheel platform, a partition, and a side plate. The steering wheel platform is arranged at the front and rear ends of the bottom plate and is used to set up four steering wheel drive mechanisms. The partition is arranged in the bottom frame and is used to divide the working components fixed on the bottom plate, thereby protecting and isolating the necessary working components and enhancing the working stability of the chassis. The side wall is used to support and connect the mounting plate. Furthermore, a turntable is arranged in the steering wheel platform, and the fixing frame of the steering wheel drive mechanism is fixedly connected to the turntable at the corresponding position. The steering wheel drive mechanism is arranged at the four corners of the bottom frame through the steering wheel platform, which ensures the free rotation and movement of the chassis.

[0031] The mounting board is equipped with a circuit board, contactor, step-down module, air switch and wiring port. The contactor is used to prevent starting current shock and ensure smooth current flow; there are two step-down modules, which are used to reduce the 48V battery voltage to 24V and 12V voltages to power different electronic components; the air switch is used to protect the circuit and automatically cut off the circuit when the circuit is overloaded.

[0032] The bottom frame is equipped with a battery, an industrial computer, a gyroscope, a soft router, a camera and a camera fixing plate. The battery provides power for the entire chassis. The industrial computer is used to collect and process the data of each sensor and issue further instructions. The gyroscope is used to measure the moving angle of the loaded robot and assist in feedback of real-time position information. The soft router can download instructions to the industrial computer in real time to perform artificial remote control of the mobile chassis. The camera plays a role in accurate identification and positioning when docking. The industrial computer is used to collect data from the laser radar component, camera, gyroscope and encoder in the steering wheel motor. The camera fixing plate is a detachable maintenance window for easy maintenance.

[0033] The cover plate is provided with a detachable window and a bolt hole. The detachable window is used for maintenance and as a channel for upper and lower communication and wiring after the docking module is installed.

[0034] A construction docking method adopts the construction docking system provided by this patent. When a docking task needs to be performed, the mobile chassis carries a docking mechanism to the position of the working platform, the docking mechanism is connected to the fixed working platform, and the mobile chassis moves the working platform to the designated task point; after the working platform arrives at the task point, the docking mechanism is separated from the working platform, and the mobile chassis and the docking mechanism start the next journey together, or are put into storage together / separated.

[0035] Beneficial effects of the present invention:

[0036] Assume that in a scenario, several platforms are equipped with several robotic arms. After being fixed, the mobile chassis drives the platform and the robotic arm to the task location together, and then the mobile chassis detaches from the platform to carry out the next docking work. In this way, in the same space, only one mobile chassis is needed to cooperate with the platform to dock the robotic arm to complete the work, which reduces the number of mobile chassis and also reduces the demand for space use, greatly reducing costs.

[0037] The docking system and method provided by the present invention can achieve this goal. When the working platform is in place, the docking device can automatically detach from the platform and leave with the mobile chassis to carry out the next docking work, that is, to connect and fix another platform at another location for transfer work.

[0038] The docking system of the present invention can realize standardized independent production and operation; at the same time, it saves docking time, greatly reduces the overall product cost, and improves production efficiency.

[0039] The specific embodiments of the present invention are described below with reference to the accompanying drawings: BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is one of the overall structural diagrams of the working platform provided in the embodiment.

[0041] Figure 2 It is a schematic structural diagram of a work platform with a separate cover plate and a support frame provided in an embodiment.

[0042] Figure 3 It is a structural schematic diagram of a work platform support frame provided in an embodiment.

[0043] Figure 4 This is the second schematic diagram of the overall structure of the working platform provided in the embodiment.

[0044] Figure 5 It is one of the overall structural diagrams of the docking mechanism provided in the embodiment.

[0045] Figure 6 It is a schematic diagram of the structure of the docking mechanism provided in the embodiment after the cover plate is separated.

[0046] Figure 7 This is one of the top plan views of the docking mechanism provided in the embodiment with the cover plate removed.

[0047] Figure 8 It is a partial enlarged view of the electric locking mechanism of the docking mechanism provided in the embodiment.

[0048] Fig. 9 This is the second top plan view of the docking mechanism provided in the embodiment with the cover plate removed.

[0049] Fig.10 It is a partial enlarged view of the docking buckle between the docking mechanism and the working platform provided in the embodiment.

[0050] Fig.11 It is a top view of the docking mechanism provided in the embodiment and the working platform with the cover plate removed after the docking position is determined.

[0051] Fig.12 It is a schematic diagram of the buckle locking state of the docking mechanism and the working platform (both with the cover plates removed) provided in the embodiment.

[0052] Fig.13 It is a schematic diagram of the overall docking process between the docking mechanism and the working platform provided in the embodiment.

[0053] Fig.14 It is a schematic diagram of the overall structure of the mobile chassis provided in the embodiment.

[0054] Fig.15 It is an exploded view of the overall structure of the mobile chassis provided in the embodiment.

[0055] Fig.16 It is the internal layout diagram of the second layer of the mobile chassis mounting plate provided in the embodiment.

[0056] Fig.17 It is a structural diagram of the bottom frame 3 of the mobile chassis provided in the embodiment.

[0057] Fig.18 It is a three-layer internal layout diagram of the bottom frame of the mobile chassis provided in the embodiment.

[0058] Fig.19 Schematic diagram of an external sensor assembly of a mobile chassis provided in an embodiment.

[0059] Fig. 20 It is a schematic diagram of a steering wheel driving mechanism for a mobile chassis provided in an embodiment.

[0060] Fig.21 It is a schematic diagram of the structure of the mobile chassis cover provided in the embodiment. DETAILED DESCRIPTION

[0061] The specific embodiments described herein are only used to explain the technical solution of this patent, rather than to limit the disclosed technical solution. It should also be noted that, for ease of description, only the parts related to the disclosed technical solution are shown in the drawings, rather than all structures.

[0062] Before discussing the exemplary embodiments in more detail, it should be mentioned that the structures of the device components and / or modules themselves mentioned in the embodiments, if not described in detail, are understandable to those skilled in the art based on the existing public technology or commercially available products.

[0063] like Figure 1-4 As shown, the working platform provided by the embodiment of the present invention includes a workbench 1, a lifting electric cylinder 2, a platform buckle 3 and a foot 4, the lifting electric cylinder 2 is fixed on the workbench 1, and the telescopic rod of the lifting electric cylinder 2 is under the workbench when extended; the foot 4 is arranged at the head of the telescopic rod of the lifting electric cylinder 2; the platform buckles 3 are arranged in pairs on the lower surface of the workbench 1; the workbench 1 includes a supporting frame 101 and a cover plate 102, the cover plate 102 is arranged above the supporting frame 101, the supporting frame 101 is a square frame with a cross supporting bar inside, and 45° reinforcement bars are also arranged in the square space to further improve the stability of the supporting frame; the cover plate 102 is provided with a buckle observation hole.

[0064] Preferably, there are three or more lifting cylinders 2, which are arranged at the corners of the workbench 1. Figure 2As shown, there are four lifting electric cylinders 2, which are respectively arranged at the four corners of the support frame 101. In order to adapt to the construction of the building mechanical arm, the lifting electric cylinder 2 uses a 65 cylinder model: 11217-1 65-500, 48V400W DC servo motor drive, and a reduction ratio of 1:10.

[0065] One of the further preferred solutions is to install an electronic level sensor SCA128T on the corresponding workbench to ensure that the level of the workbench is within ±0.1° during the movement of the electric cylinder.

[0066] like Figure 3 As shown, the platform buckles 3 are 2 pairs, fixed on the cross support bar provided in the support frame 101, and the platform buckles 3 are all female buckles. A 3-5° groove is opened on the female buckle, which cooperates with the male buckle of the matching self-adjusting device to achieve the rotation and translation return of the millimeter error after PGV positioning.

[0067] The platform buckles 3 are generally provided in two or more pairs, each pair of buckles is provided in two opposite peripheral areas. Each platform buckle is provided in the peripheral area of ​​the lower surface of the workbench 1.

[0068] The number of the feet 4 is the same as the number of the lifting cylinders 2 , and the feet 4 are connected to the end of the telescopic rod of the lifting cylinder 2 by threadedly fixing the universal foot cup.

[0069] Furthermore, a positioning QR code is provided on the lower surface of the workbench 1 to guide the mobile chassis to be calibrated and to calibrate the relative position between the mobile chassis and the workbench.

[0070] The robotic arm or other construction equipment is placed on the working platform, and the purpose of docking between different robotic arms or equipment is achieved by extending and retracting the lifting electric cylinder.

[0071] like Figure 5-7 As shown, the docking mechanism provided by the embodiment of the present invention includes a base plate 5, an electric locking mechanism 6, a navigation and positioning system PGV sensor 7 and a cover plate 8. The electric locking mechanism 6 and the navigation and positioning system PGV sensor 7 are both fixed on the base plate 5. The electric locking mechanism 6 includes a docking buckle 601, a screw rod 602 and a motor 603. The screw rod 602 is connected to the motor 603. The docking buckle 601 is arranged on the screw rod 602 and translates as the screw rod rotates.

[0072] The bottom plate 5 includes a bottom plate body 501, side plates 502 and a reinforcing plate 503. The side plates 502 are independent side walls and are not connected to each other. The two ends of the reinforcing plate 503 are connected to two adjacent side plates at an angle of 45°.

[0073] The side plate 502 is a profile with a groove on the outer wall; the cover plate 8 is fixed together with bolts by clamping the trapezoidal nut in the profile groove of the side plate 502. The cover plate 8 is provided with a buckle observation window.

[0074] One of the preferred solutions of the electric locking mechanism 6 is as follows: Figure 8 and Fig. 9 As shown, it also includes a bevel gear 604 and a coupling 605. The docking buckles 601 have four, namely, a first buckle 601a, a second buckle 601b, a third buckle 601c and a fourth buckle 601d; the screw rods 602 have four, namely, a first screw rod 602a, a second screw rod 602b, a third screw rod 602c and a fourth screw rod 602d; the bevel gears 604 have three, namely, a first bevel gear 604a, a second bevel gear 604b and a third bevel gear 604c; the first screw rod 602a is connected to the motor 603, the first buckle 601a is arranged on the first screw rod 602a and translates with the rotation of the first screw rod 601a; the second screw rod 602b is connected to the motor 603, and ... connected to the motor 603, and the first buckle 601a is connected to the motor 603, and the first buckle 601a is connected to the motor 603, and the first buckle 601a is connected to the motor 603, and the first buckle 601a is connected to the first screw rod 602a and translates with the rotation of the first screw rod 601a; the second screw rod 602b is connected to the motor 603, and the first buckle 601a is connected to the motor 603, and the first buckle 601a is connected to the motor 603, and the first buckle 601a is connected to the motor 603, and the first The shaft 605 is connected to the first screw rod 602a, the second screw rod 602b is provided with a first bevel gear 604a, and the second buckle 601b is provided at the other end of the second screw rod 602b; the third screw rod 602c is connected to the second bevel gear 604b, and the third buckle 601c is provided at the other end of the third screw rod 602c; the fourth screw rod 602d is connected to the third bevel gear 604c, and the fourth buckle 601d is provided at the other end of the fourth screw rod 602d; the first bevel gear 604a is meshed and connected with the second bevel gear 604b and the third bevel gear 604c respectively, and the first buckle 601a, the second buckle 601b, the third buckle 601c and the fourth buckle 601d are distributed in four different directions. The docking buckle 601 is a male buckle.

[0075] The four docking buckles on the electric locking mechanism are connected to the corresponding screws respectively and are interlocked by a motor. The motor controls the rotation of the first screw through the pulley, and the first screw and the second screw are fixedly connected through the coupling, and then the third and fourth screws are controlled to rotate simultaneously through the bevel gears meshing in three directions in sequence, thereby pushing the four buckles to move and interlock.

[0076] Preferably, the docking buckle 601 is provided with a slope of 3-5°, which is adapted to the slope of the female buckle on the loading platform, so as to achieve rotational and translational return with a millimeter-level error after PGV positioning.

[0077] The bottom plate of the docking mechanism is provided with standard screw holes and captive screws for connecting and fixing with the upper cover of the mobile chassis.

[0078] like Fig.14 and Fig.19As shown, the mobile chassis provided by the embodiment of the present invention includes a cover plate 9, a mounting plate 10, a bottom frame 11, a steering wheel drive mechanism 12 and an external sensor assembly 13. The external sensor assembly 13 includes a laser radar 1301, which is arranged on the outer edge of the mounting plate 10 and is used to scan and obtain dot matrix data in a two-dimensional space to establish a map for convenient navigation; there are four steering wheel drive mechanisms 12, which are respectively arranged at the four corners of the bottom frame 11; the mounting plate 10 is arranged on the side plate of the bottom frame 11, and the cover plate 9 is arranged above the mounting plate 10. The cover plate 9, the mounting plate 10 and the bottom frame 11 are fixed as a whole by countersunk bolts.

[0079] The steering wheel driving mechanism 12 is preferably one of the following: Fig. 20 As shown, it includes a steering gear 1201, a steering pinion 1202, a steering wheel 1203, a steering motor 1204, a drive motor 1205, a fixed frame 1206 and two motor drivers 1207. The steering wheel 1203 is arranged in the fixed frame 1206, the steering gear 1201 is arranged on the fixed frame 1206, the steering gear 1201 and the steering wheel 1203 are in a vertical state, the steering motor 1204 is connected to the steering pinion 1202, the steering pinion 1202 is meshed and connected with the steering gear 1201, the drive motor 1205 is connected to the steering wheel 1203, and the two motor drivers 1207 are respectively connected to the steering motor 1204 and the drive motor 1205 to control the operation of the steering motor 1204 and the drive motor 1205, so as to realize the free rotation of a steering wheel mechanism independently on the X-axis and the Y-axis.

[0080] The four steering wheel drive mechanisms 12 are driven by a total of 8 motor drivers 1207, and the X-axis and Y-axis rotations of the four steering wheels are independently controlled to achieve all-round movement of the chassis. The four-wheel drive independent control can not only provide sufficient power to continue working even when one wheel is in a suspended state, but also realize the rotation of the chassis in situ. Furthermore, the steering motor 1203 and the drive motor 1205 are equipped with encoders, which can measure the rotation angle of the motor shaft and then feedback the actual movement information to assist in the precise positioning of the chassis.

[0081] Furthermore, the steering motor 1204 and the driving motor 1205 in the steering wheel driving mechanism 12 are selected to be 48V, and the power is 0.2KW and 0.4KW or more respectively, to provide sufficient power for the chassis. The steering wheel 1203 has a diameter of more than 250mm. The chassis is designed to have a linear speed of up to 2.0m / s and an angular speed of up to 4.0rad / s, and has superior motion performance to meet the obstacle crossing and precise positioning capabilities in the building environment.

[0082] Preferably, Fig.19As shown, the laser radar 1301 is provided with more than two, which are respectively arranged at the positions of the two ends of the same diagonal line on the mounting plate 10. More preferably, dust shields are provided above and below the laser radar 1301 to ensure its stable operation without interfering with the accuracy of its working positioning. The external sensor assembly 13 also includes an anti-collision strip 1302, which is arranged on the periphery of the mounting plate 10 and is mainly used for collision emergency stop to prevent accidents.

[0083] The bottom frame 11 is preferably one of the embodiments, as Fig.15 and Fig.17 As shown, it includes a base plate 1101, a steering wheel platform 1102, a partition 1103, and a side plate 1104. The steering wheel platform 1102 is arranged at the front and rear ends of the base plate 1101, and is used to set up four steering wheel drive mechanisms 12; the partition 1103 is arranged in the bottom frame 11, and is used to divide the working components fixed on the base plate 1101, thereby protecting and isolating necessary working components and enhancing the working stability of the chassis; the side wall 1104 is used to support and connect the mounting plate 10.

[0084] One of the further preferred embodiments is as follows Fig.17 , Fig.18 and Fig. 20 As shown, the steering wheel platform 1102 is provided with four turntables, and the fixing frame 1206 of the steering wheel driving mechanism 12 is fixedly connected with the turntables at the corresponding positions. The steering wheel driving mechanism 12 is arranged at the four corners of the bottom frame 11 through the steering wheel platform 1102, thereby ensuring the free rotation and movement of the chassis.

[0085] Preferably, Fig.16 As shown, the mounting plate 10 is provided with a circuit board 14, a contactor 15, a voltage reduction module 16, an air switch 17 and a wiring port 18. The contactor 15 is used to prevent the start-up current shock and ensure the smooth flow of current. There are two voltage reduction modules 16, which are used to reduce the 48V battery voltage to 24V and 12V voltages to supply power to different electronic components. The air switch 17 is used to protect the circuit and automatically cut off the circuit when the circuit is overloaded. All electronic components are fixed to the hardware mounting plate with bolts to collect the internal circuits.

[0086] Preferably, Fig.17 and Fig.18As shown, the bottom frame 11 is provided with a battery 19, an industrial computer 20, a gyroscope 21, a soft router 22, a camera 23 and a camera fixing plate 1105. The battery 19 provides a power source for the entire chassis. The industrial computer 20 is used to collect and process the data of each sensor and issue further instructions; the gyroscope 21 is used to measure the moving angle of the loaded robot and assist in feedback of real-time position information; the soft router 22 can download instructions to the industrial computer 1202 in real time to perform artificial remote control of the mobile chassis. The camera 23 plays a role in accurate identification and positioning when docking into the library. The industrial computer 20 is used to collect data from the laser radar component 13, the camera 23, the gyroscope 21 and the encoder in the steering wheel motor.

[0087] Preferably, Fig.21 As shown, the cover plate 9 is provided with a detachable window 902 and a bolt hole, and the detachable window 902 is used for maintenance and as a channel for upper and lower communication and wiring after the docking module is installed.

[0088] Furthermore, the camera fixing plate 1105 is a detachable inspection window for easy inspection.

[0089] The construction docking system provided by the present invention comprises any one of the independent mobile chassis, independent working platform and independent docking mechanism provided in the embodiments. When performing the docking task, the mobile chassis is equipped with the docking mechanism, and the docking mechanism is connected to the fixed working platform; after the working platform arrives at the task point, the docking mechanism is separated from the working platform, and the mobile chassis and the docking mechanism leave together, or are put into storage together / separately.

[0090] The working platform provided by the present invention carries the mechanical arm to perform construction at a task point, and can also drive the electric cylinder to automatically adjust the working height of the mechanical arm.

[0091] Workflow when using:

[0092] Before docking, the four lifting cylinders of the working platform extend to the ground to form a rectangular space. The first goal is to drive the mobile chassis into this rectangular space, and to make the deviation e between the center of the mobile chassis and the center of this rectangular space within a certain threshold, generally around 3cm; then use the PGV QR code on the platform and the PGV sensor on the mobile chassis to make fine adjustments until e is adjusted to within 1cm; when the docking mechanism and the working platform are aligned, the electric cylinder rises and the platform descends, landing the platform on the docking mechanism. The buckle on the docking device will move under the drive of the motor and jam the female buckle on each corresponding working platform, thereby connecting the working platform and the mobile chassis.

[0093] After the docking is successful, the mobile chassis moves to a certain task processing point, then the buckle is disengaged, the electric cylinder descends, the platform rises again, and the mobile chassis moves out of the rectangular space. This is called completing a docking task.

[0094] Each device of the docking system of the present invention can realize standardized independent and combined production and operation, saving chassis time and thus greatly reducing the overall product cost.

[0095] The above is an example of the preferred implementation of the present invention, but the invention is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A construction connection system, comprising: Independent mobile chassis, independent working platform and independent docking mechanism. When performing docking tasks, the mobile chassis is equipped with the docking mechanism, which is connected to the fixed working platform. After the work platform arrives at the task point, the docking mechanism is separated from the work platform, and the mobile chassis and the docking mechanism leave together, or are put into storage together / separately; The working platform comprises a workbench, a lifting electric cylinder, a platform buckle and a foot. The lifting electric cylinder is fixed on the workbench, and the telescopic rod of the lifting electric cylinder is under the workbench when extended; the foot is arranged at the head of the telescopic rod of the lifting electric cylinder; the platform buckles are arranged in pairs on the lower surface of the workbench; The docking mechanism includes a base plate, an electric locking mechanism and a PGV sensor, the electric locking mechanism and the PGV sensor are both fixed on the base plate, the electric locking mechanism includes a docking buckle, a screw and a motor, the screw is connected to the motor, the docking buckle is arranged on the screw and translates with the rotation of the screw; the platform buckle and the docking buckle are corresponding male buckles and female buckles, when the mobile chassis carries the docking mechanism to the bottom of the docking position of the working platform, the docking buckle of the electric locking mechanism moves to the platform buckle position, and the docking mechanism is locked and fixed to the working platform.

2. The construction connection system according to claim 1, characterized in that: The workbench is provided with a level sensor, and the workbench comprises a supporting frame and a cover plate, wherein the cover plate is arranged above the supporting frame; There are more than three lifting electric cylinders, which are arranged at the corners of the workbench.

3. The construction connection system according to claim 1, characterized in that: There are more than two pairs of platform buckles, which are respectively arranged in the peripheral area of ​​the lower surface of the workbench; the platform buckles are all female buckles, and a 3-5° groove is opened on the female buckle to adapt to the male buckle on the matching docking mechanism.

4. The construction connection system according to claim 1, characterized in that: A positioning QR code is arranged on the lower surface of the workbench of the working platform.

5. The construction connection system according to claim 1, characterized in that: The electric locking mechanism also includes bevel gears and a coupling, there are four buckles, namely the first buckle, the second buckle, the third buckle and the fourth buckle; there are four screw rods, namely the first screw rod, the second screw rod, the third screw rod and the fourth screw rod; there are three bevel gears, namely the first bevel gear, the second bevel gear and the third bevel gear; the first screw rod is connected to the motor, and the first buckle is arranged on the first screw rod and translates with the rotation of the first screw rod; the second screw rod is connected to the first screw rod through a coupling, the second screw rod is provided with a first bevel gear, and the second buckle is arranged at the other end of the second screw rod; the third screw rod is connected to the second bevel gear, and the third buckle is arranged at the other end of the third screw rod; the fourth screw rod is connected to the third bevel gear, and the fourth buckle is arranged at the other end of the fourth screw rod; the first bevel gear is meshed with the second bevel gear and the third bevel gear respectively, and the first buckle, the second buckle, the third buckle and the fourth buckle are distributed in four different directions.

6. The construction connection system according to claim 1, characterized in that: The bottom plate includes a bottom plate body, side plates and a reinforcement plate. The side plates are independent side walls and are not connected to each other. The two ends of the reinforcement plate are connected to two adjacent side plates at a 45° angle. The side plates are profiles with grooves on the outer walls.

7. The construction connection system according to claim 6, characterized in that: It also includes a cover plate, which is clamped in the profile groove of the side plate through a trapezoidal nut and fixed together with the bolt; the cover plate is provided with a buckle observation window.

8. The construction connection system according to claim 1, characterized in that: The mobile chassis includes a cover plate, a mounting plate, a bottom frame, a steering wheel drive mechanism and an external sensor assembly. The external sensor assembly includes a laser radar, which is arranged on the outer edge of the mounting plate and is used to scan and obtain dot matrix data in two-dimensional space; there are four steering wheel drive mechanisms, which are respectively arranged at the four corners of the bottom frame; the mounting plate is arranged on the side plate of the bottom frame, and the cover plate is arranged above the mounting plate.

9. The construction connection system according to claim 8, characterized in that: The steering wheel driving mechanism comprises a steering gear, a steering pinion, a steering wheel, a steering motor, a driving motor, a fixing frame and two motor drivers. The steering wheel is arranged in the fixing frame, the steering gear is arranged on the fixing frame, the steering gear is in a vertical state with the steering wheel, the steering motor is connected with the steering pinion, the steering pinion is meshed with the steering gear, the driving motor is connected with the steering wheel, and the two motor drivers are respectively connected with the steering motor and the driving motor to control the operation of the steering motor and the driving motor, so as to realize the free rotation of a steering wheel mechanism independently on the X-axis and the Y-axis.

10. The construction connection system according to claim 8, characterized in that: The four steering wheel drive mechanisms are driven by a total of 8 motor drivers, which independently control the X-axis and Y-axis rotation of the four steering wheels, thereby realizing all-round movement of the chassis.

11. The construction connection system according to claim 8, characterized in that: The bottom frame is provided with a battery, an industrial computer, a gyroscope, a soft router, a camera and a camera fixing plate. The battery provides a power source for the entire chassis, and the industrial computer is used to collect and process data from various sensors and issue further instructions. The gyroscope is used to measure the moving angle of the loaded robot and assist in feeding back the real-time position information; the soft router can download the instructions to the industrial computer in real time to perform remote control of the mobile chassis; The camera plays a role in accurate identification and positioning when docking into the library; the industrial computer is used to collect data from the laser radar component, camera, gyroscope and encoder in the steering wheel motor.

12. A construction docking method, which adopts the construction docking system described in any one of claims 1-11. When performing a docking task, a mobile chassis carries a docking mechanism to the position of a working platform, the docking mechanism is connected to a fixed working platform, and the mobile chassis moves the working platform to a designated task point; when the working platform arrives at the task point, the docking mechanism is separated from the working platform, and the mobile chassis and the docking mechanism start the next journey together, or are put into storage together / separated.

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